Penicillin bottle identification and weighing mechanism

Abstract

A penicillin bottle identification and weighing mechanism belongs to the technical field of dispensing robots. It comprises an operation platform, a robot, a visual identification module, a weighing module, a lifting module, a clamping mechanism and a control system. The robot, the visual identification module, the lifting module and the clamping mechanism are arranged on the operation platform. The robot clamps the penicillin bottle between the visual identification module and the weighing module. The weighing module is arranged on the upper side of the lifting module. The clamping mechanism is arranged on the upper side of the weighing module. The visual identification module and the lifting module are respectively connected to the control system. The visual algorithm of the visual identification module is adopted to identify the drug name and read the size of the penicillin bottle, so as to avoid the problem of dispensing error. At the same time, according to the size, the control system controls the lifting module to position, so as to reach a more reasonable and accurate pumping position. In cooperation with the clamping mechanism, the drug is weighed and counted before and after being injected into the liquid, and is weighed again after being pumped, so as to verify whether it meets the standard.

Description

Technical Field

[0001] A vial identification and weighing mechanism belongs to the field of dispensing robot technology. Background Technology

[0002] Vials: Borosilicate glass or soda-lime glass molded injection vials are small bottles sealed with a rubber stopper and an aluminum-plastic composite cap.

[0003] Residual volume: The volume of liquid remaining in the vial after the intravenous infusion is prepared.

[0004] Intravenous vials are commonly used drugs in hospitals, and therefore are used in large quantities. Currently, most medical staff in intravenous compounding centers still manually dispense and aspirate medications, which is not only labor-intensive but also prone to errors in dispensing and dosage.

[0005] To circumvent the aforementioned problems, existing technologies employ robotic dispensing methods, such as the intravenous medication dispensing robot in patent CN113768787A. This robot can weigh the medication in the vial before and after dissolution and dilution, and quantitatively control the residual amount of medication by subtraction. While this dispensing robot has photo recognition capabilities, it can only identify information such as the name of the medication and cannot analyze the external dimensions of the vial. It cannot completely avoid problems such as medication placement errors caused by human operation. Furthermore, this dispensing robot does not have a lifting module to adjust the suction position and can only operate on a single vial, resulting in low adaptability. Utility Model Content

[0006] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a vial identification and weighing mechanism that can identify and read the external dimensions of the vial, and position it by lifting and lowering according to the external dimensions of the vial to achieve a more reasonable and accurate suction position.

[0007] The technical solution adopted by this utility model to solve its technical problem is as follows: the vial identification and weighing mechanism includes an operating platform, a robot, a vision recognition module, a weighing module, a lifting module, a clamping mechanism, and a control system. The robot, vision recognition module, lifting module, and clamping mechanism are set on the operating platform. The robot clamps the vial between the vision recognition module and the weighing module. The weighing module is set on the upper side of the lifting module, and the clamping mechanism is set on the upper side of the weighing module. The vision recognition module and the lifting module are respectively connected to the control system.

[0008] Preferably, the weighing module includes a weighing sensor and a medicine placement tray, with multiple weighing sensors arranged on the upper side of the lifting module and the medicine placement tray arranged on the weighing sensors.

[0009] Preferably, the clamping mechanism includes a frame and grippers. The frame is set on the operating platform, and the grippers are set on the upper side of the frame and are positioned corresponding to the medicine placement tray.

[0010] Preferably, the lifting module includes a lifting cylinder and a lifting mounting plate. The lifting cylinder is vertically mounted on the operating platform, the lifting mounting plate is mounted on the upper side of the lifting cylinder, and the weighing sensors are equidistantly mounted on the lifting mounting plate.

[0011] Preferably, the lifting mounting plate is provided with a weight reduction port, and two adjacent weighing sensors are respectively set on both sides of the weight reduction port.

[0012] Preferably, one end of the weighing sensor is fixedly connected to the lifting mounting plate, and the other end is suspended in the air, with the medicine placement tray placed at the suspended end of the weighing sensor.

[0013] Preferably, the visual recognition module includes a camera, a stage, and a light source. The camera and the stage are mounted on the operating platform, with the stage facing the camera and the light source mounted on the stage.

[0014] Preferably, it also includes a drug buffer area, which is set on the operating platform and faces the robot. The drug buffer area has multiple placement slots, and vials are placed in the placement slots.

[0015] Compared with existing technologies, the beneficial effects of this technical solution are: This robot first places the vial in the visual recognition module area. The visual recognition module uses a visual algorithm to identify the drug name and read the vial's dimensions, avoiding errors in drug placement. Simultaneously, based on the dimensions, the control system controls the lifting module to raise and lower the vial for more accurate and precise aspiration. In conjunction with the clamping mechanism, the robot weighs and counts the drug before and after injection to verify that the injection volume conforms to the prescription. After aspiration, it weighs again to verify that the residual liquid in the vial meets the standard. This effectively synchronizes with the prescription information, avoiding errors in drug placement and dosage that occur during manual operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a vial identification and weighing mechanism according to the present invention.

[0017] Figure 2 This is a top view of the present invention.

[0018] Figure 3 This is a schematic diagram of the lifting module of this utility model.

[0019] Figure 4 for Figure 3 Side view.

[0020] Figure 5 for Figure 3 Top view.

[0021] Figure 6 This is a schematic diagram of the clamping mechanism of this utility model.

[0022] Figure 7 This is a schematic diagram of the structure of the flip-grip assembly of this utility model.

[0023] Figure 8 This is a schematic diagram of the structure of the flip drive assembly of this utility model.

[0024] The components include: 1. Operating platform; 2. Robot; 3. Vision recognition module 301; Camera 302; Platform 303; Light source; 4. Weighing module 401; Weighing sensor 402; Medicine placement tray; 5. Clamping mechanism 501; Frame 502; Cylinder bracket 503; Gear 504; Tilting frame 505; Grip cylinder 506; Connecting plate 507; Slider 508; Rack 509; Tilting electric cylinder 510; Floating joint 511; Fixed plate 512; Slide rail 513; Grip shaft 514; Grip 6; Vial; 7. Medicine buffer area 701; Placement slot; 8. Lifting module 801; Lifting electric cylinder 802; Lifting mounting plate. Detailed Implementation

[0025] Figures 1-8 This is the preferred embodiment of the present invention, which is described below in conjunction with the appendix. Figures 1-8 The present invention will be further described below.

[0026] Reference Figures 1-2 The vial identification and weighing mechanism includes an operating platform 1, a robot 2, a vision recognition module 3, a weighing module 4, a lifting module 8, a clamping mechanism 5, and a control system. The robot 2, vision recognition module 3, lifting module 8, and clamping mechanism 5 are mounted on the operating platform 1. The weighing module 4 is positioned above the lifting module 8, and the clamping mechanism 5 is positioned above the weighing module 4. The vision recognition module 3 and the lifting module 8 are connected to the control system. After obtaining the external dimensions of the vial 6 from the vision recognition module 3, the control system controls the lifting module 8 to position itself at the gripping height of the clamping mechanism 5, achieving a precise suction position. The control system of this invention is a PLC control system.

[0027] Specifically, the front of the operating platform 1 is provided with a medicine bottle buffer area 7, and the medicine bottle buffer area 7 is provided with several placement slots 701 for placing vials 6. The rear of the medicine bottle buffer area 7 is directly opposite to the medicine bottle execution robot 1. The side of the robot 1 is provided with a lifting module 8, a weighing module 4 and a clamping mechanism 5 for clamping vials 6.

[0028] A visual recognition module 3 is provided between the robot 2 and the weighing module 4. The visual recognition module 3 includes a camera 301, a platform 302 and a light source 303. The platform 302 is located next to the medicine bottle buffer area 7. The light source 303 is located on the platform 302. The camera 301 is located facing the platform 302 and is adjacent to the weighing module.

[0029] Reference Figures 3-5 The lifting module 8 includes a lifting cylinder 801 and a lifting mounting plate 802. The weighing module 4 includes a weighing sensor 401 and a medicine placement tray 402. The lifting cylinder 801 is vertically mounted on the operating platform 1. The lifting mounting plate 802 is mounted on the upper side of the lifting cylinder 801. Four weighing sensors 401 are equidistantly mounted on the upper side of the lifting mounting plate 802. The medicine placement tray 402 is mounted on the weighing sensor 401.

[0030] The lifting mounting plate 802 is provided with a weight reduction port, and two adjacent weighing sensors 401 are respectively set on both sides of the weight reduction port. One end of the weighing sensor 401 is fixedly connected to the lifting mounting plate 802, and the other end is suspended in the air. The medicine placement tray 402 is set at the suspended end of the weighing sensor 401.

[0031] Reference Figures 6-7 The clamping mechanism 5 includes a frame 501, a flip-grip assembly, and a flip-drive assembly. The bottom of the frame 501 is fixed to the surface of the operating platform 1. The flip-grip assembly is located on the upper inside of the frame 501. The flip-drive assembly is located on the side wall of the frame 501 and is connected to the flip-grip assembly.

[0032] The flipping gripping assembly includes a flipping frame 504, a gripper shaft 513, and multiple grippers 514. The flipping frame 504 is rotatably mounted on the upper side of the frame 501 via the gripper shaft 513. The four grippers 514 are equidistantly spaced on the gripper shaft 513. The gripper shaft 513 extends out from the side of the frame 501 and is coaxially fixed with a gear 503. A flipping assembly is installed at the lower part of the gear 503. The flipping assembly is connected to the gear 503. By driving the gear 503 to rotate, the grippers 514 are further flipped within the frame 501.

[0033] Four gripper cylinders 505 are fixed side by side inside the flipping frame 504. Grippers 514 are correspondingly arranged on the front side of each gripper cylinder 505 and extend out of the flipping frame 504. Grippers 514 are provided with grooves, and the grooves are joined to form a receiving groove for accommodating vials 6. The gripper cylinders 505 can also be implemented by other components that realize linear motion, such as linear motors.

[0034] Reference Figure 8The tilting drive assembly is disposed on the side of the frame 501 via a connecting plate 506. The tilting drive assembly includes a connecting plate 506, which is fixed to the side of the frame 501. A cylinder bracket 502 is mounted on the surface of the connecting plate 506. A tilting electric cylinder 509 is fixed on the side of the cylinder bracket 502. The cylinder body of the tilting electric cylinder 509 is fixed to the surface of the cylinder bracket 502. Its piston rod is connected to one end of a floating joint 510. A fixing plate 511 is mounted on the other end of the floating joint 510.

[0035] The fixing plate 511 is vertically arranged, with its top extending completely towards one side of the connecting plate 506 and above it. A slide rail 512 is provided along the upper edge of the connecting plate 506, and a slider 507 is slidably mounted on the surface of the slide rail 512. A rack 508 is fixed to the surface of the slider 507, and the upper extension of the fixing plate 511 is fixedly connected to the end of the rack 508. The rack 508 meshes with the gear 503. When the tilting electric cylinder 509 operates, it drives the fixing plate 511, indirectly driving the rack 508 to slide, which in turn drives the gear 503 to rotate.

[0036] Work process: Robot 1 places vial 6 from the medicine buffer area 7 onto the stage 302. Camera 301 takes a picture for identification, recognizing the medicine name and the size of the vial. After taking the picture, Robot 1 picks up the vial, removes it, and places it on the medicine placement tray 402. The initial weight of the medicine is measured and recorded by the weighing sensor 401.

[0037] Based on the external dimensions of the medicine bottle identified and read by the camera 301, the control system controls the lifting cylinder 801 to complete the lifting and positioning, achieving a precise suction position. After the gripper 514 of the clamping mechanism 5 flips and clamps the vial, the lifting cylinder 801 descends and disengages from the gripper 514 by a certain distance to perform the injection action.

[0038] After the injection is completed, the lifting cylinder 801 rises and falls to its original position, the gripper 514 is released, the weight of the vial 6 after injection is weighed and recorded, and the injection volume is verified to be in accordance with the prescription. After weighing, the lifting cylinder 801 descends again, disengaging from the gripper 514 at a certain distance for the next aspiration operation.

[0039] After the aspiration is completed, weigh the contents of the medicine bottle again to verify whether the residual liquid in the bottle meets the standard. If it does, the next step is to inject the medicine into the medicine bag and recycle the discarded medicine bottle.

[0040] The medicine bottle placement tray 402 of this utility model has four stations, and four corresponding grippers 514 are also provided. Therefore, it can simultaneously meet the weighing and dissolving of four vials, saving time and improving efficiency for subsequent processes.

[0041] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from its technical solution shall still fall within the protection scope of this utility model.

Claims

1. A vial identification and weighing mechanism, characterized in that: The system includes an operating platform (1), a robot (2), a vision recognition module (3), a weighing module (4), a lifting module (8), a clamping mechanism (5), and a control system. The robot (2), the vision recognition module (3), the lifting module (8), and the clamping mechanism (5) are mounted on the operating platform (1). The robot (2) clamps vials (6) between the vision recognition module (3) and the weighing module (4). The weighing module (4) is mounted on the upper side of the lifting module (8), and the clamping mechanism (5) is mounted on the upper side of the weighing module (4). The vision recognition module (3) and the lifting module (8) are respectively connected to the control system.

2. The vial identification and weighing mechanism according to claim 1, characterized in that: The weighing module (4) includes a weighing sensor (401) and a medicine placement tray (402). Multiple weighing sensors (401) are set on the upper side of the lifting module (8), and the medicine placement tray (402) is set on the weighing sensor (401).

3. The vial identification and weighing mechanism according to claim 2, characterized in that: The clamping mechanism (5) includes a frame (501) and a gripper (517). The frame (501) is set on the operating platform (1), and the gripper (517) is set on the upper side of the frame (501) and is set in relation to the medicine placement tray (402).

4. The vial identification and weighing mechanism according to claim 2, characterized in that: The lifting module (8) includes a lifting electric cylinder (801) and a lifting mounting plate (802). The lifting electric cylinder (801) is vertically mounted on the operating platform (1), and the lifting mounting plate (802) is mounted on the upper side of the lifting electric cylinder (801). The weighing sensors (401) are equidistantly mounted on the lifting mounting plate (802).

5. The vial identification and weighing mechanism according to claim 4, characterized in that: The lifting mounting plate (802) is provided with a weight reduction port, and two adjacent weighing sensors (401) are respectively set on both sides of the weight reduction port.

6. The vial identification and weighing mechanism according to claim 4, characterized in that: One end of the weighing sensor (401) is fixedly connected to the lifting mounting plate (802), and the other end is suspended in the air. The medicine placement tray (402) is set at the suspended end of the weighing sensor (401).

7. The vial identification and weighing mechanism according to claim 1, characterized in that: The visual recognition module (3) includes a camera (301), a stage (302) and a light source (303). The camera (301) and the stage (302) are set on the operating platform (1). The stage (302) is set facing the camera (301), and the light source (303) is set on the stage (302).

8. The vial identification and weighing mechanism according to claim 1, characterized in that: It also includes a drug buffer area (7), which is set on the operating platform (1) and faces the robot (2). The drug buffer area (7) has multiple placement slots (701), and vials (6) are placed in the placement slots (701).

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