Liquid preparation robot

Abstract

The utility model discloses a liquid preparation robot. The liquid preparation robot comprises a workbench; the container clamping mechanism is used for being spaced from the workbench in the height direction, in the first direction, the container clamping mechanism comprises a first clamping part and a plurality of second clamping parts, the first clamping part is used for clamping a first container, and each second clamping part is used for clamping a second container; the suction piece containing mechanism is arranged on the workbench, the suction piece containing mechanism is used for clamping a suction piece, and the suction piece containing mechanism is used for moving in the first direction so as to be opposite to the first clamping part or to be opposite to any one or more second clamping parts in the multiple second clamping parts; the suction part containing mechanism is used for moving in the height direction so that suction or injection can be conducted on the first container in the first clamping part or suction or injection can be conducted on the second container in any one or more second clamping parts. The automatic medicine dispensing device can achieve automatic medicine dispensing and is high in efficiency.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic liquid preparation equipment technical field, especially in kind of liquid preparation robot. BACKGROUND

[0002] The medicine configuration of hospital needs to suck the liquid (for example sodium chloride solution) of infusion bag to the syringe, and then injects the liquid in the syringe into the west bottle, and shakes, makes the liquid and powder in the west bottle mix, and then sucks and injects the mixed liquid into the infusion bag through the syringe. The current market mainly carries out medicine configuration through medical staff artificially, and the efficiency is low. SUMMARY

[0003] The utility model discloses a kind of liquid preparation robots, and can realize automatic dispensing, with higher efficiency.

[0004] To solve the above technical problems, the embodiment of the utility model discloses a kind of liquid preparation robots, comprising:

[0005] Workbench;

[0006] Container clamping mechanism, the container clamping mechanism is used to be spaced apart with the workbench along the height direction, along the first direction, the container clamping mechanism includes first clamping part and multiple second clamping parts, the first clamping part is used to clamp first container, and each second clamping part is used to clamp second container;

[0007] Suction member containing mechanism, be located in the workbench, the suction member containing mechanism is used to contain suction member, the suction member containing mechanism is used to move along the first direction, for with the first clamping part opposite, or, for with any one or more second clamping parts in the multiple second clamping parts opposite;And, the suction member containing mechanism is used to move along the height direction, for the first container in the first clamping part suction or injection, or, for the second container in the any one or more second clamping parts suction or injection.

[0008] Using the above technical scheme, liquid preparation robot includes container clamping mechanism and suction member containing mechanism, container clamping mechanism clamps first container and second container, suction member containing mechanism can move along the first direction and height direction to with first container and second container opposite, and suction member containing mechanism can also make the syringe in its interior suction or injection along the height direction, to realize liquid preparation by this.

[0009] Specifically, the suction member accommodation mechanism clamps a suction member (e.g. a syringe), a first container (e.g. an infusion bag) is clamped by a first clamping portion in the container clamping mechanism, and a second container (e.g. a vial) is clamped by a second clamping portion in the container clamping mechanism. The suction member accommodation mechanism moves towards the first clamping portion in the first direction until opposite to the first clamping portion, then moves in the height direction to a position where the syringe can be inserted into the infusion bag in the first clamping portion, and then the syringe sucks the liquid (e.g. sodium chloride solution) in the infusion bag.

[0010] Further, the suction member accommodation mechanism moves again towards the second clamping portion in the first direction until opposite to the second clamping portion, then moves in the height direction to a position where the syringe can be inserted into the vial in the second clamping portion, and then the liquid in the syringe is injected into the vial to mix with the medicine (e.g. powdered medicine) in the vial, and then the mixed medicine in the vial is sucked out again by the syringe.

[0011] Then, the suction member accommodation mechanism moves again towards the first clamping portion in the first direction and moves in the height direction to a position where the syringe can be inserted into the infusion bag, and finally the syringe injects the mixed medicine just now into the infusion bag to complete the liquid preparation. The above liquid preparation process does not need manual operation, effectively improving the liquid preparation efficiency.

[0012] According to another specific embodiment of the present application, the container clamping mechanism further comprises:

[0013] a base portion provided on the workbench and having a first side and a second side along the first direction;

[0014] a first lifting portion rotatably connected to the first side along a second direction;

[0015] a second lifting portion rotatably connected to the second side along the second direction, and the first lifting portion and the second lifting portion move synchronously;

[0016] a connecting portion extending along the first direction, and two ends of the connecting portion are connected to the first lifting portion and the second lifting portion respectively; wherein,

[0017] the first clamping portion and the plurality of second clamping portions are provided on the connecting portion at intervals along the first direction;

[0018] the first lifting portion and the second lifting portion are used to drive the connecting portion to move along the second direction, so that the connecting portion can be spaced apart from the workbench along the height direction, or the connecting portion can be in contact with the workbench along the height direction.

[0019] According to another specific embodiment of the utility model, the container clamping mechanism further comprises: a first driving assembly, the first driving assembly comprises:

[0020] A first motor;

[0021] A first driving rod extends in the first direction, one end of the first driving rod is connected with the first motor, and the other end is connected with the first lifting part;

[0022] A second driving rod extends in the first direction, one end of the second driving rod is connected with the first motor, and the other end is connected with the second lifting part; wherein,

[0023] The first motor can drive the first driving rod and the second driving rod to rotate in the second direction, so as to drive the first lifting part and the second lifting part to move relative to the workbench in the second direction.

[0024] According to another specific embodiment of the utility model, the liquid preparation robot further comprises: a second driving assembly, the second driving assembly is arranged on the workbench; the suction piece containing mechanism comprises:

[0025] A first support part is connected with the second driving assembly, and the second driving assembly is used for driving the first support part to move relative to the container clamping mechanism in the first direction;

[0026] A second support part extends in the height direction, and one side of the second support part is connected with the first support part in a slidable manner in the height direction;

[0027] A containing part is arranged on the other side of the second support part, the containing part is used for containing the suction piece and is used for making the suction piece suck or inject;

[0028] A third driving assembly is connected with the second support part, and the third driving assembly is used for driving the second support part to move in the height direction.

[0029] According to another specific embodiment of the utility model, the suction piece comprises a needle, and the suction piece containing mechanism further comprises:

[0030] A third support part is connected to the top of the second support part in the height direction, and the third support part is provided with a first through hole;

[0031] A rotating part is provided with a second through hole, the rotating part is arranged on the third support part, the second through hole corresponds to the first through hole, the needle is contained in the rotating part and is exposed outside the second through hole;

[0032] A fourth driving assembly is connected with the rotating part, and is used to drive the needle to rotate in the rotating part.

[0033] According to another specific embodiment of the present application, the fourth driving assembly comprises:

[0034] A second motor;

[0035] A first synchronous wheel set is arranged on the third support part and comprises a plurality of first synchronous wheels connected by a belt, the second motor is connected with one of the first synchronous wheels, and the last first synchronous wheel of the first synchronous wheel set is connected with the rotating part.

[0036] The second motor can drive the one first synchronous wheel to rotate, and can drive the other first synchronous wheels in sequence through the belt, so as to drive the rotating part to rotate.

[0037] According to another specific embodiment of the present application, the second driving assembly comprises:

[0038] A third motor is arranged on one side of the workbench along the first direction.

[0039] A second synchronous wheel set comprises a plurality of second synchronous wheels connected by a belt, and the third motor is connected with one of the second synchronous wheels.

[0040] A first screw rod extends along the first direction, one end of the first screw rod is connected with the last second synchronous wheel of the second synchronous wheel set, and the other end of the first screw rod is connected with the second support part.

[0041] A first transmission block and a first nut are arranged on the outside of the first screw rod, the first nut is fixed in the first transmission block, and the first transmission block is connected to the bottom of the first support part.

[0042] The third motor can drive the one second synchronous wheel to rotate, and can drive the other second synchronous wheels in sequence through the belt, so as to drive the first screw rod to rotate, so that the first nut and the first transmission block move along the first direction, and the first support part moves along the first direction.

[0043] According to another specific embodiment of the present application, the third driving assembly comprises:

[0044] A fourth motor is arranged on the first support part.

[0045] A third synchronous wheel set comprising a plurality of third synchronous wheels connected by a belt, wherein the fourth motor is connected to one of the plurality of third synchronous wheels;

[0046] A second screw rod extending along the height direction, one end of the second screw rod being connected to the last third synchronous wheel of the third synchronous wheel set;

[0047] A second transmission block and a second nut, the second nut being sleeved outside the second screw rod, the second nut being fixed in the second transmission block, the second transmission block being connected to the one side of the second support part; wherein,

[0048] The fourth motor can drive the one of the third synchronous wheels to rotate, and drive the other part of the plurality of third synchronous wheels in sequence through the belt, so as to drive the second screw rod to rotate, so that the second nut and the second transmission block move along the height direction, so as to drive the second support part to move along the height direction.

[0049] According to another specific embodiment of the present application, the suction member comprises a barrel and a piston push rod connected thereto, and the accommodating part comprises:

[0050] A first bearing part for accommodating the barrel of the suction member, the first bearing part being connected to the second support part in a slidable manner along the height direction;

[0051] A second bearing part for being connected to the piston push rod of the suction member, the second bearing part being connected to the second support part in a slidable manner along the height direction;

[0052] The second bearing part can move away from the first bearing part along the height direction, so that the barrel is in a suction state;

[0053] The second bearing part can move towards the first bearing part along the height direction, so that the barrel is in an injection state.

[0054] According to another specific embodiment of the present application, the accommodating part further comprises:

[0055] A fifth driving assembly connected to the first bearing part to drive the first bearing part to move along the height direction;

[0056] A sixth driving assembly connected to the second bearing part to drive the second bearing part to move along the height direction.

[0057] According to another specific embodiment of the present application, the accommodating part further comprises:

[0058] A first sliding part extends along the height direction, and is arranged at the other side of the second supporting part;

[0059] A second sliding part is connected to the first supporting part at one side, and is slidingly matched with the first sliding part at the other side along the height direction;

[0060] A third sliding part is connected to the second supporting part at one side, and is slidingly matched with the first sliding part at the other side along the height direction.

[0061] According to another specific embodiment of the present application, the liquid preparation robot further comprises a cover stripping mechanism, which is arranged at intervals with the workbench along the height direction, and is used for stripping the cover of the suction element in the suction element accommodating mechanism.

[0062] According to another specific embodiment of the present application, the cover stripping mechanism comprises:

[0063] A third supporting part is arranged at intervals with the workbench along the height direction;

[0064] A first clamp is arranged at the third supporting part, and is used for clamping or unclamping the cover;

[0065] A first sensor is arranged at the third supporting part, and is used for detecting the first position state and the second position state of the cover stripping mechanism; wherein,

[0066] In the first position state, the cover of the suction element of the suction element accommodating mechanism is clamped by the first clamp;

[0067] In the second position state, the cover of the suction element of the suction element accommodating mechanism is unclamped by the first clamp.

[0068] According to another specific embodiment of the present application, the liquid preparation robot further comprises:

[0069] A box, and the workbench, the container clamping mechanism and the suction element accommodating mechanism are arranged in the box. BRIEF DESCRIPTION OF DRAWINGS

[0070] Figure 1 A perspective view of the liquid preparation robot according to an embodiment of the present application is shown Figure 1 .

[0071] Figure 2 A perspective view of the liquid preparation robot according to an embodiment of the present application is shown Figure 2 .

[0072] Figure 3 A perspective view of the liquid preparation robot according to an embodiment of the present application is shown Figure 3 .

[0073] Figure 4 A perspective view of the liquid preparation robot according to an embodiment of the present application is shown Figure 4 .

[0074] Figure 5 A perspective view of the second driving assembly and the suction element accommodating mechanism in the liquid preparation robot according to an embodiment of the present application is shown.

[0075] Figure 6 A side view of the second driving assembly and the suction element accommodating mechanism in the liquid preparation robot according to an embodiment of the present application is shown.

[0076] Figure 7 A perspective view of the suction element accommodating mechanism in the liquid preparation robot according to an embodiment of the present application is shown Figure 1 .

[0077] Figure 2 A perspective view of the suction element accommodating mechanism in the liquid preparation robot according to an embodiment of the present application is shown Figure 9 .

[0078] Figure 3 A perspective view of the suction element accommodating mechanism in the liquid preparation robot according to an embodiment of the present application is shown Figure 10 .

[0079] Figure 4 A perspective view of the suction element accommodating mechanism in the liquid preparation robot according to an embodiment of the present application is shown Figure 11 .

[0080] Figure 5 A perspective view of the suction element accommodating mechanism in the liquid preparation robot according to an embodiment of the present application is shown Figure 6 . DETAILED DESCRIPTION

[0081] The present application will be described in detail below with specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the description. Although the description of the present application will be introduced in combination with the preferred embodiments, this does not mean that the features of the present application are limited to the embodiments. On the contrary, the purpose of introducing the present application in combination with the embodiments is to cover other options or modifications that can be extended based on the claims of the present application. In order to provide a deep understanding of the present application, many specific details will be included in the following description. The present application can also be implemented without using these details. In addition, in order to avoid confusion or obscure the focus of the present application, some specific details will be omitted in the description. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0082] It should be noted that in the present specification, similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0083] In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the utility model product is usually placed, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0084] The terms "first", "second", etc. are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0085] In the description of the present embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "arranged", "connected", "connected" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present embodiment can be understood according to the specific circumstances.

[0086] In order to make the purpose, technical scheme and advantages of the utility model more clear, the embodiments of the utility model will be further described in detail below with reference to the drawings.

[0087] Reference Figure 7 and Figure 8 The present embodiment provides a liquid preparation robot 100, which comprises a workbench 101, a container clamping mechanism 120 and a suction member containing mechanism 130. As shown in Figure 9 , the workbench 101 of the present embodiment can be placed inside a box body 170, but is not limited thereto. As shown in Figure 10 , in order to facilitate display, Figure 11 the external box body 170 is omitted.

[0088] Continuing to refer to Figure 12 and Figure 13 , the container clamping mechanism 120 of the present embodiment can be arranged spaced apart from the workbench 101 along the height direction (such as the Z direction shown in Figure 14 and Figure 15 ), along the first direction (such as the X direction shown in Figure 16 and Figure 17As shown in FIG. 1, the container clamping mechanism 120 is arranged on the side of the workbench 101 along the first direction (i.e. the side indicated by the X1 direction in FIG. 1), and the container clamping mechanism 120 is used for clamping containers (for example, the infusion bag 200 and the vial 300). As shown in FIG. 1, the container clamping mechanism 120 includes a first clamping part 121 and six second clamping parts 122, the first clamping part 121 is used for clamping the first container (for example, the infusion bag 200), and each of the six second clamping parts 122 is used for clamping the second container (for example, the vial 300).

[0089] Although Figure 18 and Figure 19 Exemplarily, one first clamping part 121 and six second clamping parts 122 are shown, the number of the first clamping part 121, the second clamping part 122 and the number of the containers clamped by the first clamping part 121 and the second clamping part 122 are not limited in the embodiments of the present application. For example, two first clamping parts 121 can be arranged, and each of the two first clamping parts 121 clamps the infusion bag 200. For example, three first clamping parts 121 can be arranged, two of the three first clamping parts 121 clamp the infusion bag 200, and the other first clamping part 121 is vacant. Similarly, for example, one, three, four, seven or other number of second clamping parts 122 can be arranged, and all the second clamping parts 122 clamp the vial 300, or a part of the second clamping parts 122 clamp the vial 300, which is not limited in the embodiments of the present application.

[0090] The suction member accommodating mechanism 130 of the embodiments of the present application is arranged on the side of the workbench 101 along the first direction (i.e. the side indicated by the X1 direction in FIG. 1), and the suction member accommodating mechanism 130 is used for clamping the suction member (for example, the syringe 400). The suction member accommodating mechanism 130 can move towards the container clamping mechanism 120 along the first direction (for example, the X direction shown in FIG. 1) (for example, the X2 direction shown in FIG. 1), so as to be opposite to the first clamping part 121 in the container clamping mechanism 120, so that the syringe 400 in the suction member accommodating mechanism 130 is opposite to the infusion bag 200 in the first clamping part 121. At the same time, the suction member accommodating mechanism 130 can also move along the height direction (for example, the Z direction shown in FIG. 1), so as to suck or inject the infusion bag 200 in the first clamping part 121, so as to realize the suction or injection of the infusion bag 200 by the syringe 400. Figure 20 Figure 21 and Figure 22 As shown in FIG. 1, the container clamping mechanism 120 is arranged on the side of the workbench 101 along the first direction (i.e. the side indicated by the X1 direction in FIG. 1), and the container clamping mechanism 120 is used for clamping containers (for example, the infusion bag 200 and the vial 300). As shown in FIG. 1, the container clamping mechanism 120 includes a first clamping part 121 and six second clamping parts 122, the first clamping part 121 is used for clamping the first container (for example, the infusion bag 200), and each of the six second clamping parts 122 is used for clamping the second container (for example, the vial 300). Figure 23 Figure 24 and Figure 25 As shown in FIG. 1, the container clamping mechanism 120 is arranged on the side of the workbench 101 along the first direction (i.e. the side indicated by the X1 direction in FIG. 1), and the container clamping mechanism 120 is used for clamping containers (for example, the infusion bag 200 and the vial 300). As shown in FIG. 1, the container clamping mechanism 120 includes a first clamping part 121 and six second clamping parts 122, the first clamping part 121 is used for clamping the first container (for example, the infusion bag 200), and each of the six second clamping parts 122 is used for clamping the second container (for example, the vial 300).

[0091] ​​Further, the suction member accommodating mechanism 130 is also capable of being opposite to any one of the six second clamping portions 122, or opposite to all of the second clamping portions 122, so that the syringe 400 in the suction member accommodating mechanism 130 is opposite to the vial 300 in the second clamping portion 122; meanwhile, the suction member accommodating mechanism 130 is also capable of moving along the height direction (such as the Z direction shown in Figure 26 and Figure 27 ) for suction or injection to the vial 300 in any one or more second clamping portions 122, so as to realize the suction or injection of the syringe 400 to the vial 300.

[0092] Referring to Figure 28 and Figure 29 , in some possible embodiments, the liquid preparation robot 100 of the embodiments of the present application further comprises a cap stripping mechanism 150, which is spaced apart from the workbench 101 along the height direction (such as the Z direction shown in Figure 30 and Figure 31 ), and is used for stripping the cap 403 (as shown in Figure 32 ) of the syringe 400 in the suction member accommodating mechanism 130.

[0093] In some possible embodiments, the cap stripping mechanism 150 of the embodiments of the present application comprises a third bearing portion 151, a first clamp 152, and a first sensor 153. Along the height direction, the third bearing portion 151 is spaced apart from the workbench 101; the first clamp 152 is arranged on the third bearing portion 151, and is used for clamping or releasing the cap 403.

[0094] The first sensor 153 is arranged on the third bearing portion 151, and is used for detecting a first position state and a second position state of the cap stripping mechanism 150; wherein in the first position state, the cap of the syringe 400 of the suction member accommodating mechanism 130 is clamped by the first clamp 152; in the second position state, the cap of the syringe 400 of the suction member accommodating mechanism 130 is released by the first clamp 152.

[0095] In some possible embodiments, the liquid preparation robot 100 further comprises a controller 160, which is connected with the container clamping mechanism 120, the suction member accommodating mechanism 130, and the cap stripping mechanism 150. Exemplarily, the controller 160 comprises a display screen.

[0096] In addition, the suction member accommodating mechanism 130 is also capable of moving away from the above-mentioned container clamping mechanism 120 along the first direction (such as the X1 direction shown in Figure 33 to return to the initial position.

[0097] That is, the liquid preparation robot 100 can complete the following liquid preparation process: the suction member containing mechanism 130 moves along the height direction and / or the first direction to below the cover removing mechanism 150, at this time the first sensor 153 detects that the cover 403 of the syringe 400 is in the first clamp 152, transmits a signal to the controller 160, the controller 160 controls the first clamp 152 to clamp the cover 403, and the suction member containing mechanism 130 moves along the height direction towards the workbench to separate the cover 403 from the syringe needle, at this time the first clamp 152 remains in the clamping state.

[0098] The suction member containing mechanism 130 moves along the first direction to opposite the infusion bag 200 in the first clamping part 121, the suction member containing mechanism 130 rises along the height direction to be close to the infusion bag 200, and then the syringe 400 in the suction member containing mechanism 130 can suck the liquid (for example, sodium chloride solution) of the infusion bag 200 in the first clamping part 121.

[0099] Then continue to move along the first direction towards the second clamping part 122 (for example, the X2 direction shown in Figure 34 , until moving to opposite the vial 300 in any one of the second clamping parts 122, at this time the syringe 400 injects the liquid in the inside into the vial 300; then suck the prepared medicine in the vial 300, at this time the suction member containing mechanism 130 moves along the first direction towards the first clamping part 121 (for example, the X1 direction shown in Figure 35 , and injects the prepared medicine into the infusion bag 200, to complete the liquid preparation work.

[0100] The suction member containing mechanism 130 moves along the height direction and / or the first direction again to below the cover removing mechanism 150, and inserts the needle of the syringe 400 into the cover 403 in the first clamp 152, the first sensor 153 detects the insertion of the needle, transmits a signal to the controller 160, the controller 160 controls the first clamp 152 to release the cover 403, and the suction member containing mechanism 130 moves along the height direction towards the workbench to cover the cover 403 back to the needle.

[0101] Next, the container clamping mechanism 120 of the embodiment of the present application will be described in detail in combination with the drawings.

[0102] Referring to Figure 36 and Figure 37 in combination with Figure 38 , in some possible implementations, the container clamping mechanism 120 further includes: a base 123, a first lifting part 124 (as shown in Figure 39 , a second lifting part 125 (as shown in Figure 40 , and a connecting part 126.

[0103] AsFigure 41 and Figure 42 As shown, the base 123 is located on the workbench 101 and serves as the support base for the container clamping mechanism 120, along the first direction (e.g., Figure 43 and Figure 44 The base 123 has a first side 1231 (i.e., the X direction shown in the figure). Figure 45 and Figure 46 The side indicated by X1) and the second side 1232 (i.e. Figure 47 and Figure 48 (The side indicated by the X2 direction).

[0104] As can be seen, the first lifting part 124 moves along the second direction (e.g.) Figure 49 The second lifting part 125 is rotatably connected to the first side 1231 in the T direction shown in the figure, and is rotatably connected to the second side 1231 in the second direction (e.g., the T direction shown in the figure). Figure 50 The first lifting part 124 and the second lifting part 125 are rotatably connected to the second side 1232 in the T direction shown in the figure, while the first lifting part 124 and the second lifting part 125 rotate synchronously.

[0105] Connecting part 126 along the first direction (e.g.) Figure 51 and Figure 52 Extending in the X direction (as shown), the two ends of the connecting part 126 are respectively connected to the first lifting part 124 and the second lifting part 125, and combined with... Figure 53 As can be seen, the first clamping part 121 and the six second clamping parts 122 are mounted on the connecting part 126 at intervals along the first direction.

[0106] As described above, the container clamping mechanism 120 can be spaced apart from the worktable along the height direction. Based on this structure, the first lifting part 124 and the second lifting part 125 can synchronously drive the connecting part 126 along the second direction (e.g., Figure 54 and Figure 55 The movement (in the T direction shown) can, for example, drive the connecting part 126 to move away from the worktable 101 in the second direction (e.g., ...). Figure 56 and Figure 57 (as shown in the T1 direction) so that the connecting portion 126 can be along the height direction (e.g., the direction of T1) to allow the connecting portion 126 to be aligned with the height direction (e.g., the direction of T1). Figure 58 and Figure 59 The Z-direction shown in the diagram is spaced apart from the worktable 101, or the first lifting part 124 and the second lifting part 125 can move close to the worktable 101 in the height direction so that the connecting part 126 can contact the worktable 101 in the height direction.

[0107] Specifically, continue to refer to Figure 60 and Figure 61 The aforementioned synchronous movement of the first lifting part 124 and the second lifting part 125 can be achieved by the first drive assembly 127.

[0108] In some possible implementation manners, the container clamping mechanism 120 further comprises a first driving assembly 127, the first driving assembly 127 comprising a first motor 1271, a first driving rod 1272 and a second driving rod 1273.

[0109] As shown in Figure 62 and Figure 63 , the first motor 1271 is arranged on the workbench 101, the first driving rod 1272 and the second driving rod 1273 both extend along a first direction (e.g., the X direction as shown in Figure 64 and Figure 65 ), one end (i.e., the end pointed by the X2 direction in Figure 66 ) of the first driving rod 1272 is connected with the first motor 1271, and the other end (i.e., the end pointed by the X1 direction in Figure 67 and Figure 68 ) is connected with the first lifting part 124; one end (i.e., the end pointed by the X1 direction in Figure 69 and Figure 70 ) of the second driving rod 1273 is connected with the first motor 1271, and the other end (i.e., the end pointed by the X2 direction in Figure 71 and Figure 72 ) is connected with the second lifting part 125, and the first motor 1271 is capable of driving the first driving rod 1272 and the second driving rod 1273 to rotate synchronously along a second direction (e.g., the T direction as shown in Figure 73 and Figure 74 ) so as to drive the first lifting part 124 and the second lifting part 125 to move relative to the workbench 101 along the second direction.

[0110] The suction member accommodating mechanism 130 of the present application will be described in detail below in combination with the drawings.

[0111] Referring to Figure 75 and in combination with Figure 76 , the liquid preparation robot 100 of the present application further comprises a second driving assembly 140 arranged on the workbench 101. As known from the foregoing, the suction member accommodating mechanism 130 of the present application is capable of moving towards or away from the container clamping mechanism 120 along a first direction, and the second driving assembly 140 is used to drive the suction member accommodating mechanism 130 to move along the first direction.

[0112] In addition, as known from the foregoing, the suction member accommodating mechanism 130 of the present application is also capable of moving along a height direction, and the movement of the suction member accommodating mechanism 130 along the height direction is realized by the components (i.e., the third driving assembly described below) inside the suction member accommodating mechanism 130.

[0113] Specifically, in some possible implementation manners, the suction member accommodating mechanism 130 of the embodiment of the present application comprises a first support portion 131, a second support portion 132, an accommodating portion 133 (as shown in Figure 77 ) and a third driving assembly 134.

[0114] The first support portion 131 (as shown in Figure 78 ) is connected with a second driving assembly 140, and the second driving assembly 140 is capable of driving the first support portion 131 to move (as shown in the X2 direction in Figure 79 ) relative to the container clamping mechanism 120 (as shown in Figure 80 ) along a first direction (as shown in the X direction in Figure 81 ). Exemplarily, the first support portion 131 is a T-shaped plate body structure, but the embodiment of the present application does not make specific limitation on the shape of the first support portion 131.

[0115] The second support portion 132 (as shown in Figure 82 ) extends along a height direction (as shown in the Z direction in Figure 83 ), and one side (i.e. the side pointed by the Y2 direction in Figure 84 ) of the second support portion 132 along a third direction (as shown in the Y direction in Figure 85 ) is connected with the above-mentioned first support portion 131 in a slidable manner along the height direction (as shown in the Z direction in Figure 86 ).

[0116] The accommodating portion 133 is used for accommodating the syringe 400 (as shown in Figure 87 and Figure 88 ), and is used for enabling the syringe 400 to perform the suction or injection described above. It can be seen that the accommodating portion 133 is arranged at the other side (i.e. the side pointed by the Y1 direction in Figure 89 ) of the second support portion 132.

[0117] The third driving assembly 134 is connected with the second support portion 132, and the third driving assembly 134 is used for driving the second support portion 132 to move along the height direction (as shown in the Z direction in Figure 90 ). Since the second support portion 132 is connected with the first support portion 131 in a slidable manner along the height direction, and the third driving assembly 134 is capable of driving the second support portion 132 to move along the height direction, that is, the first support portion 131 is relatively fixed in the height direction, while the second support portion 132 and the accommodating portion 133 are capable of moving relative to the first support portion 131 in the height direction, thereby realizing the movement of the suction member accommodating mechanism 130 in the height direction.

[0118] Continuing to refer to Figure 91 and Figure 92Furthermore, in some possible implementations, the second drive assembly 140 includes: a third motor 141, a second synchronous pulley set 142, a first lead screw 143, a first transmission block 144, and a first nut 145.

[0119] As can be seen, along the first direction (e.g.) Figure 93 (shown in the X direction), the third motor 141 is located on one side of the worktable 101 (i.e., the X direction shown in the figure), Figure 94 (The side indicated by the X1 direction).

[0120] like Figure 95 As shown, the second synchronous pulley set 142 includes two second synchronous pulleys 1421 connected by a belt, and the third motor 141 is connected to one of the multiple second synchronous pulleys 1421 (i.e., Figure 96 The second synchronous pulley 1421, as indicated by the Y2 direction, is connected. Although Figure 97 Only two second synchronization wheels 1421 are shown as an example, but the embodiments of this application do not impose a specific limitation on the number of second synchronization wheels 1421. For example, three, four, five or other numbers of second synchronization wheels 1421 can be set.

[0121] like Figure 98 As shown, the first lead screw 143 is along the first direction (e.g.) Figure 99 Extending in the X direction shown in the figure, one end of the first lead screw 143 is connected to the last second synchronous pulley 1421 of the second synchronous pulley set 142 (i.e., Figure 100 The second synchronous pulley 1421 in the Y1 direction is connected.

[0122] like Figure 101 As shown, the first nut 145 is sleeved on the outside of the first lead screw 143, and the first nut 145 is fixed inside the first transmission block 144. The first transmission block 144 is connected to the bottom of the first support portion 131 of the suction component receiving mechanism 130.

[0123] Thus, the third motor 141 can drive such as Figure 102 The second synchronous pulley 1421 mentioned above, pointing in the Y2 direction, rotates and is driven sequentially by the belt as follows: Figure 103 The last second synchronous pulley 1421 mentioned above, pointing in the Y1 direction, drives the first lead screw 143 to rotate, so that the first nut 145 and the first transmission block 144 move along the first direction (e.g., Figure 104 The movement (in the Y direction shown in the figure) drives the first support 131 to move along the first direction, and ultimately drives the second support 132 and the receiving part 133 connected to the first support 131 to move along the first direction.

[0124] refer to Figure 105 , Figure 106An exemplary perspective view showing the suction member accommodating mechanism 130 Figure 107 . Figure 108 、 Figure 109 and Figure 110 show side perspective views of the suction member accommodating mechanism 130 from different viewing angles, respectively, wherein Figure 111 、 Figure 112 and Figure 113 omit the outer housing of the suction member accommodating mechanism 130, respectively.

[0125] With reference to Figure 114 and in combination with Figure 115 , in some possible implementations, the above-mentioned suction member accommodating mechanism 130 is also capable of mixing the medicinal liquid in the vial 300.

[0126] Specifically, the suction member 400 comprises a barrel 401, a piston push rod 402 and a needle 403 connected with each other. The suction member accommodating mechanism further comprises a third support portion 135, a rotating portion 136 and a fourth driving assembly 137.

[0127] In the height direction (e.g. the Z direction as shown in Figure 116 ), the third support portion 135 is connected to the top of the second support portion 132, and the third support portion 135 is provided with a first through hole. The rotating portion 136 is arranged on the third support portion 135, and the rotating portion 136 is also provided with a second through hole 1360 corresponding to the first through hole of the third support portion 135. The needle is accommodated in the rotating portion 136 and exposed outside the second through hole 1360.

[0128] Meanwhile, the fourth driving assembly 137 is connected with the rotating portion 136, and the fourth driving assembly 137 is used to drive the needle 403 in the rotating portion 136 to rotate and drive the whole injector 400 to rotate.

[0129] In some possible implementations, the fourth driving assembly 137 comprises a second motor 1371 and a first synchronous wheel set 1372.

[0130] It can be seen that the first synchronous wheel set 1372 is arranged on the third support portion 135, and the first synchronous wheel set 1372 comprises two first synchronous wheels 13721 connected by a belt. The third motor 1371 is connected with one of the two first synchronous wheels 13721, and the last first synchronous wheel 13721 of the first synchronous wheel set 1372 is connected with the rotating portion 136.

[0131] The second motor 1371 can drive one of the first synchronous wheels 13721 to rotate, and drive the other two first synchronous wheels 13721 in sequence through the belt, so as to drive the rotating portion 136 to rotate.

[0132] The number of the first synchronous wheels 13721 is not limited in the embodiments of the present application, and for example, three, four, five or the like number of first synchronous wheels 13721 can be provided.

[0133] Reference is made to Figure 117 and Figure 118 In some possible embodiments, the third driving assembly 134 of the suction member accommodating mechanism 130 includes a fourth motor 1341, a third synchronous wheel set 1342, a second lead screw 1343, a second transmission block 1344 and a second nut 1345.

[0134] It can be seen that the fourth motor 1341 is arranged on the first support portion 131, the third synchronous wheel set 1342 includes a plurality of third synchronous wheels 13421 connected by a belt, and the fourth motor 1341 is connected with one of the third synchronous wheels 13421. The number of the third synchronous wheels 13421 is not limited in the embodiments of the present application, and for example, three, four, five or the like number of third synchronous wheels 13421 can be provided.

[0135] As shown in Figure 119 , the second lead screw 1343 extends along a height direction (for example, the Z direction shown in Figure 120 ), one end (i.e. the end pointed by the Z1 direction in Figure 121 ) of the second lead screw 1343 is connected with the last third synchronous wheel 13421 of the third synchronous wheel set 1342, and the other end of the second lead screw 1343 is connected with the second support portion 132.

[0136] The second nut 1345 is sleeved on the outside of the second lead screw 1343, the second nut 1345 is fixed in the second transmission block 1344, and the second transmission block 1344 is connected with one side of the second support portion 132. The fourth motor 1341 can drive one of the third synchronous wheels 13421 to rotate, and drive the other part of the plurality of third synchronous wheels 13421 through the belt in turn, so as to drive the second lead screw 1343 to rotate, so that the second nut 1345 and the second transmission block 1344 move along the height direction (for example, the Z direction shown in Figure 122 ).

[0137] According to the foregoing, the suction member accommodating mechanism 130 of the embodiments of the present application can suck or inject the suction member, and the principle of sucking or injecting the suction member will be described in detail below with reference to the accompanying drawings.

[0138] Reference is made to Figure 123 and in combination with Figure 124In some possible implementation, as described above, the syringe 400 comprises the barrel 401 and the plunger rod 402 connected with each other, and the accommodating portion 133 of the suction member accommodating mechanism 130 comprises a first bearing portion 1331 and a second bearing portion 1332.

[0139] The first bearing portion 1331 is configured to accommodate the barrel 401 of the syringe 400, and it can be seen that the first bearing portion 1331 has a clamping cavity 13310 in which the barrel 401 of the syringe 400 is accommodated and clamped. The first bearing portion 1331 is connected with the second support portion 132 in a slidable manner along the height direction (e.g., the Z direction shown in the middle). Figure 125

[0140] Exemplarily, referring to Figure 126 , the accommodating portion 133 further comprises a fifth driving assembly 1333 connected with the first bearing portion 1331, for driving the first bearing portion 1331 to move along the height direction (e.g., the Z direction shown in the middle). Figure 127

[0141] Referring to Figure 128 and combining Figure 129 , the second bearing portion 1332 is configured to be connected with the plunger rod 402 of the syringe 400, and the second bearing portion 1332 is connected with the second support portion 132 in a slidable manner along the height direction (e.g., the Z direction shown in the middle). Figure 130

[0142] Exemplarily, referring to Figure 131 , in some possible implementation, the accommodating portion 133 further comprises a sixth driving assembly 1334 connected with the second bearing portion 1332, for driving the second bearing portion 1332 to move along the height direction (e.g., the Z direction shown in the middle). Figure 132

[0143] Referring to Figure 133 and combining Figure 134 , when the first bearing portion 1331 is fixed and the second bearing portion 1332 moves away from the first bearing portion 1331 along the height direction (e.g., the Z2 direction shown in the middle), the second bearing portion 1332 drives the plunger rod 402 to suck liquid (e.g., sodium chloride solution in the above-mentioned first clamping portion, or mixed drug solution in the second clamping portion) outwards relative to the barrel 401. Figure 135

[0144] When the first bearing portion 1331 is fixed and the second bearing portion 1332 is capable of moving towards the first bearing portion 1331 along the height direction (e.g., the Z1 direction shown in the middle), the second bearing portion 1332 drives the plunger rod 402 to suck liquid (e.g., sodium chloride solution in the above-mentioned first clamping portion, or mixed drug solution in the second clamping portion) inwards relative to the barrel 401. Figure 136 ​​​​​(Z1 direction shown in the figure) The second bearing part 1332 pushes the piston rod 402 to inject liquid (e.g., sodium chloride solution in the infusion bag located in the first clamping part, or, for example, a mixed medicine solution) into the cylinder 401.

[0145] In some possible implementations, the receiving portion 133 further includes a first sliding portion 1335, a second sliding portion 1336, and a third sliding portion 1337.

[0146] As can be seen, the first sliding part 1335 is along the height direction (e.g. Figure 137 Extending in the Z direction shown in the diagram, the first sliding portion 1335 is provided on one side of the second support portion 132 (i.e., Figure 138 (The side indicated by the Y1 direction). For example, the first sliding part 1335 is a slide rail or a slide groove, and this application embodiment does not limit this.

[0147] One side of the second sliding part 1336 (i.e. Figure 139 The side indicated by the Y1 direction is connected to the first bearing part 1331, and the other side of the second sliding part 1336 (i.e., Figure 140 The second sliding part 1336 (located on the side indicated by the Y2 direction) slides in conjunction with the first sliding part 1335 along the height direction. Exemplarily, the second sliding part 1336 is a slider, but this embodiment of the application does not limit this.

[0148] One side of the third sliding part 1337 (i.e. Figure 141 The side indicated by the Y1 direction is connected to the second bearing part 1332, and the other side of the third sliding part 1337 (i.e., Figure 142 Figure 143 Figure 144 Figure 145 Figure 146 Figure 147 Figure 148 Figure 149 Figure 150 Figure 151 Figure 152 Figure 153 Figure 154 Figure 155 Figure 156 Figure 157 Figure 158 Figure 159 Figure 160 Figure 161 Figure 162 Figure 163 Figure 164 Figure 165 Figure 166 Figure 167 Figure 168 Figure 169 Figure 170 Figure 171 Figure 172 Figure 173 Figure 174 Figure 175 Figure 176 Figure 177 Figure 178 Figure 179 Figure 180 Figure 181 Figure 182 Figure 183 Figure 184 Figure 185 Figure 186 Figure 187 Figure 188 Figure 189 Figure 190 Figure 191 Figure 192 Figure 193 Figure 194 Figure 195 Figure 196 Figure 197 Figure 198 Figure 199 Figure 200 Figure 201 Figure 202 Figure 203 Figure 204 Figure 205 Figure 206 Figure 207 Figure 208 Figure 209 Figure 210 Figure 211 Figure 212 Figure 213 Figure 214 Figure 215 Figure 216 Figure 217 Figure 218 Figure 219 Figure 220 Figure 221 Figure 222 Figure 223 Figure The third sliding part 1337 (located on the side indicated by the Y2 direction) slides in conjunction with the first sliding part 1335 along the height direction. For example, the third sliding part 1337 is a slider, but this embodiment does not limit this.

[0149] Although the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the present invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the present invention to these descriptions. Those skilled in the art can make various changes in form and detail, including some simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A liquid dispensing robot, characterized in that, include: Workbench; A container clamping mechanism is provided at intervals from the worktable along the height direction. Along a first direction, the container clamping mechanism includes a first clamping part and a plurality of second clamping parts. The first clamping part is used to clamp a first container, and each of the second clamping parts is used to clamp a second container. A suction component receiving mechanism is provided on the worktable. The suction component receiving mechanism is used to receive a suction component. The suction component receiving mechanism is used to move along the first direction to be opposite to the first clamping part, or to be opposite to any one or more of the plurality of second clamping parts. Furthermore, the suction component receiving mechanism is used to move along the height direction to draw or inject into the first container in the first clamping part, or to draw or inject into the second container in any one or more of the second clamping parts.

2. The liquid preparation robot according to claim 1, characterized in that, The container clamping mechanism further includes: A base is provided on the workbench, and along the first direction, the base has a first side and a second side; The first lifting part is rotatably connected to the first side in a second direction; The second lifting part is rotatably connected to the second side in the second direction, and the first lifting part and the second lifting part move synchronously. A connecting portion extends along the first direction, and its two ends are respectively connected to the first lifting portion and the second lifting portion; wherein... The first clamping part and the plurality of second clamping parts are provided at intervals along the first direction on the connecting part; The first lifting part and the second lifting part are used to drive the connecting part to move along the second direction, so that the connecting part can be spaced apart from the worktable along the height direction, or so that the connecting part can contact the worktable along the height direction.

3. The liquid preparation robot according to claim 2, characterized in that, The container clamping mechanism further includes: a first driving component, the first driving component comprising: First motor; A first drive rod extends along the first direction, with one end of the first drive rod connected to the first motor and the other end connected to the first lifting part; A second drive rod extends along the first direction, with one end connected to the first motor and the other end connected to the second lifting unit; wherein... The first motor can drive the first drive rod and the second drive rod to rotate in the second direction, so as to drive the first lifting part and the second lifting part to move relative to the worktable in the second direction.

4. The liquid dispensing robot according to claim 1, characterized in that, The liquid preparation robot further includes: a second drive assembly, the second drive assembly being disposed on the worktable; the aspiration component receiving mechanism includes: A first support portion is connected to a second drive component, the second drive component being used to drive the first support portion to move relative to the container clamping mechanism along the first direction; The second support extends along the height direction, and one side of the second support is slidably connected to the first support in the height direction; A receiving portion is provided on the other side of the second support portion. The receiving portion is used to receive the suction member and to allow the suction member to aspirate or inject. A third drive assembly is connected to the second support portion, and the third drive assembly is used to drive the second support portion to move along the height direction.

5. The liquid dispensing robot according to claim 4, characterized in that, The suction device includes a needle, and the suction device receiving mechanism further includes: A third support portion is connected to the top of the second support portion along the height direction, and the third support portion is provided with a first through hole; The rotating part is provided with a second through hole. The rotating part is located on the third support part, and the second through hole corresponds to the first through hole. The needle is accommodated in the rotating part and exposed outside the second through hole. A fourth driving component is connected to the rotating part, and the fourth driving component is used to drive the needle in the rotating part to rotate.

6. The liquid dispensing robot according to claim 5, characterized in that, The fourth driving component includes: Second motor; The first synchronous pulley group is located on the third support part and includes a plurality of first synchronous pulleys connected by a belt. The second motor is connected to one of the plurality of first synchronous pulleys. The last first synchronous pulley of the first synchronous pulley group is connected to the rotating part. The second motor can drive one of the first synchronous pulleys to rotate, and drive the other part of multiple first synchronous pulleys in sequence via the belt to drive the rotating part to rotate.

7. The liquid dispensing robot according to claim 4, characterized in that, The second driving component includes: A third motor is located along the first direction and is situated on one side of the worktable; The second synchronous pulley group includes a plurality of second synchronous pulleys connected by a belt, and the third motor is connected to one of the plurality of second synchronous pulleys; A first lead screw extends along the first direction, one end of the first lead screw is connected to the last second synchronous pulley of the second synchronous pulley group, and the other end of the first lead screw is connected to the second support part; A first transmission block and a first nut, wherein the first nut is sleeved on the outside of the first lead screw and fixed inside the first transmission block, and the first transmission block is connected to the bottom of the first support portion; wherein... The third motor can drive one of the second synchronous pulleys to rotate, and sequentially drive another portion of the multiple second synchronous pulleys via the belt to drive the first lead screw to rotate, so that the first nut and the first transmission block move along the first direction, thereby driving the first support part to move along the first direction.

8. The liquid dispensing robot according to claim 4, characterized in that, The third driving component includes: The fourth motor is located in the first support section; The third synchronous pulley group includes a plurality of third synchronous pulleys connected by a belt, and the fourth motor is connected to one of the plurality of third synchronous pulleys; The second lead screw extends along the height direction, and one end of the second lead screw is connected to the last third synchronous pulley of the third synchronous pulley group; A second transmission block and a second nut, the second nut being sleeved on the outside of the second lead screw and fixed inside the second transmission block, the second transmission block being connected to one side of the second support portion; wherein... The fourth motor can drive one of the third synchronous pulleys to rotate, and sequentially drive another portion of the third synchronous pulleys via the belt to drive the second lead screw to rotate, so that the second nut and the second transmission block move along the height direction, thereby driving the second support part to move along the height direction.

9. The liquid dispensing robot according to claim 4, characterized in that, The suction component includes a connected cylinder and a piston rod, and the receiving portion includes: A first support portion is used to accommodate the cylinder of the suction component, and the first support portion is slidably connected to the second support portion along the height direction; The second bearing portion is used to connect with the piston rod of the suction member, and the second bearing portion is slidably connected to the second support portion along the height direction; The second support portion can move away from the first support portion along the height direction to put the cylinder into a suction state; The second support portion can move toward the first support portion along the height direction to put the cylinder into an injection state.

10. The liquid dispensing robot according to claim 9, characterized in that, The receiving portion further includes: The fifth drive component is connected to the first support portion to drive the first support portion to move along the height direction; A sixth drive component is connected to the second support portion to drive the second support portion to move along the height direction.

11. The liquid dispensing robot according to claim 9, characterized in that, The receiving portion further includes: A first sliding portion extends along the height direction and is disposed on the other side of the second support portion; The second sliding part has one side connected to the first bearing part, and the other side of the second sliding part slides in cooperation with the first sliding part along the height direction; The third sliding part has one side connected to the second bearing part, and the other side of the third sliding part slides in cooperation with the first sliding part along the height direction.

12. The liquid preparation robot according to claim 1, characterized in that, The liquid dispensing robot further includes a cap-removing mechanism, which is spaced apart from the worktable along the height direction. The cap-removing mechanism is used to remove the cap of the suction component inside the suction component receiving mechanism.

13. The liquid dispensing robot according to claim 12, characterized in that, The peeling mechanism includes: The third support portion is provided at intervals on the worktable along the height direction; A first clamp is disposed on the third bearing portion, and the first clamp is used to clamp or release the cover; A first sensor, disposed on the third supporting part, is used to detect a first position state and a second position state of the cap-peeling mechanism; wherein... In the first position state, the cover of the suction member of the suction member receiving mechanism is held by the first clamp; In the second position state, the cover of the suction member of the suction member receiving mechanism is released by the first clamp.

14. The liquid dispensing robot according to claim 1, characterized in that, The solution preparation robot also includes: The box body, the workbench, the container clamping mechanism, and the suction component receiving mechanism are disposed inside the box body.

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