Double-mechanical-arm full-automatic liquid preparation robot

Abstract

The utility model discloses a double-mechanical-arm full-automatic liquid dispensing robot, relates to the field of liquid dispensing robots, and adopts the technical scheme that the double-mechanical-arm full-automatic liquid dispensing robot comprises a queuing and grouping unit for queuing and grouping medicine bottles and putting the medicine bottles on a medicine receiving table; the pre-dissolving unit is used for clamping medicine bottles according to groups for liquid injection and shaking up, and placing the medicine bottles on a liquid supply table; and the temporary storage unit is used for conveying the liquid medicine in the medicine bottle into the solvent infusion bag. And full-automatic liquid medicine preparation can be realized, the preparation efficiency is very high, and the device is very suitable for occasions with large-scale liquid preparation requirements.

Description

Technical Field

[0001] The utility model relates to the field of liquid preparation robots, in particular to a double-arm full-automatic liquid preparation robot. Background Art

[0002] Intravenous infusion is one of the most common ways to treat patients in medical institutions at all levels in China. The automation of intravenous drug preparation can separate people from drugs, avoid air pollution in the current drug preparation process, allergic reactions and unknown drug reactions caused by accidental and inevitable drug cross-contamination, and reduce cross-infection; reduce the error probability in the manual drug preparation process and the occurrence probability of medical accidents; greatly reduce the working intensity of nurses and protect nurses from being harmed by toxic drugs. At present, the automated liquid preparation equipment mainly completes a certain link, such as injection or oscillation, and there is no full-automatic and full-chain equipment. Content of the Utility Model

[0003] To solve the above technical problems, the utility model provides a double-arm full-automatic liquid preparation robot, which can realize full-automatic liquid medicine configuration, with very high configuration efficiency, and is very suitable for occasions with large-scale liquid preparation requirements.

[0004] The technical solution adopted by the utility model to solve its technical problems is as follows: the double-arm full-automatic liquid preparation robot includes the following:

[0005] Queue grouping unit: used to queue and group medicine bottles and place them on the medicine receiving platform;

[0006] Pre-dissolution unit: clamp and inject liquid into the medicine bottles in groups and shake them evenly, and place them on the liquid supply platform;

[0007] Temporary storage unit: transport the liquid medicine in the medicine bottles into the solvent infusion bag.

[0008] In this solution, the medicine bottles are first queued, then grouped according to the queue, the solvent is injected on the medicine receiving platform, and after being shaken evenly by the pre-dissolution unit, they are placed on the liquid supply platform, and the formed liquid medicine is injected into the solvent infusion bag. The overall liquid preparation process has a smooth logic and can efficiently meet the liquid preparation requirements.

[0009] Preferably, the queue grouping unit includes a queuing structure and a grouping structure. The queuing structure includes a conveyor belt, a medicine storage pool and a conveying channel;

[0010] The medicine storage pool and the conveying channel are arranged above the conveyor belt. The downstream side wall of the medicine storage pool is inclined with a guide member, and the downstream end of the guide member is docked with the conveying channel. The width of the conveying channel only allows one medicine bottle to pass through;

[0011] The grouping structure is located at the downstream end of the conveying channel. The grouping structure includes a medicine receiving platform, a limiting fork and a blocking member;

[0012] The medicine receiving table is located on one side of the conveying channel. The limiting fork is slidably arranged above the medicine receiving table. A fork opening is arranged on the side edge of the limiting fork close to the conveying channel. The width of the fork opening only allows one medicine bottle to be placed. The limiting fork slides from the medicine receiving table, and the fork opening sequentially passes through the downstream port of the conveying channel. The blocking member is arranged above the medicine receiving table relative to the limiting fork, and one side edge of the blocking member blocks the port of the fork opening.

[0013] By providing a medicine storage pool, it can be used to temporarily store medicine bottles. The medicine bottles that need to queue and be grouped are placed here, so that the medicine bottles can be queued and grouped orderly subsequently, which can improve production efficiency.

[0014] The medicine bottles form a queue in the conveying channel. The fork opening of the limiting fork is arranged corresponding to the downstream port of the conveying channel. Therefore, when the limiting fork slides, the fork opening will sequentially align with the downstream port of the conveying channel. During the alignment process, the medicine bottles forming the queue will be pushed into the fork opening by the conveyor belt. When the limiting fork continues to move and other fork openings align with the downstream port of the conveying channel, the medicine bottles will also be pushed into the fork opening. Thus, all fork openings will be pushed with medicine bottles. When the limiting fork with a medicine bottle in the fork opening retracts, the blocking member will block the fork opening, thereby limiting the medicine bottle in the fork opening. The medicine bottles in the fork opening are taken as a group and are further operated on subsequently.

[0015] Preferably, the queuing structure includes a placement platform. The discharge port of the placement platform is docked with the medicine storage pool. The placement platform is provided with a push plate driven by a push bottle linear module, and the push bottle linear module drives the push plate to sweep towards the discharge port;

[0016] Strip-shaped sliding holes are arranged on the two side walls of the placement platform. The two ends of the push plate respectively extend out of the placement platform at least from the strip-shaped sliding holes. The push bottle linear module is located below the placement platform, and a synchronous rod is arranged at the output end of the push bottle linear module. The two ends of the synchronous rod are respectively fixed to the two ends of the push plate.

[0017] The push bottle linear module can drive the push plate to sweep on the placement platform, pushing the medicine bottles towards the discharge port so as to enter the queuing action along with the conveyor belt.

[0018] Preferably, the pre-dissolution unit includes a liquid injection component, a handling component, a buffer table and a liquid supply table;

[0019] The liquid injection component includes a liquid adding needle and an injection pump;

[0020] The liquid adding needle is arranged on a bracket. The liquid adding needle is connected to a liquid storage bin through an injection pipeline, and the injection pump is arranged on the injection pipeline;

[0021] The handling assembly includes a first handling assembly and a second handling assembly. The first handling assembly is located between the liquid injection assembly and the buffer table. The first handling assembly is used to clamp the medicine bottle from the medicine receiving table to the liquid injection needle for liquid injection, and after oscillation, place it on the buffer table. The second handling assembly is used to clamp the medicine bottle from the buffer table to the liquid supply table to connect the liquid inlet needle;

[0022] The handling assembly includes a robotic arm, a mounting seat, a first linkage structure, and a clamping structure;

[0023] A flipping motor is provided at the end of the robotic arm, and the mounting seat is provided at the output end of the flipping motor. The mounting seat is provided with the first linkage structure and a plurality of the clamping structures. The first linkage structure drives the clamping structures to synchronously perform clamping and separating actions.

[0024] After liquid injection, the medicine bottle first passes through the first handling assembly, is clamped from the medicine receiving table to the liquid injection needle for liquid injection, and after oscillation, is placed on the buffer table. The second handling assembly is used to clamp the medicine bottle from the buffer table to the liquid supply table to connect the liquid injection needle.

[0025] Preferably, the clamping structure includes a driven jaw and a driving jaw distributed relatively. The rear ends of the driven jaw and the driving jaw are respectively connected to the mounting seat through rotating shafts. Arc-shaped racks that mesh with each other are respectively provided at the rear ends of the driven jaw and the driving jaw. A swing arm is provided at the rear end of the driving jaw, and the swing arm is linked with the first linkage structure.

[0026] The driven jaw and the driving jaw are matched through the mutually meshing arc-shaped racks. When the first linkage structure drives the driving jaw to move, the driven jaw will also move synchronously, thereby achieving the effects of closing and opening.

[0027] Preferably, the first linkage structure includes a linkage plate, an eccentric wheel, and a torsion spring. The linkage plate is slidably fitted to the mounting seat. The linkage plate is provided with a pushing side and a stress side. The pushing side and the torsion spring are respectively located on both sides of the swing arm. The torsion spring is provided on the mounting seat. The torsion spring pushes the swing arm to swing towards the side of the pushing side. A clamping motor is provided on the mounting seat, and the eccentric wheel is provided at the output end of the clamping motor. The wheel surface of the eccentric wheel abuts against the stress side, and the eccentric wheel pushes the swing arm to swing towards the side of the torsion spring;

[0028] An upper limit plate is provided above the driven jaw and the driving jaw, and the upper limit plate is fixed to the mounting seat.

[0029] The torsion spring and the eccentric wheel are located on both sides of the swing arm. Therefore, when the eccentric wheel pushes the swing arm, it will overcome the torsion force of the torsion spring. When the eccentric wheel does not push the swing arm, the torsion spring will push the swing arm to swing towards the side of the eccentric wheel. Therefore, when the eccentric wheel rotates, with the cooperation of the torsion spring, the swing arm is always in contact with the eccentric wheel. Therefore, the swing arm will swing along with the eccentric wheel, that is, drive the active jaw and the driven jaw to perform the closing and opening actions.

[0030] Preferably, the temporary storage unit includes a conveying structure, a needle insertion limiting structure, and a temporary storage structure;

[0031] The conveying structure includes a liquid inlet needle, a conveying pipeline, a conveying pump, and an injection needle. The liquid inlet needle is arranged upward on the liquid supply table. The injection needle is connected to the liquid inlet needle through the conveying pipeline, and the conveying pump is arranged on the conveying pipeline;

[0032] The needle insertion limiting structure includes a suspension, a lifting plate, a hanging plate, a limiting groove, a pressing plate, and a solvent infusion bag group;

[0033] A needle moving linear module is horizontally arranged on the suspension, and the injection needle is arranged downward at the moving end of the needle moving linear module;

[0034] A needle insertion linear module is arranged downward on the suspension. The output end of the needle insertion linear module is horizontally provided with the lifting plate. The two ends of the lifting plate are respectively provided with the hanging plates downward. The inner sides of the lower ends of the hanging plates are respectively provided with the limiting grooves. The upper ends of the limiting grooves are open. The pressing plates are respectively arranged above the corresponding limiting grooves on the hanging plates. The pressing plates are horizontally slidably matched with the hanging plates, and the pressing plates drive away from and close to the upper part of the limiting grooves through a second linkage structure;

[0035] The solvent infusion bag group includes a plurality of solvent infusion bags and a connecting plate. The filling ports of the solvent infusion bags are fixed to the connecting plate, and the two ends of the connecting plate are clamped in the limiting grooves.

[0036] Before use, the pressing plate is in a state away from above the limiting groove. At this time, both ends of the connecting plate can be buckled into the limiting groove respectively. Then, the injection needle is driven by the needle moving linear module to move to the corresponding perfusion port. Next, through the needle inserting linear module, the lifting plate is driven upward, so that the perfusion port moves toward the injection needle to achieve the effect of inserting the injection needle into the corresponding solvent container. Then, the liquid medicine is injected into it. During the upward movement of the lifting plate, the pressing plate always presses both ends of the solvent infusion bag group under the drive of the second linkage structure to keep the solvent infusion bag group stable. After the injection is completed, the first lifting module moves downward to drive the solvent infusion bag group downward. Before the injection needle is separated from the solvent infusion bag group, the pressing plate is always located above the limiting groove. After the injection needle is completely separated from the solvent container, the pressing plate moves out from above the limiting groove through the second linkage structure. The injection needle is moved to the injection position of another solvent container through the needle moving linear module to continue needle insertion and liquid injection. After all the injections are completed, the solvent infusion bag group is moved to the temporary storage platform. At this time, the lifting plate continues to move downward, and the limiting groove will be separated from the solvent infusion bag group.

[0037] Preferably, the second linkage structure includes a connecting rod, a first synchronous frame, a second synchronous frame and a power component;

[0038] The middle of the connecting rod is hinged to the hanging plate, and a first strip-shaped hole and a second strip-shaped hole are respectively arranged at both ends of the connecting rod;

[0039] The pressing plate includes a first pressing plate and a second pressing plate, which are arranged above the corresponding limiting grooves on both sides. The first pressing plate is fixed to the first synchronous frame. The first synchronous frame is provided with a first hanging pin passing through the first strip-shaped hole. The second pressing plate is fixed to the second synchronous frame. The second synchronous frame is provided with a second hanging pin passing through the second strip-shaped hole. The connecting rod is driven to swing by the power component.

[0040] Since both ends of the connecting rod are respectively connected to the first synchronous frame and the second synchronous frame, when the connecting rod swings, the first synchronous frame and the second synchronous frame will move inward or outward simultaneously, that is, the first pressing plate and the second pressing plate move synchronously above the limiting groove or away from above the limiting groove to achieve the effect of synchronously limiting above the limiting groove.

[0041] Preferably, the power component includes a return spring and a guide plate. The return spring is arranged between the first synchronous frame and the hanging plate. The return spring pushes the first synchronous frame to move the first pressing plate away from above the corresponding limiting groove. The guide plate is arranged on the suspension frame. The guide plate is located on one side of the lifting plate. The guide plate is provided with a guiding edge. The guiding edge includes a lower inclined edge and an upper vertical edge. The lower end of the inclined edge is arranged on the side far away from the lifting plate. The first synchronous frame is provided with a contact runner corresponding to the guiding edge.

[0042] Under the action of the reset spring, when the first pressing plate and the second pressing plate are separated from the position of the limit groove, that is, when the guide plate does not apply a force to the first synchronization frame, the reset spring will drive the first pressing plate and the second pressing plate to separate from the limit groove. Due to the existence of the guiding edge, after the lifting plate rises, the guiding edge contacts the contact part, and the inclined side of the guiding edge will continuously press the contact part, that is, the first synchronization frame will press the reset spring until the contact part contacts the vertical edge of the guiding edge. The first synchronization frame keeps pressing the reset spring. During the process of the injection needle piercing into the solvent container, the contact part always contacts the vertical edge to ensure that when the needle is withdrawn, the pressing plate can maintain the function of limiting above the limit groove.

[0043] Preferably, the temporary storage structure includes a main frame and a temporary storage frame; the main frame includes a temporary storage station and an injection station;

[0044] A temporary storage linear module is arranged below the temporary storage station. The temporary storage linear module includes a mutually adapted temporary storage guide rail part and a temporary storage moving part. The temporary storage guide rail part is vertically arranged on the machine frame. The temporary storage moving part is provided with a temporary storage table. The temporary storage table includes a lower storage table and an upper storage table connected by a plurality of support rods. Windows for the temporary storage frame to enter and exit are provided on one side of the lower storage table and the upper storage table corresponding to the injection station;

[0045] A position-changing linear module is arranged above the injection station. The position-changing linear module includes a mutually adapted position-changing guide rail part and a position-changing moving part. The position-changing guide rail part is horizontally arranged on the machine frame. A suspension is fixed to the position-changing moving part. The suspension is used for arranging a needle-piercing limiting structure;

[0046] A feeding linear module is arranged below the injection station. The feeding linear module includes a mutually adapted feeding guide rail part and a feeding moving part. The feeding guide rail part is vertically arranged on the machine frame. The feeding moving part is provided with a horizontal transplanting linear module;

[0047] The horizontal transplanting linear module includes a mutually adapted horizontal transplanting guide rail part and a horizontal transplanting moving part. The horizontal transplanting guide rail part is horizontally arranged on the feeding moving part. The horizontal transplanting moving part is provided with a pallet. During the sliding process of the horizontal transplanting moving part, the pallet extends to the temporary storage table;

[0048] A support groove for the pallet to extend into is arranged below the temporary storage frame.

[0049] Before the injection needle device injects the needle, it is used to temporarily store the solvent infusion bag. The solvent infusion bags are placed in groups in the temporary storage rack. When it is necessary to add liquid medicine to them, first place the temporary storage rack with the solvent infusion bags on the temporary storage table, then move the horizontal transplant linear module up and down to the temporary storage table through the feeding linear module. Next, extend the pallet into the trough under the temporary storage rack through the horizontal transplant linear module. Then move the feeding moving part upward, that is, lift the temporary storage rack upward to separate the temporary storage rack from the temporary storage table. Finally, move the pallet and the temporary storage rack back together through the horizontal transplant to the linear module. At this time, the temporary storage rack is transported to the horizontal transplant moving part, and continue to cooperate with the vertical and horizontal movements of the transposition linear module and the feeding linear module to insert the needle tip of the injection needle device into the solvent infusion bag.

[0050] Through the temporary storage linear module, the up and down position of the temporary storage table can be changed, so as to reduce the height of the temporary storage table, so as to stack multiple layers of temporary storage racks for the pallet to transport the temporary storage racks. The multiple layers of temporary storage racks can improve the overall efficiency and further play the role of temporary storage.

[0051] The beneficial effects of the present utility model:

[0052] Through this solution, fully automatic liquid medicine configuration can be realized, and the configuration efficiency is very high, which is very suitable for occasions with large-scale liquid preparation requirements. Description of the drawings

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments. Obviously, the following drawings are only nineteen of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0054] Figure 1 It is the overall schematic diagram of the embodiment of the present utility model;

[0055] Figure 2 It is the first schematic diagram of the queuing and grouping unit of the embodiment of the present utility model (without the grasping component);

[0056] Figure 3 It is the second schematic diagram of the queuing and grouping unit of the embodiment of the present utility model (with the grasping component);

[0057] Figure 4 It is the schematic diagram of the grouping structure of the embodiment of the present utility model;

[0058] Figure 5 It is the schematic diagram of the first clamping component of the embodiment of the present utility model;

[0059] Figure 6Schematic diagram of the second card position assembly of the embodiment of the present utility model;

[0060] Figure 7 Schematic diagram of the grasping assembly of the embodiment of the present utility model;

[0061] Figure 8 Schematic diagram of the handling assembly of the embodiment of the present utility model (without robotic arm);

[0062] Figure 9 Schematic diagram of the first linkage structure of the embodiment of the present utility model;

[0063] Figure 10 Schematic diagram of the temporary storage unit of the embodiment of the present utility model;

[0064] Figure 11 First schematic diagram of the needle insertion limiting structure of the embodiment of the present utility model;

[0065] Figure 12 Second schematic diagram of the needle insertion limiting structure of the embodiment of the present utility model;

[0066] Figure 13 First schematic diagram of the second linkage mechanism of the embodiment of the present utility model;

[0067] Figure 14 Second schematic diagram of the second linkage mechanism of the embodiment of the present utility model;

[0068] Figure 15 Third schematic diagram of the second linkage mechanism of the embodiment of the present utility model;

[0069] Figure 16 First schematic diagram of the temporary storage structure of the embodiment of the present utility model (with temporary storage rack);

[0070] Figure 17 Second schematic diagram of the temporary storage structure of the embodiment of the present utility model (without temporary storage rack and temporary storage table);

[0071] Figure 18 Schematic diagram of the transposition linear module and the pallet of the embodiment of the present utility model;

[0072] Figure 19 Schematic diagram of the temporary storage rack of the embodiment of the present utility model;

[0073] Among them, 1. Queuing and grouping unit; 1101. Conveyor belt; 1102. Medicine storage pool; 1103. Conveying channel; 1104. Guide; 1105. Placing platform; 1106. Pusher plate; 1107. Bottle-pushing linear module; 1108. Strip-shaped sliding hole; 1109. Synchronizing rod; 1201. Medicine-receiving table; 1202. Limit fork; 1203. Grouping linear module; 1204. Blocking member; 1205. Fork opening; 1206. Upper baffle; 1207. Lower baffle; 1208. Spacing linear module; 1311. First slide bar; 1312. First clamping plate; 1313. Cam disc; 1314. Guide pin; 1315. Annular eccentric groove; 1321. Transverse clamping linear module; 1322. Longitudinal clamping linear module; 1323. Second clamping plate; 1331. Longitudinal grasping linear module; 1332. Vertical grasping linear module; 1333. Electric gripper; 1335. NG material port; 134. Visual recognition component; 135. Specification measurement component; 2. Pre-dissolution unit; 21. Liquid adding needle; 22. Syringe pump; 23. First handling component; 24. Second handling component; 2501. Robot arm; 2502. Mounting seat; 2503. First linkage structure; 25031. Linkage plate; 25032. Eccentric wheel; 25033. Torsion spring; 2504. Clamping structure; 25041. Driven gripper; 25042. Driving gripper; 250421. Swing arm; 2505. Flipping motor; 2506. Upper limit plate; 26. Buffer table; 27. Liquid supply table; 28. Liquid inlet needle; 3. Temporary storage unit; 31. Injection needle; 3201. Lifting plate; 3202. Suspension plate; 3203. Limit groove; 3204. First pressing plate; 3205. Second pressing plate; 3206. Solvent infusion bag group; 3207. Needle-moving linear module; 3208. Needle-moving guide rail; 3209. Needle-moving lead screw; 3210. Needle-moving moving block; 3211. Needle-inserting linear module; 3212. Third guide rod; 3213. Connecting rod; 3214. First synchronizing frame; 3215. Second synchronizing frame; 3216. Long rod; 3217. Side frame; 3218. Power component; 3219. Return spring; 3220. Guide plate; 3221. First hanging pin; 3222. Second hanging pin; 3223. Contact runner; 3224. Interval limit structure; 3225. Protruding block; 3226. Strip-shaped notch; 3227. First guide rod; 3228. Second guide rod; 3230. Sleeve; 3231. Suspension; 3301. Main frame; 3302. Temporary storage rack; 3303. Side plate; 3304. Slot; 3305. Cross bar; 3306. Ball wheel; 3307. Temporary storage table; 3308. Lower storage table; 3309. Upper storage table; 3310. Transposition linear module; 3311. Feeding linear module; 3312. Horizontal transplanting linear module; 3313. Pallet; 3314. Temporary storage linear mold; 3315. Support groove. Detailed implementation manners

[0074] To deepen the understanding of the present utility model, the following will further describe the present utility model in detail with reference to the accompanying drawings and embodiments. The embodiments are only used to explain the present utility model and do not limit the protection scope of the present utility model.

[0075] Embodiment

[0076] As Figure 1 shown, the dual-arm full-automatic liquid dispensing robot includes the following:

[0077] Queueing and grouping unit 1: used to queue and group medicine bottles and place them on the medicine receiving table 1201;

[0078] Pre-dissolving unit 2: clamp the medicine bottles in groups, inject liquid and shake them evenly, and place them on the liquid supply table 27;

[0079] Temporary storage unit 3: transport the liquid medicine in the medicine bottles into the solvent infusion bag.

[0080] In this solution, the medicine bottles are first queued, then grouped according to the queue, the solvent is injected on the medicine receiving table 1201, shaken evenly through the pre-dissolving unit 2, placed on the liquid supply table 27, and the formed liquid medicine is injected into the solvent infusion bag. The overall liquid dispensing process has a smooth logic and can efficiently meet the liquid dispensing requirements.

[0081] Combined with Figure 2 and Figure 3 shown, the queueing and grouping unit 1 includes a queueing structure and a grouping structure. The queueing structure includes a conveyor belt 1101, a medicine storage pool 1102, and a conveying channel 1103;

[0082] The medicine storage pool 1102 and the conveying channel 1103 are arranged above the conveyor belt 1101. The downstream side wall of the medicine storage pool 1102 is inclined with a guiding member 1104. The downstream end of the guiding member 1104 is docked with the conveying channel 1103. The width of the conveying channel 1103 only allows one medicine bottle to pass through;

[0083] Combined with Figure 4 shown, the grouping structure is located at the downstream end of the conveying channel 1103. The grouping structure includes a medicine receiving table 1201, a limiting fork 1202, and a blocking member 1204;

[0084] The medicine receiving table 1201 is located on one side of the conveying channel 1103. A limiting fork 1202 is slidably arranged above the medicine receiving table 1201. The limiting fork 1202 is arranged on the moving part of the grouped linear module 1203. A fork opening 1205 is arranged on the side edge of the limiting fork 1202 close to the conveying channel 1103. The width of the fork opening 1205 only allows one medicine bottle to be placed. The limiting fork 1202 slides from the medicine receiving table 1201, and the fork opening 1205 sequentially passes through the downstream port of the conveying channel 1103. The blocking member 1204 is arranged above the medicine receiving table 1201 relative to the limiting fork 1202. One side edge of the blocking member 1204 blocks the port of the fork opening 1205.

[0085] By providing the medicine storage pool 1102, it can be used to temporarily store medicine bottles. Place the medicine bottles that need to queue and be grouped here so that the medicine bottles can be queued and grouped orderly subsequently, which can improve production efficiency.

[0086] The medicine bottles form a queue in the conveying channel 1103. The fork opening 1205 of the limiting fork 1202 is arranged corresponding to the downstream port of the conveying channel 1103. Therefore, when the limiting fork 1202 slides, the fork opening 1205 will sequentially align with the downstream port of the conveying channel 1103. During the alignment process, the medicine bottles forming the queue will be pushed into the fork opening 1205 by the conveyor belt 1101. When the limiting fork 1202 continues to move and other fork openings 1205 align with the downstream port of the conveying channel 1103, the medicine bottles will also be pushed into the fork opening 1205. Thus, all the fork openings 1205 will be pushed with medicine bottles. When the limiting fork 1202 with a medicine bottle in the fork opening 1205 retracts, the blocking member 1204 will block the fork opening 1205, thereby limiting the medicine bottle in the fork opening 1205. The medicine bottles in the fork opening 1205 are taken as a group and are further operated on subsequently.

[0087] The queuing structure includes a placement platform 1105. The NG material outlet 1335 of the placement platform 1105 is docked with the medicine storage pool 1102. The placement platform 1105 is provided with a push plate 1106 driven by a bottle-pushing linear module 1107. The bottle-pushing linear module 1107 drives the push plate 1106 to sweep towards the NG material outlet 1335.

[0088] Strip-shaped sliding holes 1108 are arranged on the two side walls of the placement platform 1105. The two ends of the push plate 1106 respectively extend from the strip-shaped sliding holes 1108 at least outside the placement platform 1105. The bottle-pushing linear module 1107 is located below the placement platform 1105. The output end of the bottle-pushing linear module 1107 is provided with a synchronizing rod 1109. The two ends of the synchronizing rod 1109 are respectively fixed to the two ends of the push plate 1106.

[0089] The bottle-pushing linear module 1107 can drive the push plate 1106 to sweep on the placement platform 1105, pushing the medicine bottles towards the NG material outlet 1335 so as to enter the queuing action along with the conveyor belt 1101.

[0090] The blocking member 1204 includes an upper baffle 1206 and a lower baffle 1207. The lower baffle 1207 of the upper baffle 1206 is fixed to each other. A gap for the fork 1205 to penetrate is provided between the upper baffle 1206 and the lower baffle 1207. By restricting the limit fork 1202 between the upper baffle 1206 and the lower baffle 1207, the limit of the medicine bottle can be made more stable.

[0091] The blocking member 1204 is slidably arranged relative to the medicine receiving table 1201. The blocking member 1204 is arranged on the moving part of the spacing linear module 1208, and the spacing linear module 1208 drives the blocking member 1204 to change the spacing from the limit fork 1202. By adjusting the spacing between the blocking member 1204 and the fork 1205, medicine bottles with different diameters can be adapted.

[0092] It includes a detection structure arranged in the conveying channel 1103. The detection structure includes a first clamping component, a second clamping component, a visual recognition component 134, a product specification measurement component 135 and a grasping component.

[0093] The first clamping component and the second clamping component are distributed front and back in the conveying channel 1103.

[0094] The first clamping component is used to stop the medicine bottle in the conveying channel 1103.

[0095] The second clamping component is used to stop the medicine bottle again in the conveying channel 1103.

[0096] The visual recognition component 134 is used to visually recognize whether the appearance of the medicine bottle meets the specifications.

[0097] The product specification measurement component 135 is used to measure whether the product specification of the medicine bottle is as required.

[0098] The grasping component is used to grasp and remove the medicines that do not meet the requirements identified by the visual recognition component 134 and the product specification measurement component 135.

[0099] It is possible to detect the appearance and specifications of the medicine bottles while the medicine bottles are queuing, making the detection more convenient.

[0100] The queuing medicine bottles are first stopped by the first clamping component, allowing the medicine bottles to pass one by one. The medicine bottles passing through the first clamping component are stopped by the second clamping component, ensuring that there is only one medicine bottle between the first clamping component and the second clamping component.

[0101] The visual recognition component 134 and the product specification measurement component 135 are arranged corresponding to between the first clamping component and the second clamping component, and are used for detecting the required appearance and product specification. For the qualified medicine bottles, the second clamping component releases them, and for the unqualified medicine bottles, the grabbing component grabs them away.

[0102] Combined with Figure 5 As shown in the figure, the first clamping component includes a first slide bar 1311, a first clamping plate 1312 and a cam disc 1313. The first slide bar 1311 is slidably fitted to the bracket. The first clamping plate 1312 is fixed to the first slide bar 1311. The first slide bar 1311 penetrates into the conveying channel 1103. The eccentric disc is provided with an annular eccentric groove 1315. The first slide bar 1311 is provided with a guide pin 1314 adapted to the annular eccentric groove 1315. The eccentric disc is driven by a motor.

[0103] Combined with Figure 6 As shown in the figure, the second clamping component includes a horizontal clamping linear module 1321, a vertical clamping linear module 1322 and a second clamping plate 1323. The horizontal clamping linear module 1321 includes a horizontally clamping guide rail and a horizontally clamping moving part which are mutually adapted. The horizontally clamping guide rail is arranged relative to the base. The vertical clamping linear module 1322 includes a vertically clamping guide rail and a vertically clamping moving part which are mutually adapted. The vertically clamping guide rail is arranged on the horizontally clamping moving part. The second clamping plate 1323 is fixed to the vertically clamping moving part. The second clamping plate 1323 penetrates into the conveying channel 1103. Wherein, the vertically clamping moving part is provided with vertically clamping racks arranged in parallel. The horizontally clamping moving part is provided with a clamping gear driven by a motor. The clamping gear meshes with the vertically clamping racks.

[0104] Combined with Figure 7 As shown in the figure, the grabbing component includes a longitudinal grabbing linear module 1331, a vertical grabbing linear module 1332, an electric gripper 1333 and an NG material opening 1335. The longitudinal grabbing linear module 1331 includes a longitudinally grabbing guide rail and a longitudinally grabbing moving part which are mutually adapted. The vertical grabbing linear module 1332 includes a vertically grabbing guide rail and a vertically grabbing moving part which are mutually adapted. The longitudinally grabbing guide rail is arranged on the bracket. The longitudinally grabbing moving part is provided with the vertically grabbing guide rail. The vertically grabbing moving part is provided with the electric gripper 1333. The electric gripper 1333 is arranged corresponding to the conveying channel 1103 between the first clamping component and the second clamping component.

[0105] Sensors for monitoring the medicine bottles are respectively arranged on the side walls of the conveying channel 1103 on the upstream sides of the first clamping component and the second clamping component. So as to remind the first clamping component and the second clamping component to block the medicine bottles, and to control the visual recognition component 134 and the product specification measurement component 135 to start detection.

[0106] Sensors for monitoring the medicine bottles are respectively arranged on the side walls of the conveying channel 1103 at the downstream port of the conveying channel 1103, so as to control the movement of the limiting fork 1202, so that the fork opening 1205 is aligned with the downstream port of the conveying channel 1103.

[0107] The pre-dissolution unit 2 includes a liquid injection assembly, a handling assembly, a buffer table 26 and a liquid supply table 27;

[0108] The liquid injection assembly includes a liquid adding needle 21 and an injection pump 22;

[0109] The liquid adding needle 21 is arranged on a bracket, the liquid adding needle 21 is communicated with a liquid storage bin through an injection pipeline, and the injection pump 22 is arranged on the injection pipeline;

[0110] The handling assembly includes a first handling assembly 23 and a second handling assembly 24. The first handling assembly 23 is located between the liquid injection assembly and the buffer table 26. The first handling assembly 23 is used for clamping the medicine bottle from the medicine receiving table 1201 to the liquid adding needle 21 for liquid injection, and after oscillation, placing it on the buffer table 26. The second handling assembly 24 is used for clamping the medicine bottle from the buffer table 26 to the liquid supply table 27 to connect the liquid inlet needle 28;

[0111] Combined Figure 8 and Figure 9 As shown, the handling assembly includes a robotic arm 2501, a mounting base 2502, a first linkage structure 2503 and a clamping structure 2504;

[0112] A turnover motor 2505 is arranged at the end of the robotic arm 2501. The output end of the turnover motor 2505 is provided with the mounting base 2502. The mounting base 2502 is provided with the first linkage structure 2503 and a plurality of the clamping structures 2504. The first linkage structure 2503 drives the clamping structures 2504 to synchronously perform clamping and separating actions.

[0113] After liquid injection, the medicine bottle is first clamped from the medicine receiving table 1201 to the liquid adding needle 21 for liquid injection by the first handling assembly 23, and after oscillation, placed on the buffer table 26. The second handling assembly 24 is used for clamping the medicine bottle from the buffer table 26 to the liquid supply table 27 to connect the liquid inlet needle 28.

[0114] The clamping structure 2504 includes a driven jaw 25041 and a driving jaw 25042 which are relatively distributed. The rear ends of the driven jaw 25041 and the driving jaw 25042 are respectively connected to the mounting base 2502 through rotating shafts. Arc-shaped racks which mesh with each other are respectively arranged at the rear ends of the driven jaw 25041 and the driving jaw 25042. A swing arm 250421 is arranged at the rear end of the driving jaw 25042, and the swing arm 250421 is linked with the first linkage structure 2503.

[0115] The driven jaw 25041 and the driving jaw 25042 are matched through the arc-shaped racks which mesh with each other. When the first linkage structure 2503 drives the driving jaw 25042 to move, the driven jaw 25041 will also move synchronously, thereby achieving the effects of closing and opening.

[0116] The first linkage structure 2503 includes a linkage plate 25031, an eccentric wheel 25032 and a torsion spring 25033. The linkage plate 25031 is slidably matched with the mounting base 2502. The linkage plate 25031 is provided with a pushing side and a stress side. The pushing side and the torsion spring 25033 are respectively located on both sides of the swing arm 250421. The torsion spring 25033 is arranged on the mounting base 2502. The torsion spring 25033 pushes the swing arm 250421 to swing towards the side of the pushing side. A clamping motor is arranged on the mounting base 2502, and the eccentric wheel 25032 is arranged at the output end of the clamping motor. The wheel surface of the eccentric wheel 25032 abuts against the stress side, and the eccentric wheel 25032 pushes the swing arm 250421 to swing towards the side of the torsion spring 25033.

[0117] An upper limit plate 2506 is arranged above the driven jaw 25041 and the driving jaw 25042, and the upper limit plate 2506 is fixed to the mounting base 2502.

[0118] The torsion spring 25033 and the eccentric wheel 25032 are located on both sides of the swing arm 250421. Therefore, when the eccentric wheel 25032 pushes the swing arm 250421, the torsion of the torsion spring 25033 will be overcome. When the eccentric wheel 25032 does not push the swing arm 250421, the torsion spring 25033 will push the swing arm 250421 to swing towards the side of the eccentric wheel 25032. Therefore, when the eccentric wheel 25032 rotates, with the cooperation of the torsion spring 25033, the swing arm 250421 is always in contact with the eccentric wheel 25032. Therefore, the swing arm 250421 will swing along with the eccentric wheel 25032, that is, drive the driving jaw and the driven jaw 25041 to perform the actions of closing and opening.

[0119] Combined with Figure 10, the temporary storage unit 3 includes a conveying structure, a needle insertion limiting structure, and a temporary storage structure;

[0120] The conveying structure includes a liquid inlet needle 28, a conveying pipeline, a conveying pump, and an injection needle 31. The liquid inlet needle 28 is arranged upward on the liquid supply table 27. The injection needle 31 is connected to the liquid inlet needle 28 through the conveying pipeline, and the conveying pump is arranged on the conveying pipeline;

[0121] Combined Figure 11 As shown, the needle insertion limiting structure includes a suspension 3231, a lifting plate 3201, a hanging plate 3202, a limiting groove 3203, a pressing plate, and a solvent infusion bag group 3206;

[0122] A needle moving linear module 3207 is horizontally arranged on the suspension 3231, and the injection needle 31 is arranged downward at the moving end of the needle moving linear module 3207;

[0123] A needle insertion linear module 3211 is arranged downward on the suspension 3231. The output end of the needle insertion linear module 3211 is horizontally provided with the lifting plate 3201. The two ends of the lifting plate 3201 are respectively provided with the hanging plates 3202 downward. The inner sides of the lower ends of the hanging plates 3202 are respectively provided with the limiting grooves 3203. The upper ends of the limiting grooves 3203 are open. The pressing plates are respectively arranged above the limiting grooves 3203 corresponding to the hanging plates 3202. The pressing plates are slidably matched with the hanging plates 3202 horizontally, and the pressing plates drive away from and close to the upper parts of the limiting grooves 3203 through a second linkage structure;

[0124] The solvent infusion bag group 3206 includes a plurality of solvent infusion bags and a connecting plate. The filling ports of the solvent infusion bags are fixed to the connecting plate, and the two ends of the connecting plate are clamped in the limiting grooves 3203.

[0125] Before use, the pressing plate is in a state away from above the limiting groove 3203. At this time, both ends of the connecting plate can be buckled into the limiting groove 3203 respectively. Then, the injection needle 31 is driven by the needle moving linear module 3207 to move to the corresponding perfusion port. Next, through the needle piercing linear module 3211, the lifting plate 3201 is driven upward, so that the perfusion port moves toward the injection needle 31 to achieve the effect of piercing the needle into the corresponding solvent container. Then, the liquid medicine is injected into it. During the upward movement of the lifting plate 3201, the pressing plate always presses both ends of the solvent infusion bag group 3206 under the drive of the second linkage structure to keep the solvent infusion bag group 3206 stable. After the injection is completed, the first lifting module moves downward to drive the solvent infusion bag group 3206 downward. Before the injection needle 31 is separated from the solvent infusion bag group 3206, the pressing plate is always located above the limiting groove 3203. After the injection needle 31 is completely separated from the solvent container, the pressing plate moves out from above the limiting groove 3203 through the second linkage structure. The injection needle 31 is moved to the injection position of another solvent container through the needle moving linear module 3207 to continue needle piercing and liquid injection. After all the injections are completed, the solvent infusion bag group 3206 is moved to the temporary storage platform. At this time, the lifting plate 3201 continues to move downward, and the limiting groove 3203 will be separated from the solvent infusion bag group 3206.

[0126] The second linkage structure includes a connecting rod 3213, a first synchronous frame 3214, a second synchronous frame 3215 and a power member 3218;

[0127] The middle of the connecting rod 3213 is hinged to the hanging plate 3202, and a first strip-shaped hole and a second strip-shaped hole are respectively arranged at both ends of the connecting rod 3213;

[0128] Combined Figures 13 - 15 As shown, the pressing plate includes a first pressing plate 3204 and a second pressing plate 3205. The first pressing plate 3204 and the second pressing plate 3205 are arranged above the corresponding limiting grooves 3203 on both sides. The first pressing plate 3204 is fixed to the first synchronous frame 3214. The first synchronous frame 3214 is provided with a first hanging pin 3221 passing through the first strip-shaped hole. The second pressing plate 3205 is fixed to the second synchronous frame 3215. The second synchronous frame 3215 is provided with a second hanging pin 3222 passing through the second strip-shaped hole. The connecting rod 3213 is driven to swing by the power member 3218.

[0129] Since both ends of the connecting rod 3213 are respectively connected to the first synchronizing frame 3214 and the second synchronizing frame 3215, when the connecting rod 3213 swings, the first synchronizing frame 3214 and the second synchronizing frame 3215 will move inwards or outwards simultaneously, that is, the first pressing plate 3204 and the second pressing plate 3205 will synchronously move above the limiting groove 3203 or away from above the limiting groove 3203, so as to achieve the effect of synchronously limiting the upper part of the limiting groove 3203.

[0130] The power member 3218 includes a return spring 3219 and a guide plate 3220. The return spring 3219 is arranged between the first synchronizing frame 3214 and the hanging plate 3202. The return spring 3219 pushes the first synchronizing frame 3214 to move the first pressing plate 3204 away from above the corresponding limiting groove 3203. The guide plate 3220 is arranged on the suspension 3231. The guide plate 3220 is located on one side of the lifting plate 3201. The guide plate 3220 is provided with a guiding edge. The guiding edge includes a lower inclined edge and an upper vertical edge. The lower end of the inclined edge is arranged on the side away from the lifting plate 3201. The first synchronizing frame 3214 is provided with a contact runner 3223 corresponding to the guiding edge. The contact runner 3223 can reduce the friction with the guide plate 3220, facilitating the up and down movement of the lifting plate 3201 more easily.

[0131] Under the action of the return spring 3219, when the first pressing plate 3204 and the second pressing plate 3205 are separated from the position away from the limiting groove 3203, that is, if the guide plate 3220 does not exert a force on the first synchronizing frame 3214, the return spring 3219 will drive the first pressing plate 3204 and the second pressing plate 3205 to separate from the limiting groove 3203. Due to the existence of the guiding edge, after the lifting plate 3201 rises, the guiding edge contacts the contact member, and the inclined edge of the guiding edge will continuously press the contact member, that is, the first synchronizing frame 3214 will press the return spring 3219 until the contact member contacts the vertical edge of the guiding edge, and the first synchronizing frame 3214 keeps the state of pressing the return spring 3219. During the process that the injection needle 31 penetrates into the solvent container, the contact member always contacts the vertical edge to ensure that when the needle is withdrawn, the pressing plate can maintain the function of limiting the upper part of the limiting groove 3203.

[0132] The second synchronization frame 3215 includes a long rod 3216 and a side frame 3217. The long rod 3216 is slidably engaged with the lifting plate 3201. Both ends of the long rod 3216 extend to both sides of the lifting plate 3201. A second hanging pin 3222 is provided at one end of the long rod 3216, and the other end of the long rod 3216 is fixed to the second pressing plate 3205 through the side frame 3217. The guide plate 3220 is relatively farther from the second synchronization frame 3215. Therefore, by using the long rod 3216 and the side frame 3217, when the first synchronization frame 3214 is pushed, the side clamp on the other side can be driven synchronously.

[0133] The lifting plate 3201 is provided with a synchronization frame interval limiting structure 3224 to limit the moving interval of the second synchronization frame 3215.

[0134] The interval limiting structure 3224 includes a raised block 3225 and a strip-shaped notch 3226 provided on the long rod 3216. The raised block 3225 is provided on the lifting plate 3201, and the raised block 3225 is adapted to the strip-shaped notch 3226. During the sliding process of the long rod 3216, the raised block 3225 slides relative to the strip-shaped notch 3226. The moving distance of the raised block 3225 within the strip-shaped notch 3226 is the moving distance of the long rod 3216.

[0135] The first synchronization frame 3214 is provided with a first guide rod 3227, and the first guide rod 3227 is slidably engaged with the hanging plate 3202. The second synchronization frame 3215 is provided with a second guide rod 3228, and the second guide rod 3228 is slidably engaged with the hanging plate 3202. This facilitates the more stable movement of the first synchronization frame 3214 and the second synchronization frame 3215, that is, the first pressing plate 3204 and the second pressing plate 3205 can move synchronously and stably together.

[0136] The needle moving linear module 3207 includes a needle moving guide rail 3208, a needle moving lead screw 3209, and a needle moving block 3210. The needle moving guide rail 3208 and the needle moving lead screw 3209 are arranged in parallel on the hanging needle frame. The needle moving lead screw 3209 is driven by a motor. The needle moving block 3210 is slidably engaged with the needle moving guide rail 3208, and the needle moving block 3210 is threadedly engaged with the needle moving lead screw 3209. The injection needle 31 is fixed to the needle moving block 3210. By driving the lead screw to rotate through the motor, the moving block can be driven to slide on the guide rail, and the control is more precise.

[0137] Combined Figure 12As shown, the needle insertion linear module 3211 is a linear motor. A third guide rod 3212 is vertically arranged on the lifting plate 3201, and a sliding sleeve 3230 that is slidably adapted to the third guide rod 3212 is arranged on the suspension 3231. This is to improve the stability of the lifting plate 3201 when moving up and down.

[0138] Combined with Figure 16 As shown, the temporary storage structure includes a main frame 3301 and a temporary storage rack 3302; the main frame 3301 includes a temporary storage station and an injection station;

[0139] Combined with Figure 17 As shown, a temporary storage linear module 3314 is arranged below the temporary storage station. The temporary storage linear module 3314 includes a temporarily stored guide rail part and a temporarily stored moving part that are mutually adapted. The temporarily stored guide rail part is vertically arranged on the machine frame, and the temporarily stored moving part is provided with a temporary storage table 3307. The temporary storage table 3307 includes a lower storage table 3308 and an upper storage table 3309 that are connected by a number of support rods. Windows for the temporary storage rack 3302 to enter and exit are left on one side of the lower storage table 3308 and the upper storage table 3309 corresponding to the injection station;

[0140] A position-changing linear module 3310 is arranged above the injection station. The position-changing linear module 3310 includes a position-changing guide rail part and a position-changing moving part that are mutually adapted. The position-changing guide rail part is horizontally arranged on the machine frame, and the suspension 3231 is fixed to the position-changing moving part. The suspension 3231 is used to arrange a needle insertion limiting structure;

[0141] A feeding linear module 3311 is arranged below the injection station. The feeding linear module 3311 includes a feeding guide rail part and a feeding moving part that are mutually adapted. The feeding guide rail part is vertically arranged on the machine frame, and the feeding moving part is provided with a horizontal transplanting linear module 3312;

[0142] Combined with Figure 18 As shown, the horizontal transplanting linear module 3312 includes a horizontally transplanting guide rail part and a horizontally transplanting moving part that are mutually adapted. The horizontally transplanting guide rail part is horizontally arranged on the feeding moving part, and the horizontally transplanting moving part is provided with a pallet 3313. During the sliding process of the horizontally transplanting moving part, the pallet 3313 extends to the temporary storage table 3307;

[0143] A receiving groove 3315 for the pallet 3313 to extend into is arranged below the temporary storage rack 3302.

[0144] It is used to temporarily store the solvent infusion bag before the injection needle of the liquid injection needle device. The solvent infusion bags are placed in groups in the temporary storage rack 3302. When it is necessary to inject liquid medicine into them, first place the temporary storage rack 3302 with the solvent infusion bags on the temporary storage table 3307, then move the horizontal transplant linear module 3312 up and down to the temporary storage table 3307 through the feeding linear module 3311. Then, extend the pallet 3313 into the support slot 3315 below the temporary storage rack 3302 through the horizontal transplant linear module 3312. Then, move the feeding moving part upward, that is, lift the temporary storage rack 3302 upward to separate the temporary storage rack 3302 from the temporary storage table 3307. Finally, move the pallet 3313 back together with the temporary storage rack 3302 through the horizontal transplant linear module 3312. At this time, the temporary storage rack 3302 is transported to the horizontal transplant moving part, and continue to insert the needle tip of the liquid injection needle device into the solvent infusion bag under the horizontal and vertical movement cooperation of the transposition linear module 3310 and the feeding linear module 3311.

[0145] The vertical position of the temporary storage table 3307 can be changed through the temporary storage linear module 3314, so as to reduce the height of the temporary storage table 3307, so as to stack multiple layers of temporary storage racks 3302 for the pallet 3313 to transport the temporary storage racks 3302. Multiple layers of temporary storage racks 3302 can improve the overall efficiency and further play the role of temporary storage. Combined Figure 19 As shown, the bottom of the temporary storage rack 3302 is provided with ball wheels 3306. So that when the pallet 3313 moves the temporary storage rack 3302, if the temporary storage rack 3302 contacts the temporary storage table 3307, the friction force can be reduced.

[0146] The temporary storage table 3307 includes a lower storage table 3308 and an upper storage table 3309 connected by several support rods. Windows for the temporary storage rack 3302 to enter and exit are provided on one side of the lower storage table 3308 and the upper storage table 3309 corresponding to the injection station. The lower storage table 3308 and the upper storage table 3309 are respectively provided with temporary storage racks 3302, which can store two layers of materials more. So that after the liquid medicine injection on the upper layer is completed, the temporary storage table 3307 can be moved upward, and the temporary storage rack 3302 on the lower storage table 3308 can continue to cooperate with the pallet 3313 to move above the horizontal transplant moving part, which can well improve the overall working efficiency.

[0147] Side plates 33033 are respectively arranged on the front and rear sides of the temporary storage rack 3302, and the two side plates 33033 are connected by a cross bar 3305. A simple and stable structure can be formed, which is convenient for storing the solvent infusion bag group 3206. Slots 3304 are respectively arranged on the side plates 33033 of the temporary storage rack 3302 corresponding to both sides of the solvent container group. It is convenient to insert and fix each group of solvent infusion bag groups 3206 in detail.

[0148] The beneficial effects of the present utility model:

[0149] Through this solution, fully automatic liquid medicine configuration can be achieved, with very high configuration efficiency, and it is very suitable for occasions with large-scale liquid preparation requirements.

[0150] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0151] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A double-arm fully automatic liquid dispensing robot, characterized in that, The following are included: Queueing and grouping unit (1): used to queue and group medicine bottles and place them on the medicine receiving table (1201); Pre-dissolving unit (2): clamp medicine bottles in groups, inject liquid, shake well, and place them on the liquid supply table (27); Temporary storage unit (3): convey the liquid medicine in the medicine bottle into the solvent infusion bag; The queueing and grouping unit (1) includes a queueing structure and a grouping structure. The queueing structure includes a conveyor belt (1101), a medicine storage pool (1102), and a conveying channel (1103); The medicine storage pool (1102) and the conveying channel (1103) are arranged above the conveyor belt (1101). The downstream side wall of the medicine storage pool (1102) is inclined with a guiding member (1104). The downstream end of the guiding member (1104) is docked with the conveying channel (1103). The width of the conveying channel (1103) only allows one medicine bottle to pass through; The grouping structure is located at the downstream end of the conveying channel (1103). The grouping structure includes a medicine receiving table (1201), a limiting fork (1202), and a blocking member (1204); The medicine receiving table (1201) is located on one side of the conveying channel (1103). The limiting fork (1202) is slidably arranged above the medicine receiving table (1201). A fork opening (1205) is arranged on the side of the limiting fork (1202) close to the conveying channel (1103). The width of the fork opening (1205) only allows one medicine bottle to be placed. The limiting fork (1202) slides from the medicine receiving table (1201), and the fork opening (1205) sequentially passes through the downstream port of the conveying channel (1103). The blocking member (1204) is arranged above the medicine receiving table (1201) relative to the limiting fork (1202). One side edge of the blocking member (1204) blocks the port of the fork opening (1205); The pre-dissolving unit (2) includes an injection component, a handling component, a buffer table (26), and a liquid supply table (27); The injection component includes a liquid adding needle (21) and an injection pump (22); The liquid adding needle (21) is arranged on a bracket. The liquid adding needle (21) is connected to a liquid storage bin through an injection pipeline, and the injection pipeline is provided with the injection pump (22); The handling component includes a first handling component (23) and a second handling component (24). The first handling component (23) is located between the injection component and the buffer table (26). The first handling component (23) is used to clamp the medicine bottle from the medicine receiving table (1201) to the liquid adding needle (21) for injection, and place it on the buffer table (26) after oscillation. The second handling component (24) is used to clamp the medicine bottle from the buffer table (26) to the liquid supply table (27) to connect to the liquid inlet needle (8); The handling component includes a robotic arm (2501), a mounting base (2502), a first linkage structure (2503), and a clamping structure (2504); A turnover motor (2505) is provided at the end of the robotic arm (2501). The output end of the turnover motor (2505) is provided with the mounting base (2502). The mounting base (2502) is provided with the first linkage structure (2503) and a plurality of the clamping structures (2504). The first linkage structure (2503) drives the clamping structures (2504) to perform clamping and separating actions synchronously. The temporary storage unit (3) includes a conveying structure, a needle insertion limiting structure, and a temporary storage structure. The conveying structure includes a liquid inlet needle (8), a conveying pipeline, a conveying pump, and an injection needle (31). The liquid inlet needle (8) is arranged upward on the liquid supply table (27). The injection needle (31) is connected to the liquid inlet needle (8) through the conveying pipeline. The conveying pipeline is provided with the conveying pump. The needle insertion limiting structure includes a suspension (3231), a lifting plate (3201), a hanging plate (3202), a limiting groove (3203), a pressing plate, and a solvent infusion bag group (3206). A needle moving linear module (3207) is horizontally arranged on the suspension (3231). The moving end of the needle moving linear module (3207) is downwardly provided with the injection needle (31). A needle insertion linear module (3211) is downwardly arranged on the suspension (3231). The output end of the needle insertion linear module (3211) is horizontally provided with the lifting plate (3201). The two ends of the lifting plate (3201) are respectively downwardly provided with the hanging plates (3202). The inner sides of the lower ends of the hanging plates (3202) are respectively provided with the limiting grooves (3203). The upper ends of the limiting grooves (3203) are open. Pressing plates are respectively arranged above the hanging plates (3202) corresponding to the limiting grooves (3203). The pressing plates are in transverse sliding fit with the hanging plates (3202). The pressing plates drive away from and close to the upper part of the limiting grooves (3203) through a second linkage structure. The solvent infusion bag group (3206) includes a plurality of solvent infusion bags and a connecting plate. The perfusion ports of the solvent infusion bags are fixed to the connecting plate. The two ends of the connecting plate are clamped in the limiting grooves (3203).

2. The dual-arm fully automatic liquid dispensing robot according to claim 1, wherein: The queuing structure includes a placing platform (1105). The discharge port of the placing platform (1105) is docked with the medicine storage pool (1102). The placing platform (1105) is provided with a pushing plate (1106) driven by a bottle pushing linear module (1107). The bottle pushing linear module (1107) drives the pushing plate (1106) to sweep towards the discharge port. Strip-shaped sliding holes (1108) are arranged on the two side walls of the placing platform (1105). The two ends of the pushing plate (1106) respectively extend out of the placing platform (1105) at least from the strip-shaped sliding holes (1108). The bottle pushing linear module (1107) is located below the placing platform (1105). The output end of the bottle pushing linear module (1107) is provided with a synchronous rod (1109). The two ends of the synchronous rod (1109) are respectively fixed to the two ends of the pushing plate (1106).

3. The fully automatic liquid dispensing robot with dual robotic arms according to claim 1, wherein: The clamping structure (2504) includes a relatively distributed driven jaw (25041) and a driving jaw (25042), the rear ends of the driven jaw (25041) and the driving jaw (25042) are respectively connected to the mounting seat (2502) via a rotating shaft, the rear ends of the driven jaw (25041) and the driving jaw (25042) are respectively provided with mutually meshing arc-shaped racks, the rear end of the driving jaw (25042) is provided with a swing arm (250421), and the swing arm (250421) is linked to the first linkage structure (2503).

4. The dual robotic arm full-automatic liquid dispensing robot according to claim 3, characterized in that: The first linkage structure (2503) includes a linkage plate (25031), an eccentric wheel (25032) and a torsion spring (25033). The linkage plate (25031) is slidably matched with the mounting seat (2502). The linkage plate (25031) is provided with a pushing side and a force-bearing side. The pushing side and the torsion spring (25033) are respectively located on both sides of the swing arm (250421). The torsion spring (25033) is provided on the mounting seat (2502). The mounting seat (2502) is provided with a clamping motor, and the eccentric wheel (25032) is provided at the output end of the clamping motor. The wheel surface of the eccentric wheel (25032) abuts against the force-bearing side, and the eccentric wheel (25032) pushes the swing arm (250421) to swing toward one side of the torsion spring (25033); An upper limit plate (2506) is provided above the driven clamping jaw (25041) and the driving clamping jaw (25042), and the upper limit plate (2506) is fixed to the mounting seat (2502).

5. The dual-arm full-automatic liquid dispensing robot according to claim 1, wherein: The second linkage structure comprises a connecting rod (3213), a first synchronous frame (3214), a second synchronous frame (3215) and a power member (3218); The middle part of the connecting rod (3213) is hinged to the hanging plate (3202), and the two ends of the connecting rod (3213) are respectively provided with a first strip-shaped hole and a second strip-shaped hole; The pressure plate includes a first pressure plate (3204) and a second pressure plate (3205), the first pressure plate (3204) and the second pressure plate (3205) are arranged above the limiting grooves (3203) on the corresponding two sides, the first pressure plate (3204) is fixed to the first synchronization frame (3214), the first synchronization frame (3214) is provided with a first hanging pin (3221) penetrating the first strip-shaped hole, the second pressure plate (3205) is fixed to the second synchronization frame (3215), the second synchronization frame (3215) is provided with a second hanging pin (3222) penetrating the second strip-shaped hole, and the connecting rod (3213) is driven to swing through the power member (3218).

6. The fully automatic liquid dispensing robot with dual robotic arms according to claim 5, wherein: The power member (3218) includes a return spring (3219) and a guide plate (3220). The return spring (3219) is disposed between the first synchronization frame (3214) and the suspension plate (3202). The return spring (3219) pushes the first synchronization frame (3214) to move the first pressing plate (3204) away from the upper part of the corresponding limiting groove (3203). The guide plate (3220) is disposed on the suspension (3231). The guide plate (3220) is located on one side of the lifting plate (3201). The guide plate (3220) is provided with a guiding edge, and the guiding edge includes a lower inclined edge and an upper vertical edge. The lower end of the inclined edge is disposed on the side away from the lifting plate (3201). The first synchronization frame (3214) is provided with a contact runner (3223) corresponding to the guiding edge.

7. The fully automatic liquid dispensing robot with dual robotic arms according to claim 6, characterized in that: The temporary storage structure includes a main frame (3301) and a temporary storage frame (3302); the main frame (3301) includes a temporary storage station and an injection station; A temporary storage linear module (3314) is disposed below the temporary storage station. The temporary storage linear module (3314) includes a temporarily stored guide rail portion and a temporarily stored moving portion that are adapted to each other. The temporarily stored guide rail portion is vertically disposed on the frame. The temporarily stored moving portion is provided with a temporary storage table (3307). The temporary storage table (3307) includes a lower storage table (3308) and an upper storage table (3309) connected by a plurality of support rods. Windows for the temporary storage frame (3302) to enter and exit are provided on one side of the lower storage table (3308) and the upper storage table (3309) corresponding to the injection station; A transposition linear module (3310) is disposed above the injection station. The transposition linear module (3310) includes a transposition guide rail portion and a transposition moving portion that are adapted to each other. The transposition guide rail portion is horizontally disposed on the frame. The suspension (3231) is fixed to the transposition moving portion. The suspension (3231) is used for arranging a needle insertion limiting structure; A feeding linear module (3311) is disposed below the injection station. The feeding linear module (3311) includes a feeding guide rail portion and a feeding moving portion that are adapted to each other. The feeding guide rail portion is vertically disposed on the frame. The feeding moving portion is provided with a horizontal transplanting linear module (3312); The horizontal transplanting linear module (3312) includes a horizontally transplanting guide rail portion and a horizontally transplanting moving portion that are adapted to each other. The horizontally transplanting guide rail portion is horizontally disposed on the feeding moving portion. The horizontally transplanting moving portion is provided with a support plate (3313). During the sliding process of the horizontally transplanting moving portion, the support plate (3313) extends to the temporary storage table (3307); A support groove (3315) for the support plate (3313) to extend into is disposed below the temporary storage frame (3302).

Images