Storage and sorting device for injection medicine

Abstract

The invention discloses an injection medicine storing and sorting device, and belongs to the technical field of medical automatic equipment. In order to solve the problems in the prior art that the storage density is limited and small medicine bottles are easy to topple due to a manipulator clamping and grabbing mode, the device provided by the invention comprises a frame (1), at least one medicine box (2) and at least one sorting device (3). The medicine box (2) comprises a shell (21), medicine bottle storage channels (212) defined by partition plates (211) are arranged in the shell (21) in parallel, medicine taking windows (213) in one-to-one correspondence with the channels are formed in the first end of the shell (21), and the width of the medicine taking windows (213) is smaller than the diameter of medicine bottles. The sorting device (3) comprises a curved surface suction cup mechanism (31) and a moving mechanism (32). The curved surface suction cup mechanism (31) can extend into the medicine taking window (213) to suck the outer wall of the medicine bottle at the foremost end and pull the medicine bottle out of the medicine box (2). Medicine is taken through the medicine taking window through the curved-surface suction cup, mechanical arm moving space does not need to be reserved between medicine bottles, and ultimate dense storage is achieved; and meanwhile, by means of flexible adsorption and an optional anti-toppling mechanism, the grabbing stability of the small-specification medicine bottles is effectively achieved.

Description

Technical Field

[0001] This invention relates to medical automation equipment, and more particularly to a device for the automated storage and retrieval of injectable drugs (such as vials and ampoules) in a hospital intravenous compounding center (PIVAS). Background Technology

[0002] With the development of the medical industry, the number of prescriptions in hospital intravenous compounding centers is increasing daily, placing higher demands on the efficiency, accuracy, and safety of medication dispensing. Automating the storage and retrieval of injectable drugs is one of the key aspects of improving the overall efficiency of intravenous compounding centers.

[0003] Existing technologies have yielded various automated medicine bottle storage and retrieval solutions, which can be broadly categorized into two types:

[0004] The first type of solution, as shown in published patents CN112607289A and CN214568141U, combines a medicine basket buffer with robotic picking. It typically includes a multi-layered, tilted medicine basket buffer rack for bottles to be picked, a conveyor line connecting the buffer rack, and a picking robot equipped with a vision device. During operation, the conveyor line carrying the medicine baskets to be picked delivers them to both sides of the picking station robot. Simultaneously, a medicine basket containing basic infusion solutions is also delivered to the area below the picking station. Based on the prescription information, the robot picks up the required medicine bottles one by one from the medicine baskets on both sides and places them into the lower medicine basket. Subsequently, the lower medicine basket is conveyed to the infusion dispensing stage, and the medicine baskets on both sides are returned to the buffer rack. However, such solutions have the following drawbacks: First, the reciprocating transport of the medicine baskets loaded with medicine bottles to be picked and the picking mode of the robot at a fixed station mean that each picking action is accompanied by the waiting and movement of the medicine baskets, resulting in a long overall medicine picking cycle and limited efficiency; Second, the entire system requires the configuration of conveyor lines and dedicated picking stations, and the equipment occupies a large area, which increases the layout difficulty and construction cost of the static compounding center.

[0005] The second type of solution, as shown in published patents CN111292473A and CN209480707U, combines dense storage with direct gripping by a robotic arm. Typically, medicine bottles are arranged vertically in a magazine-like bottle holder (medicine magazine), and a pushing mechanism pushes the bottles towards the front of the holder. The gripping robotic arm is equipped with gripping fingers that move to the designated front of the holder, directly grasp the foremost bottle, and lift it upwards to detach it from the holder. It can then be placed on a carrier for transport. This type of solution significantly increases storage density by grouping medicine bottles within the holder. However, it still has areas for improvement: First, the gripping fingers need to extend into the holder and open at a certain angle to grasp the bottle, requiring sufficient space between adjacent bottles for finger movement, which limits the maximum density of the bottle arrangement. Secondly, for small-sized medicine bottles, there is a inherent contradiction in the structural design: the gripping fingers must have sufficient gripping width and force, while the bottle clamping walls must have sufficient height to maintain the bottle's vertical stability during the pushing and grasping process. More importantly, when the robotic arm lifts and grasps the foremost bottle, effectively preventing the accidental removal of an adjacent second bottle due to friction or gaps, or the second bottle from becoming unstable and tipping over due to the lifting motion, is a key technical challenge for ensuring system reliability. Existing solutions still have room for optimization in this regard.

[0006] Therefore, improving existing high-density storage solutions, further optimizing the action mode and structure of the gripping mechanism, enhancing compatibility with small-sized medicine bottles, and achieving higher-density storage are technical problems that urgently need to be solved by those skilled in the art. Summary of the Invention

[0007] The present invention aims to overcome the shortcomings of the prior art and provide a storage and sorting device for injectable drugs. Through innovative drug box structure and gripping mechanism design, it achieves the goal of dense storage, rapid gripping and stable system operation of injectable drugs in the daily operation of a pharmaceutical preparation center (PIVAS).

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A storage and sorting device for injectable drugs, comprising:

[0010] A framework (1);

[0011] At least one medicine box (2) is disposed on the frame (1) for storing injection vials;

[0012] At least one sorting device (3) is movably disposed on one side of the medicine box (2) for grabbing and removing medicine bottles;

[0013] The medicine box (2) includes a housing (21), and the following are arranged in parallel along its width direction inside the housing (21):

[0014] A medicine storage area (A) is defined by at least one partition (211) that defines at least one medicine bottle storage channel (212) extending along its length for accommodating and guiding medicine bottles to be arranged along its length.

[0015] The first end (front end) of the housing (21) is provided with a medicine retrieval window (213) corresponding to the medicine bottle storage channel (212). The medicine retrieval window (213) penetrates the housing (21) in the vertical direction and its width is smaller than the diameter of the medicine bottle stored.

[0016] The medicine box (2) also includes a propulsion mechanism (22) for pushing the medicine bottle in the medicine bottle storage channel (212) toward the first end;

[0017] The sorting device (3) includes:

[0018] A suction cup mechanism (31) further includes at least one suction cup and a telescopic drive (312) for driving the suction cup to extend and retract, wherein the working surface of the suction cup is a concave curved surface structure adapted to the outer circular surface of the medicine bottle;

[0019] A moving mechanism (32) is used to drive the suction cup mechanism (31) to move in the horizontal and / or vertical directions;

[0020] The suction cup (311) is configured to extend into the medicine dispensing window (213) via the telescopic drive (312) to adsorb the outer wall of the medicine bottle located at the front end of the medicine bottle storage channel (212). The suction cup (311) is lifted by the moving mechanism (32) so that the bottom surface of the medicine bottle after adsorption is higher than the first end, and then it retracts and detaches from the medicine box (2).

[0021] In the technical solution of this invention, by opening a medicine retrieval window (213) on the medicine box shell (21) corresponding to each medicine bottle storage channel (212), and using a retractable suction cup (311) as a gripping actuator, medicine bottles can be directly picked up from the side of the medicine box. This "non-clamping" gripping method does not require reserving space between medicine bottles for finger movement, thus allowing medicine bottles to be arranged in an extremely dense manner, greatly improving the storage density.

[0022] Specifically, the working surface of the suction cup (311) is a concave curved surface adapted to the outer circular surface of the medicine bottle, which can form a good seal with the cylindrical bottle body and achieve stable adsorption. The gripping action is divided into three steps: insertion for adsorption, lifting and detachment, and retraction for removal, ensuring that the medicine bottle will not interfere with the edge of the medicine retrieval window during the process of detaching from the medicine box.

[0023] It should be noted that the height of the casing at the first end depends entirely on the stability requirements of the medicine; there are no requirements regarding this height for medicine grasping. Assuming the stability of the medicine bottle is met, a lower casing height at the first end means a smaller lifting height during grasping, which helps to shorten the grasping time.

[0024] Preferably, the propulsion mechanism (22) includes at least one first linear guide rail (224) arranged along the length direction; a feeding assembly (223) that slides with the first linear guide rail (224) and has a bottle pusher plate (2232) with a comb structure (2234) extending into each of the bottle storage channels (212); and a screw drive assembly for driving the feeding assembly (223) to move linearly along the first linear guide rail (224).

[0025] The medicine box (2) has multiple configuration options:

[0026] Option 1: A propulsion mechanism area (B) is arranged parallel to the width direction inside the housing (21), alongside the drug storage area (A), to accommodate all the propulsion mechanisms (22). Within the propulsion mechanism area (B), a first linear guide rail (224) is arranged along the length direction of the medicine cartridge (2). The lead screw motor (221) is fixedly mounted on the housing (21) of the medicine cartridge (2), with its output shaft being a lead screw. A lead screw nut (225) is fitted onto the output shaft of the lead screw motor (221) and fixedly connected to the feeding assembly (223). This option makes the medicine cartridge (2) an independent, pluggable functional module.

[0027] Option 2: A propulsion mechanism area (B) is arranged parallel to the width direction inside the housing (21), alongside the drug storage area (A), to accommodate at least part of the propulsion mechanism (22). The lead screw motor (221) is fixedly mounted on the frame (1) and forms a unidirectional drive cooperation with the feed assembly (223) through a fork (222). Specifically, at least one second linear guide rail (226) is provided on the frame (1), and the fork (222) slides with the second linear guide rail (226). The housing (21) of the medicine cartridge (2) has a long slot (214) extending along the length direction, and the fork (222) passes through the long slot (214), with its front end abutting against the rear end of the feed assembly (223). When the lead screw motor (221) drives the shift fork (222) to move toward the first end, the shift fork (222) pushes the feed assembly (223) forward; when the shift fork (222) moves in the opposite direction, it disengages from the feed assembly (223).

[0028] As a further preferred embodiment, the feeding assembly (223) is provided with a resistance booster (2233), which is an elastic sheet that contacts the inner wall of the housing (21). The friction of the elastic sheet (2233) is used to prevent the feeding assembly (223) from sliding freely, effectively maintaining the vertical state of the medicine bottle during the process of transporting and inserting the medicine box (2) into the equipment.

[0029] During operation, when the lead screw motor (221) drives the shift fork (222) to move along the second linear guide rail (226) towards the first end, the shift fork (222) pushes the feed assembly (223) forward along the first linear guide rail (224), thereby pushing the medicine bottle. When refilling the medicine cartridge (2), the shift fork (222) moves in the opposite direction to the starting position, and the shift fork (222) disengages from the feed assembly (223). At this time, the feed assembly (223) stops at its original position, maintaining the medicine bottle in a vertical and stable state.

[0030] This design places the drive motor outside the medicine box (2), which simplifies the structure of the medicine box, making it lighter and cheaper; at the same time, the feed assembly (223) is retained inside the medicine box (2) to keep the ampoules upright when tilted.

[0031] Option 3: The lead screw motor (221) is fixedly mounted on the frame (1), and the propulsion mechanism (22) is entirely disposed outside the medicine box (2). Specifically, at least one first linear guide rail (224) is provided on the back of the medicine box placement plane (11) of the frame (1), and a first slider (2231) is slidably engaged with the first linear guide rail (224). A feed assembly (223) is fixedly connected to the lead screw nut of the lead screw motor (221) and moves synchronously with the first slider (2231).

[0032] The feed assembly (223) includes:

[0033] A base (228) is fixedly connected to the lead screw nut of the lead screw motor (221) and the first slider (2231);

[0034] The medicine bottle push plate (2232) has its lower end hinged to the base (228) and its upper end has a comb tooth structure (2234);

[0035] A return spring (229) connects the medicine bottle push plate (2232) and the base (228) so that the medicine bottle push plate (2232) remains vertical when there is no external force;

[0036] A blocking structure (230) is fixed to the medicine box placement plane (11) of the frame (1) near the second end.

[0037] The medicine box placement plane (11) has a frame long slot (15) extending along its length, and the bottom of the shell (21) of the medicine box (2) has a medicine box long slot (214) aligned vertically with the frame long slot (15). The number of the frame long slot (15) and the medicine box long slot (214) is the same as the number of the medicine bottle storage channels (212). When the medicine box (2) is installed in place, the comb structure (2234) passes upward through the frame long slot (15) and the medicine box long slot (214) in sequence, and extends into each of the medicine bottle storage channels (212).

[0038] During operation, the lead screw motor (221) drives the feeding assembly (223) to move towards the first end. At this time, the medicine bottle pusher plate (2232) remains vertical under the action of the return spring (229), and its comb structure (2234) pushes the medicine bottle forward. When the feeding assembly (223) moves in the opposite direction to near the second end, the medicine bottle pusher plate (2232) is obstructed by the blocking structure (230) and rotates and tilts, retracting downwards to below the medicine box placement plane (11), completely detaching from the medicine box (2), making it easy to remove the medicine box and replenish the medicine.

[0039] This design places the propulsion mechanism entirely outside the vial, with no moving parts inside the vial. This greatly simplifies the structure, reduces costs, and makes replacement more convenient, making it especially suitable for a large number of vials that are not easily tipped over.

[0040] To ensure that the fork (222) and the comb structure (2234) can accurately enter the long slot (214) of the medicine box (2) after each push, the frame (1) is also provided with: guide strips (12) on both sides of the placement plane (11) to guide the push direction of the medicine box (2); a limiting block (13) on the outer side of the first end of the medicine box (2) to limit the final position of the medicine box (2) after push; and a guide surface (14) on the outer side of the second end of the medicine box (2). The guide surface (14) has a predetermined height and its height is higher than the medicine box placement plane (11), so that the medicine box (2) is tilted in a state of lower front and higher back during the push-in process, and the guide fork (222) and the comb structure (2234) automatically enter the long slot (214) of the medicine box during the fall.

[0041] It should be noted that the long slot (15) in the frame is not a necessary condition; the present invention is merely a preferred option, not the only one. When the medicine box placement plane (11) is hollowed out in a large area to reduce weight, or when the mounting base of the medicine box (2) and the feed assembly (223) is changed to a frame structure, the movement of the fork (222) is not hindered by the mounting base of the medicine box (2) and the feed assembly (223), and the long slot (15) in the frame no longer exists.

[0042] It should also be noted that the blocking structure (230) is not necessarily a solid block structure. Structures such as the frame long slot (15) can also achieve the same function. In this invention, the solid block structure is only a preferred option and not the only solution.

[0043] Preferably, the suction cup (311) is an elongated, waist-shaped structure extending vertically and made of a flexible material; the suction cup mechanism (31) also includes at least two support rods (313) arranged vertically, wherein at least one of the support rods (313) is an air tube connected to a negative pressure source. This structure can effectively suppress the shaking of the medicine bottle during adsorption and movement, and improve gripping stability.

[0044] Preferably, the medicine box (2) further includes a flexible anti-tipping mechanism (23), which is a strip-shaped component with flexible bristles (231) embedded on one side. It is located near the first end of the housing (21), specifically, the flexible bristles (231) extend vertically downward between the first row of medicine bottles and the second row of medicine bottles. Further, the ends of the flexible bristles (231) are located at the height between the shoulder and the top of the medicine bottle. This mechanism effectively prevents the second row of medicine bottles from tipping forward by utilizing the physical blocking effect of the flexible bristles (231), while not affecting their forward movement under the action of the propulsion mechanism (22). It is especially suitable for the stable storage of small, slender medicine bottles.

[0045] Preferably, the moving mechanism (32) includes at least one Y-guide rail (321) fixed vertically on the frame (1); a crossbeam (322) slidably disposed on the Y-guide rail (321); and an X-axis moving platform (323) disposed on the crossbeam (322), on which the suction cup mechanism (31) is mounted. This structure enables precise and rapid positioning of the suction cup mechanism (31) in both horizontal and vertical directions.

[0046] Preferably, the sorting device (3) further includes a medicine bottle buffer mechanism (33), which comprises at least one tubular container with an open top and an openable valve (331) at the bottom, and is positioned close to the X-axis moving platform (323). After the suction cup (311) grabs the medicine bottle and retracts, it moves horizontally above the medicine bottle buffer mechanism (33) and releases the suction force to place the medicine bottle from the open top of the tubular container. The buffer mechanism (33) opens the valve (331) at the bottom to release the temporarily stored medicine bottle to the next stage of equipment. This design allows the suction cup mechanism (31) to immediately perform the next grabbing task, achieving decoupling between grabbing and subsequent conveying, and significantly improving the working efficiency of the device.

[0047] Preferably, the multiple medicine boxes (2) are divided into several groups according to the diameter of the medicine bottles they store, with each group containing medicine bottles of similar diameter. Each group of medicine boxes (2) is equipped with at least one sorting device (3) to form an independent storage and sorting unit that can work in parallel. This modular and parallel design concept enables the device to process multiple prescriptions simultaneously, greatly improving the overall dispensing throughput of the dispensing center.

[0048] Beneficial effects

[0049] Compared with the prior art, the present invention has the following significant advantages:

[0050] 1. Achieving extremely dense storage: By using a suction cup (311) to pick up medicine bottles through the medicine dispensing window (213), the traditional method of inserting fingers between medicine bottles is replaced, thus eliminating the need to reserve space for the robotic arm between medicine bottles and significantly increasing the density of medicine bottles in the medicine box (2).

[0051] 2. Significantly improves the gripping stability of small-sized medicine bottles: The suction cup (311) makes flexible contact with the medicine bottle and causes minimal disturbance to the second row of medicine bottles. Combined with the physical obstruction of the flexible anti-tipping mechanism (23), it fundamentally solves the industry problem that small-sized, slender medicine bottles are easy to tip over or be carried out during the gripping process.

[0052] 3. Improve gripping efficiency and system response speed: The flexible adsorption characteristics of the suction cup (311) reduce the stringent requirements for precise positioning between the suction cup and the medicine bottle, allowing the sorting device (3) to approach the medicine bottle at a higher speed; at the same time, the setting of the buffer mechanism (33) decouples the gripping and subsequent conveying links, further improving the overall working efficiency of the device.

[0053] 4. Modular and parallel design: By grouping the medicine boxes (2) according to specifications and configuring independent sorting units, parallel processing of multiple prescriptions is realized, which greatly improves the overall drug dispensing throughput of the static dispensing center.

[0054] 5. Multiple drive options are available: The propulsion mechanism (22) offers two options: built-in motor and external motor. The former makes the medicine box (2) an independent module that is easy to replace, while the latter simplifies the medicine box structure and reduces costs. Users can choose flexibly according to their actual needs. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the overall structure of the injectable drug storage and sorting device in an embodiment of the present invention.

[0056] Figure 2a , Figure 2b This is a schematic diagram of the propulsion mechanism and its built-in medicine box.

[0057] Figure 3a , Figure 3b for Figure 1 A schematic diagram of the sorting device.

[0058] Figure 4 Figure 2 shows a schematic diagram of the flexible anti-tipping mechanism.

[0059] Figure 5a , Figure 5b and Figure 5c A schematic diagram of the externally mounted medicine box and the propulsion mechanism.

[0060] Figure 6 is a schematic diagram of the propulsion mechanism and the externally mounted medicine box.

[0061] Figure 7 This is a diagram showing the installation of the medicine box.

[0062] Explanation of reference numerals in the attached figures:

[0063] 1-Frame; 11-Medicine box placement plane; 12-Guide strip; 13-Limiting block; 14-Guide surface; 15-Frame elongated slot.

[0064] 2-Medicine cartridge; 21-House; 211-Baffle; 212-Medicine bottle storage channel; 213-Medicine dispensing window; 214-Medicine cartridge elongated slot; 22-Propulsion mechanism; 221-Screw motor; 222-Fork; 223-Feed assembly; 2231-First slider; 2232-Medicine bottle pusher plate; 2233-Resistor (elastic sheet); 2234-Comb structure; 224-First linear guide; 225-Screw nut; 226-Second linear guide; 227-Second slider; 228-Base; 229-Reset spring; 230-Blocking structure; 23-Flexible anti-tipping mechanism; 231-Flexible bristles

[0065] 3-Sorting device; 31-Suction cup mechanism; 311-Suction cup; 312-Telescopic drive component; 313-Support rod; 32-Moving mechanism; 321-Y guide rail; 322-Crossbeam; 323-X-direction moving platform; 33-Buffer mechanism; 331-Valve

[0066] A - Drug storage area; B - Propulsion unit area Detailed Implementation

[0067] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.

[0068] Example 1

[0069] like Figure 1As shown, the present embodiment provides a storage and sorting device for injectable drugs, including a frame (1), a plurality of medicine boxes (2) disposed on the frame (1), and a sorting device (3) movably disposed on one side of the medicine boxes (2).

[0070] like Figure 2a As shown, each medicine cartridge (2) includes a housing (21). Inside the housing (21), a medicine storage area (A) and a propulsion mechanism area (B) are arranged in parallel along its width direction (X direction).

[0071] Within the drug storage area (A), multiple partitions (211) define multiple bottle storage channels (212) extending along the length direction (Z direction) of the shell, which are used to accommodate and guide the bottles (such as vials or ampoules) to be arranged along the Z direction.

[0072] The propulsion mechanism area (B) contains the transmission components of the propulsion mechanism (22). For example... Figure 2a , Figure 2b As shown, the propulsion mechanism (22) includes a first linear guide rail (224) arranged along the Z direction within the propulsion mechanism area (B), a feed assembly (223) slidably engaged with the first linear guide rail (224), and a screw drive assembly for driving the feed assembly (223) to move. The feed assembly (223) includes a first slider (2231) slidably engaged with the first linear guide rail (224), and a medicine bottle pusher plate (2232) fixed on the first slider (2231).

[0073] In this embodiment, the lead screw motor (221) is fixedly mounted on the housing (21) at the tail end of the propulsion mechanism area (B). The output shaft of the lead screw motor (221) is a lead screw, and a lead screw nut (225) is fitted onto the lead screw and fixedly connected to the feed assembly (223). When the lead screw motor (221) rotates, it drives the feed assembly (223) to move linearly along the first linear guide rail (224) through the lead screw nut (225), thereby pushing the medicine bottle forward. This design makes the entire medicine box (2) a complete independent module, facilitating quick replacement and offline refilling.

[0074] The first end (front face) of the housing (21) is provided with a medicine retrieval window (213) that corresponds one-to-one with the medicine bottle storage channel (212). The medicine retrieval window (213) extends through the housing (21) in the vertical direction (Y direction), and its width (X direction dimension) is slightly smaller than the diameter of the medicine bottle stored, so as to ensure that the medicine bottle will not accidentally slide out of the window, but is sufficient for the curved suction cup to contact the body of the medicine bottle.

[0075] like Figure 3a , Figure 3bAs shown, the sorting device (3) includes a suction cup mechanism (31) and a moving mechanism (32). The moving mechanism (32) includes two Y-axis guide rails (321) fixed along the Y direction on the frame (1), at least one crossbeam (322) slidably disposed on the Y-axis guide rails (321), and an X-axis moving platform (323) disposed on the crossbeam (322). The suction cup mechanism (31) is mounted on the X-axis moving platform (323), thereby enabling precise positioning in the XY plane.

[0076] The suction cup mechanism (31) includes a suction cup (311) and a telescopic drive (312) that drives the suction cup (311) to extend and retract along the Z-direction (e.g., a screw motor transmission mechanism is used in this solution). The suction cup (311) is an elongated waist-shaped structure extending along the Y-direction, and its working surface is a special concave curved surface structure adapted to the outer circular surface of the medicine bottle, made of flexible materials such as silicone. This design not only forms a good surface contact seal with the cylindrical bottle body, ensuring the reliability of adsorption, but also adapts to the variation of the curved surface radius within a certain range. The suction cup (311) is provided with two support rods (313) arranged vertically, one of which is an air tube connected to the negative pressure source. The two support rods work together to effectively suppress the shaking of the medicine bottle during adsorption and movement.

[0077] The grabbing process of this invention is as follows:

[0078] In the first step, the moving mechanism (32) moves the suction cup mechanism (31) to the front of a certain medicine bottle storage channel (212) of the target medicine box (2), so that the suction cup (311) is aligned with the medicine dispensing window (213).

[0079] In the second step, the telescopic drive (312) drives the suction cup (311) to extend forward, passing through the medicine dispensing window (213), so that the working surface of the suction cup (311) is attached to the outer wall of the foremost medicine bottle. The negative pressure source is activated, and the suction cup (311) adheres to the medicine bottle.

[0080] Third, the moving mechanism (32) lifts upward along the Y direction, so that the bottom surface of the adsorbed medicine bottle is higher than the upper edge of the first end of the medicine box shell (21), ensuring that the medicine bottle is completely freed from the constraint of the medicine box.

[0081] In the fourth step, the telescopic drive (312) drives the suction cup (311) to retract backward, pulling the medicine bottle horizontally from above the first end. This completes the grasping of a single bottle of medicine. The above-described "lift-retract" sequence effectively avoids interference between the medicine bottle and the edge of the medicine retrieval window, ensuring a smooth and reliable grasping process.

[0082] As a further optimization, such as Figure 3bAs shown, the sorting device (3) also includes a medicine bottle buffer mechanism (33), which comprises six tubular containers with openable and closable valves (331) at the bottom, fixed on a crossbeam (322). After the suction cup (311) grabs the medicine bottle and retracts, the X-axis moving platform (323) moves it above the buffer mechanism (33), and the suction cup (311) releases the medicine bottle, which falls into the buffer mechanism (33) for temporary storage. The suction cup (311) can then perform the next grabbing task. When the medicine bottle in the buffer mechanism (33) needs to be transferred to the next process, the valve (331) opens, and the medicine bottle slides out.

[0083] As another optimization, such as Figure 4 As shown, to address the issue of small-sized medicine bottles easily tipping over, a flexible anti-tipping mechanism (23) is also provided at the first end of the medicine box (2). It is a strip-shaped component with flexible bristles (231) embedded on one side. After installation, the flexible bristles (231) extend vertically downwards between the first row of medicine bottles and the second row of medicine bottles, and the ends of the bristles 231 are located just between the shoulder and top of the medicine bottle. When the first row of medicine bottles is removed, and the second row of medicine bottles moves forward under the action of the pushing mechanism (22), the flexible bristles (231) will prevent them from tipping over, and at the same time, due to their flexibility, they will not affect the normal forward movement of the medicine bottles.

[0084] Example 2

[0085] This embodiment is basically the same as embodiment 1, except that the driving method of the propulsion mechanism (22) and the installation and positioning structure of the medicine box (2) are different.

[0086] like Figure 5a As shown, in this embodiment, the propulsion mechanism (22) is partially disposed outside the medicine cartridge (2). Specifically, the lead screw motor (221) and a second linear guide rail (226) extending along the Z direction are both mounted on the back side of the medicine cartridge placement plane (11) via a base. The vertical position corresponds to the propulsion mechanism area (B) of the medicine cartridge (2) above the medicine cartridge placement plane (11).

[0087] In this embodiment, a second slider (227) is slidably engaged with the second linear guide rail (226); a shift fork (222) is fixedly connected to the second slider (227) and to the lead screw nut (225) of the lead screw motor (221). Thus, the shift fork (222) can move smoothly in a straight line along the second linear guide rail (226) under the push of the lead screw motor (221).

[0088] Accordingly, such as Figure 5bAs shown, the bottom of the medicine box placement plane (11) and the shell (21) of the medicine box (2) are respectively provided with a frame long slot (15) and a medicine box long slot (214) extending along the length direction (Z direction). The frame long slot (15) and the medicine box long slot (214) have the same length and width, and are aligned vertically after the medicine box (2) is installed in place. After assembly, the fork (222) passes upward through the frame long slot (15) and the medicine box long slot (214) and extends into the propulsion mechanism area (B). Its front end abuts against the rear end of the feed assembly (223) provided in the propulsion mechanism area (B).

[0089] To ensure that the fork (222) can accurately and smoothly enter the elongated slot (214) of the medicine cartridge (2) after each push into the frame (1), this embodiment optimizes the mating structure of the frame (1) and the medicine cartridge (2). Figure 7 As shown, in a preferred embodiment, the frame (1) is provided with:

[0090] The medicine box placement surface (11) is used to support the bottom of the medicine box (2);

[0091] Guide bars (12) are located on both sides of the medicine box (2) and are used to guide the direction of pushing the medicine box (2) in;

[0092] The limiting block (13) is located on the outside of the first end of the medicine box (2) and is used to limit the final position of the medicine box (2) when it is pushed in.

[0093] A guide surface (14) is located on the outer side of the second end of the medicine box (2) and is used to support the medicine box (2) when it is pushed in. The guide surface (14) guides the medicine box elongated slot (214) to engage with the fork (222). The guide surface (14) has a predetermined height and its height is higher than the medicine box placement plane (11).

[0094] It should be noted that in this embodiment, the guide bar (12), the limiting block (13), and the guide surface (14) can be combined with other components to achieve the same function. For example, after the screw motor (221) mounting plate is extended, it can limit the movement of the medicine box (2) and replace the specially set limiting block (13).

[0095] like Figure 7As shown, the installation process of the medicine cartridge (2) is as follows: First, place the bottom of the medicine cartridge (2) on the guide surface (14) and place the medicine cartridge (2) shell between the two guide strips (12). At this time, the medicine cartridge (2) is in an inclined state with the front lower and the back higher, and its rear bottom is higher than the fork (222). Then, push the medicine cartridge (2) forward so that its front bottom first contacts the medicine cartridge placement plane (11). As the medicine cartridge (2) continues to move forward, it stops when it is blocked by the limit block (13). At this time, its rear end just leaves the guide surface (14) and falls under the action of gravity, landing smoothly on the medicine cartridge placement plane (11). During this falling process, the fork (222) is guided and smoothly enters the medicine cartridge long slot (214) at the bottom of the medicine cartridge (2), completing the automatic alignment with the feeding component (223).

[0096] During operation, when the medicine bottle needs to be pushed forward, the lead screw motor (221) rotates in the forward direction, driving the shift fork (222) to move along the second linear guide rail (226) towards the first end via the lead screw nut. The front end of the shift fork (222) abuts against the rear end of the feeding assembly (223), pushing the feeding assembly (223) and its medicine bottle pusher plate (2232) forward along the first linear guide rail (224), thereby pushing the medicine bottle toward the dispensing window (213).

[0097] When medication needs to be replenished, the operator must first remove the medicine box (2) from the frame (1). At this time, the lead screw motor (221) can rotate in the opposite direction, driving the shift fork (222) to move backward and reset to the starting position of the shift fork (222) stroke. During the backward movement of the shift fork (222), it disengages from the feed assembly (223). The feed assembly (223) remains in its original position, supporting the remaining medicine bottles in the medicine box and preventing them from tipping over. After removing the medicine box (2), the operator can manually move the feed assembly (223) backward to make room for replenishing new medicine bottles. After replenishing the medication, the feed assembly (223) along with the medicine bottles is pushed together to press against the frontmost medicine bottle.

[0098] During the handling and insertion of the medicine box (2) into the frame, the medicine box (2) may be tilted, and the feeding assembly (223) may slide freely and lose its supporting function for the medicine bottle. Therefore, as follows... Figure 5c As shown, the feed assembly (223) slides freely, maintaining the stable vertical state of the medicine bottle inside the medicine cartridge, which is suitable for ampoules that are easy to tip over. In this embodiment, the resistance enhancer (2233) uses a spring plate. The resistance enhancer (2233) presses against the inner surface of the medicine cartridge (2) housing (21), and the friction between them can prevent the feed assembly (223) from sliding freely.

[0099] This embodiment achieves a non-powered and lightweight design of the medicine box (2) by externalizing the drive motor, combining the guidance of the second linear guide rail (226), and the ingenious medicine box installation and positioning structure, further reducing the total weight of the medicine box and making the replacement and replenishment of medicine box more convenient and reliable.

[0100] Example 3

[0101] The only difference between this embodiment and the previous embodiment is that the propulsion mechanism (22) is completely located outside the medicine box (2).

[0102] like Figure 6a As shown, a frame slot (15) extending along the Z direction is provided on the medicine box placement plane (11). A medicine box slot (214) is provided on the bottom of the shell (21) of the medicine box (2), which is aligned vertically with the frame slot (15). The number of frame slots (15) and medicine box slots (214) is the same as the number of medicine bottle storage channels (212), and their positions correspond one-to-one.

[0103] On the back of the medicine box placement plane (11) of the frame (1), a lead screw motor (221) and a first linear guide rail (224) extending along the Z direction are fixedly installed. A first slider (2231) is slidably engaged with the first linear guide rail (224). A feed assembly (223) is fixedly connected to the lead screw nut (225) of the lead screw motor (221). The feeding assembly (223) includes: a base (228) which is fixedly connected to the lead screw motor (221) and the lead screw nut (225) of the first slider (2231) and slides with the first linear guide (224); the medicine bottle pusher plate (2232) is hinged to the base (228), and its comb structure (2234) extends vertically upward through the frame long slot (15) and the medicine box long slot (214) and extends into each of the medicine bottle storage channels (212); a return spring (229) connecting the medicine bottle pusher plate (2232) and the base (228) so that the medicine bottle pusher plate (2232) remains vertical when there is no external force; and a blocking structure (230) fixed on the medicine box placement plane (11) of the frame (1) near the second end.

[0104] During operation, the lead screw motor (221) rotates in the forward direction, driving the feed assembly (223) to move along the first linear guide (224) towards the first end. At this time, the medicine bottle pusher plate (2232) remains vertical under the spring force of the return spring (229). The medicine bottle pusher plate (2232) pushes the medicine bottles forward, pushing them one by one to the medicine dispensing window (213).

[0105] like Figure 6bAs shown, when medicine needs to be replenished, the bottle pusher plate (2232) retracts first. At this time, the screw motor (221) rotates in the opposite direction, driving the feeding assembly (223) to move backward to near the second end. The bottle pusher plate (2232) is obstructed by the blocking structure (230) and rotates and tilts until it retracts downward to below the medicine box placement plane (11), completely detaching from the medicine box (2). The operator can remove the medicine box (2) without obstruction, replenish the medicine bottle, and push it back into the frame (1). When the sorting operation begins, the screw motor (221) rotates in the forward direction, and the bottle pusher plate (2232) moves towards the first end, getting rid of the restriction of the blocking structure (230), and returns to the vertical state under the spring force of the return spring (229). The bottle pusher plate (2232) automatically completes the alignment, and its comb structure (2234) passes upward again through the long slot into the medicine bottle storage channel (212), moving forward until it touches the medicine bottle and stops.

[0106] This embodiment achieves extreme simplification of the medicine box (2) by placing the propulsion mechanism (22) completely outside the medicine box (2), significantly reducing the total mass of the medicine box and making the replacement and replenishment of the medicine box more convenient and reliable.

[0107] In a preferred embodiment, to accommodate the movement trajectory of the feeding assembly (223), a frame elongated slot (15) extending along the Z direction is provided on the medicine cartridge placement plane (11) of the frame (1). After the medicine cartridge (2) is installed in place, the comb structure (2234) passes upward through the frame elongated slot (15) and the medicine cartridge elongated slot (214) in sequence. It is understood that when the medicine cartridge placement plane (11) adopts a large-area hollow structure, or when the mounting base of the feeding assembly (223) is a frame structure, the frame elongated slot (15) is not necessary, as long as the movement of the comb structure (2234) is not obstructed.

[0108] Implementation of parallel job units

[0109] In a preferred embodiment of the present invention, to improve the overall processing efficiency of the device, multiple medicine containers (2) can be grouped according to the diameter of the medicine bottles they store. For example, medicine bottles with a diameter of 10mm-22mm and a volume of 2ml-8ml can be divided into group A, medicine bottles with a diameter of 22mm-28mm and a volume of 10ml-15ml can be divided into group B, medicine bottles with a diameter of 28mm-37mm and a volume of 20ml-30ml can be divided into group C, and so on. The diameter variation range of the medicine bottles in each group is controlled within the effective adsorption curvature range of the same suction cup (311), that is, the curved suction cup of the same specification can reliably adsorb medicine bottles of all diameters in the group.

[0110] like Figure 1As shown, each set of medicine boxes (2) is equipped with at least one independent sorting device (3), forming an independent storage and sorting unit that can work in parallel. Multiple units can work simultaneously, each processing different prescriptions or different medicines of the same prescription, without interfering with each other. This modular and parallel design concept enables the device to process multiple prescriptions simultaneously, greatly improving the overall drug dispensing throughput of the compounding center.

[0111] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various modifications and variations. For example, the elongated curved suction cup with two support rods used in the present invention can be completely replaced by two conventional circular suction cups; the fork and medicine bottle pusher in the present invention can be driven and extended by electromagnetic push rods or cylinders; the medicine bottle pusher in the present invention can be hinged and rotated as a whole, or each comb tooth structure can be hinged and rotated individually; the lead screw motor used in the present invention can be replaced by cylinders or synchronous belt drives under certain conditions; the drive part of the propulsion mechanism can also be selected in other positions, etc. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A storage and sorting device for injectable drugs, characterized in that, include: A framework (1); At least one medicine box (2) is disposed on the frame (1) for storing injection vials; At least one sorting device (3) is movably disposed on one side of the medicine box (2) for grabbing and removing medicine bottles; The medicine box (2) includes a shell (21), and the shell (21) has a medicine storage area (A) inside. The medicine storage area (A) is defined by at least one partition (211) to form at least one medicine bottle storage channel (212) extending along the length direction, which is used to accommodate and guide medicine bottles to be arranged along its length direction. The first end of the housing (21) is provided with a medicine retrieval window (213) corresponding to the medicine bottle storage channel (212). The medicine retrieval window (213) penetrates the housing (21) vertically and its width is smaller than the diameter of the stored medicine bottle. The medicine box (2) also includes a propulsion mechanism (22) for pushing the medicine bottle in the medicine bottle storage channel (212) from the second end to the first end; The sorting device (3) includes: A suction cup mechanism (31) further includes at least one suction cup (311) and a telescopic drive (312) for driving the suction cup (311) to extend and retract, wherein the working surface of the suction cup (311) has a concave profile that can form a seal when in contact with the outer circular surface of the medicine bottle; A moving mechanism (32) is used to drive the suction cup mechanism (31) to move in the horizontal and / or vertical directions; The suction cup (311) is configured to extend into the medicine dispensing window (213) via the telescopic drive (312) to adsorb the outer wall of the medicine bottle located at the front end of the medicine bottle storage channel (212), and retract from the medicine box (2) after the moving mechanism (32) lifts the suction cup (311) so that the bottom surface of the adsorbed medicine bottle is higher than the first end.

2. The storage and sorting device according to claim 1, characterized in that, The propulsion mechanism (22) includes: At least one first linear guide rail (224) is provided along the length direction; A feeding assembly (223) that slides in conjunction with the first linear guide (224) and has a bottle pusher (2232) with a comb structure (2234) extending into each of the bottle storage channels (212); And a lead screw drive assembly for driving the feed assembly (223) to move linearly along the first linear guide (224).

3. The storage and sorting device according to claim 2, characterized in that, In the medicine box (2): A propulsion mechanism area (B) is arranged parallel to the width direction, and is arranged side by side with the drug storage area (A) to accommodate the propulsion mechanism (22); The lead screw drive assembly includes a lead screw motor (221) and a lead screw nut (225); The lead screw motor (221) is fixedly installed on the housing (21) of the medicine box (2), and its output shaft is a lead screw; the lead screw nut (225) is fitted on the lead screw and fixedly connected to the feed assembly (223).

4. The storage and sorting device according to claim 2, characterized in that, In the medicine box (2): A propulsion mechanism area (B) is arranged parallel to the width direction, alongside the drug storage area (A), for accommodating at least part of the propulsion mechanism (22); The screw drive assembly of the propulsion mechanism (22) includes a screw motor (221) and a screw nut (225). The screw motor (221) is fixedly mounted on the frame (1). The first linear guide rail (224) is fixedly mounted inside the housing (21) of the medicine box (2). The feeding assembly (223) is located inside the housing (21). At least one second linear guide rail (226) is fixedly mounted on the frame (1) and located outside the medicine box (2); A shift fork (222) is fixedly connected to the lead screw nut (225), and the shift fork (222) is slidably engaged with the second linear guide rail (226); The bottom of the shell (21) of the medicine box (2) is provided with a medicine box elongated slot (214) extending along the length direction; The front end of the fork (222) passes upward through the elongated slot (214) of the medicine cartridge and abuts against the rear end of the feed assembly (223); When the lead screw motor (221) drives the shift fork (222) to move along the second linear guide rail (226) toward the first end, the shift fork (222) pushes the feed assembly (223) to move synchronously along the first linear guide rail (224); when the shift fork (222) moves in the opposite direction, it disengages from the feed assembly (223).

5. The storage and sorting device according to claim 4, characterized in that, The feed assembly (223) includes an elastic sheet (2233) that abuts against the inner surface of the housing (21) to prevent the feed assembly (223) from sliding freely.

6. The storage and sorting device according to claim 2, characterized in that, In the medicine box (2): The bottom of the shell (21) of the medicine box (2) is provided with at least one medicine box long slot (214) extending along the length direction. The number of medicine box long slots (214) is the same as the number of medicine bottle storage channels (212), and their positions correspond one-to-one. The lead screw drive assembly includes a lead screw motor (221) and a lead screw nut (225). The lead screw motor (221) is fixedly mounted on the frame (1), and at least one first linear guide rail (224) is fixedly mounted on the frame (1). The feed assembly (223) is disposed outside the housing (21) and includes: A base (228) is fixedly connected to the lead screw nut of the lead screw motor (221) and slidably engaged with the first linear guide rail (224); The medicine bottle push plate (2232) has its lower end hinged to the base (228) and its upper end has a comb structure (2234). The comb structure (2234) passes vertically upward through the medicine box long slot (214) and extends into each of the medicine bottle storage channels (212). A return spring (229) is connected to the medicine bottle push plate (2232) and the base (228) to keep the medicine bottle push plate (2232) in a vertical state when there is no external force. A blocking structure (230) is fixed on the frame (1). When the feeding assembly (223) moves to the vicinity of the second end face, the medicine bottle pusher (2232) contacts the blocking structure (230) and rotates and tilts. When the lead screw motor (221) drives the feeding assembly (223) to move along the first linear guide (224) toward the first end, the medicine bottle pusher (2232) remains vertical under the action of the return spring (229) and pushes the medicine bottle forward; when the feeding assembly (223) moves in the opposite direction to the vicinity of the second end, the medicine bottle pusher (2232) is obstructed by the blocking structure (230) and rotates and tilts, retracting downwards to below the shell (21) of the medicine box (2).

7. The storage and sorting device according to claim 1, characterized in that, The suction cup (311) is an elongated waist-shaped structure extending in the vertical direction and is made of flexible material; the suction cup mechanism (31) also includes at least two support rods (313), of which at least one of the support rods (313) is an air tube connected to a negative pressure source.

8. The storage and sorting device according to claim 1, characterized in that, The medicine box (2) also includes a flexible anti-tipping mechanism (23), which is a strip-shaped component with flexible bristles (231) embedded on one side. It is located at the first end of the housing (21) and the flexible bristles (231) extend vertically downward to the space between the first row of medicine bottles and the second row of medicine bottles.

9. The storage and sorting device according to claim 1, characterized in that, The moving mechanism (32) includes: At least one Y-guide rail (321) is fixed vertically on the frame (1); At least one crossbeam (322) is slidably disposed on the Y-guide rail (321); An X-axis moving platform (323) is disposed on the crossbeam (322), and the suction cup mechanism (31) is mounted on the X-axis moving platform (323).

10. The storage and sorting apparatus according to claim 1 or 9, characterized in that, The sorting device (3) also includes a medicine bottle buffer mechanism (33): The medicine bottle buffer mechanism (33) includes at least one tubular container with an openable and closable valve (331) at the bottom, and is located below the moving mechanism (32); The suction cup (311) adsorbs the medicine bottle, retracts it, and moves it above the medicine bottle buffer mechanism (33), and releases the adsorption to place the medicine bottle into the buffer mechanism (33).

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