Liquid preparation robot for powdery reagent

Abstract

The utility model relates to the technical field of dispensing equipment, and discloses a liquid dispensing robot for powdery reagents, which comprises a frame, a cover opening and closing module, a puncture module and a liquid injection module. According to the liquid preparation robot disclosed by the utility model, the needle head used for injecting the reagent liquid into the medicament bottle is arranged to be a disposable component which is independent relative to the liquid injection module, so that the liquid preparation operation can be completed by utilizing the needle head corresponding to the single medicament bottle in each liquid preparation process; compared with the mode that a plurality of medicament bottles share the same needle head in the prior art, the liquid preparation efficiency is guaranteed, meanwhile, the hygiene during liquid preparation can be effectively improved, and the risk of cross infection during liquid preparation can be effectively reduced.

Description

Technical Field

[0001] This utility model relates to the field of drug dispensing equipment technology, and more specifically, to a liquid dispensing robot for powdered reagents. Background Technology

[0002] The content in this section only provides background information related to this utility model and may not constitute prior art.

[0003] Currently, most coagulation test reagents are stored in medicine bottles in the form of dry powder. Before actual use, they often need to be prepared into a usable solution.

[0004] Early solution preparation was done manually. The process can be summarized as follows: first, the cap of the reagent bottle was manually opened; then, using a syringe or other auxiliary equipment, the reagent solution compatible with the coagulation test reagent was injected into the bottle to mix and form a usable solution. This method was not only labor-intensive and inefficient, but also prone to discrepancies between the actual amount of reagent injected and the prescribed amount, resulting in a substandard solution and poor quality.

[0005] A search revealed that some devices have emerged that can replace manual labor for automated solution preparation. For example, patent application number CN202211011363.6, entitled "A Reagent Dispensing Robot for Automated Preparation of Powdered Reagents," discloses a robot capable of automated solution preparation. Although such dispensing robots can reduce labor intensity, improve efficiency, and enhance the quality of solution preparation compared to manual methods, the needles used to inject the reagent solution are always connected to the reagent source via tubing. This makes it difficult to ensure that each reagent bottle corresponds to a single needle. If different reagent bottles share the same needle, hygiene is poor, and cross-contamination is likely to occur. Utility Model Content

[0006] In view of this, the purpose of this utility model is to provide a liquid preparation robot for powdered reagents, so as to overcome at least the technical problem that known liquid preparation robots are difficult to match one medicine bottle with one needle and have poor hygiene during liquid preparation.

[0007] The objective of this utility model is achieved through the following technical solution:

[0008] This utility model discloses a liquid dispensing robot for powdered reagents, which is applied to a medicine bottle. The medicine bottle includes a bottle body, a stopper inserted into the bottle mouth of the bottle body, and a cap that is removably fitted onto the bottle mouth of the bottle body.

[0009] The solution preparation robot includes:

[0010] frame;

[0011] A cap opening and closing module is provided on the frame; the cap opening and closing module is configured to remove the cap from the bottle body and close the cap onto the bottle opening;

[0012] A puncture module is provided on the frame; the puncture module is used to provide needles corresponding one-to-one with the medicine bottles; and the puncture module is configured to allow the needles to puncture the bottle stopper to remain on the bottle stopper, and to remove the needles remaining on the bottle stopper from the bottle stopper.

[0013] The liquid injection module is located on the frame; the liquid injection module is configured to inject reagent liquid into the bottle through the needle pre-installed on the bottle stopper, and to separate from the needle after the liquid injection is completed.

[0014] Furthermore, the needle includes a connecting part and a puncture part, and the end of the connecting part opposite to the puncture part is provided with a connecting groove;

[0015] The puncture module includes a needle mounting assembly and a second linear actuator; the needle assembly includes a fixing member and a movable member disposed opposite the fixing member, the fixing member and the movable member defining a fixing groove suitable for the connection portion to pass through; and the movable member and the fixing member are also configured to be able to move closer to or further away from each other.

[0016] The second linear actuator is configured to drive the needle mounting assembly to move along the axis of the needle, and the second linear actuator is mounted on the frame.

[0017] Furthermore, the needle mounting assembly also includes a limiting member, which is located above the fixing member, and the side of the connecting portion away from the puncture portion abuts against the limiting member.

[0018] Furthermore, the injection module includes an injection assembly and a fourth linear actuator, the fourth linear actuator being configured to drive the injection assembly to move along the axis of the needle, the fourth linear actuator being mounted on the frame;

[0019] The injection assembly includes at least one injection head, and the injection head includes an injection tube;

[0020] The first end of the injection tube is connected to the reagent liquid source, and the second end of the injection tube extends along the axis of the needle and is adapted to the connecting groove.

[0021] Furthermore, the injection module also includes a connecting plate, which is connected to the output end of the fourth linear driver;

[0022] The injection head also includes a mounting component, which has a first side and a second side opposite to each other. The first side of the mounting component is detachably connected to the connecting plate, and the first side of the mounting component is provided with a receiving groove with an open structure. The first end of the receiving groove penetrates the circumferential sidewall of the mounting component.

[0023] The injection tube is positioned on the second side of the mounting component, and the first end of the injection tube is connected to the second end of the receiving groove;

[0024] A flexible tube is provided between the injection tube and the reagent source. One end of the flexible tube is connected to the reagent source, and the other end of the flexible tube passes through the receiving groove and is inserted into the injection tube through the first end of the injection tube.

[0025] Furthermore, the liquid preparation robot also includes a positioning module and a power module;

[0026] The positioning module is used to position the bottle body, and the positioning module is also configured to move between the opening and closing cap module, the puncture module and the injection module;

[0027] The power module is configured to provide power for the movement of the positioning module.

[0028] Furthermore, the opening and closing cap module, the puncture module, and the injection module are arranged on the same straight line;

[0029] The power module includes a rack, a gear, and a motion drive motor;

[0030] The rack is fixedly arranged along the moving direction of the positioning module, the gear is connected to the moving drive motor, the gear meshes with the rack, and the moving drive motor is mounted on the positioning module.

[0031] Furthermore, the bottle cap and the bottle body are connected by a thread;

[0032] The opening and closing module includes a clamping and rotating mechanism and a first linear actuator;

[0033] The clamping and rotating mechanism includes two opposing grippers and a rotation drive assembly;

[0034] The two grippers define a gripping space suitable for receiving the bottle cap, and the two grippers are configured to move closer to or further apart from each other;

[0035] The rotary drive assembly is configured to drive the two grippers to rotate about the axis of the bottle cap; the first linear actuator is configured to drive the two grippers to move along the axis of the bottle cap, and the first linear actuator is mounted on the frame.

[0036] Furthermore, the rotary drive assembly is located at the output end of the first linear driver;

[0037] The clamping and rotating mechanism further includes a mounting base, a transmission component corresponding to each of the grippers, and a clamping drive assembly; the mounting base is located at the output end of the rotation drive assembly.

[0038] The transmission component includes a first connecting rod and a second connecting rod; a first end of the first connecting rod is hinged to the mounting base to form a first hinge point, and a second end of the first connecting rod is hinged to the corresponding gripper to form a second hinge point; a first end of the second connecting rod is hinged to the mounting base to form a third hinge point, and a second end of the second connecting rod is hinged to the corresponding gripper to form a fourth hinge point; wherein the first connecting rod and the second connecting rod are parallel, and the distance from the first hinge point to the second hinge point is equal to the distance from the third hinge point to the fourth hinge point;

[0039] The clamping drive assembly is configured to drive the first links of the two transmission members to rotate synchronously in opposite directions around their respective first hinge points.

[0040] The technical solution of this utility model embodiment has at least the following advantages and beneficial effects:

[0041] The liquid dispensing robot disclosed in this utility model sets the needle used to inject reagent solution into the medicine bottle as a disposable component independent of the injection module. In each liquid dispensing process, the liquid dispensing operation can be completed using the needle corresponding to a single medicine bottle. Compared with the method of multiple medicine bottles sharing the same needle in the prior art, it can effectively improve the hygiene of liquid dispensing while ensuring dispensing efficiency and effectively reduce the risk of cross-infection during liquid dispensing. Attached Figure Description

[0042] Figure 1 A schematic diagram of the structure of a liquid preparation robot for powdered reagents provided for an embodiment of this utility model;

[0043] Figure 2 A schematic diagram of the clamping and rotating mechanism in the opening and closing cover module provided for an embodiment of this utility model;

[0044] Figure 3 A schematic diagram of the puncture module provided in an embodiment of this utility model;

[0045] Figure 4 for Figure 3 Enlarged view of the local structure at point A;

[0046] Figure 5 A schematic diagram of the structure of the fixing member and the movable member provided in the embodiments of this utility model;

[0047] Figure 6 A partial structural schematic diagram of the mating point between the third linear actuator and the guide member, provided for an embodiment of this utility model;

[0048] Figure 7 A schematic diagram of the liquid injection module provided in an embodiment of this utility model;

[0049] Figure 8 A schematic diagram of the structure of the injection head provided for an embodiment of this utility model;

[0050] Figure 9 for Figure 8 The cross-sectional view of the injection head shown in the image;

[0051] Figure 10 A schematic diagram of the positioning module and power module provided in an embodiment of this utility model;

[0052] Figure 11 This is a schematic diagram of the positioning component provided in an embodiment of the present invention.

[0053] Icons: 10-Opening / closing module, 11-Clamping and rotating mechanism, 111-Gripper, 1111-Clamping part, 1112-Anti-slip structure, 112-Mounting base, 113-Transmission component, 1131-First connecting rod, 1132-Second connecting rod, 1133-Gear, 114-Clamping drive assembly, 20-Piercing module, 21-Needle mounting assembly, 211-Fixing component, 2111-Insertion part, 2112-First groove, 212-Moving component, 2121-Insertion groove, 2122-Second groove, 213-Third linear actuator, 2131-Guide hole, 214-Limiting component, 215- 22-Second linear actuator, 23-Guide component, 231-Guide groove, 232-Guide plate, 24-Connecting seat, 30-Injection module, 31-Fourth linear actuator, 32-Injection head, 321-Injection pipe, 322-Mounting component, 323-Receiving groove, 33-Connecting plate, 40-Positioning module, 41-Bearing component, 411-Bearing surface, 42-Positioning assembly, 421-First positioning component, 422-Second positioning component, 423-Fifth linear actuator, 50-Power module, 51-Rack, 52-Gear, 53-Movement drive motor, 54-Guide column, 60-Frame. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments. The same reference numerals in the accompanying drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0055] Compared to the embodiments shown in the accompanying drawings, feasible embodiments within the scope of protection of this utility model may have fewer components, have other components not shown in the drawings, different components, components arranged differently, or components with different connections, etc. Furthermore, two or more components shown in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as multiple separate components.

[0056] To facilitate the explanation of the liquid preparation robot disclosed in the embodiments of this utility model, the following is a brief description of the medicine bottles used in the liquid preparation process and the general liquid preparation process.

[0057] The medicine bottle described in this embodiment of the present invention can be a medicine bottle containing powdered coagulation test reagents. Of course, the medicine bottle described in this embodiment of the present invention is not necessarily a medicine bottle containing coagulation test reagents; it can also be a medicine bottle containing other powdered medicines, and this is not limited here.

[0058] The medicine bottle may include a bottle body suitable for holding powdered medicines, a stopper made of elastic material, and a cap. The stopper is inserted into the bottle opening to seal it, and the cap is removably fitted onto the bottle opening to further seal it and cover the stopper, thus providing temporary protection. The cap may be a threaded connection to the bottle opening, allowing it to be screwed on or removed from the bottle opening. It is understood that the structure of the medicine bottle described in this embodiment is a known structure of such medicine bottles in the prior art, and will not be elaborated further here.

[0059] Furthermore, when preparing solutions from the aforementioned bottles containing powdered medications, the preparation process can sequentially include an opening stage, a filling stage, and a closing stage. Specifically, in the opening stage, the bottle cap needs to be removed to expose the stopper at the bottle opening, followed by the filling stage; in the filling stage, a predetermined amount of reagent solution matching the powdered medication in the bottle is injected into the bottle, allowing the reagent solution to mix with the powdered medication to complete the preparation, followed by the closing stage; in the closing stage, the bottle cap is reattached to the bottle to cover the stopper again, and then the prepared medication bottle can be placed in an incubator, for later use.

[0060] Based on this, embodiments of the present invention disclose a liquid preparation robot for powdered reagents, which can at least realize the above-described liquid preparation process and realize one medicine bottle corresponding to one needle, thereby improving the hygiene when preparing liquids for different medicine bottles.

[0061] Figure 1 The overall structure of the exemplary liquid dispensing robot disclosed in the embodiments of this utility model is shown. Figure 1 As shown, the liquid preparation robot may include an opening and closing cap module 10, a puncture module 20, and an injection module 30.

[0062] In some embodiments, the cap opening and closing module 10 is configured to remove the cap from the bottle body during the opening phase and to close the cap onto the bottle opening during the closing phase. That is, the cap opening and closing module 10 has at least the functions of removing the cap from the bottle body and closing the cap onto the bottle opening. The specific construction of the cap opening and closing module 10 will be described in detail later.

[0063] In some embodiments, the puncture module 20 is primarily used to provide needles corresponding to each vial. Furthermore, the puncture module 20 is configured to allow the provided needles to pierce the stopper and communicate with the interior of the vial, enabling the needles to remain on the stopper and to be removed from the stopper. That is, after the cap is removed from the vial using the cap opening / closing module 10 during the cap opening stage, the puncture module 20 can provide needles corresponding to each vial, and these needles can pierce the stopper under the action of the puncture module 20. Subsequently, the puncture module 20 can separate from the needle, allowing the needle to remain on the stopper. After the subsequent injection operation, the puncture module 20 can remove the needle from the stopper, facilitating the re-closing of the cap at the vial opening during the cap closing stage. The specific construction of the puncture module 20 will be described in detail later.

[0064] In some embodiments, the injection module 30 is configured to inject a reagent solution matching the powdered reagent in the bottle into the bottle through a needle pre-embedded on the bottle stopper during the injection phase, and to detach from the needle after injection. That is, after the needle provided by the puncture module 20 pierces the bottle stopper, the injection module 30 can inject the corresponding reagent solution into the bottle in a predetermined amount through the needle pre-embedded on the bottle stopper, allowing the reagent solution to mix with the powdered drug in the bottle to form a drug solution. After this injection operation is completed, the injection module 30 can detach from the needle pre-embedded on the bottle stopper, facilitating subsequent removal of the needle from the bottle stopper using the puncture module 20. The specific construction of the injection module 30 will be described in detail later.

[0065] To improve the automation level of the solution preparation process, continue to refer to Figure 1 The liquid dispensing robot disclosed in this utility model may also include a positioning module 40 and a power module 50.

[0066] The positioning module 40 is primarily used to position the bottle, ensuring it remains stationary throughout the dispensing process. Furthermore, the positioning module 40 is configured to move between the cap opening / closing module 10, the puncture module 20, and the dispensing module 30, enabling the transfer of the medication bottle among these modules according to the dispensing process. The specific construction of the positioning module 40 will be described in detail later.

[0067] The power module 50 is mainly used to provide power for the movement of the positioning module 40. That is, the power module 50 is used to drive the positioning module 40 to move between the opening / closing module 10, the puncture module 20, and the injection module 30. The specific structure of the power module 50 will be described in detail later.

[0068] To provide a clearer and more intuitive understanding of the liquid dispensing robot disclosed in the embodiments of this utility model, the embodiments of this utility model also disclose a liquid dispensing method, which employs the liquid dispensing robot described above. The liquid dispensing method includes:

[0069] First, the bottle of medicine to be prepared is positioned on the positioning module 40, with the cap on the bottle at this time. Then, the power module 50 drives the positioning module 40, along with the medicine bottle, to the cap opening and closing module 10, so that the cap on the bottle can be removed through the cap opening and closing module 10.

[0070] Next, the power module 50 drives the positioning module 40, along with the medicine bottle with the cap removed, to the puncture module 20. The puncture module 20 then allows the needle corresponding to the medicine bottle to pierce the bottle stopper until the needle is in contact with the inside of the bottle. Subsequently, the puncture module 20 separates from the needle, leaving it embedded in the stopper.

[0071] Subsequently, the power module 50 drives the positioning module 40, along with the medicine bottle with a needle pre-installed on the stopper, to the injection module 30. The injection module 30 injects a predetermined amount of reagent liquid into the bottle through the needle pre-installed on the stopper, so that the reagent liquid mixes with the powdered reagent in the bottle to form a medicine solution.

[0072] After the injection is completed, the injection module 30 separates from the needle pre-installed on the stopper. Then, the power module 50 drives the positioning module 40, along with the injected medicine bottle, to move back to the puncture module 20, so that the puncture module 20 can remove the needle pre-installed on the stopper.

[0073] After the needle is removed from the stopper by the puncture module 20, the positioning module 40, along with the medicine bottle with the needle removed, is moved to the opening and closing module 10 by the power module 50, so that the opening and closing module 10 can close the bottle cap at the bottle opening.

[0074] This completes the process of preparing the solution for a single vial. The prepared vial can then be placed in an incubator or similar container for later use.

[0075] It is worth noting that the liquid dispensing robot disclosed in this embodiment of the present invention sets the needle used to inject reagent solution into the medicine bottle as a disposable component independent of the liquid injection module 30. In each liquid dispensing process, the liquid dispensing operation can be completed using the needle corresponding to a single medicine bottle. Compared with the method of multiple medicine bottles sharing the same needle used in the prior art, the liquid dispensing efficiency can be guaranteed while effectively improving the hygiene of liquid dispensing and effectively reducing the risk of cross-infection during liquid dispensing.

[0076] Meanwhile, this utility model adopts a liquid preparation method that first leaves a needle on the bottle stopper and then performs liquid injection. Based on the fact that when the needle pierces the bottle stopper to communicate with the inside of the bottle, the air pressure inside the bottle will be in a state of equilibrium with the external environment, so liquid injection can be performed directly thereafter. Compared with the liquid preparation robot disclosed in the patent documents listed in the background art of this utility model, it can save a needle used to balance air pressure and reduce costs.

[0077] To provide a clearer and more intuitive understanding of the liquid dispensing robot disclosed in this embodiment, the following will further elaborate on the possible structures of the opening and closing cap module 10, the puncture module 20, the liquid injection module 30, the positioning module 40, and the power module 50.

[0078] Specifically, when the bottle cap and bottle body are connected by a threaded connection, the opening and closing module 10 can be constructed in a manner that is not limited to the following, so as to reliably remove the bottle cap from the bottle body or close the bottle cap at the bottle opening.

[0079] Specifically, in combination Figure 2 As shown, the opening and closing module 10 may include a clamping and rotating mechanism 11 and a first linear driver (not shown in the figure).

[0080] In some embodiments, the clamping and rotating mechanism 11 may include two opposing grippers 111, defining a clamping space suitable for accommodating a bottle cap. Furthermore, the two grippers 111 are configured to move closer to or further away from each other, so as to clamp and secure the bottle cap within the clamping space using the two closer grippers 111, or to release the bottle cap from the clamping space using the two further away grippers 111, thereby releasing the bottle cap from clamping and securing.

[0081] Meanwhile, the clamping and rotating mechanism 11 also includes a rotary drive assembly (not shown in the figure), which is configured to drive the two grippers 111 to rotate about the axis of the bottle cap. The rotary drive assembly may include a rotary motor, the axis of which is coincident with the axis of the bottle cap. In this case, the two grippers 111 can be indirectly connected to the output shaft of the rotary motor via a mounting base 112, which will be described below, so that the rotary motor drives the mounting base 112, together with the two grippers 111, to rotate about the axis of the bottle cap.

[0082] The first linear actuator is configured to drive the two grippers 111 to move along the axis of the bottle cap. The first linear actuator can be a conventional linear actuator such as an electric actuator, cylinder, or hydraulic cylinder, and the axis of the output shaft of the first linear actuator is parallel to the axis of the bottle cap. In this case, the rotary drive assembly can be directly mounted at the output end of the first linear actuator, so that the first linear actuator can drive the rotary drive assembly along with the two grippers 111 to move along the axis of the bottle cap. For example, a rotary motor can be mounted on the output shaft of the first linear actuator.

[0083] It should be noted that in the embodiments of this utility model, the bottle body positioned on the positioning module 40 is in a vertical state, and the bottle cap is located above the bottle body. Therefore, the above-mentioned rotary drive component driving the two grippers 111 to rotate around the axis of the bottle cap specifically refers to driving the two grippers 111 to rotate horizontally around the axis of the bottle cap. Correspondingly, the above-mentioned first linear drive driving the two grippers 111 to move along the axis of the bottle cap specifically refers to driving the two grippers 111 to move along the vertical direction (i.e., the z-axis).

[0084] Based on the above configuration, when it is necessary to remove the bottle cap from the bottle body, the bottle cap is first allowed to enter the clamping space between the two grippers 111. Then, the two grippers 111 move closer together to clamp and fix the bottle cap. Subsequently, the rotary drive assembly drives the two grippers 111 to rotate around the axis of the bottle cap. At the same time, the first linear actuator drives the two grippers 111 to move along the axis of the bottle cap in a direction away from the bottle body (i.e., vertically upward), thereby separating the bottle cap from the bottle body. In this embodiment, the bottle cap removed from the bottle body will continue to be clamped and fixed by the two grippers 111 so that the bottle cap can be put back on the bottle body after the liquid injection and needle removal operations are completed.

[0085] Specifically, when it is necessary to close the bottle cap onto the bottle opening, the bottle opening is first aligned with the bottle cap between the two grippers 111. Then, the first linear actuator drives the two grippers 111 to move along the axis of the bottle cap towards the bottle body (i.e., vertically downward). After the bottle cap is threaded into the bottle opening, the rotary drive assembly drives the two grippers 111 to rotate in the opposite direction around the axis of the bottle cap. At the same time, the first linear actuator continues to drive the two grippers 111 to move along the axis of the bottle cap towards the bottle body, so that the bottle cap is closed again at the opening of the bottle body.

[0086] Furthermore, the clamping and rotating mechanism 11 can be further constructed in the manner described below to enable the two grippers 111 to move closer or further apart.

[0087] Specifically, continue to refer to Figure 2 The clamping and rotating mechanism 11 may also include a mounting base 112, a transmission component 113 corresponding to each of the grippers 111, and a clamping drive assembly 114. In this case, the mounting base 112 can be connected to the output end of the aforementioned rotating drive assembly, that is, the output shaft of the rotary motor, so that the mounting base 112 and the two grippers 111 can be driven to rotate synchronously by the rotary motor.

[0088] The transmission component 113 may include a first link 1131 and a second link 1132. For a single transmission component 113, the first link 1131, the second link 1132, the mounting base 112, and the corresponding gripper 111 form a parallelogram mechanism. Specifically, the first end of the first link 1131 is hinged to the mounting base 112 to form a first hinge point, and the second end of the first link 1131 is hinged to the corresponding gripper 111 to form a second hinge point; the first end of the second link 1132 is hinged to the mounting base 112 to form a third hinge point, and the second end of the second link 1132 is hinged to the corresponding gripper 111 to form a fourth hinge point. The first link 1131 and the second link 1132 are parallel, and the distance from the first hinge point to the second hinge point is equal to the distance from the third hinge point to the fourth hinge point.

[0089] The clamping drive assembly 114 can be mounted on the mounting base 112, and the clamping drive assembly 114 is configured to drive the first connecting rods 1131 of the two transmission members 113 to rotate synchronously in opposite directions around their respective first hinge points.

[0090] Thus, when the clamping drive assembly 114 drives the first connecting rods 1131 of the two transmission members 113 to rotate synchronously in opposite directions around their respective first hinge points, the two grippers 111 can move closer or further apart under the transmission action of the corresponding transmission members 113. Furthermore, the transmission members 113 used in this embodiment can also enable the two grippers 111 to move closer or further apart in a parallel state, thereby helping to clamp and fix bottle caps with different diameters more reliably.

[0091] In some embodiments, continue to refer to Figure 2 Each transmission component 113 has a toothed portion 1133 at its first end of the first connecting rod 1131. The first connecting rods 1131 of two transmission components 113 mesh with each other through their respective teeth 1133. At this time, the clamping drive assembly 114 may include a clamping drive motor mounted on the mounting base 112, and the clamping drive motor is drively connected to the first connecting rod 1131 of one of the transmission components 113 to drive the first connecting rod 1131 of the transmission component 113 to rotate about its own first hinge point.

[0092] It is understandable that the above configuration enables the use of a single clamping drive motor to simultaneously drive the first connecting rods 1131 of the two transmission components 113 to rotate synchronously in opposite directions around their respective first hinge points. This helps to optimize the structural design of the entire clamping rotation mechanism 11 and reduce the manufacturing and usage costs of the clamping rotation mechanism 11.

[0093] In some embodiments, continue to refer to Figure 2 Both grippers 111 include gripping portions 1111 suitable for holding bottle caps, and each gripping portion 1111 of the two grippers 111 has an anti-slip structure 1112 on the opposite side to improve the effect of using the two grippers 111 to hold and fix the bottle cap, and to prevent slippage when twisting the bottle cap. The anti-slip structure 1112 can be anti-slip teeth, anti-slip patterns, anti-slip protrusions, etc.

[0094] In some embodiments, needles for injection typically include an integrally structured connecting portion and a puncture portion. The connecting portion typically has a larger diameter than the puncture portion, and the connecting post is usually cylindrical. The end of the connecting post opposite the puncture portion usually has a connecting groove to allow the needle to connect to an external device (e.g., tubing, syringe) via the connecting groove. The side of the puncture portion opposite the connecting portion is a pointed tip, allowing the puncture portion to be inserted into a target object (e.g., a stopper) using its pointed tip.

[0095] Based on this, the puncture module 20 can be constructed in a manner that is not limited to that described below, so that the needle with the above structure can be quickly and conveniently replaced for different drug vials, and the puncture module 20 can be easily separated from the needle.

[0096] Specifically, in combination Figure 3 and Figure 4 As shown, the puncture module 20 may include a needle mounting assembly 21 and a second linear driver 22.

[0097] The needle mounting assembly 21 includes a fixing member 211 and a movable member 212 disposed opposite to the fixing member 211. A fixing groove 215 is defined between the fixing member 211 and the movable member 212, suitable for the needle's connecting portion to pass through. Furthermore, the movable member 212 and the fixing member 211 are configured to move closer to or further away from each other, so as to clamp and fix the connecting portion passing through the fixing groove 215 using the fixing member 211 and the movable member 212 when they are close together, or to release the connecting portion by using the fixing member 211 and the movable member 212 when they are far apart, thereby releasing the clamping and fixing of the connecting portion.

[0098] The second linear actuator 22 is configured to drive the needle mounting assembly 21 to move along the axis of the needle. The second linear actuator 22 can be a conventional linear actuator such as an electric actuator, a cylinder, or a hydraulic cylinder, and the axis of the output shaft of the second linear actuator 22 is parallel to the axis of the needle.

[0099] Thus, when it is necessary to temporarily fix the needle to the puncture module 20, first, let the connecting part of the needle pass through the fixing groove 215 between the movable part 212 and the fixed part 211. Then, simply move the movable part 212 and the fixed part 211 closer together to clamp and fix the connecting part of the needle. Based on this, when it is necessary to pierce the bottle stopper on the bottle body, first, align the bottle stopper with the tip of the piercing part of the needle. Then, use the second linear actuator 22 to drive the needle mounting assembly 21 together with the needle to move along the axis of the needle towards the bottle stopper. This allows the piercing part of the needle to pierce the bottle stopper and communicate with the inside of the bottle body. After that, move the movable part 212 and the fixed part 211 away from each other to release the clamping and fixing of the connecting part of the needle, thereby separating the puncture module 20 from the needle and leaving the needle on the bottle stopper.

[0100] Accordingly, in conjunction with the foregoing, once the injection is complete and the needle needs to be removed from the stopper, first align the connecting portion of the needle on the stopper with the fixing groove 215. Then, use the second linear actuator 22 to drive the needle mounting assembly 21 closer to the stopper until the connecting portion of the needle on the stopper passes through the fixing groove 215. Next, the movable member 212 and the fixed member 211 move closer to each other to clamp and fix the connecting portion of the needle again. Based on this, use the second linear actuator 22 to drive the needle mounting assembly 21, along with the needle, to move along the needle axis away from the stopper, so that the puncture part of the needle protrudes from the stopper, thereby removing the needle that was left on the stopper.

[0101] It should be noted that, in conjunction with the foregoing, since the bottle body positioned on the positioning module 40 is in a vertical state and the bottle cap is located above the bottle body, when the needle is temporarily positioned in the fixing groove 215 of the needle mounting assembly 21, the needle is in a vertical state and the tip of the puncture part of the needle is pointing downwards. At this time, the second linear actuator 22 drives the needle mounting assembly 21 to move along the axis of the needle, specifically driving the needle mounting assembly 21 to move in the vertical direction (i.e., the z-axis).

[0102] In some embodiments, the fixing member 211 and the movable member 212 are inserted into and slidably engaged, for example, referring to... Figure 5 As shown, a plug-in portion 2111 can be provided on the side of the fixed member 211 facing the movable member 212, and a plug-in groove 2121 can be provided on the side of the movable member 212 facing the fixed member 211. The plug-in portion 2111 is inserted into the plug-in groove 2121 and slides with the plug-in groove 2121, thereby realizing the plug-in sliding engagement between the fixed member 211 and the movable member 212.

[0103] Meanwhile, the fixed member 211 has a first groove 2112 on the side facing the movable member 212, and the movable member 212 has a second groove 2122 on the side facing the fixed member 211, and the first groove 2112 and the second groove 2122 together form a fixed groove 215.

[0104] Continue to refer to Figure 3 or Figure 4 The needle mounting assembly 21 also includes a third linear actuator 213 corresponding to the movable element 212, which is configured to drive the movable element 212 toward or away from the fixed element 211. The third linear actuator 213 may be an electric actuator made of a lightweight material such as plastic to reduce its weight.

[0105] Based on the above configuration, by simply controlling the third linear actuator 213 to move the movable part 212 closer to or further away from the fixed part 211, the connection part of the needle passing through the fixing groove 215 can be clamped and fixed or released from clamping and fixing. Furthermore, the third linear actuator 213 moves synchronously with the movable part 212 and the fixed part 211 through the insertion and engagement of the movable part 212 and the fixed part 211. The third linear actuator 213 does not have any substantial connection with any other components besides the movable part 212, thus facilitating convenient replacement of the movable part 212 along with the third linear actuator 213.

[0106] Furthermore, refer to Figure 6 As shown, the third linear actuator 213 defines a guide hole 2131 extending along the movement direction of the needle mounting assembly 21.

[0107] The puncture module 20 may also include guide members 23 corresponding one-to-one with the needle mounting assembly 21, the guide members 23 being immovable relative to the needle mounting assembly 21. The guide member 23 includes a guide shaft (not shown) and a guide groove 231, both extending along the movement direction of the needle mounting assembly 21, with the guide shaft passing through a guide hole 2131 on the third linear actuator 213. Simultaneously, the third linear actuator 213 is located within and limited by the guide groove 231, meaning that the third linear actuator 213 can only move along the extension direction of the guide groove 231.

[0108] It is understandable that by further providing a guide member 23 with a guide shaft and a guide groove 231, and providing a guide hole on the third linear actuator 213 that cooperates with the guide shaft, the third linear actuator 213 can reliably drive the movable member 212 closer to or away from the fixed member 211, while also providing good guidance for the third linear actuator 213. This is beneficial for the movable member 212 to move closer to or away from the fixed member 211 in a predetermined direction under the drive of the third linear actuator 213, so as to prevent the movable member 212 from deviating during the movement as much as possible.

[0109] The guide member 23 may further include two parallel guide plates 232, and the space between the two guide plates 232 may serve as a guide groove 231 to simplify the function of the guide member 23 as much as possible. In this case, the guide shaft may be a component fixedly disposed between the two guide plates 232. Furthermore, the guide member 23 may be a component fixedly disposed on the frame 60, which will be described below.

[0110] In some embodiments, refer to Figure 3 or Figure 4As shown, the needle mounting assembly 21 also includes a limiting member 214. The limiting member 214 can be positioned above the fixing member 211, and the side of the connecting portion passing through the fixing groove 215 away from the puncture point can abut against the limiting member 214. By providing the limiting member 214, the side of the connecting portion away from the puncture point can be limited during the needle piercing the stopper, preventing the connecting portion from dislodging from the fixing groove 215.

[0111] In some embodiments, the puncture module 20 may further include a connecting seat 24, wherein the fixing member 211 and the limiting member 214 in the needle mounting assembly 21 may be fixedly disposed on the connecting seat 24, and the connecting seat 24 may be connected to the output end of the second linear driver 22 so as to drive the connecting seat 24 together with the needle mounting assembly 21 to move synchronously along the axis of the needle using the second linear driver 22.

[0112] In some embodiments, when the needle has the above-described structure, the injection module 30 can be constructed in a manner that is not limited to the following, so that the injection module 30 can conveniently inject the reagent solution into the bottle through the needle pre-installed on the bottle stopper.

[0113] Specifically, in combination Figure 7 As shown, the injection module 30 may include an injection assembly and a fourth linear actuator 31.

[0114] The injection assembly may include at least one injection head 32. The injection head 32 may include an injection tube 321, which may be made of a rigid material. A first end of the injection tube 321 is in communication with a reagent source, and a second end of the injection tube 321 extends along the axis of the needle and is adapted to a connecting groove on the connecting portion, so that the second end of the injection tube 321 can connect and communicate with the connecting portion of the needle pre-installed on the stopper.

[0115] The fourth linear actuator 31 is configured to drive the injection assembly to move along the axis of the needle. The fourth linear actuator 31 can be a conventional linear actuator such as an electric actuator, a cylinder, or a hydraulic cylinder, and the axis of the output shaft of the fourth linear actuator 31 is parallel to the axis of the needle. The injection assembly can be fixedly mounted on the output shaft of the fourth linear actuator 31.

[0116] Based on the above setup and in conjunction with the foregoing, after the needle is pre-embedded on the stopper using the puncture module 20 and the medicine bottle with the needle pre-embedded on the stopper reaches the injection module 30, the second end of the injection tube 321 of the corresponding injection head 32 is first aligned with the connecting groove of the connecting part of the needle pre-embedded on the stopper. Then, the fourth linear actuator 31 drives the injection assembly to move along the axis of the needle towards the needle until the second end of the injection tube 321 extends into the connecting groove of the connecting part, thereby completing the docking between the injection tube 321 and the connecting part. After that, a predetermined amount of reagent liquid can be supplied to the injection tube 321 through the reagent liquid source connected to the injection tube 321, so that the predetermined amount of reagent liquid enters the bottle body after flowing through the injection tube 321 and the needle.

[0117] After the injection is completed, the fourth linear actuator 31 drives the injection assembly to move away from the needle along the needle axis, so that the injection tube 321 is removed from the connecting groove of the connecting part, thereby separating the injection tube 321 from the needle. At this time, the bottle with the injection completed can be moved to the puncture module 20 to remove the needle that is left on the bottle stopper.

[0118] It is understood that, in practical implementation, a single injection assembly may include multiple injection heads 32, and the injection tubes 321 of the multiple injection heads 32 may be connected to different types of reagent liquid sources, so as to inject different types of reagent liquids into the body of a single medicine bottle as needed. For example, the appendix of this utility model embodiment... Figure 7 The illustration shows a single injection assembly comprising six injection heads 32, enabling the selective injection of any one of six reagent solutions into the vial.

[0119] Simultaneously, multiple fourth linear actuators 31 can be configured to jointly drive the liquid injection assembly to move, thereby improving the reliability of the liquid injection assembly movement. For example, the accompanying drawings of this embodiment show a case where two opposing fourth linear actuators 31 are provided.

[0120] In some embodiments, continue to refer to Figure 7 When there are multiple injection heads 32, the injection module 30 may also include a connecting plate 33. Multiple injection heads 32 of the injection assembly can be simultaneously mounted on the connecting plate 33, for example, the multiple injection heads 32 of the injection assembly can be arranged in a straight line on the connecting plate 33, and the connecting plate 33 is connected to the output of the fourth linear driver 31, so that the fourth linear driver 31 can drive the connecting plate 33 and the injection heads 32 of the injection assembly to move synchronously along the axis of the needle.

[0121] In some embodiments, combined with Figures 7 to 9As shown, the injection head 32 may further include a mounting member 322 fixedly disposed at the bottom of the connecting plate 33. The mounting member 322 has a first side and a second side facing each other. The first side of the mounting member 322 is detachably connected to the connecting plate 33, and the first side of the mounting member 322 is provided with an open receiving groove 323, the first end of which penetrates through the circumferential sidewall of the mounting member 322. When the first side of the mounting member 322 is connected to the connecting plate 33, the opening of the receiving groove 323 is covered and blocked by the connecting plate 33.

[0122] The injection tube 321 is positioned on the second side of the mounting component 322, and the first end of the injection tube 321 is connected to the second end of the receiving groove 323. The injection tube 321 and the mounting component 322 can be integrally formed.

[0123] At this point, to enable communication between the injection tube 321 and the external reagent source, a flexible tube is provided between the injection tube 321 and the reagent source. One end of the flexible tube is connected to the reagent source, and the other end passes through the receiving groove 323 and is inserted into the injection tube 321 through the first end of the injection tube 321. This not only achieves communication between the injection tube 321 and the reagent source, but also helps to limit and protect the connection between the second end of the injection tube 321 and the flexible tube, preventing the flexible tube from easily detaching from the injection tube 321. This structural design also facilitates the replacement of the flexible tube or maintenance.

[0124] In some embodiments, considering that medicine bottles are generally cylindrical, the positioning module 40 can be constructed in a manner described below to facilitate convenient positioning of the medicine bottle body.

[0125] Specifically, in combination Figure 10 and Figure 11 As shown, the positioning module 40 may include a carrier 41 and a positioning assembly 42. The carrier 41 defines a carrier surface 411 adapted to carry the bottle from the bottom surface of the bottle. The carrier 41 is configured to be movable between the cap opening / closing module 10, the puncture module 20, and the injection module 30.

[0126] The positioning assembly 42 includes a first positioning member 421 and a second positioning member 422, which are disposed opposite to each other on the bearing surface 411 to define a positioning space suitable for accommodating the bottle between the first positioning member 421 and the second positioning member 422. At the same time, the first positioning member 421 and the second positioning member 422 can move with the bearing member 41.

[0127] Furthermore, the first positioning member 421 and the second positioning member 422 are configured to move closer to or further away from each other, so as to clamp and fix the bottle in the positioning space by using the first positioning member 421 and the second positioning member 422 that are close to each other, or to release the bottle by using the first positioning member 421 and the second positioning member 422 that are far apart from each other, so as to release the clamping and fixing of the bottle.

[0128] Based on the above configuration, when positioning the medicine bottle body is required, the bottom surface of the bottle body is first placed on the bearing surface 411 of the bearing member 41. Then, simply moving the first positioning member 421 and the second positioning member 422 closer together will clamp and fix the bottle body. Conversely, moving the first positioning member 421 and the second positioning member 422 further apart will release the clamping and fixing of the bottle body. Furthermore, simply moving the bearing member 41 between the cap opening / closing module 10, the puncture module 20, and the injection module 30 will allow the medicine bottle to be transferred to different modules.

[0129] Furthermore, the positioning assembly 42 also includes a fifth linear actuator 423, which is configured to drive the first positioning member 421 closer to or further away from the second positioning member 422. The fifth linear actuator 423 can be a conventional linear actuator such as an electric actuator, a pneumatic cylinder, or a hydraulic cylinder, and its output shaft is connected to the first positioning member 421. The first positioning member 421 and the second positioning member 422 can be in the form of plates to simplify their structure as much as possible.

[0130] In some embodiments, such as Figure 1 As shown, the opening and closing cap module 10, the puncture module 20 and the injection module 30 can be arranged on the same straight line. At this time, the positioning module 40 only needs to move along the straight line to transfer the medicine bottle to any one of the opening and closing cap module 10, the puncture module 20 and the injection module 30.

[0131] Based on this, the power module 50 can be constructed in a manner that is not limited to that described below, so that the positioning module 40 can more accurately move the reagent bottle to the predetermined position.

[0132] Specifically, in combination Figure 10 As shown, the power module 50 may include a rack 51, a gear 52, and a motion drive motor 53. The rack 51 is fixedly arranged along the moving direction of the positioning module 40, and the gear 52 is connected to the output end of the motion drive motor 53, meshing with the rack 51. The motion drive motor 53 is fixedly mounted on the positioning module 40, for example, on the support member 41 of the positioning module 40. The motion drive motor 53 may be a stepper motor with high control precision.

[0133] Based on the above settings, when the mobile drive motor 53 drives the gear 52 to rotate, under the transmission cooperation between the gear 52 and the rack 51, the mobile drive motor 53, together with the positioning module 40, will move synchronously along the extension direction of the rack 51, thereby enabling the positioning module 40 to drive the medicine bottle to move between the opening and closing cap module 10, the puncture module 20 and the injection module 30.

[0134] Understandably, by using a power module 50 consisting of a gear 52 and a rack 51, it is possible to eliminate the need for positioning components such as sensors and position switches on the moving path of the positioning module 40 to accurately move the reagent bottle to the predetermined position. This saves the time required for the positioning components to position the positioning module 40, which helps to improve the efficiency of liquid preparation and also reduces costs.

[0135] Meanwhile, the injection module 30 can be positioned between the cap opening / closing module 10 and the puncture module 20. This helps reduce the time required for the positioning module 40 to transfer the medicine bottle between the cap opening / closing module 10, the injection module 30, and the puncture module 20 to complete the entire solution preparation process, further improving solution preparation efficiency. For example, practical experience of the inventors of this utility model has shown that when using the solution preparation robot disclosed in this embodiment to prepare a single medicine bottle, the entire process from start to finish takes approximately 2 minutes.

[0136] Further, continue to refer to Figure 10 The power module 50 may also include a guide post 54 that extends along the moving direction of the positioning module 40, that is, the guide post 54 is parallel to the rack 51. The guide post 54 passes through the support member 41 of the positioning module 40 and slides in engagement with the support member 41.

[0137] By setting the guide post 54, the carrier 41 can be guided, thereby ensuring that when the mobile drive motor 53 is working, the mobile drive motor 53 together with the carrier 41 can reliably move along the extension direction of the rack 51, so that the positioning module 40 can drive the medicine bottle to move reliably between the opening and closing cap module 10, the puncture module 20 and the injection module 30.

[0138] In some embodiments, the medicine bottle is further provided with an identification element, for example, an identification element can be provided on the outer wall of the bottle. The identification element is used to identify basic information about the medicine bottle, which may include the type of powdered reagent contained in the medicine bottle, the type of reagent solution required for preparation, and the amount of reagent solution, etc. The identification element may be, but is not limited to, a QR code, barcode, or similar form.

[0139] At this point, the dispensing robot may also include a scanning module (not shown in the figure). This scanning module is used at least to identify the markings on the medicine bottle to obtain basic information about the medicine bottle, and based on the basic information of the medicine bottle, to control the positioning module 40 to reach a predetermined position at the dispensing module 30, so as to inject a predetermined type and amount of reagent solution into the medicine bottle through the dispensing module 30. The scanning module may be, but is not limited to, a scanner, and the process of identifying the markings may be performed manually.

[0140] Furthermore, the scanning module should identify the markings on the medicine bottle before the bottle cap is removed for the first time. In other words, when preparing the solution, the scanning module should first identify the markings on the medicine bottle to at least determine the type and amount of reagent solution required for preparation, and then position the medicine bottle to the positioning module 40 for subsequent preparation operations such as removing the bottle cap, inserting the needle, injecting the reagent solution, removing the needle, and closing the bottle cap.

[0141] In some embodiments, such as Figure 1 As shown, the liquid preparation robot may also include a frame 60. The frame 60 is mainly used to provide a carrier for the installation of components such as the cap opening and closing module 10, the puncture module 20, the liquid injection module 30, and the power module 50. That is, the cap opening and closing module 10, the puncture module 20, the liquid injection module 30, and the power module 50 can be mounted on the frame 60 to form an integrated liquid preparation robot.

[0142] For example, components such as the first linear actuator of the opening / closing module 10, the second linear actuator 22 and guide 23 of the puncture module 20, the fourth linear actuator 31 of the injection module 30, and the rack 51 and guide post 54 of the power module 50 can be fixed components and mounted on the frame 60. The frame 60 can be a frame structure made of aluminum alloy, and its weight should be minimized while ensuring good load-bearing capacity.

[0143] Furthermore, it is worth noting that in actual implementation, the number of positioning components 42 in the positioning module 40, clamping and rotating mechanisms 11 in the opening and closing cap module 10, needle mounting components 21 in the puncture module 20, and injection components in the injection module 30 can be set as needed, so that the dispensing robot can dispense multiple medicine bottles at a time, thereby further improving the dispensing effect. For example, the accompanying drawings of this embodiment show a case where the opening and closing cap module 10 includes two clamping and rotating mechanisms 11, the puncture module 20 includes two needle mounting components 21, and the injection module 30 includes two injection components, so that the dispensing robot can dispense two medicine bottles at a time.

[0144] Example 2

[0145] Based on Example 1, in order to enable the dispensing robot to more efficiently and continuously dispense a large number of medicine bottles, Example 2 further improves the dispensing robot. Unlike Example 1, the dispensing robot disclosed in Example 2 may also include a feeding module (not shown in the figure).

[0146] The feeding module is configured to provide the necessary needles to the puncture module 20. In other words, the needles used by the puncture module 20 to puncture the stoppers of the medicine bottles come from the feeding module. Through the feeding module's settings, after the dispensing robot completes the filling of a medicine bottle and the puncture module 20 removes the needle previously left on the stopper, a new needle provided by the feeding module can be loaded onto the puncture module 20 to prepare for the dispensing of the next medicine bottle.

[0147] The feeding module may include a feeding tray loaded with needles, and the feeding tray may move along a path under the conveying of a conventional conveying mechanism, so as to convey the needles to the puncture module 20 for use.

[0148] Example 3

[0149] Based on Example 1, considering that for the preparation of the reagent bottle, in addition to injecting the reagent solution into the bottle to mix with the powdered reagent, there may also be a need to shake the mixed powdered reagent and reagent solution, as well as to incubate and heat the shaken powdered reagent and reagent solution.

[0150] Therefore, this embodiment 3 discloses another type of liquid preparation robot. Unlike embodiment 1, the liquid preparation robot disclosed in this embodiment 3 may also include a shaking module and an incubation heating module.

[0151] In this embodiment 3, the shaking module is configured to shake the powdered reagent and reagent solution in the medicine bottle after the injection is completed. That is, in conjunction with the content described in embodiment 1, after the injection of the medicine bottle is completed, and the needle pre-retained on the bottle stopper is removed from the stopper using the puncture module 20, and the bottle cap is closed at the bottle opening using the cap opening and closing module 10, the entire medicine bottle can be transferred to the shaking module so that the powdered reagent and reagent solution in the medicine bottle can be shaken evenly.

[0152] The mixing module can be, but is not limited to, a roller mixer, such as the QW-GZ-5 roller mixer from Qiwei Instruments. This type of roller mixer is a mixer with five rollers, each driven by a gear system and capable of rotating synchronously at the same speed. In actual mixing, the reagent bottle is first placed on the rollers of the roller mixer, then the roller mixer is started to mix the powdered reagent and reagent solution in the bottle within a predetermined time range (e.g., 5 minutes). After mixing, the reagent bottle can be transferred to the incubation heating module.

[0153] In this embodiment 3, the incubation heating module is configured to incubate and heat the powdered reagent and reagent solution after shaking in the reagent bottle to ensure that the final prepared medicine solution meets the usage requirements.

[0154] The incubation heating module can be, but is not limited to, an incubation heating box known in the prior art, in which the entire reagent bottle is placed inside the incubation heating box during the incubation heating process.

[0155] Example 4

[0156] Based on Example 1, the inventors of this utility model further discovered that in order for the needle to successfully pierce the bottle stopper and communicate with the inside of the bottle, or to separate the needle pre-installed on the bottle stopper from the bottle stopper (i.e., pull the needle out of the bottle stopper), it is necessary to reasonably control the loading force applied to the needle to make the needle move relative to the bottle stopper.

[0157] Therefore, this embodiment 4 discloses the process of determining the loading force acting on the needle tip.

[0158] Specifically, during the process of the needle piercing the bottle stopper to leave a mark, the resistance experienced by the needle mainly comes from the friction between the needle and the bottle stopper and the impact shearing of the bottle stopper. Specifically, during the piercing process, the frictional resistance f between the needle and the bottle stopper gradually increases, and its relationship can be expressed as:

[0159] f = μ dyna PDd

[0160] In the above formula: μ dyna denoted as the coefficient of kinetic friction; P is the pressure exerted by the stopper on the outer wall of the needle during puncture; D is the puncture depth of the needle in the stopper during puncture; and d is the outer diameter of the needle, specifically the outer diameter of the puncture site.

[0161] In order for the needle to successfully pierce the stopper, the applied force on the needle must overcome the average maximum shear strength τ of the needle during puncture. ave Given that the actual shape of the needle's puncture tip is not flat but significantly angled, this means that the measured average maximum shear strength τ aveThe force F applied to the needle tip is lower than the theoretical shear strength of the needle material. Therefore, during the process of the needle piercing the stopper, the force F applied to the needle tip is... load It can be represented as:

[0162] F load >τ ave A cross +f

[0163] In the above formula: τ ave A represents the average maximum shear strength. cross denoted as , specifically the cross-sectional area of ​​the puncture site; f represents the frictional resistance between the needle and the stopper during the needle's piercing of the stopper.

[0164] Correspondingly, during the process of separating the needle pre-attached to the bottle stopper, the applied force on the needle is generally 2-3 times that during the puncture process. During this process, the only resistance experienced by the needle is friction; there is no shear force corresponding to the shear strength. The maximum static friction coefficient μ... static The deepest puncture depth (i.e., the thickness of the bottle stopper) also affects the frictional force experienced by the needle at the beginning of the needle removal process. Therefore, the applied force F' on the needle is the greatest during the separation of the needle from the bottle stopper. load Must meet:

[0165] F' load >μ static P'Td

[0166] In the above formula: μ static P' is the maximum static friction coefficient; T is the pressure exerted by the stopper on the outer wall of the needle during the separation process of the needle from the stopper; d is the thickness of the stopper; and d is the outer diameter of the needle, specifically the outer diameter of the puncture site.

[0167] It is worth noting that, in order to meet the requirement of applying a predetermined loading force to the needle, the second linear actuator 22 in the puncture module 20 uses a high-performance linear actuator to enable it to provide a sufficiently large loading force to the needle. For example, the second linear actuator 22 can provide a loading force of 300N at full load.

[0168] Meanwhile, to prevent permanent wear and deformation of the needle due to bending moment generated by the stopper during needle piercing or separation, which could lead to deviation in the puncture position and alteration of the horizontal force on the reagent bottle, the mechanical structure of the puncture module 20 (e.g., fixing part 211, moving part 212, mounting base 24, etc.) can be manufactured using 3D printing with a precision of 0.15mm to ensure that the tolerance of all mechanical structures is within 0.1mm. Furthermore, the printing material used is PC-ABS material with a high elastic modulus and brittleness. The outer diameter of the needle's puncture portion can be 1.4mm, and the puncture portion can be made of high elastic modulus steel to reduce the possibility of needle deformation due to bending moment.

[0169] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A powder reagent-oriented liquid preparation robot applied to a medicine bottle, the medicine bottle comprising a bottle body, a bottle plug inserted into a bottle mouth of the bottle body, and a bottle cap removably capped at the bottle mouth of the bottle body, characterized in that, The solution preparation robot includes: frame; A cap opening and closing module is provided on the frame; the cap opening and closing module is configured to remove the cap from the bottle body and close the cap onto the bottle opening; A puncture module is provided on the frame; the puncture module is used to provide needles corresponding one-to-one with the medicine bottles; and the puncture module is configured to allow the needles to puncture the bottle stopper to remain on the bottle stopper, and to remove the needles remaining on the bottle stopper from the bottle stopper. The liquid injection module is located on the frame; the liquid injection module is configured to inject reagent liquid into the bottle through the needle pre-installed on the bottle stopper, and to separate from the needle after the liquid injection is completed.

2. The liquid preparation robot for powdered reagents according to claim 1, characterized in that, The needle includes a connecting part and a puncture part, and the end of the connecting part opposite to the puncture part is provided with a connecting groove; The puncture module includes a needle mounting assembly and a second linear actuator; the needle assembly includes a fixing member and a movable member disposed opposite the fixing member, the fixing member and the movable member defining a fixing groove suitable for the connection portion to pass through; and the movable member and the fixing member are also configured to be able to move closer to or further away from each other. The second linear actuator is configured to drive the needle mounting assembly to move along the axis of the needle, and the second linear actuator is mounted on the frame.

3. The liquid preparation robot for powdered reagents according to claim 2, characterized in that, The needle mounting assembly also includes a limiting member, which is located above the fixing member, and the side of the connecting portion away from the puncture portion abuts against the limiting member.

4. The liquid preparation robot for powdered reagents according to claim 2, characterized in that, The injection module includes an injection assembly and a fourth linear actuator, the fourth linear actuator being configured to drive the injection assembly to move along the axis of the needle, the fourth linear actuator being mounted on the frame; The injection assembly includes at least one injection head, and the injection head includes an injection tube; The first end of the injection tube is connected to the reagent liquid source, and the second end of the injection tube extends along the axis of the needle and is adapted to the connecting groove.

5. The liquid preparation robot for powdered reagents according to claim 4, characterized in that, The injection module also includes a connecting plate, which is connected to the output end of the fourth linear driver. The injection head also includes a mounting component, which has a first side and a second side opposite to each other. The first side of the mounting component is detachably connected to the connecting plate, and the first side of the mounting component is provided with a receiving groove with an open structure. The first end of the receiving groove penetrates the circumferential sidewall of the mounting component. The injection tube is positioned on the second side of the mounting component, and the first end of the injection tube is connected to the second end of the receiving groove; A flexible tube is provided between the injection tube and the reagent source. One end of the flexible tube is connected to the reagent source, and the other end of the flexible tube passes through the receiving groove and is inserted into the injection tube through the first end of the injection tube.

6. The liquid preparation robot for powdered reagents according to claim 1, characterized in that, The liquid preparation robot also includes a positioning module and a power module; The positioning module is used to position the bottle body, and the positioning module is also configured to move between the opening and closing cap module, the puncture module and the injection module; The power module is configured to provide power for the movement of the positioning module.

7. The liquid preparation robot for powdered reagents according to claim 6, characterized in that, The opening and closing cap module, the puncture module, and the injection module are arranged in a straight line; The power module includes a rack, a gear, and a motion drive motor; The rack is fixedly arranged along the moving direction of the positioning module, the gear is connected to the moving drive motor, the gear meshes with the rack, and the moving drive motor is mounted on the positioning module.

8. The liquid preparation robot for powdered reagents according to claim 1, characterized in that, The bottle cap is threaded to the bottle body; The opening and closing module includes a clamping and rotating mechanism and a first linear actuator; The clamping and rotating mechanism includes two opposing grippers and a rotation drive assembly; The two grippers define a gripping space suitable for receiving the bottle cap, and the two grippers are configured to move closer to or further apart from each other; The rotary drive assembly is configured to drive the two grippers to rotate about the axis of the bottle cap; The first linear actuator is configured to drive the two grippers to move along the axis of the bottle cap, and the first linear actuator is mounted on the frame.

9. The liquid preparation robot for powdered reagents according to claim 8, characterized in that, The rotary drive assembly is located at the output end of the first linear driver; The clamping and rotating mechanism further includes a mounting base, a transmission component corresponding to each of the grippers, and a clamping drive assembly; the mounting base is located at the output end of the rotation drive assembly. The transmission component includes a first connecting rod and a second connecting rod; a first end of the first connecting rod is hinged to the mounting base to form a first hinge point, and a second end of the first connecting rod is hinged to the corresponding gripper to form a second hinge point; a first end of the second connecting rod is hinged to the mounting base to form a third hinge point, and a second end of the second connecting rod is hinged to the corresponding gripper to form a fourth hinge point; wherein the first connecting rod and the second connecting rod are parallel, and the distance from the first hinge point to the second hinge point is equal to the distance from the third hinge point to the fourth hinge point; The clamping drive assembly is configured to drive the first links of the two transmission members to rotate synchronously in opposite directions around their respective first hinge points.

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