Suction part clamping mechanism and liquid preparation robot

Abstract

The utility model discloses a suction piece clamping mechanism which comprises a base part and a clamping part, the first bearing part is used for supporting the barrel body of the suction piece; the first bearing part is connected with the base part; the second bearing part is used for being connected with a piston push rod of the suction piece; the second bearing part is connected with the base part; the first motor is used for driving the first bearing part and the second bearing part to move; the first magnetic attraction part is connected with the first bearing part; the second magnetic part is connected with the base part; in the first position state, the first magnetic attraction part and the second magnetic attraction part are arranged at an interval, and the first bearing part and the second bearing part can move synchronously; in the second position state, the first magnetic attraction part and the second magnetic attraction part are connected in an attraction mode, and the second bearing part can move relative to the first bearing part. By means of the mode, the injector can be clamped, suction and injection of the injector can be achieved only through one motor, the structure is simple, the occupied space is reduced, and meanwhile the cost is reduced. The utility model further provides a liquid preparation robot.

Description

Technical Field

[0001] This utility model relates to the field of automatic liquid preparation equipment technology, and in particular to a suction component clamping mechanism and a liquid preparation robot. Background Technology

[0002] The hospital's drug preparation process involves drawing the liquid (such as sodium chloride solution) from the infusion bag into a syringe, then injecting the liquid from the syringe into a vial to mix the liquid and powder in the vial, and finally drawing the mixed liquid back into the infusion bag through the syringe.

[0003] The existing dispensing robots that perform this dispensing process have complex mechanisms for holding syringes, requiring two motors to perform aspiration and injection actions, which are space-consuming and costly. Utility Model Content

[0004] The purpose of this invention is to solve the problems of complex structure, large space occupation, and high cost of syringe clamping mechanisms. This invention provides a suction component clamping mechanism and a liquid dispensing robot that can clamp syringes. It only requires one motor to realize syringe suction and injection, and its simple structure reduces space occupation and lowers costs.

[0005] To solve the above-mentioned technical problems, this utility model discloses a suction component clamping mechanism for clamping a suction component, wherein the suction component includes a cylindrical body and a piston rod. The suction component clamping mechanism includes: a base extending along the height direction; a first support portion for supporting the cylindrical body of the suction component; the first support portion is movably connected to the base portion along the height direction to switch between a first position state and a second position state; a second support portion connected to the piston rod of the suction component; the second support portion is movably connected to the base portion along the height direction; and a first motor connected to the base portion; the first motor is used to drive the first support portion and... The second supporting part moves along the height direction; the first magnetic part is connected to the first supporting part; the second magnetic part is connected to the base, and the second magnetic part and the first magnetic part are arranged opposite to each other along the height direction; in the first position state, the first magnetic part and the second magnetic part are spaced apart along the height direction, and the first supporting part and the second supporting part can move synchronously along the height direction; the cylinder on the first supporting part is in an empty state; in the second position state, the first magnetic part and the second magnetic part are attracted and connected, and the second supporting part can move relative to the first supporting part along the height direction; the cylinder on the first supporting part is in a suction or injection state.

[0006] Using the above technical solution, firstly, the barrel of the aspiration component (i.e., syringe) is installed onto the first support part, allowing the first support part to support the barrel upwards. The piston rod of the aspiration component is connected to the second support part, at which point the barrel of the aspiration component is empty, and the first and second magnetic suction parts are spaced apart along the height direction. Then, the first motor drives the first and second support parts to move upwards together along the height direction (i.e., enter the first position state) to reach a preset position, which is the height position for aspiration and injection operations. At this time, the first magnetic suction part reaches the position of the second magnetic suction part and is attracted and connected to the second magnetic suction part, so that the first support part remains in this position (i.e., enters the second position state) and no longer moves upwards. Then, the first motor drives the second support part to start moving downwards, and the second support part drives the piston rod of the aspiration component to move downwards, and the aspiration component begins to aspirate. After aspiration is completed, if injection is required, the first motor drives the second support part to start moving upwards, and the second support part drives the piston rod of the aspiration component to move upwards, expelling the liquid in the barrel, thereby completing the injection process.

[0007] In summary, the suction clamping mechanism of this application, by setting up a first bearing part and a second bearing part to cooperate, can realize the suction and injection of the syringe with only one motor, without the need to connect different motors to the first bearing part and the second bearing part respectively. The structure is simple, reduces the footprint, and reduces costs.

[0008] According to another specific embodiment of the present invention, it further includes: a screw, which is drivenly connected to the first motor; the screw extends along the height direction; a first slider, which connects the first bearing part and the first magnetic attraction part; the first slider is sleeved on the screw and threadedly connected to the screw; a second slider, which is connected to the second bearing part; the second slider is sleeved on the screw and threadedly connected to the screw; in the first position state, the first slider and the second slider can move synchronously along the height direction; in the second position state, the second slider can move relative to the first slider along the height direction.

[0009] According to another specific embodiment of the present invention, the base is provided with a slide rail extending along the height direction, and the first slider and the second slider are slidably connected to the slide rail respectively.

[0010] By employing the above technical solution, the cooperation between the first slider and the slide rail provides support for the first slider and makes its sliding more stable. Correspondingly, the cooperation between the second slider and the slide rail provides support for the second slider and makes its sliding more stable.

[0011] According to another specific embodiment of the present invention, the second magnetic attraction part is an electromagnet, and the first magnetic attraction part is made of ferromagnetic material.

[0012] Using the above technical solution, when the second magnetic suction part is energized, it can attract the first magnetic suction part, thereby fixing the first bearing part relative to the base.

[0013] According to another specific embodiment of the present invention, it further includes: an elastic member extending along the height direction; and a positioning block connected to the base, wherein the upper end of the elastic member is connected to the first magnetic suction part, and the lower end is connected to the positioning block.

[0014] Using the above technical solution, the upper end of the elastic element is connected to the first magnetic attraction part, and the lower end is connected to the positioning block. During the upward movement of the first supporting part, the elastic element extends until the first magnetic attraction part and the second magnetic attraction part are attracted and connected, at which point the elastic element extends to its maximum extent. When the first supporting part needs to move downward, the first magnetic attraction part needs to separate from the second magnetic attraction part. However, after the power is turned off, the magnetism of the second magnetic attraction part weakens, and the first magnetic attraction part cannot immediately separate from it. Therefore, the restoring force of the elastic element will exert a downward pulling force on the first magnetic attraction part, helping it overcome the attraction force from the second magnetic attraction part, thereby allowing the first magnetic attraction part to quickly separate from the second magnetic attraction part, and the first supporting part can continue to move downward.

[0015] According to another specific embodiment of the present invention, it further includes: a support frame connected to the base; the support frame being disposed above the first bearing portion; a receiving portion rotatably connected to the support frame around the height direction; the receiving portion facing the first bearing portion along the height direction for accommodating the cylinder; in a first position state of the first bearing portion, the cylinder is located outside the receiving portion, or a portion of the cylinder is located inside the receiving portion; in a second position state of the first bearing portion, the entire cylinder is located inside the receiving portion.

[0016] According to another specific embodiment of the present invention, a second motor is also included, which is used to drive the receiving part to rotate.

[0017] According to another specific embodiment of the present invention, a transmission assembly is further included, the transmission assembly comprising: a first transmission wheel sleeved on the output shaft of the second motor; the second motor driving the first transmission wheel to rotate; a second transmission wheel connected to the first transmission wheel via a belt drive; a rotating shaft, on which the second transmission wheel is sleeved; the second transmission wheel driving the rotating shaft to rotate; a third transmission wheel sleeved on the rotating shaft; the rotating shaft driving the third transmission wheel to rotate; and a fourth transmission wheel connected to the third transmission wheel via a belt drive; the fourth transmission wheel sleeved on the receiving portion to drive the receiving portion to rotate.

[0018] Using the above technical solution, the second motor drives the receiving part to rotate. The rotation of the cylinder within the receiving part allows the needle of the suction component to be inserted into the container (e.g., the second container described later), thus stirring the two liquids or the liquid and powder within the container and ensuring better and more uniform mixing. Furthermore, using multiple drive wheels to transmit power from the second motor to the receiving part saves space.

[0019] According to another specific embodiment of the present invention, it further includes: a base connected to the base portion; and a third motor connected to the base, wherein the third motor is used to drive the base to rotate relative to the worktable.

[0020] Using the above technical solution, the base rotates, causing the suction component to face different containers (such as the first container and the second container described below), and suction or injection operations are performed on different containers.

[0021] This utility model also discloses a liquid dispensing robot based on the above-described suction component clamping mechanism, comprising: a workbench; an electrical control box disposed on the workbench; a first clamping mechanism disposed on the workbench; the first clamping mechanism being connected to the electrical control box, the first clamping mechanism being used to clamp a first container, the first container being used to contain a first product; a second clamping mechanism disposed on the workbench and spaced apart from the first clamping mechanism, the second clamping mechanism being used to clamp a plurality of second containers, the second containers being used to contain second products; and a suction component clamping mechanism according to any of the above embodiments, wherein the suction... The component clamping mechanism is located between the first clamping mechanism and the second clamping mechanism. The base of the suction component clamping mechanism is used to rotate on the worktable so that the suction component faces the first clamping mechanism or the second clamping mechanism. When the suction component faces the first clamping mechanism, the second support portion can move relative to the first support portion along the height direction. The cylinder on the first support portion is in a suction or injection state. When the suction component faces the second clamping mechanism, the second support portion can move relative to the first support portion along the height direction. The cylinder on the first support portion is in a suction or injection state.

[0022] Using the above technical solution, when the suction member faces the first clamping mechanism, the suction member draws the first product from the first container. Then, the suction member turns to the second clamping mechanism and injects the first product from the suction member into the second container, so that it mixes with the second product in the second container. The mixed solution is then drawn through the suction member. Finally, the suction member faces the first clamping mechanism and injects the mixed solution into the first container to complete the solution preparation. Attached Figure Description

[0023] Figure 1 A perspective view of the liquid preparation robot according to an embodiment of the present invention is shown;

[0024] Figure 2 A perspective view of the suction clamping mechanism according to an embodiment of the present invention is shown, wherein the outer shell is not shown;

[0025] Figure 3 This is a perspective view showing the connection between the screw, the first slider, the second slider, the first bearing part, and the second bearing part according to an embodiment of the present invention.

[0026] Figure 4 This is a perspective view showing the connection between the screw and the first motor in an embodiment of the present invention;

[0027] Figure 5 This is a perspective view showing the connection between the base and the support frame in an embodiment of the present invention;

[0028] Figure 6 This is a perspective view showing the connection between the second motor and the support frame in an embodiment of the present invention. Detailed Implementation

[0029] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Although the description of this utility model will be presented in conjunction with preferred embodiments, this does not mean that the features of this utility model are limited to this embodiment. On the contrary, the purpose of describing the utility model in conjunction with the embodiments is to cover other options or modifications that may be derived based on the claims of this utility model. To provide a deep understanding of this utility model, many specific details will be included in the following description. This utility model may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this utility model, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0030] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0031] In the description of this 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 accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the utility model.

[0032] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0033] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0034] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0035] refer to Figure 1 This application provides a liquid preparation robot 1, including a workbench 2, an electrical control box 3, a first clamping mechanism 4, a suction component clamping mechanism 5, and a second clamping mechanism 6. The electrical control box 3, the first clamping mechanism 4, the suction component clamping mechanism 5, and the second clamping mechanism 6 are all located on the workbench 2.

[0036] The first clamping mechanism 4 is used to clamp the first container 40 (e.g., an infusion bag), which contains a first product (e.g., sodium chloride solution). The second clamping mechanism 6 is used to clamp the second container (e.g., a vial, not shown in the figure), which contains a second product (powdered drug or liquid medicine). The suction clamping mechanism 5 is located between the first clamping mechanism 4 and the second clamping mechanism 6 and is used to clamp the suction member 7 (e.g., a syringe). When the suction member 7 on the suction clamping mechanism 5 faces the first container 40 of the first clamping mechanism 4, the suction member 7 draws the first product from the first container 40, then turns to the second container of the second clamping mechanism 6 to inject the first product from the suction member 7 into the second container, so that the second product and the first product in the second container are mixed. After mixing, the mixture is drawn into the cylinder 71 by the suction member 7, then turns to the first container 40 of the first clamping mechanism 4 to inject the mixed solution into the first container 40 to complete the solution preparation.

[0037] The aforementioned electrical control box 3 is equipped with a control system, which is used to control the first clamping mechanism 4, the suction component clamping mechanism 5, and the second clamping mechanism 6 to perform liquid preparation. The control system is connected to the operation display screen 30 located outside it, so that the operator can control the liquid preparation process through the operation display screen 30.

[0038] Those skilled in the art will understand that the liquid preparation robot 1 of this application can perform liquid preparation work for a variety of liquids, including not only drug solutions, but also chemical solutions and cosmetic formulations in the laboratory.

[0039] The following section will describe in detail the specific structure of the suction clamping mechanism 5 with reference to the accompanying drawings.

[0040] like Figure 1 As shown, the suction clamping mechanism 5 includes a housing 500. To illustrate the structure of the suction clamping mechanism 5 located within the housing 500, Figure 2 The outer casing 500 has been concealed.

[0041] like Figure 2 As shown, the suction clamping mechanism 5 includes a base 50, a first bearing portion 51, a second bearing portion 52, a first magnetic suction portion 511, and a second magnetic suction portion 53. The base 50 extends along the height direction Z. It can be understood that the suction component 7 includes a cylinder 71, a piston rod 72, and a needle 73.

[0042] The first support portion 51 is used to support the cylinder 71 of the suction member 7; the first support portion 51 is connected to the base portion 50 in a manner movably along the height direction Z, so that the first support portion 51 is in a first position state and a second position state. Figure 2 The first support unit 51 is driven by the first motor 54 to move up and down along the height direction Z.

[0043] For example, such as Figure 2 and Figure 3 As shown, the first supporting part 51 is L-shaped and includes a first plate part 512 and a second plate part 513 connected vertically. The first plate part 512 extends along the height direction Z, and the second plate part 513 is located on a horizontal plane perpendicular to the height direction Z. The second plate part 513 is provided with a support groove 514 that extends vertically through the second plate part 514, through which the piston rod 72 of the suction member 7 passes. That is, the cylinder 71 of the suction member 7 is located above the second plate part 513, and the piston rod 72 is located below the second plate part 513. An annular protrusion 74 is provided at the outlet of the cylinder 71, and the annular protrusion 74 abuts against the upper surface of the second plate part 513, thereby forming a support for the cylinder 71 by the second plate part 513.

[0044] The aforementioned second support portion 52 is used to connect with the piston push rod 72 of the suction member 7; the second support portion 52 is connected to the base portion 50 in a manner movably along the height direction Z. The second support portion 52 is driven by the first motor 54 to move it up and down along the height direction Z. That is, the first support portion 51 and the second support portion 52 are driven by the same first motor 54.

[0045] For example, such as Figure 3 As shown, the second support portion 52 includes a first portion 520 and a second portion 521 connected to each other. The first portion 520 and the second portion 521 are spaced apart along the height direction Z to form a limiting region 522 between them. The limiting region 522 accommodates the handle portion 75 of the piston push rod 72. The first portion 520 is provided with a vertically penetrating U-shaped groove 523, which connects to the limiting region 522 to allow the piston push rod 72 to pass through, thereby limiting the piston push rod 72 and further connecting the piston push rod 72 and the second support portion 52.

[0046] refer to Figure 2 and Figure 3 The first magnetic attraction part 511 is disposed on one side of the first support part 51 in the first direction X. The first direction X is perpendicular to the height direction Z. For example, the first magnetic attraction part 511 is made of ferromagnetic material.

[0047] The second magnetic attraction part 53 is connected to the base part 50, and the second magnetic attraction part 53 and the first magnetic attraction part 511 are arranged opposite each other along the height direction Z. That is, as the first support part 51 moves along the height direction Z under the drive of the first motor 54, the first magnetic attraction part 511 can attract the second magnetic attraction part 53 arranged opposite to it.

[0048] For example, the second magnetic part 53 is an electromagnet. That is, the second magnetic part 53 is magnetic when energized and can be attracted and connected to the first magnetic part 511. When the second magnetic part 53 is not energized, it is not magnetic and therefore cannot be connected to the first magnetic part 511.

[0049] In the first position state of the first support portion 51, the first magnetic suction portion 511 and the second magnetic suction portion 53 are spaced apart along the height direction Z, and the first support portion 51 and the second support portion 52 can move synchronously along the height direction Z; the cylinder 71 on the first support portion 51 is in an empty state. Exemplarily, the first support portion 51 and the second support portion 52 are driven by the first motor 54, that is, under the drive of the first motor 54, the first support portion 51 and the second support portion 52 move upward together along the height direction Z so that the suction member 7 reaches a preset height, so that the needle 73 can perform suction or injection actions on the first container 40 of the first clamping mechanism 4 or the second container of the second clamping mechanism 6.

[0050] In the second position state of the first support portion 51, the first magnetic suction portion 511 and the second magnetic suction portion 53 are magnetically connected, and the second support portion 52 can move relative to the first support portion 51 in the height direction Z; the cylinder 71 on the first support portion 51 is in a suction or injection state. For example, when the first magnetic suction portion 511 and the second magnetic suction portion 53 are magnetically connected, the first support portion 51 is fixed relative to the base 50 by the attraction of the second magnetic suction portion 53 to the first magnetic suction portion 511. The first support portion 51 is no longer driven by the first motor 54 and remains at the set height. It can be understood that this set height of the first support portion 51 is the height at which the needle 73 located at the upper end of the cylinder 71 can be inserted into the first container 40 of the first clamping mechanism 4 or the second container of the second clamping mechanism 6 when they are aligned vertically.

[0051] In the second position state of the first support portion 51, the second support portion 52 can move relative to the first support portion 51 along the height direction Z, that is, the piston rod 72 located on the second support portion 52 moves relative to the cylinder 71 on the first support portion 51 along the height direction Z. It can be understood that if the second support portion 52 moves downward relative to the first support portion 51 along the height direction Z, the piston rod 72 is performing a suction action, for example, suctioning the first product in the first container 40 into the cylinder 71, or suctioning the mixture of the first product and the second product in the second container into the cylinder 71. Conversely, if the second support portion 52 moves upward relative to the first support portion 51 along the height direction Z, the piston rod 72 is performing an injection action, for example, injecting the first product suctioned into the cylinder 71 in the previous step into the second container to mix the first product and the second product in the second container, or injecting the mixed solution of the first product and the second product into the first container 40.

[0052] Using the above technical solution, firstly, the barrel 71 of the suction component 7 (i.e., the syringe) is installed onto the first support part 51, so that the first support part 51 supports the barrel 71 upwards. The piston rod 72 of the suction component 7 is connected to the second support part 52. At this time, the barrel 71 of the suction component 7 is in an unloaded state, and the first magnetic attraction part 511 and the second magnetic attraction part 53 are spaced apart along the height direction Z. Then, the first motor 54 is started, and the first motor 54 drives the first support part 51 and the second support part 52 to move upwards together along the height direction Z (i.e., the first position state) to reach the preset position, which is the height position for suction and injection operations. At this time, the first magnetic attraction part 511 reaches the position of the second magnetic attraction part 53 and is attracted and connected to the second magnetic attraction part 53, so that the first support part 51 is held in this position and no longer moves upwards. Then the first motor 54 drives the second support part 52 to start moving downward (i.e., entering the second position state). The second support part 52 drives the piston push rod 72 of the suction member 7 to move downward, and the suction member 7 starts to suck. For example, when the suction member 7 is facing the first clamping mechanism 4, the suction member 7 sucks the first product of the first container 40. After suction is completed, the suction clamping mechanism 5 drives the suction member 7 to turn to the second clamping mechanism 6. Then, the first motor 54 drives the second support part 52 to move upward. The second support part 52 drives the piston push rod 72 of the suction member 7 to move upward, discharging the first product in the cylinder 71 and allowing it to enter the second container. The first product and the second product in the second container are mixed. After mixing is completed, the first motor 54 drives the second support part 52 to move the piston push rod 72 of the suction member 7 downward. The suction member 7 begins to suction the mixed solution of the first and second products. After suction is completed, the suction clamping mechanism 5 drives the suction member 7 to turn to the first clamping mechanism 4. Then, the first motor 54 drives the second support part 52 to move upward. The second support part 52 drives the piston push rod 72 of the suction member 7 to move upward, discharging the mixed solution of the first and second products in the cylinder 71 and allowing it to enter the first container, thus completing the solution preparation process.

[0053] In summary, the suction clamping mechanism 5 of this application, by setting the first support part 51 and the second support part 52 to cooperate, can realize the automatic suction and injection of the suction part 7 with only one motor, without the need to connect different motors to the first support part 51 and the second support part 52 respectively. The structure is simple, reduces the footprint, and lowers the cost.

[0054] refer to Figure 2 and Figure 3 The suction clamping mechanism 5 also includes a screw 540, a first slider 541, and a second slider 542. The screw 540 is connected to the first motor 54 for transmission; the screw 540 extends along the height direction Z.

[0055] For example, such as Figure 4As shown, a fifth transmission wheel 543 is fitted onto the output end of the first motor 54, driving the fifth transmission wheel 543 to rotate. A sixth transmission wheel 544 is fitted onto the lower end of the screw 540, and the sixth transmission wheel 544 and the fifth transmission wheel 543 are connected by a belt 545. When the first motor 54 is started, it drives the fifth transmission wheel 543 to rotate. The fifth transmission wheel 543 transmits power to the sixth transmission wheel 544 via the belt 545, and then the sixth transmission wheel 544 drives the screw 540 to rotate. That is, in this embodiment, power transmission from the first motor 54 to the screw 540 is achieved through two transmission wheels, effectively saving space.

[0056] refer to Figure 2 and Figure 3 The first slider 541 is connected to the first support portion 51. Exemplarily, the first slider 541 connects the first support portion 51 and the first magnetic attraction portion 511. The first slider 541 is sleeved on the screw 540 and threadedly connected to the screw 540. Exemplarily, when the first slider 541 is threadedly connected to the screw 540, the screw 540 rotates, and the first slider 541 moves relative to the screw 540 along the axial direction of the screw 540 (i.e., the height direction Z).

[0057] The second slider 542 is connected to the second support portion 52. The second slider 542 is sleeved on the screw 540 and threadedly connected to the screw 540. For example, when the second slider 542 is threadedly connected to the screw 540, the screw 540 rotates, and the second slider 542 moves relative to the screw 540 along the axial direction of the screw 540 (i.e., the height direction Z).

[0058] In the first position, the first slider 541 and the second slider 542 can move synchronously along the height direction Z. That is, the first support part 51 and the second support part 52 move synchronously along the height direction Z so that the needle 73 of the suction member 7 approaches the first container 40 of the first clamping mechanism 4 or the second container of the second clamping mechanism 6.

[0059] In the second position, the second slider 542 can move relative to the first slider 541 along the height direction Z. That is, the second support portion 52 moves relative to the first support portion 51 along the height direction Z to perform suction and injection operations.

[0060] In some possible implementations, such as Figure 2 , Figure 3 and Figure 5As shown, the base 50 is provided with a slide rail 501 extending along the height direction Z. A first slider 541 and a second slider 542 are slidably connected to the slide rail 501. That is, through the cooperation of the first slider 541 and the slide rail 501, the first slider 541 is provided with some support, and its sliding is made smoother. Correspondingly, through the cooperation of the second slider 542 and the slide rail 501, the second slider 542 is provided with some support, and its sliding is made smoother.

[0061] In some possible implementations, such as Figure 1 and Figure 5 As shown, the suction clamping mechanism 5 also includes a support frame 55 and a receiving portion 56. The support frame 55 is connected to the base 50 and is positioned above the first bearing portion 51. Exemplarily, the support frame 55 is positioned at a height close to the first clamping mechanism 4 and the second clamping mechanism 6.

[0062] For example, refer to Figure 1 , Figure 3 and Figure 5 The support frame 55 is L-shaped and includes a vertically connected side plate 550 and a horizontal plate 551. The side plate 550 extends along the height direction Z, but the side plate 550 and the first plate portion 512 of the first bearing portion 51 are offset in the height direction Z, that is, they are not directly opposite each other. When the first bearing portion 51 moves upward under the drive of the first motor 54, the side plate 550 will partially overlap with the first plate portion 512 until the side plate 550 abuts against the upper surface of the second plate portion 513. At this time, the first bearing portion 51 moves upward to the maximum extent (that is, enters the second position state of the first bearing portion 51).

[0063] like Figure 1 and Figure 5 As shown, the receiving portion 56 is rotatably connected to the support frame 55 in a manner circumferentially around the height direction Z; the receiving portion 56 faces the first bearing portion 51 along the height direction Z to receive the cylinder 71. Exemplarily, the receiving portion 56 passes through the horizontal plate 551 of the support frame 55 and partially protrudes from the horizontal plate 551 to allow the needle 73 at the upper end of the cylinder 71 to extend. The receiving portion 56 is rotatably connected to the horizontal plate 551.

[0064] For example, the receiving portion 56 is a semi-cylindrical groove to match the shape of the cylinder 71 of the suction member 7, thereby better accommodating the cylinder 71.

[0065] In the first position state of the first support portion 51, the cylinder 71 is located outside the receiving portion 56, or a portion of the cylinder 71 is located within the receiving portion 56. It is understood that before the suction member 7 is installed, the first support portion 51 has not moved upwards. If the distance between the lower end of the first support portion 51 and the receiving portion 56 is less than the length of the cylinder 71, then during installation, the lower end of the cylinder 71 is placed on the first support portion 51, and a portion of the cylinder 71 extends into the receiving portion 56. Conversely, if the distance between the lower end of the first support portion 51 and the receiving portion 56 is greater than the length of the cylinder 71, then during installation, the lower end of the cylinder 71 is placed on the first support portion 51, and the cylinder 71 does not extend into the receiving portion 56; its entirety is located between the receiving portion 56 and the first support portion 51.

[0066] In the second position of the first support portion 51, the receiving portion 56 receives the entire cylindrical body 71.

[0067] In this embodiment, in the first position, a portion of the cylinder 71 is located in the receiving portion 56. Before the first support portion 51 and the second support portion 52 move upward together, the first support portion 51 and the support frame 55 are spaced apart along the height direction Z. The operator places the cylinder 71 of the suction member 7 on the first support portion 51 in advance, and a portion of the upwardly extending cylinder 71 is placed in the receiving portion 56, while the portion of the cylinder 71 located between the first support portion 51 and the support frame 55 is located outside the receiving portion 56. Then the first support part 51 and the second support part 52 move upward together (i.e., enter the first position state). The first support part 51 gradually approaches the support frame 55. The part of the cylinder 71 that was originally located in the receiving part 56 also slides upward in the receiving part 56. The part of the cylinder 71 that was originally located outside the receiving part 56 moves upward to enter the receiving part 56 until the first support part 51 abuts against the support frame 55 and the first magnetic suction part 511 is also attracted by the second magnetic suction part 53. The first support part 51 can no longer move upward (i.e., enter the second position state). At this time, the entire cylinder 71 is located in the receiving part 56. The cylinder 71 has reached the preset position. The height of the cylinder 71 at this time is convenient for the needle 73 located at its upper end to contact the first container 40 or the second container for subsequent suction and injection actions.

[0068] In some possible implementations, refer to Figure 1 , Figure 2 and Figure 6 The suction clamping mechanism 5 also includes a second motor 57, which is used to drive the receiving part 56 to rotate.

[0069] Specifically, the second motor 57 drives the receiving portion 56 to rotate via a transmission assembly, which includes a first transmission wheel 570, a second transmission wheel 571, a third transmission wheel 572, and a fourth transmission wheel 573. The first transmission wheel 570 is mounted on the output shaft of the second motor 57; the second motor 57 drives the first transmission wheel 570 to rotate; the second transmission wheel 571 is connected to the first transmission wheel 570 via a belt 574; the second transmission wheel 571 and the third transmission wheel 572 are respectively mounted on both ends of a rotating shaft 575, the second transmission wheel 571 drives the rotating shaft 575 to rotate, and the rotating shaft 575 drives the third transmission wheel 572 to rotate; the fourth transmission wheel 573 is connected to the third transmission wheel 572 via a belt 576; the fourth transmission wheel 573 is mounted on the portion of the receiving portion 56 located on the horizontal plate 551 to drive the receiving portion 56 to rotate.

[0070] That is, this embodiment uses multiple transmission wheels to achieve power transmission from the second motor 57 to the receiving part 56, thereby saving space. However, those skilled in the art will understand that in other embodiments, other transmission components, such as chains, may also be selected.

[0071] For example, the second motor 57 drives the receiving part 56 to rotate, and the cylinder 71 located in the receiving part 56 rotates. When the needle 73 of the suction member 7 is inserted into the second container, it injects the first product that was sucked into the cylinder 71 in the previous step into the second container, so that it is mixed with the second product in the second container. The cylinder 71 rotates, and the needle 73 located at its upper end rotates synchronously in the second container, thereby playing a stirring role and making the first product and the second product evenly mixed.

[0072] In some possible implementations, such as Figure 2 As shown, the suction clamping mechanism 5 also includes an elastic element 58 and a positioning block 502. The positioning block 502 is connected to the base 50, meaning it is relatively fixed. The elastic element 58 extends along the height direction Z, with its upper end connected to the first magnetic suction part 511 and its lower end connected to the positioning block 502.

[0073] For example, the elastic element 58 is a spring, with its upper end connected to the first magnetic attraction part 511 and its lower end connected to the positioning block 502. During the upward movement of the first bearing part 51 along the height direction Z, the elastic element 58 extends until the first magnetic attraction part 511 and the second magnetic attraction part 53 are attracted and connected, at which point the spring extends to its maximum extent. When the first bearing part 51 needs to move downward, the first magnetic attraction part 511 needs to separate from the second magnetic attraction part 53. However, after the power is turned off, the magnetism of the second magnetic attraction part 53 weakens, and the first magnetic attraction part 511 cannot immediately separate from it. Therefore, the restoring force of the elastic element 58 will give the first magnetic attraction part 511 a downward pulling force, helping it overcome the attraction force from the second magnetic attraction part 53, thereby allowing the first magnetic attraction part 511 to quickly separate from the second magnetic attraction part 53, and the first bearing part 51 can continue to move downward.

[0074] In some possible implementations, such as Figure 1 and Figure 2 As shown, the suction clamping mechanism 5 also includes a base (not shown in the figure), which is connected to the base 50; a third motor 590 is connected to the base, and the third motor 590 is used to drive the base to rotate relative to the worktable 2.

[0075] Specifically, the base is rotatably connected to the worktable 2. Driven by the third motor 590, the base rotates relative to the worktable 2, changing the position of the suction member 7 relative to the worktable 2, so that it faces the first container 40 on the first clamping mechanism 4 or the second container on the second clamping mechanism 6. When it faces the first container 40, the suction member 7 can draw the first product in the first container 40 into the cylinder 71, or inject a well-mixed solution of the first and second products into the first container 40. When it faces the second container, the suction member 7 injects the first product drawn into the cylinder 71 in the previous step into the second container, so that the first and second products are mixed, or draws a well-mixed solution of the first and second products into the cylinder 71.

[0076] 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 suction member holding mechanism for holding a suction member, the suction member including a cylinder and a piston push rod, characterized by, The suction member clamping mechanism comprises: a base extending in a height direction; a first bearing part for supporting a barrel of the suction member; the first bearing part is movably connected with the base in the height direction, so as to switch the first bearing part between a first position state and a second position state; a second bearing part for connecting with a piston push rod of the suction member; the second bearing part is movably connected with the base in the height direction; a first motor connected with the base; the first motor is used to drive the first bearing part and the second bearing part to move in the height direction; a first magnetic attraction part connected with the first bearing part; a second magnetic attraction part connected with the base, the second magnetic attraction part is oppositely arranged with the first magnetic attraction part in the height direction; in the first position state, the first magnetic attraction part and the second magnetic attraction part are arranged in the height direction, the first bearing part and the second bearing part can move synchronously in the height direction; the barrel on the first bearing part is in an empty state; in the second position state, the first magnetic attraction part and the second magnetic attraction part are connected by magnetic attraction, the second bearing part can move in the height direction relative to the first bearing part; the barrel on the first bearing part is in a suction or injection state.

2. The suction piece holding mechanism according to claim 1, wherein Further comprising: a screw rod in transmission connection with the first motor; the screw rod extends in the height direction; a first sliding block connecting the first bearing part and the first magnetic attraction part; the first sliding block is sleeved on the screw rod and is in threaded connection with the screw rod; a second sliding block connected with the second bearing part; the second sliding block is sleeved on the screw rod and is in threaded connection with the screw rod; in the first position state, the first sliding block and the second sliding block can move synchronously in the height direction; in the second position state, the second sliding block can move in the height direction relative to the first sliding block.

3. The suction piece holding mechanism according to claim 2, wherein the base is provided with a slide rail extending in the height direction, the first sliding block and the second sliding block are respectively in sliding connection with the slide rail.

4. The suction piece holding mechanism according to claim 1, wherein the second magnetic attraction part is an electromagnet, and the first magnetic attraction part is a ferromagnetic material.

5. The suction piece holding mechanism according to claim 1, wherein Further comprising: a resilient member extending in the height direction; a positioning block connected with the base, an upper end of the resilient member is connected with the first magnetic attraction part, and a lower end of the resilient member is connected with the positioning block.

6. The suction piece holding mechanism according to claim 3, wherein Further comprising: a support frame connected with the base; the support frame is arranged above the first bearing part; a containing part; the containing part is rotatably connected with the support frame around the height direction; the containing part is arranged towards the first bearing part in the height direction, so as to contain the barrel; in the first position state of the first bearing part, the barrel is located outside the containing part, or a part of the barrel is located inside the containing part; in the second position state of the first bearing part, the barrel is located inside the containing part.

7. The suction piece holding mechanism according to claim 6, wherein Further comprising a second motor; the second motor is used to drive the containing part to rotate.

8. The suction piece holding mechanism according to claim 7, wherein Further comprising a transmission assembly; the transmission assembly comprises: a first transmission wheel sleeved on an output shaft of the second motor; the second motor is used to drive the first transmission wheel to rotate; A second transmission wheel is connected with the first transmission wheel through a belt transmission; A rotating shaft, the second transmission wheel is sleeved on the rotating shaft; the second transmission wheel is used to drive the rotating shaft to rotate; A third transmission wheel is sleeved on the rotating shaft; the rotating shaft is used to drive the third transmission wheel to rotate; A fourth transmission wheel, the fourth transmission wheel and the third transmission wheel are connected through a belt transmission; the fourth transmission wheel is sleeved on the containing part to drive the containing part to rotate.

9. The suction piece holding mechanism according to claim 1, wherein Also includes: A base connected with the base; A third motor connected with the base, the third motor is used to drive the base to rotate relative to the workbench.

10. A liquid dispensing robot characterized by, Including: A workbench; An electric control box is arranged on the workbench; A first clamping mechanism is arranged on the workbench; the first clamping mechanism is connected with the electric control box, the first clamping mechanism is used to clamp a first container, the first container is used to contain a first product; A second clamping mechanism is arranged on the workbench and is spaced apart from the first clamping mechanism, the second clamping mechanism is used to clamp a plurality of second containers, the second container is used to contain a second product; and The suction member clamping mechanism of any one of claims 1 to 9, the suction member clamping mechanism is located between the first clamping mechanism and the second clamping mechanism, the base of the suction member clamping mechanism is used to rotate on the workbench to make the suction member face the first clamping mechanism or the second clamping mechanism; When the suction member faces the first clamping mechanism, the second bearing part can move relative to the first bearing part along the height direction; the barrel on the first bearing part is in suction or injection state; When the suction member faces the second clamping mechanism, the second bearing part can move relative to the first bearing part along the height direction; the barrel on the first bearing part is in suction or injection state.

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