A general liquid preparation robot capable of continuous liquid preparation

Abstract

The application discloses a general liquid preparation robot capable of continuous liquid preparation, which comprises two liquid preparation units, an ampoule pretreatment device and general medicine bottle conveying devices; the liquid preparation unit comprises one liquid preparation mechanical hand device, one syringe conveying device, one solvent conveying device, one needle removing device and one general track; the ampoule pretreatment device 2 comprises at least two pretreatment units and is arranged at the rear end of the liquid preparation robot and used for automatically cutting, sterilizing and breaking the ampoules; at least two general medicine bottle conveying devices 3 are associated with the pretreatment units one by one in space; by changing the input complete prescription into input single raw material and adopting the method of double liquid preparation mechanical hand device relay, the production mode of continuous input and continuous liquid preparation of the liquid preparation robot is realized, and the productivity of the liquid preparation robot is improved.

Description

Technical Field

[0001] This invention relates to the field of solution preparation processes in medical compounding centers, and in particular to a solution preparation robot. Background Technology

[0002] Liquid preparation robots are increasingly being used in intravenous compounding centers. The operation process of a liquid preparation robot is as follows: First, a person manually feeds the raw materials into the liquid preparation robot in sequence, including syringes or pipettes, solvents, and the drugs specified in the prescription; after these raw materials are in place inside the machine, the liquid preparation robot performs the liquid preparation operation.

[0003] Therefore, when the current dispensing robot is performing dispensing operations, manual input of raw materials must be stopped until the robot completes the current dispensing operation before the next input can begin. Each input must contain one or more complete prescription materials, including syringes, solvents, and drugs. This intermittent dispensing method results in a device utilization rate of less than 50%, significantly reducing the productivity of the current dispensing robot, extending pharmacists' working hours, and worsening the robot's economic efficiency. Summary of the Invention

[0004] This invention provides a universal liquid dispensing robot capable of continuous liquid dispensing, thereby solving the aforementioned problems existing in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A universal dispensing robot capable of continuous dispensing includes two dispensing units 1, an ampoule pretreatment device 2, and at least two universal medicine bottle transfer devices 3.

[0007] Each of the two liquid preparation units 1 includes a liquid preparation robot 4, a syringe transfer device 5, a solvent transfer device 6, a needle unloading device 7, and a universal track 8.

[0008] The two liquid dispensing units 1 are equipped with liquid dispensing manipulators 4, which are mounted on a common base in a suspended manner on the longitudinal center plane of the equipment. Each liquid dispensing manipulator 4 includes three T-shaped joint modules 41 with parallel pivot axes, a large arm 42, a small arm 43, and an end-effector module 40. The pivot axes of the joint modules are parallel to each other, so the end-effector module 40 moves in a plane perpendicular to the longitudinal center plane of the equipment.

[0009] The end-load syringe module 40 includes a housing 401, a loading mechanism 402, and a dispensing mechanism 403. The syringe module loading mechanism 402 can hold or discard the syringe barrel, and the syringe module dispensing mechanism 403 can clamp or release the syringe piston handle and push the syringe piston handle to reciprocate, drawing or discharging liquid. The dispensing manipulator 4 is used to perform the following three dispensing functions: 1. Drawing liquid from a solvent bag and injecting it into a vial to dissolve solid drugs, and drawing liquid from the vial and returning it to the solvent bag; 2. Drawing liquid from an ampoule and injecting it into a solvent bag; 3. Loading or discarding the syringe.

[0010] The universal track 8 of the two liquid preparation units each includes a guide rail 81 and a track profile 82, which are arranged horizontally, parallelly, and symmetrically on both sides of the longitudinal center plane of the equipment, respectively, and run through the raw material input area and the liquid preparation area. The liquid preparation area includes a liquid preparation robot device 4 and an ampoule pretreatment device 2, and the raw material input area is located at any end outside the liquid preparation area.

[0011] The syringe transfer devices 5 of the two liquid dispensing units 1 are slidably mounted on two universal tracks 8. Each syringe transfer device 5 includes a syringe tray 51, a support structure 52, and a column structure 53. When the robotic syringe module 40 loads a syringe, the syringe column mechanism 53 raises and lowers the syringe tray 51 to a suitable height. The loading mechanism 402 approaches the syringe on the syringe tray 51. After the guiding and locking action of the loading mechanism 402, the syringe moves from the syringe tray 51 to the syringe module 40.

[0012] The solvent transfer devices of the two dispensing units are slidably mounted on two universal rails. Each solvent transfer device includes a column mechanism 61, a pitching mechanism 62, a clamping mechanism 63, and a pallet mechanism 64. The clamping mechanism 63 and the pallet mechanism 64 share a common housing 621. The housing 621 is rotatably mounted on the pitching mechanism 62, and the pitching mechanism 62 is fixedly mounted on the column mechanism 61. The column mechanism 61 is slidably mounted on the universal guide rail 8.

[0013] The solvent column mechanism 61 is used to raise and lower the pitch mechanism 62 to a suitable height to meet the spatial requirements of solvent input and dispensing. The solvent pitch mechanism 62 is used to maintain the optimal posture of the solvent during injection and aspiration, reducing the risk of drug spillage and air inhalation. The solvent clamping mechanism 63 is used to keep the solvent stable in all dispensing operations, preventing needle breakage due to solvent instability during operation of the robotic syringe module. The tray mechanism 64 is used to keep the height of the solvent center surface adapted to the center surface of the gripper, facilitating input operations.

[0014] The needle removal devices 7 of the two liquid preparation units 1 are slidably mounted on two universal tracks 8, each including a needle removal mechanism 71 and a syringe storage box 72. The needle removal mechanism 71 includes a hollow rotary gripper 711, which can hold the syringe needle and loosen it by rotating counterclockwise, causing the needle to detach from the syringe barrel. After the needle removal device 7 moves to the appropriate position, the needle removal mechanism 71 releases and discards the needle. The syringe storage box 72 has a rotating gate 722 for storing the syringe barrel when the end-loaded syringe module 40 discards it. After the needle removal device 7 moves to the appropriate position, the syringe storage box 72 opens the rotating gate 722 to discard the syringe barrel.

[0015] On each general track 8, the order from the raw material input area to the solution preparation area is as follows: solvent transfer device 6, syringe input device 5, and needle unloading device 7.

[0016] The ampoule pretreatment device 2 is used for automatically cutting, sterilizing, and breaking ampoules. It includes a housing base 22, at least two ampoule cutting and sterilizing mechanisms 20, and at least two breaking mechanisms 21, and is located above the universal medicine bottle transport device 3. The number of ampoule cutting and sterilizing mechanisms 20 and breaking mechanisms 21 is the same as the number of universal medicine bottle transport devices 3, and they correspond one-to-one in spatial position. The ampoule pretreatment device 2 is located above the universal medicine bottle transport device 3, with a predetermined distance from the two dispensing robotic arms 4, so as not to obstruct the movement of the dispensing robotic arms 4.

[0017] The universal vial transport device 3 is used to carry ampoules or vials to the two dispensing robot devices 4 and the ampoule pretreatment device 2 to complete the dispensing operation. There are at least two universal vial transport devices 3, located below the dispensing robot devices 4 of the two dispensing units 1, and symmetrically distributed on both sides of the longitudinal center plane of the equipment. The universal vial transport device 3 includes a gripper rotation device 31, a universal gripper device 32, and a gripper track 33. The gripper track 33 is horizontal, parallel, and symmetrical to the longitudinal center plane of the equipment, starting at the front end of the dispensing robot, passing under the two dispensing robot devices 4, and extending to the area below the ampoule pretreatment mechanism 2.

[0018] When cutting ampoules, the lifting mechanism 323 of the universal gripper device 32 is used to lift the neck of the ampoule to the height of the cutting surface, and the clamping mechanism 322 firmly clamps the ampoule body, which, together with the cutting and disinfection mechanism 20 of the ampoule pretreatment device 2, completes the ampoule cutting and disinfection work.

[0019] When the ampoule is broken, the clamping and rotating device 31 is used to rotate the ampoule body, and the ampoule head is broken under the condition that the breaking mechanism 21 clamps the bottle head.

[0020] When drawing liquid from ampoules and vials, the gripper rotation device 31 adjusts the rotation angle so that the ampoule or vial is tilted at a predetermined drawing angle, creating a depression at the bottom. The syringe needle of the dispensing robot device 4 reaches the depression at the bottom of the vial, resulting in minimal residual liquid. This upright aspiration method is applicable to all sizes of ampoules and vials. Specifically, the ampoule is tilted at approximately 8°, and the vial at approximately 10°, with the mouth facing upwards, and the needle reaches the lowest point at the bottom. This process has been proven through testing to be simple in structure, fast in operation, and produce minimal residual liquid.

[0021] The present invention differs significantly from current technologies in the following ways:

[0022] 1. Raw material input method and solution preparation program start time

[0023] The current mainstream method for dispensing robots involves inputting the complete prescription ingredients, then starting the dispensing robot to begin dispensing. After the robot completes the dispensing of one or a batch of prescriptions and outputs the product, it proceeds to dispensing the next batch of prescriptions. In contrast, this invention inputs only one unit of the ingredient from the prescription at a time, and the dispensing robot immediately starts the dispensing process after the first ingredient is input.

[0024] The difference between this invention and current liquid preparation robots in terms of raw material input lies in the fact that this invention optimizes the input order of raw materials based on the properties of different prescriptions. The four raw materials in the prescription are input in the following order: syringe → ampoule medication → solvent → vial medication.

[0025] Optimizing the raw material input sequence allows the raw material input to match the dispensing program of the dispensing robot 4. For example, the raw material input sequence for an ampoule prescription in mixing mode is: syringe, ampoule medication, and solvent. The dispensing robot 4 program for an ampoule prescription in mixing mode is: loading the syringe, cutting and aspirating the ampoule medication, and injecting the medication into the solvent. Since the raw material input sequence in the mixing mode perfectly matches the dispensing program of the dispensing robot 4, the waiting time when the dispensing robot 4 executes the program can be minimized, maximizing efficiency.

[0026] From the perspective of the timing of input and solution preparation, after the syringe is input, while the syringe module 40 of the solution preparation robot device 4 is loading the syringe, the first, second, and other ampoules of medicine can continuously complete pre-treatment work such as input, cutting, sterilization, and breaking. While the syringe module 40 is completing the ampoule aspiration work, the solvent completes input work such as scanning and sterilization. And so on, some raw material input actions and some machine solution preparation procedures overlap in time.

[0027] In summary, compared with the current mainstream liquid preparation robot methods, this invention can shorten the total time from raw material input to preparation completion for each prescription.

[0028] 2. Continuous input mode based on dual liquid dispensing robot unit

[0029] Current mainstream solutions for improving solution dispensing efficiency typically rely on batch input of raw materials and pipetting technology. Therefore, current mainstream solutions for dispensing robots still suffer from intermittent operation, low equipment utilization, and large size and weight.

[0030] This invention combines innovations in raw material input methods and liquid preparation program start-up time, and adopts a dual liquid preparation unit method to improve the overall liquid preparation efficiency of the liquid preparation robot.

[0031] According to experimental results, in this invention, the time taken for one dispensing unit to complete a standard prescription is approximately 40 to 70 seconds. Manual input of a standard prescription takes approximately 25 to 40 seconds, roughly half the time taken by the dispensing unit. Therefore, this invention sets up two dispensing units to take turns accepting manually input raw materials, forming a work mode of continuous manual input of raw materials and continuous dispensing by the dispensing robot.

[0032] A larger number of universal vial transfer devices 3 can make the continuous dispensing mode more stable. Based on the dispensing test data and the calculation of model motion, at least two universal vial transfer devices 3 are required for the dispensing prescription of common easily soluble drugs.

[0033] 3. A universal medicine bottle transfer device 3 is adopted to enable the dispensing robot to be compatible with ampoules and vials.

[0034] Currently, ampoules and vials in dispensing robots are typically handled by two separate mechanisms for input, storage, and movement. Furthermore, during dispensing, the vials often need to be transferred between different mechanisms, increasing complexity and time consumption. In this invention, ampoules and vials share a single universal vial transfer device 3. By optimizing the overall layout, both ampoules and vials remain within the universal vial transfer device 3 throughout the entire dispensing process, eliminating the need for multiple transfers. This simplifies the structure and optimizes the dispensing process.

[0035] Beneficial effects:

[0036] 1. By changing the input of the complete prescription to the input of a single raw material, and by using a dual-liquid-dispensing robotic arm to relay the process, a production mode of continuous input and continuous liquid dispensing by the liquid dispensing robot can be achieved, which can more than double the productivity of the liquid dispensing robot.

[0037] 2. By adopting a universal medicine bottle transfer device 3 that is compatible with both vials and ampoules, the versatility of the dispensing robot is achieved with a simpler structure, further improving the economic efficiency of the equipment.

[0038] 3. The above two technical measures bring significant benefits in terms of equipment deployment ease. Currently, the most mainstream ampoule or vial batch dispensing robot weighs 2.2 tons and requires a 1.6-meter freight elevator for transport. This invention is a universal model that can simultaneously complete batch dispensing and mixing operations, offering enhanced functionality while weighing only 0.68 tons, and can be transported using a conventional 1.1-meter elevator. Attached Figure Description

[0039] Figure 1 , Figure 2 This is a schematic diagram of the overall structure of the embodiment;

[0040] Figure 3 This is a schematic diagram of the liquid preparation robot device in the embodiment;

[0041] Figure 4 , Figure 5 , Figure 6 This is a schematic diagram of the syringe module structure in an embodiment;

[0042] Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 This is a schematic diagram of the ampoule pretreatment device in the embodiment;

[0043] Figure 13 , Figure 14 , Figure 15 , Figure 16 , Figure 17 This is a schematic diagram of the general medicine bottle transfer device in the embodiment;

[0044] Figure 18 This is a schematic diagram of the overall structure of the general track in the embodiment;

[0045] Figure 19 This is a schematic diagram of the syringe delivery device structure in an embodiment;

[0046] Figure 20 , Figure 21 , Figure 22 , Figure 23 , Figure 24 This is a schematic diagram of the solvent transport device in the embodiment;

[0047] Figure 25 , Figure 26 , Figure 27 This is a schematic diagram of the needle unloading mechanism in the embodiment; Detailed Implementation

[0048] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0049] like Figure 1 , Figure 2 As shown, a universal liquid dispensing robot capable of continuous liquid dispensing includes two dispensing units 1, a three-unit ampoule pretreatment device 2, and three universal medicine bottle transfer devices 3. Each of the two dispensing units 1 includes a dispensing manipulator 4, a syringe transfer device 5, a solvent transfer device 6, a needle unloading device 7, and a universal track 8.

[0050] The two dispensing robot arms 4 of the two dispensing units 1 are positioned one in front of the other on the longitudinal center plane of the universal dispensing robot. The three-unit ampoule pretreatment devices 2 are positioned at predetermined intervals behind the two dispensing robot arms 4. Three universal vial transport devices 3 are symmetrical about the longitudinal center plane, passing beneath the two dispensing robot arms 4 and the three-unit ampoule pretreatment devices 2. Each unit in the three-unit ampoule pretreatment device 2 corresponds spatially to one universal vial transport device 3.

[0051] The two universal tracks 8 of the two liquid preparation units 1 are arranged horizontally, parallel and symmetrically on both sides of the longitudinal center plane. On each universal track 8, the sequence from front to back is: solvent transfer device 6, syringe input device 5 and needle unloading device 7.

[0052] like Figure 3 As shown, two liquid dispensing robotic arms 4 are used to automatically inject or extract liquids from solvents, ampoules, or vials. Each liquid dispensing robotic arm 4 includes three T-shaped joint modules 41 with parallel center lines of rotating shafts, an upper arm 42, a lower arm 43, and an end syringe module 40, which are arranged in a suspended manner on the longitudinal center plane of the equipment.

[0053] like Figure 4 As shown, the end-load syringe module 40 includes a housing 401, a loading mechanism 402, and a liquid dispensing mechanism 403, which move in a plane perpendicular to the longitudinal center plane of the device.

[0054] like Figure 5 As shown, the syringe module loading mechanism 402 consists of a syringe holder 4021, a loading slider 4022, a loading guide rail 4023, a syringe pressure plate 4024, a copper square nut 4025, and a lead screw motor 4026. The syringe holder 4021, the loading guide rail 4023, and the lead screw motor 4026 are fixedly mounted on the housing 401. The loading slider 4022 and the copper square nut 4025 are fixedly mounted on the syringe pressure plate 4024. The loading slider 4022 is slidably mounted on the loading guide rail 4023. The copper square nut 4025 passes through the output lead screw of the lead screw motor 4026.

[0055] like Figure 6 As shown, the syringe module liquid dispensing mechanism 403 consists of a ball screw motor 4031, a ball nut 4032, a ball nut seat 4033, a piston push plate (A) 4034, a piston push plate nut 4035, a piston push plate (B) 4036, a linear guide rail 4037, a piston push plate slider 4038, a ball nut seat slider 4039, and a piston push plate motor 40310. The ball screw motor 4031 and the linear guide rail 4037 are fixedly mounted on the housing 401. The piston push plate motor 40310, ball nut 4032, piston push plate (A) 4034, and ball nut seat slider 4039 are fixedly mounted on the ball nut seat 4033. The piston push plate nut 4035 and piston push plate slider 4038 are fixedly mounted on the piston push plate (B) 4036. The ball nut seat slider 4039 and piston push plate slider 4038 are slidably mounted on the linear guide rail 4037. The ball nut 4032 passes through the lead screw of the ball screw motor 4031, and the piston push plate nut 4035 passes through the lead screw of the piston push plate motor 40310.

[0056] The operation and function of the end-load injector module are as follows:

[0057] 1. Syringe Loading: The transfer device of the syringe module is transferred to the syringe module. After the loading mechanism 402 approaches the syringe, the V-shaped structure of the syringe holder 4021 guides the syringe syringe to center; the syringe pressure plate 4024 is fixed on the loading slider 4022 and slidably mounted on the loading guide rail 4023; the lead screw motor 4026 and the copper square nut 4025 drive the syringe pressure plate 4024 to move inward, pressing the syringe onto the syringe holder 4021, completing the transfer of the syringe from the transfer device to the syringe module 40.

[0058] 2. Injection and Aspiration: While the loading mechanism 402 presses the syringe barrel, the syringe piston handle is engaged in the gap between piston push plate (A) 4034 and piston push plate (B) 4036. Piston push plate (B) 4036 is fixed on piston push plate slider 4038 and driven by piston push plate motor 40310, pressing the syringe piston handle against piston push plate (A) 4034. Both piston push plate (A) 4034 and piston push plate motor 40310 are fixed on ball nut seat 4033 and move with ball nut 4032, simultaneously driving the syringe piston handle to move bidirectionally, realizing syringe injection and aspiration.

[0059] 3. Syringe Disposal: First, the ball nut 4032 moves to push the piston to its fully retracted state, disengaging piston push plates (A) 4034 and (B) 4036 from the piston handle of the syringe. Next, the lead screw motor 4026 and the copper square nut 4025 drive the syringe barrel clamping plate 4024 outward, releasing the syringe barrel from its clamping state. Afterward, when the syringe module is adjusted to the syringe disposal position, the syringe barrel can be discarded.

[0060] like Figure 1 , Figure 2 , Figure 18 As shown, two universal tracks 8 are arranged horizontally, parallelly, and symmetrically on both sides of the longitudinal center plane of the equipment. The universal tracks extend from the front end of the liquid dispensing robot to the bottom of the two liquid dispensing manipulators. The universal track 8 includes guide rails 81 and track profiles 82.

[0061] like Figure 18 As shown, the syringe transfer device 5 is located in the middle of the general track 8, with the solvent transfer device 6 in front and the needle removal device 7 behind.

[0062] like Figure 19 As shown, the syringe transfer device 5 includes a syringe tray 51, a support structure 52, and a column structure 53. The support structure 52 includes a bracket 521, a lifting ball bearing nut 522, and two lifting sliders 523. The column structure 53 includes a column 531, two lifting guide rails 532, a lifting ball screw motor 533, four translation sliders 534, and two slider mounting angles 535. The lifting ball screw motor 533, the four translation sliders 534, the two slider mounting angles 535, and the two lifting guide rails 532 are fixedly mounted on the column 531. The syringe tray 51, the lifting ball bearing nut 522, and the two lifting sliders 523 are fixedly mounted on the support 521. The lifting sliders 523 are slidably mounted on the lifting guide rails 532.

[0063] The operation and function of the syringe transfer device 5 are as follows: Four translation sliders 534 are slidably mounted on the universal track 8, allowing the syringe transfer device 5 to move horizontally on the universal track 8. The lifting ball screw motor 533 pushes the lifting ball nut 522 to move up and down, driving the bracket 521 and syringe tray 51 to rise and fall, so that the syringe tray 51 is raised and lowered to a suitable height, meeting the spatial position requirements for syringe input and loading onto the syringe module 40 of the liquid dispensing robot device 4.

[0064] like Figure 18 , Figure 20 , Figure 21 , Figure 22As shown, the solvent transfer device 6 includes a column mechanism 61, a pitching mechanism 62, a clamping mechanism 63, and a pallet mechanism 64. The clamping mechanism 63 and the pallet mechanism 64 share a common housing 621, which is rotatably mounted on the pitching mechanism 62. The pitching mechanism 62 is fixedly mounted on the column mechanism 61, and the column mechanism 61 is slidably mounted on the universal guide rail 8.

[0065] like Figure 20 As shown, the column mechanism 61 includes a housing 611, a bracket 612, a column 613, a ball screw 614, two lifting guide rails 615, two lifting sliders 616, a ball screw nut 617, a thrust bearing seat 618, a synchronous pulley transmission assembly 619, a lifting drive motor 6110, four translation sliders 6111, and two translation slider mounting brackets 6112. The two lifting guide rails 615, the thrust bearing seat 618, the lifting drive motor 6110, and the two translation slider mounting brackets 6112 are all fixedly mounted on the column 613. The two lifting sliders 616 and the ball screw nut 617 are fixedly mounted on the bracket 612. The two lifting sliders 616 are slidably mounted on the two lifting guide rails 615. The ball screw 614 passes through the ball screw nut 617, the thrust bearing seat 618, and the driven wheel of the synchronous pulley transmission assembly 619. The drive wheel of the synchronous pulley drive assembly 619 is fixedly connected to the output shaft of the lifting drive motor 6110. Four translation sliders 6111 are fixedly mounted on two translation slider mounting brackets 6112.

[0066] like Figure 21 , Figure 22 As shown, the pitch mechanism 62 includes a housing 621, a pitch support 622, a crossed roller bearing 623, and a motor reducer assembly 624. The inner ring of the crossed roller bearing 623 is fixedly connected to the pitch support 622, and the outer ring is fixedly connected to the housing 621. The motor reducer assembly 624 is fixedly installed inside the housing 621, and its output shaft is keyed to the shaft hole of the pitch support 622, which can drive the housing 621 to rotate around the center of the crossed roller bearing 623.

[0067] like Figure 21 , Figure 23As shown, the clamping mechanism 63 includes a pair of grippers 631, a pair of T-nuts with opposite threads 632, two sliders 633, a guide rail 634, a bidirectional T-screw 635, a bearing seat 636, a synchronous pulley transmission assembly 637, and a drive motor 638. The grippers 631 are fixedly mounted on the T-nuts with opposite threads 632, which are fixedly mounted on the two sliders 633. The guide rail 635, bearing seat 636, and drive motor 638 are fixed inside the housing 621. The bidirectional T-screw 635 passes through the T-nuts with opposite threads 632 and the bearing seat 636, and is connected to the driven wheel of the synchronous pulley transmission assembly 637. The driving wheel of the synchronous pulley transmission assembly 637 is connected to the output shaft of the drive motor 638, driving the bidirectional T-screw 635, the T-nuts with opposite threads 632, and the grippers 631 to move.

[0068] like Figure 21 , Figure 24 As shown, the pallet mechanism 64 includes a pallet 641, a linear guide rail 642, a slider 643, a rack 644, a gear 645, and a drive motor 646. The gear 645 is fixedly mounted on the output shaft of the drive motor 646. The drive motor 646 and the linear guide rail 642 are fixedly mounted on the housing 621. The rack 644 and the slider 643 are fixedly mounted on the pallet 641. The pallet 641 is slidably mounted on the linear guide rail 642.

[0069] The operation and function of the solvent transfer device 6 are as follows:

[0070] 1. Solvent height position adjustment: The lifting drive motor 6110 drives the synchronous wheel transmission assembly 619, ball screw nut 617, ball screw nut 617 and bracket 612. The lifting slider 58 of the bracket 612 slides on the lifting guide rail 59 of the column 53 to adjust the height of the solvent tray mechanism 64 fixed on the bracket 612 to meet the requirements of the solvent height position of the liquid dispensing robot 4.

[0071] 2. Solvent Pitch Adjustment: The output shaft of the motor reducer assembly 624 is keyed to the shaft hole of the pitch bracket 622. When the motor reducer assembly 624 rotates, the output shaft remains stationary, while the machine body and the outer casing 621 fixedly connected to the machine body rotate, driving the pallet mechanism 64 to rotate together. This allows the pallet mechanism 64 to adjust its pitch angle to meet the requirements of the solvent pitch angle of the dispensing robot 4. The solvent injection angle is approximately 10° upward, and the solvent extraction angle is approximately 10° downward.

[0072] 3. Solvent clamping: The drive motor 638 drives the synchronous pulley transmission assembly 637, the bidirectional T-shaped lead screw 635, and the positive and negative thread T-shaped nut 632 to move. The forward and reverse rotation of the positive and negative thread T-shaped nut 632 drives the left and right grippers to clamp and loosen, so as to meet the requirements of the liquid dispensing robot 4 for fixing the solvent and prevent the solvent from loosening and causing the needle to break.

[0073] like Figure 18 As shown, the needle removal device 7 includes a needle removal mechanism 71 and a syringe storage box 72. The needle removal device 7 is slidably mounted on a universal guide rail 8.

[0074] like Figure 25 As shown, the needle unloading mechanism 7 includes a hollow electric rotary gripper 711, a needle tip chute 712, a bracket 713, a translation slider 714, and a slider base plate 715. The hollow electric rotary gripper 711, two brackets 713, four translation sliders 714, and the slider base plate 715 are fixedly assembled as shown. The upper edge of the needle tip chute 712 aligns with the center hole of the hollow electric rotary gripper 711, and its upper edge aligns with the needle drop groove of the slider base plate 715, guiding the needle tip to a predetermined downward position. The slider base plate 715 is slidably mounted on the guide rail 41 of the universal track 8.

[0075] like Figure 18 , Figure 26 As shown, the syringe storage box 72 includes a gate stop 721, a rotating gate 722, a box body 723, a roller lever 724, a bearing seat 725, a shaft 726, an upper tension spring seat 727, a tension spring 728, and a lower tension spring seat 729. The left and right bearing seats 725 are fixed to the inner wall of the box body 723. The rotating gate 722 is fixed to the shaft 726, which passes through the left and right bearing seats 725, with one end extending out. The extended end is fixed to the roller lever 724. Pushing the roller lever 724 causes the rotating gate 722 to rotate around the shaft. The upper tension spring seat 727 is fixed to the back of the rotating gate 722, and the lower tension spring seat 729 is fixed to the inner side wall of the box body 723. The tension spring 728 is fixed at both ends to the upper tension spring seat 727 and the lower tension spring seat 729, applying tension to the rotating gate 722 to make it rotate. The rotary gate 722 has flanges with opposite directions on two opposite sides, and the upper tension spring seat 727 has a downward flange on the opposite side. Due to the positional restriction of the flanges by the side wall of the housing 723, the rotary gate 722 stops in a horizontal position under the tension of the tension spring 728.

[0076] The operation and function of the needle removal device 7 are as follows:

[0077] 1. Needle removal and disposal: The syringe module 40 at the end of the liquid dispensing robot 4 inserts the syringe needle into the central hole of the hollow electric rotary gripper 711 to a predetermined depth. The hollow electric rotary gripper 711 clamps and rotates 180°. At the same time, the liquid dispensing robot 4 moves upward to a predetermined height, causing the needle to detach from the syringe.

[0078] 2. Collecting syringes: After the needle is removed, the needle removal device 7 moves an appropriate distance so that the syringe storage box 72 is located directly below the end syringe module 40. After the end syringe module 40 releases the syringe, it falls into the syringe storage box 72.

[0079] 3. Discard the needle and syringe: such as Figure 26 As shown, the needle unloading device 7 moves to the predetermined position, and the roller lever 724 rotates due to the resistance of the gate stop 721, causing the rotating gate 722 to rotate against the tension of the tension spring 728, opening the rotating gate 722 and allowing the syringes in the syringe storage box 72 to fall out. Simultaneously, the hollow electric rotating gripper 711 releases its grip, and the needle falls along the needle slide 712. After discarding the needle and syringe, the needle unloading device 7 moves to the standby position, the roller lever 724 moves away from the gate stop 721, and the rotating gate 722 returns to its horizontal position.

[0080] like Figure 7 As shown, the ampoule pretreatment device 2 includes a housing base 22, three ampoule cutting and sterilization mechanisms 20, and three breaking mechanisms 21. It is located above the universal medicine bottle transport device 3, corresponding one-to-one with the universal medicine bottle transport device 3, and at a predetermined interval from the two dispensing robot devices 4. Symmetrically arranged on both sides of the longitudinal center plane of the device and located at the rear end of the dispensing robot, it is used for automatically cutting, sterilizing, and breaking the ampoules.

[0081] like Figure 8 As shown, the ampoule cutting and sterilization mechanism 20 includes a cutting and sterilization component 201, a rotation drive component 202, and a feed drive component 203.

[0082] like Figure 9 As shown, the cutting and disinfection assembly 201 includes a blade 2011, a blade wheel 2012, an alcohol pipe 2013, an alcohol nozzle 2014, an alcohol nozzle bracket 2015, a slider seat 2016, a guide rail 2017, and a slider 2018. The blade 2011 is fixed to the slider 2018, and the slider 2018 is slidably mounted on the guide rail 2017. The slider seat 2016 rotates, causing the blade wheel 2012 and the alcohol nozzle 2014 to rotate 360°.

[0083] like Figure 10 As shown, the rotary drive assembly 202 includes a motor 2021, a driving synchronous pulley 2022, a synchronous belt 2023, a crossed roller bearing 2024, and a driven synchronous pulley 2025. The motor housing of the motor 2021 and the outer ring of the crossed roller bearing 2024 are both fixed to the housing base 22. The upper surface of the driven synchronous pulley is fixedly connected to the inner ring of the crossed roller bearing 2024, and its lower surface is fixed to the slider seat 2016. The motor 2021 drives the slider seat 2016 to rotate via the driving synchronous pulley 2022, the synchronous belt 2023, and the driven synchronous pulley 2025.

[0084] like Figure 11As shown, the feed drive assembly 203 includes a lead screw motor 2031, a guide rail 2032, a slider 2033, a square T-nut 2034, a spring seat 2035, a spring 2036, and a stop bolt 2037. The lead screw motor 2031 is fixed to the slider seat 2016, and the square T-nut 2034 is fixed to the slider 2033. The spring seat 2035 is fixed to the square T-nut 2034 and is connected to the tool holder through the spring 2036 and the stop bolt 2037. The spring 2036 compresses the tool holder to achieve the feed motion of the tool wheel, and the stop bolt 2037 pulls the tool holder to achieve the retraction motion of the tool wheel.

[0085] like Figure 12 As shown, the breaking mechanism 21 includes a linear guide rail 211, a slider 212, a drive motor 213, a coupling 214, positive and negative thread nuts 215, a bidirectional T-shaped lead screw 216, left and right breaking rods 217, and a soft rubber pad 218. The linear guide rail 211 and the drive motor 213 are fixedly mounted on the housing base 22. The positive and negative thread nuts 215 and the slider 212 are mounted on the left and right breaking rods 217, and the slider 212 is slidably mounted on the linear guide rail 211. The bidirectional T-shaped lead screw 216 is connected to the drive motor 213 through the coupling 214, and passes through and drives the positive and negative thread nuts 215.

[0086] The operation and function of the ampoule cutting and sterilization mechanism 20 are as follows:

[0087] 1. Ampoule Cutting and Sterilization: The ampoule reaches the center of the cutting and sterilization mechanism 20, and the neck cutting surface is at the same height as the cutter wheel. The lead screw motor 2031 of the feed drive assembly 203 drives the spring seat 2035 and the spring 2036 to press the cutter bar 2011 to feed until the cutter wheel 2012 reaches the predetermined cutting force and stops feeding.

[0088] The rotary drive assembly 202 includes a motor 2021 driving a driving synchronous pulley 2022, a synchronous belt 2023, and a driven synchronous pulley 2025, which in turn drives the slider seat 2016 to rotate. The cutter bar 2011 and cutter wheel 2012 on the slider seat 2016, along with the alcohol spray nozzle 2014, rotate 360° with the slider seat 2016, completing the cutter wheel 2012's cutting of the ampoule neck. During the cutting process, the alcohol spray nozzle 2014 synchronously starts and stops spraying for disinfection.

[0089] The lead screw motor 2031 of the feed drive assembly 203 drives the spring seat 2035 and the plug bolt 2037 to pull the tool bar 2011 back until the tool wheel 2012 returns to the standby position.

[0090] 2. Ampoule head breakage: After the ampoule is cut, the universal medicine bottle conveying device 3 carries the ampoule to the breaking mechanism 21. The drive motor 213 drives the positive and negative thread nuts 215 and the bidirectional T-shaped lead screw 216 to rotate, causing the left and right breaking rods 217 to clamp the ampoule head. Under the action of the rotation mechanism of the universal medicine bottle conveying device 3, the ampoule body rotates at a predetermined angle, the head is broken off, and the universal medicine bottle conveying device 3 carries the body away. After the universal medicine bottle conveying device 3, the left and right breaking rods 217 release and discard the ampoule head.

[0091] like Figure 13 As shown, the universal medicine bottle conveying device 3 includes a rotating device 31, a universal gripper device 32, and a track 33. The output flange of the hollow rotating platform 311 of the rotating device 31 is fixedly connected to the universal gripper device 32, which includes a universal gripper base 321. The medicine bottle conveying track 33 includes a guide rail 331 and a track profile 332. Figure 1 , Figure 2 As shown, the gripper track 33 is horizontal, parallel, and symmetrical to the longitudinal center plane of the equipment. It starts at the front end of the liquid dispensing robot, passes under the two liquid dispensing manipulators 4, and extends to the bottom of the ampoule pretreatment mechanism 2.

[0092] like Figure 14 As shown, the rotating device 31 includes a hollow rotating platform 311, a drive motor 312, a housing 313, a bracket 314, and a slider 315. The output end of the drive motor 312 is connected to the input end of the hollow rotating platform 311. The hollow rotating platform 311 is fixedly installed inside the housing 313, and both sides of the housing 313 are fixedly connected to the bracket 314. The slider 315 is fixedly installed on the bracket 314 and slidably installed on the guide rail 331. Therefore, the universal medicine bottle conveying device 3 can slide on the rail 331.

[0093] like Figure 15 As shown, the universal gripper device 32 includes a universal gripper base 321, a clamping mechanism 322, and a lifting mechanism 323.

[0094] like Figure 16 As shown, the clamping mechanism 322 includes a drive screw motor 3221, a double motor base 3222, a T-nut 3223, an inner gripper slider 3224, an inner gripper 3225, a guide rail 3226, and an outer gripper 3227. The double motor base 3222, the guide rail 3226, and the outer gripper 3227 are all fixed on the universal gripper base 321. The inner gripper 3225 is fixed on the inner gripper slider 3224 and slidably mounted on the guide rail 3226.

[0095] like Figure 17As shown, the lifting mechanism 323 includes a horizontal moving lead screw motor 3231, a double motor base 3222, a horizontal moving T-nut 3232, a lifting lead screw motor 3233, a lifting base slider 3234, a guide rail 3235, a lifting mechanism base 3236, a lifting T-nut 3237, a top rod guide rail 3238, a top rod slider 3239, and a top rod 32310. The lifting mechanism base 3236 is fixed on the lifting base slider 3234 and slidably mounted on the guide rail 3235. The guide rail 3235 and the horizontal moving lead screw motor 3231 (via the double motor base 3222) are fixedly mounted on the universal gripper base 321. The lifting T-nut 3237 is mounted on the top rod 32310. The top rod 32310 is fixedly mounted on the top rod slider 3239 and slidably mounted on the top rod guide rail 3238. The horizontally moving T-nut 3232, the top rod guide rail 3238, and the lifting screw motor 3233 are fixedly mounted on the lifting mechanism base 3236. The T-nut 3232 passes through the screw of the driving screw motor 3221, and the lifting T-nut 3237 passes through the screw of the lifting screw motor 3233.

[0096] The operation and function of the universal medicine bottle transfer device 3 are as follows:

[0097] 1. Holding and transferring medicine bottles: The drive screw motor 3221 and T-nut 3223 move the inner gripper 3225 to separate from or move closer to the fixed outer gripper 3227, which can clamp or release the medicine bottle. The universal medicine bottle transfer device 3 slides along the track 33, carrying the medicine bottle from the front of the dispensing robot to the dispensing robot arm device 4 and the ampoule pretreatment device 2 for subsequent dispensing operations.

[0098] 2. Controlling the height of the vial: When a vial or ampoule is inserted into the space between the inner gripper 3225 and the outer gripper 3227, the bottom of the vial contacts the top rod 32310. The lifting screw motor 3233 and the lifting T-nut 3237 drive the top rod 32310 to move vertically up and down, thereby controlling the height of the vial and ampoule.

[0099] 3. Discarding medicine bottles: The horizontal moving lead screw motor 3231 and the horizontal moving T-nut 3232 drive the lifting mechanism base 3236 to move horizontally, so that the top rod 32310 leaves the area between the inner gripper 3225 and the outer gripper 3227, making room for the medicine bottle to fall when discarded, thus realizing the discarding of medicine bottles.

[0100] 4. Breaking off the ampoule head: After the ampoule head is clamped by the breaking rod 217, the rotating device 31 rotates at a predetermined angle. Because the ampoule body is restricted by the inner clamp 3225 and the outer clamp 3227, the ampoule head is broken off as it rotates.

[0101] 5. Tilting Liquid Aspiration: After the ampoule or vial is lifted to a predetermined height by the lifting mechanism 323, its spatial position is limited by the clamping mechanism 322, and the rotating device 31 rotates it by a predetermined angle. The ampoule is tilted at approximately 8 degrees, and the vial at approximately 10 degrees, creating a depression at the bottom of the vial. When the needle of the syringe module 40 contacts the depression, low residual liquid aspiration can be achieved.

[0102] The solution preparation method and working process of the solution preparation robot in this invention are as follows:

[0103] 1. Method for inputting prescription ingredients

[0104] The order of ingredient input in a prescription: Any prescription can contain a maximum of four ingredients: syringe, ampoule medication, solvent, and vial medication. The priority order for ingredient input is as follows: syringe, Ampoule medications solvent Vial medications. If the number of prescription ingredients is less than 4, the input order of the remaining ingredients remains unchanged.

[0105] When the number of ampoules containing medicine, n, is greater than that of the general medicine bottle transfer device 3, the solvent input sequence is advanced to the point where solvent is input immediately after the nth ampoule is input, and the remaining ampoules continue to be input.

[0106] Multiple prescription inputs: After the current dispensing unit completes the input of one prescription ingredient, another dispensing unit takes over to input the next prescription ingredient, and the two dispensing units take turns inputting ingredients.

[0107] 2. Working process of the liquid preparation robot

[0108] The working process of the solution preparation robot of the present invention is illustrated by taking the preparation process of a mixed ampoule prescription (containing a syringe, a solvent, an ampoule of medicine, and a vial of medicine) as an example.

[0109] Syringe loading:

[0110] S1: The syringe transfer device 5 is at the raw material input position. The syringe is placed into the syringe tray 51, the syringe transfer device 5 moves horizontally to the position of the liquid dispensing robot device 4, and the support structure 52 lifts the syringe tray 51 to a predetermined height.

[0111] S2: Syringe module 40 is in the syringe loading standby position. Loading mechanism 402 moves to the syringe loading position (approaching and contacting the syringe), performing a guiding and locking loading action, transferring the syringe from the transfer device to syringe module 40. Syringe module 40 moves to the ampoule drawing standby position.

[0112] S3: The support structure 52 of the syringe transfer device 5 descends to the standby position.

[0113] S4: (After solvent transfer device 6 leaves the solution preparation position) After syringe transfer device 5 leaves the standby position, it returns to the previous standby position. (After solvent transfer device 6 returns to the standby position) It returns to the raw material input position.

[0114] Ampoule medication preparation:

[0115] S1: (After the syringe is placed in the syringe tray 51) The universal vial transport device 3 is in the raw material input position. The ampoule is placed in the universal gripper 32 of the vial transport device 3 and moves linearly along the track 33 to below the cutting and sterilizing mechanism 20. The lifting mechanism 323 lifts the neck of the ampoule to the cutting surface.

[0116] S2: The cutting and sterilization mechanism performs 360° circular cutting and simultaneous sterilization on 20 pairs of ampoules.

[0117] S3: The universal medicine bottle transport device 3 carries the cut ampoule medicine to the breaking mechanism 21. The breaking mechanism 21 clamps the ampoule head.

[0118] S4: The universal gripper 32 slightly loosens the ampoule body, and the rotating device 31 rotates to a predetermined breaking angle. The ampoule body rotates accordingly, and the ampoule head is broken off from the cutting line.

[0119] S5: The universal medicine bottle transport device 3 carries the broken ampoule medicine to the position of the liquid dispensing robot device 4. The rotating device 31 tilts the ampoule body to the predetermined liquid extraction angle. The breaking mechanism 21 releases and discards the ampoule head.

[0120] S6: The syringe module 40 moves from the liquid extraction standby position of the ampoule to the liquid extraction position (the needle touches the bottom of the ampoule), and then moves to the solvent injection standby position after completing the liquid extraction.

[0121] S7: The universal medicine bottle conveying device 3 carries the emptied ampoules to the breaking mechanism 21, and the universal gripping device 32 discards the empty ampoules. The universal medicine bottle conveying device 3 returns to the raw material input position.

[0122] Solvent preparation:

[0123] S1: (After the ampoule is placed into the universal gripper 32) The solvent transfer device 6 moves from the standby position to the raw material input position. The solvent is placed onto the tray mechanism 64 and automatically clamped. The solvent transfer device 6 moves to the dispensing robot device 4, and the column mechanism 61 and the pitch mechanism 62 adjust the solvent to the injection angle and height.

[0124] S2: The syringe module 40 moves from the solvent injection standby position to the solvent injection position (the needle tilts downward to enter the solvent head), completes the injection, and then moves to the solvent aspiration standby position.

[0125] S3: The column mechanism 61 and the pitching mechanism 62 adjust the solvent to the pumping angle and height.

[0126] S4: The syringe module 40 moves from the solvent extraction standby position to the solvent extraction position (the needle is tilted upwards to enter the solvent head), completes the solvent extraction, and moves to the vial injection standby position.

[0127] S5: The column mechanism 61 and the pitch mechanism 62 adjust the solvent to the injection angle and height.

[0128] S6: (After completing the solution preparation in the vial) The syringe module 40 moves from the solvent injection standby position to the solvent injection position (the needle tilts downwards to enter the solvent head) to complete the injection.

[0129] S7: (One prescription solution is prepared) Syringe module 40 moves from the solvent injection position to the needle removal standby position.

[0130] S8: (After completing the liquid injection) The column mechanism 61 and the pitch mechanism 62 adjust the solvent to a horizontal angle and standby height. Return to the raw material input position, take out the prepared solvent, and then go to the standby position.

[0131] Medication preparation in vials:

[0132] S1: (After the solvent is placed into the tray mechanism 64) The universal vial transfer device 3 is at the raw material input position. The vial of medicine is placed into the universal gripper 32 of the vial transfer device 3 and moves along the track 33 to the liquid dispensing robot device 4. The lifting mechanism 323 lifts the vial to the liquid dispensing height, and the rotating device 31 rotates the vial to the predetermined liquid dispensing angle.

[0133] S2: The syringe module 40 moves from the vial filling standby position to the vial filling position (the needle enters the vial but does not touch the bottom), completing the vial filling.

[0134] S3: (After the powder dissolves) Syringe module 40 moves from the vial filling position to the vial drawing position (needle touches the bottom of the vial) to complete the drawing. Syringe module 40 then moves from the vial drawing position to the needle removal standby position.

[0135] S4: The universal vial conveyor 3 carries the emptied vials to the breaking mechanism 21, and the universal gripper 32 discards the empty vials. The universal vial conveyor 3 returns to the raw material input position.

[0136] Remove needle:

[0137] S1: (After the syringe transfer device 5 leaves the loading position) the needle unloading device 7 moves from the standby position to the needle unloading position of the liquid dispensing robot device 4.

[0138] S2: The syringe module 40 moves from the needle removal standby position to the needle removal position (the needle tip extends into the center hole of the needle removal mechanism 71). The needle removal mechanism 71 clamps and loosens the needle tip. At the same time, the syringe module 40 moves upward to a predetermined height, causing the needle tip to detach from the syringe. The syringe module 40 is then adjusted to a discard syringe posture.

[0139] S3: The needle removal device 7 moves from the needle removal position to the syringe position.

[0140] S4: Syringe module 40 releases the syringe, syringe storage box 72 collects the syringe. Dispensing robot device 4 returns to standby position.

[0141] S5: (After collecting the syringes) The needle unloading device 7 moves from the syringe collection position to the unloading position. At the unloading position, the rotating gate 722 of the needle unloading device 7 opens, and the syringes in the syringe storage box 72 fall out. The hollow electric rotating gripper 711 releases the gripper, and the needle falls along the needle slide 712.

[0143] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, such as changes in position or equivalent substitutions, made by those skilled in the art without departing from the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A universal solution dispensing robot capable of continuous solution dispensing, comprising: Two liquid preparation units 1, one ampoule pretreatment device 2, and a universal medicine bottle transfer device 3; Each of the liquid preparation units 1 includes a liquid preparation robot 4, a syringe transfer device 5, a solvent transfer device 6, a needle unloading device 7, and a universal track 8. The two universal tracks 8 are set horizontally and parallel to each other, symmetrical about the longitudinal center plane of the equipment, and reach from the front end of the liquid dispensing robot to the bottom of the two liquid dispensing manipulators. Each of the general-purpose tracks 8 is slidably installed from the front end to the rear end of the dispensing robot in the following order: solvent transfer device 6, syringe input device 5, and needle unloading device 7. The two liquid dispensing robotic arms 4 are used to inject or extract liquids from solvents, ampoules, or vials. Each liquid dispensing robotic arm 4 includes one large arm 42, one small arm 43, three T-joint modules 41, and one end syringe module 40. The rotation axis center lines of the three T-joint modules 41 are parallel to each other, and the motion plane of the end syringe module 40 is perpendicular to the longitudinal center plane of the equipment. The two liquid dispensing robotic arms 4 are arranged in a suspended manner on the longitudinal center plane of the equipment. The syringe transfer device 5 is used for transferring raw material syringes and adjusting their spatial position. The solvent transfer device 6 is used for the transfer of raw material solvent and spatial position adjustment; The needle removal device 7 is used for removing and transferring the needle from the discarded syringe. The ampoule pretreatment device 2 includes at least two pretreatment units, which are configured at the rear end of the liquid dispensing robot for automatically cutting, sterilizing and breaking ampoules. At least two universal vial transport devices 3 are spatially associated with the pretreatment unit. The at least two universal vial transport devices 3 are located between two universal tracks 8, arranged horizontally, parallel and symmetrically to the longitudinal center plane of the equipment, extending from the front end of the dispensing robot to the bottom of the ampoule pretreatment mechanism 2. The universal vial transport devices 3 are used for clamping, transporting and spatially adjusting the orientation of the injection vials.

2. The universal liquid dispensing robot according to claim 1, characterized in that: The end syringe module 40 includes a housing 401, a loading mechanism 402, and a liquid dispensing mechanism 403; The syringe module loading mechanism 402 consists of a syringe holder 4021, a loading guide rail 4023, and a lead screw motor 4026, all fixedly mounted on the housing 401. A loading slider 4022 and a copper square nut 4025 are fixedly mounted on the syringe pressure plate 4024. The loading slider 4022 is slidably mounted on the loading guide rail 4023, and the copper square nut 1025 passes through the output lead screw of the lead screw motor 4026. The syringe module liquid dispensing mechanism 403 consists of a ball screw motor 4031 and a linear guide rail 4037 fixedly mounted on the housing 401; a piston push plate motor 40310, a ball nut 4032, a piston push plate (A) 4034, and a ball nut seat slider 4039 fixedly mounted on a ball nut seat 4033; a piston push plate nut 4035 and a piston push plate slider 4038 fixedly mounted on a piston push plate (B) 4036; a ball nut seat slider 4039 and a piston push plate slider 4038 slidably mounted on the linear guide rail 4037; a ball nut 4032 passing through the lead screw of the ball screw motor 4031; and a piston push plate nut 4035 passing through the lead screw of the piston push plate motor 40310.

3. The universal liquid dispensing robot according to claim 1, characterized in that: The ampoule pretreatment device 2 includes an outer shell base 22, an ampoule cutting and sterilization mechanism 20, and a breaking mechanism 21; The ampoule cutting and sterilization mechanism 20 includes a cutting and sterilization component 201, a rotation drive component 202, and a feed drive component 203; The breaking mechanism 21 includes a linear guide rail 211, a slider 212, a drive motor 213, a coupling 214, a positive and negative thread nut 215, a bidirectional T-shaped lead screw 216, and a breaking rod 217. The linear guide rail 211 and the drive motor 213 are fixedly mounted on the housing base 22, and the bidirectional T-shaped lead screw 216 is connected to the drive motor 213 through a coupling 214; The slider 212 and the positive and negative thread nuts 215 are mounted on the break rod 217, the bidirectional T-shaped lead screw 216 passes through the positive and negative thread nuts 215, and the slider 212 is slidably mounted on the linear guide rail 211.

4. The universal liquid dispensing robot according to claim 1, characterized in that: The universal medicine bottle conveying device 3 includes a rotating device 31, a universal gripping device 32, and a track 33; The rotating device 31 includes a hollow rotating platform 311, a drive motor 312, a housing 313, a bracket 314, and a slider 315; The output end of the drive motor 312 is connected to the input end of the hollow rotating platform 311. The hollow rotating platform 311 is fixedly installed inside the housing 313. Both sides of the housing 313 are fixedly connected to the bracket 314. The slider 315 is fixedly installed on the bracket 314. The universal gripper device 32 includes a universal gripper base 321, a clamping mechanism 322, and a lifting mechanism. The track 33 includes a guide rail 331 and a track profile 332; The slider 315 is slidably mounted on the guide rail 331, and the output flange of the hollow rotating platform 311 is fixedly connected to the universal gripper base 321.

5. A universal liquid dispensing robot according to claim 1, characterized in that: The clamping mechanism 322 includes a drive screw motor 3221, a double motor base 3222, a T-nut 3223, an inner gripper slider 3224, an inner gripper 3225, a guide rail 3226, and an outer gripper 3227. The dual motor base 3222, the guide rail 3226, and the outer gripper 3227 are fixed on the universal gripper base 321. The T-nut 3223 is fixed on the inner gripper 3225. The inner gripper 3225 is fixed on the inner gripper slider 3224. The inner gripper slider 3224 is slidably mounted on the guide rail 3226. The T-nut 3223 passes through the lead screw of the drive screw motor 3221.

6. A universal liquid dispensing robot according to claim 1, characterized in that: The lifting mechanism 323 includes a horizontal moving lead screw motor 3231, a double motor base 3222, a horizontal moving T-nut 3232, a lifting lead screw motor 3233, a lifting base slider 3234, a guide rail 3235, a lifting mechanism base 3236, a lifting T-nut 3237, a top rod guide rail 3238, a top rod slider 3239, and a top rod 32310; The lifting T-nut 3237 is mounted on the top rod 32310, the top rod 32310 is fixedly mounted on the top rod slider 3239, the top rod slider 3239 is slidably mounted on the top rod guide rail 3238, the top rod guide rail 3238, the horizontally moving T-nut 3232, and the lifting screw motor 3233 are fixedly mounted on the lifting mechanism base 3236, the lifting mechanism base 3236 is fixed on the lifting base slider 3234 and slidably mounted on the guide rail 3235, and the guide rail 3235 and the horizontally moving screw motor 3231 are fixedly mounted on the universal gripper base 321 through the double motor base 3222; The lifting T-nut 3237 passes through the lead screw of the lifting lead screw motor 3233, and the T-nut 3232 passes through the lead screw of the driving lead screw motor 3221.

7. A universal liquid dispensing robot according to claim 1, characterized in that: The syringe transfer device 5 includes a syringe tray 51, a support structure 52, and a column structure 53. The lifting ball nut 522 and two lifting sliders 523 of the bracket structure 52 are fixedly installed on the bracket 521. The lifting ball screw motor 533, four translation sliders 534, two slider mounting angle aluminum pieces 535, and two lifting guide rails 532 of the column structure 53 are fixedly installed on the column 531. The syringe tray 51 is fixedly mounted on the bracket 521, the lifting slider 523 is slidably mounted on the lifting guide rail 532, and the four translation sliders 534 are slidably mounted on the universal guide rail 8.

8. A universal liquid dispensing robot according to claim 1, characterized in that: The solvent transfer device 6 includes a column mechanism 61, a pitching mechanism 62, a clamping mechanism 63, and a pallet mechanism 64; The outer shell 611, two lifting guide rails 615, thrust bearing seat 618, lifting drive motor 6110, and two translation slider mounting brackets 6112 of the column mechanism 61 are all fixedly mounted on the column 613. Two lifting sliders 616 and ball screw nut 617 are fixedly mounted on the bracket 612. The two lifting sliders 616 are slidably mounted on the two lifting guide rails 615. The ball screw 614 passes through the ball screw nut 617, the thrust bearing seat 618, and the driven wheel of the synchronous wheel transmission assembly 619. The driving wheel of the synchronous wheel transmission assembly 619 is fixedly connected to the output shaft of the lifting drive motor 6110. Four translation sliders 6111 are fixedly mounted on the two translation slider mounting brackets 6112. The pitch mechanism 62 includes: a housing 621, a pitch support 622, a crossed roller bearing 623, and a motor reducer assembly 624; The inner ring of the crossed roller bearing 623 is fixedly connected to the pitch support 622, and the outer ring of the crossed roller bearing 623 is fixedly connected to the outer shell 621. The motor reducer assembly 624 is fixedly installed inside the housing 621. The output shaft of the motor reducer assembly 624 is keyed to the shaft hole of the pitch support 622. The housing 621 can rotate around the center of the crossed roller bearing 623. The clamping mechanism 63 includes: a jaw 631, a T-nut with positive and negative threads 632, two sliders 633, a guide rail 634, a bidirectional T-screw 635, a bearing seat 636, a synchronous pulley transmission assembly 637, and a drive motor 638. The gripper 631 is fixedly mounted on the positive and negative thread T-nut 632, the positive and negative thread T-nut 632 is fixedly mounted on the two sliders 633, the sliders 633 are slidably mounted on the guide rail 634, and the guide rail 634, the bearing seat 636 and the drive motor 638 are fixed inside the outer shell 621; The bidirectional T-shaped lead screw 635 passes through the positive and negative thread T-shaped nut 632 and the bearing seat 636, and is connected to the driven wheel of the synchronous pulley transmission assembly 637. The driving wheel of the synchronous pulley transmission assembly 637 is connected to the output shaft of the drive motor 638. The pallet mechanism 64: a gear 645 is fixedly mounted on the output shaft of a drive motor 646, the drive motor 646 and a linear guide rail 642 are fixedly mounted on the housing 621, and a rack 644 and a slider 643 are fixedly mounted on the pallet 641; The gear 645 meshes with the rack 644, and the slider 643 is slidably mounted on the linear guide rail 642; The pitch mechanism 62 is fixedly mounted on the column mechanism 61, and the four translation sliders 6111 of the column mechanism 61 are slidably mounted on the universal guide rail 8.

9. A universal liquid dispensing robot according to claim 1, characterized in that: The universal track needle unloading device 7 includes a needle unloading mechanism 71 and a syringe storage box 72; The needle unloading mechanism 7 consists of a hollow electric rotary gripper 711 fixedly mounted on the upper part of two brackets 713, a needle tip chute 712 and four translation sliders 714 fixedly mounted on the upper surface of the slider base plate 715, the lower part of the two brackets 713 fixed on both sides of the slider base plate 715, and the four translation sliders 714 slidably mounted on the universal track 8. The syringe storage box 72 has left and right bearing seats 725 fixed to the inner wall of the box body 723, a rotating gate 722 fixed to the shaft 726, the shaft 726 passing through the left and right bearing seats 725, one end of the shaft 726 extending out and fixing the roller lever 724, an upper tension spring seat 727 fixed to the back of the rotating gate 722, a lower tension spring seat 729 fixed to the inner side wall of the box body 723, and two ends of a tension spring 728 fixed to the upper tension spring seat 727 and the lower tension spring seat 729. The syringe storage box 72 is fixedly installed on the bracket 713, the gate stop bar 721 is set at the predetermined unloading position, and the four translation sliders 714 are slidably installed on the universal guide rail 8.

10. A medical solution preparation method, employing the universal solution preparation robot as described in any one of claims 1-10, characterized in that, The following are the methods for inputting raw materials for preparing solutions: When inputting a complete prescription raw material, the general medicine bottle transfer device 3 inputs the raw material injection bottle, the syringe transfer device 5 inputs the raw material syringe, and the solvent transfer device inputs the raw material solvent, in the order of syringe, ampoule, solvent and vial. When the number of ampoules n in a complete prescription is greater than the number of general-purpose medicine bottle transfer devices 3, the solvent input sequence is advanced to between the nth ampoule and the (n+1)th ampoule.

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