A vial pre-treatment device

Abstract

The application relates to the technical field of medical product pretreatment, and proposes a medicine bottle pretreatment device which comprises a platform, a first mechanical arm and a shaking device. The platform is provided with a medicine bottle recycling groove which is used for recycling a Westlin bottle and an ampoule bottle. The first mechanical arm is arranged on the platform and is used for clamping the ampoule bottle and moving the ampoule bottle. The shaking device is arranged on the platform and is provided with a plurality of shaking clamps and a tilting device. The shaking clamps are used for clamping the opened Westlin bottle and the opened ampoule bottle. The tilting device is connected with the platform and is used for driving the shaking device to overturn. The application has the effect of improving the dispensing efficiency.

Description

Technical Field

[0001] This application relates to the field of medical product pretreatment technology, and proposes a medicine bottle pretreatment device. Background Technology

[0002] Automated dispensing technology currently plays a crucial role in the healthcare industry, significantly enhancing the efficiency of medical procedures. With the continuous growth of healthcare needs and the increasing demands for dispensing accuracy, improving dispensing methods has become a focal point of industry attention. Advances in automated dispensing technology allow healthcare professionals to focus more on patient diagnosis and treatment, reducing tedious operations in the dispensing process and improving the overall quality and efficiency of healthcare services.

[0003] In related technologies, automated dispensing devices typically handle medicine bottles by placing them into a recycling tank using a robotic arm after dispensing. While this method eliminates the need for additional disposal equipment, it consumes the robotic arm's usage time, thus reducing dispensing efficiency. Therefore, the aforementioned technologies suffer from the drawback of occupying robotic arm usage time for discarding medicine bottles, leading to low dispensing efficiency. Summary of the Invention

[0004] To avoid wasting the time of the robotic arm by discarding medicine bottles and to improve the efficiency of dispensing medicine, this application provides a medicine bottle pretreatment device.

[0005] The medicine bottle pretreatment device provided in this application adopts the following technical solution: A medicine bottle pretreatment device, comprising: The platform is equipped with a medicine bottle recycling bin, which is used to recycle vials and ampoules; A first robotic arm is mounted on the platform. The first robotic arm is used to grip the ampoule and move the ampoule. A shaking device is provided, which is mounted on the platform. The shaking device has multiple shaking grippers and a tilting device. The shaking grippers are used to hold the opened vials and ampoules. The tilting device is connected to the platform and is used to rotate the shaking device. The medicine bottle recycling tank is located below the shaking device. When it is necessary to recycle the vials and ampoules, the tilting device rotates the shaking device, and the shaking grippers release the vials and ampoules so that they fall into the medicine bottle recycling tank.

[0006] By adopting the above technical solution, the shaking device is flipped over by a tilting device, and then the shaking gripper releases the vials and ampoules, which then fall into the vial recycling tank. This completes the vial disposal process without the need for a robotic arm, saving the robotic arm's usage time and improving solution preparation efficiency. Furthermore, a single flip discards all vials and ampoules on the shaking device, further increasing the efficiency of vial disposal and solution preparation.

[0007] Optionally, a laser heating device is also included, which is mounted on the platform. The laser heating device includes a laser generator and a vision sensor. The laser generator is used to heat the pre-fracture point of the ampoule. The vision sensor is connected to the first robotic arm and is used to detect the position information of the ampoule and feed it back to the first robotic arm. The first robotic arm is used to adjust the position of the ampoule according to the position information of the ampoule so that the laser generator is aligned with the pre-fracture point of the ampoule.

[0008] By adopting the above technical solution, the ampoule is first precisely positioned using a visual sensor in conjunction with the first robotic arm. Then, a laser is used to precisely heat the pre-fracture point of the ampoule, ensuring that the pre-stress can be accurately applied to the pre-fracture point of the ampoule. Moreover, the applied pre-stress is more standardized, resulting in an extremely flat and smooth break in the ampoule after it is broken. This greatly reduces the impact of glass fragments caused by inconsistent pre-stress during the breaking process on the liquid inside the ampoule, thus ensuring the cleanliness of the liquid.

[0009] Optionally, the laser heating device is further provided with a groove, and the laser generator is disposed in the groove.

[0010] By adopting the above technical solution, the groove can protect the laser generator and prevent the first robotic arm from colliding with the laser generator due to malfunction. The laser generator can emit laser light to accurately heat the pre-fracture point of the ampoule.

[0011] Optionally, it also includes a bottle-breaking device, which is equipped with a drive motor and a bottle-breaking turntable. The output shaft of the drive motor is connected to the bottle-breaking turntable. The bottle-breaking turntable is provided with multiple limiting posts, which are used to engage with the ampoule. The drive motor is used to drive the bottle-breaking turntable to rotate, so as to drive the limiting posts to break the heated ampoule.

[0012] By adopting the above technical solution, compared to simple clamps or impact devices, the method of driving the bottle-breaking turntable with a drive motor can provide a smooth, continuous, and precisely controllable torque or bending force. This ensures that the force and angle of each break when breaking the ampoule are highly consistent, resulting in a higher quality break.

[0013] Optionally, the bottle-breaking device is equipped with an ampoule cap recycling bin for recycling broken ampoule caps.

[0014] By adopting the above technical solution, broken ampoule caps automatically fall into the ampoule cap recycling bin, achieving centralized waste treatment. This not only keeps the work surface of the medicine bottle pretreatment equipment clean but also prevents glass shards from scattering, further improving the safety and cleanliness of the operating environment.

[0015] Optionally, the bottle-breaking device is further equipped with a detection camera, which is connected to the drive motor. The detection camera is used to detect the position information of the ampoule and feed it back to the drive motor. When the detection camera detects that the ampoule has reached a preset position, the drive motor drives the bottle-breaking turntable to rotate, thereby causing the limiting post to break the ampoule.

[0016] By adopting the above technical solution, the drive motor will only start after the detection camera confirms that the ampoule has been accurately placed into the breaking station by the first robotic arm. This avoids problems such as failed breaking, ampoule jamming, or equipment damage caused by inaccurate positioning.

[0017] Optionally, the detection camera is also connected to the first robotic arm, and the detection camera is also used to feed back the position information of the ampoule to the first robotic arm, and the first robotic arm is also used to adjust the position of the ampoule according to the position information of the ampoule.

[0018] By adopting the above technical solution, the detection camera is connected to the first robotic arm, which enables the first robotic arm to actively correct the position of the ampoule, making the fault tolerance of the bottle-breaking device stronger and improving the success rate of the bottle-breaking device in breaking the ampoule.

[0019] Optionally, the system also includes a medicine rack connected to the platform. The medicine rack has multiple vial trays and multiple ampoule trays. The vial trays are used to hold vials, and the ampoule trays are used to hold ampoules. The first robotic arm is also used to pick up vials from the vial trays and ampoules from the ampoule trays.

[0020] By adopting the above technical solution, vials and ampoules are placed on the same medicine rack and picked up by the same robotic arm, which optimizes the spatial layout and simplifies the entire drug preparation process.

[0021] Optionally, the device also includes a vial opening device, which is mounted on the platform and has a cap gripper for holding the cap of the vial. The first robotic arm is also used to move the vial away from the cap gripper to open the vial.

[0022] By adopting the above technical solution, this clamp-on bottle-pulling method simulates the action of manually opening the cap, and can cleanly and neatly remove the outer cap of the vial without usually damaging the rubber stopper of the vial mouth.

[0023] Optionally, a second robotic arm is also included. The second robotic arm is equipped with a pull-out device, and a needle is provided on the pull-out device. The second robotic arm is used to move the needle, and the pull-out device is used to pull the needle to inject the liquid medicine in the ampoule on the shaking device into the vial on the shaking device. After the needle injects the liquid medicine in the ampoule into the vial, the shaking device shakes the vial to mix the liquid medicine and the powder medicine.

[0024] By adopting the above technical solution, the robotic arm drives the pulling device and the syringe to move, and the pulling device pulls the syringe, which can achieve precise measurement of the volume of transferred medicine liquid, which is far more accurate than manual operation, ensuring that the final concentration of the medicine is accurate. The shaking device shakes the vial, making the mixture of medicine liquid and medicine powder more uniform.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. The tilting device flips the shaking device, and then the shaking grippers release the vials and ampoules, which then fall into the vial recycling tank. This completes the vial disposal process without the need for a robotic arm, saving the robotic arm's usage time and improving solution preparation efficiency. Furthermore, a single flip discards all vials and ampoules on the shaking device, further increasing the efficiency of vial disposal and solution preparation. 2. By using a vision sensor in conjunction with the first robotic arm to precisely position the ampoule, and then using a laser to precisely heat the pre-break point of the ampoule, the pre-stress can be accurately applied to the pre-break point of the ampoule, and the applied pre-stress is more standardized. This makes the fracture surface of the ampoule that is subsequently broken extremely flat and smooth, greatly reducing the impact of glass fragments caused by inconsistent pre-stress during the bottle breaking process on the liquid inside the ampoule, and ensuring the cleanliness of the liquid. 3. The groove can protect the laser generator and prevent the first robotic arm from colliding with it due to malfunction. The laser generator can emit laser light to accurately heat the pre-break point of the ampoule. 4. Connecting the detection camera to the first robotic arm enables the first robotic arm to actively correct the position of the ampoule, making the ampoule-breaking device more fault-tolerant and improving the success rate of breaking the ampoule. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the medicine bottle pretreatment device from a first angle according to an embodiment of this application; Figure 2 This is a schematic diagram of the medicine bottle pretreatment device from a second angle according to an embodiment of this application; Figure 3 This is a schematic diagram of the medicine bottle pretreatment device from a third angle according to an embodiment of this application; Figure 4 yes Figure 3 Enlarged diagram of area A in the middle.

[0027] Explanation of reference numerals in the attached drawings: 10, medicine rack; 11, vial tray; 12, ampoule tray; 20, platform; 21, vial recycling bin; 30, first robotic arm; 31, gripping device; 31a, gripper; 40, second robotic arm; 41, pull-out device; 42, syringe; 50, laser heating device; 51, groove; 52, laser generator; 53, vision sensor; 60, vial-breaking device; 61, vial-breaking turntable; 61a, limiting post; 62, ampoule cap recycling bin; 63, detection camera; 70, vial-opening device; 71, cap gripper; 80, shaking device; 81, shaking gripper; 82, tilting device; 91, vial; 92, ampoule. Detailed Implementation

[0028] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0029] This application discloses a medicine bottle pretreatment device.

[0030] Figure 1 This is a schematic diagram of the medicine bottle pretreatment device from a first angle according to an embodiment of this application. Figure 2 This is a schematic diagram of the medicine bottle pretreatment device from a second angle according to an embodiment of this application. Figure 3 This is a structural schematic diagram of the medicine bottle pretreatment device according to an embodiment of this application from a third angle. Figure 4 yes Figure 3 An enlarged view of area A in the middle. (Refer to...) Figure 1 , Figure 2 , Figure 3 and Figure 4The vial pretreatment device includes a medicine rack 10, a platform 20, a first robotic arm 30, a second robotic arm 40, a laser heating device 50, a vial-breaking device 60, a vial-opening device 70, and a shaking device 80. The platform 20 can be made of metal, such as stainless steel, which has good strength and stability. The platform 20 can be rectangular in shape with a smooth, flat surface to facilitate the installation and operation of other devices.

[0031] The medicine rack 10 is connected to the platform 20, and is used to hold vials 91 and ampoules 92. The first robotic arm 30, the second robotic arm 40, the laser heating device 50, the bottle-breaking device 60, the vial-opening device 70, and the shaking device 80 are all mounted on the platform 20. The first robotic arm 30 is used to hold the vials 91 and ampoules 92 and move them. The second robotic arm 40 is used to transfer the medication from the ampoules 92 to the vials 91. Both the first robotic arm 30 and the second robotic arm 40 typically consist of multiple joints and links, which allow for multi-angle rotation and oscillation.

[0032] The laser heating device 50 is used to heat the pre-fracture point of the ampoule, the bottle-breaking device 60 is used to break the heated ampoule, the vial-opening device 70 is used to open the vial cap, and the shaking device 80 is used to clamp the vial 91 and the ampoule 92 and shake the opened vial 91 to fully mix the liquid and powder in the opened vial 91.

[0033] The medicine rack 10 is provided with multiple vial trays 11 and multiple ampoule trays 12. Multiple vials 91 are placed on the vial trays 11, and multiple ampoules are placed on the ampoule trays 12. Both the vial trays 11 and the ampoule trays 12 can be made of plastic, which has the advantages of being lightweight and low-cost. Both the vial trays 11 and the ampoule trays 12 have multiple grooves. The shape and size of the grooves on the vial trays 11 match the vials 91, and the shape and size of the grooves on the ampoule trays 12 match the ampoules 92.

[0034] The first robotic arm 30 is equipped with a gripping device 31, which has grippers 31a for gripping the vial 91 and the ampoule 92. The shape of the grippers 31a can be designed according to the shape of the vial 91 and the ampoule 92, and generally an arc-shaped gripper can be used to better fit the body of the vial 91 and the ampoule 92. The surface of the grippers 31a can be made of rubber to prevent damage to the vial 91 and the ampoule 92 during gripping.

[0035] The second robotic arm 40 is equipped with a pull-out device 41, and the pull-out device 41 is equipped with a needle tube 42. The pull-out device 41 is used to pull out the needle tube 42 to transfer the liquid medicine in the ampoule 92 into the vial 91.

[0036] The laser heating device 50 has a groove 51. The laser heating device 50 includes a laser generator 52 and a vision sensor 53. The laser generator 52 is disposed in the groove 51 and is used to heat the pre-fractured portion of the ampoule 92. The laser generator 52 can be a semiconductor laser, which has the advantages of small size and high efficiency. The groove 51 protects the laser generator 52 to prevent the first robotic arm 30 from impacting it.

[0037] Taking a 2ml borosilicate glass ampoule as an example, the outer diameter of the ampoule 92 is approximately 10.5mm, the outer diameter of the pre-fracture point is approximately 7mm, and the glass thickness at the pre-fracture point is 0.8mm. A carbon dioxide (CO2) laser is typically used to heat the pre-fracture point of the ampoule 92. The laser wavelength is 10.6µm, the heating power is 30W-100W (preferably around 50W), and the heating time is 0.2S-0.8S (preferably around 0.5S). The shape and size of the light plate formed at the pre-fracture point of the ampoule 92 is a ring-shaped spot with a width of 0.5mm-1.5mm and an energy density of approximately 15J / mm². 2 -50J / mm 2 .

[0038] The vision sensor 53 is used to detect the position information of the ampoule 92 and feed it back to the first robotic arm 30. The first robotic arm 30 is used to adjust the position of the ampoule 92 according to the position information of the ampoule 92, so that the laser generator 52 can fully heat the pre-fracture point of the ampoule 92.

[0039] The bottle-breaking device 60 is equipped with a drive motor and a bottle-breaking turntable 61. The bottle-breaking turntable 61 has multiple limiting posts 61a, which are used to engage with the ampoule 92. The drive motor drives the bottle-breaking turntable 61 to rotate, causing the limiting posts 61a to break the ampoule 92. The drive motor can be a stepper motor, which has precise control accuracy and high torque. The height and spacing of the limiting posts 61a can be designed according to the size of the ampoule 92 to ensure accurate engagement of the ampoule 92.

[0040] The bottle-breaking device 60 also includes an ampoule cap recycling slot 62 for recycling broken ampoule caps. The ampoule cap recycling slot 62 can be made of plastic, which is lightweight and easy to clean. The bottle-breaking device 60 also includes a detection camera 63 for detecting the position information of the heated ampoule 92. The detection camera 63 is connected to the first robotic arm 30, which adjusts the position of the heated ampoule 92 based on its position information. The detection camera 63 can be a high-definition camera with high resolution and sensitivity, enabling accurate identification of the ampoule 92's position.

[0041] The vial opening device 70 is equipped with a cap gripper 71, which is used to grip the cap of the vial 91. When the first robotic arm 30 moves the vial 91 to the vial opening device 70, the vial opening device 70 holds the cap of the vial 91, and the first robotic arm 30 moves the vial 91 away from the vial opening device 70 to open the vial 91.

[0042] The shaking device 80 is equipped with multiple shaking grippers 81, which are used to hold the vial 91 and the ampoule 92 and cause the vial 91 to shake. When the second robotic arm 40 transfers the liquid medicine in the ampoule 92 into the vial 91, the shaking device 80 causes the vial 91 to shake, so as to fully mix the liquid medicine and powder medicine in the vial 91.

[0043] The shaking device 80 is further provided with a tilting device 82, and the shaking device 80 is connected to the platform 20 through the tilting device 82. The platform 20 is also provided with a medicine bottle collection tank 21, which is located below the shaking device 80. The tilting device 82 is used to control the tilting of the shaking device 80 so that the vial 91 and the ampoule 92 fall into the medicine bottle collection tank 21.

[0044] The processing procedure for the vial 91 and the ampoule 92 is as follows: S1. The first robotic arm 30 picks up the vial 91 from the vial tray 11 and moves the vial 91 to the vial opening device 70.

[0045] S2. The vial opening device 70 controls the vial cap gripper 71 to hold the cap of the vial 91.

[0046] S3. The first robotic arm 30 moves the vial 91 away from the cap gripper 71 to open the vial 91.

[0047] S4. The first robotic arm 30 places the opened vial 91 onto the shaking device 80.

[0048] S5. The first robotic arm 30 picks up the ampoule 92 from the ampoule tray 12 and moves the ampoule 92 to the laser heating device 50.

[0049] S6. The position information of the ampoule 92 is detected by the vision sensor 53 and fed back to the first robotic arm 30.

[0050] S7. The first robotic arm 30 adjusts the position of the ampoule 92 according to the position information of the ampoule 92.

[0051] S8. The pre-fracture point of the ampoule 92 is heated by the laser heating device 50.

[0052] S9. The first robotic arm 30 moves the heated ampoule 92 to the bottle-breaking device 60.

[0053] S10. The detection camera 63 detects the position information of the heated ampoule 92. When the heated ampoule 92 has not reached the preset position, the first robotic arm 30 adjusts the position of the ampoule 92 according to the position information of the ampoule 92. When the heated ampoule 92 reaches the preset position, the bottle-breaking turntable 61 drives the limiting post 61a to rotate, so as to break the heated ampoule 92.

[0054] S11. The first robotic arm 30 places the opened ampoule 92 onto the shaking device 80.

[0055] S12, The second robotic arm 40 moves the needle 42 to above the opened ampoule 92.

[0056] S13. The needle tube 42 is pulled out by the pull-out device 41 to draw out the medicine liquid in the ampoule 92.

[0057] S14. The second robotic arm 40 moves the syringe 42 above the opened vial 91.

[0058] S15. The needle 42 is controlled by the pull-out device 41 to inject the medicine in the needle 42 into the vial 91.

[0059] S16. The shaker 80 shakes the vial 91 to fully mix the powder and liquid medicine in the vial 91.

[0060] The implementation principle of the medicine bottle pretreatment device in this application embodiment is as follows: the tilting device 82 flips the shaking device 80, and then the shaking gripper 81 releases the vial 91 and the ampoule 92, causing the vial 91 and the ampoule 92 to fall into the medicine bottle recycling tank 21. This completes the medicine bottle disposal process without the need for a robotic arm, saving the robotic arm's usage time and improving solution preparation efficiency. Furthermore, a single flip discards all the vials 91 and ampoules 92 on the shaking device 80, further improving the efficiency of medicine bottle disposal and solution preparation.

[0061] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A medicine bottle pretreatment device, characterized in that, include: The platform (20) is equipped with a medicine bottle recycling tank (21), which is used to recycle vials (91) and ampoules (92). A first robotic arm (30) is mounted on the platform (20). The first robotic arm (30) is used to hold the ampoule (92) and move the ampoule (92). A shaking device (80) is disposed on the platform (20). The shaking device (80) is provided with multiple shaking grippers (81) and a tilting device (82). The shaking grippers (81) are used to hold the opened vials (91) and the opened ampoules (92). The tilting device (82) is connected to the platform (20) and is used to drive the shaking device (80). The bottle is flipped; wherein the bottle recycling trough (21) is located below the shaking device (80). When it is necessary to recycle the vial (91) and the ampoule (92), the tilting device (82) drives the shaking device (80) to flip, and the shaking gripper (81) releases the vial (91) and the ampoule (92) so that the vial (91) and the ampoule (92) fall into the bottle recycling trough (21).

2. The medicine bottle pretreatment device according to claim 1, characterized in that, It also includes a laser heating device (50), which is mounted on the platform (20). The laser heating device (50) includes a laser generator (52) and a vision sensor (53). The laser generator (52) is used to heat the pre-fracture point of the ampoule (92). The vision sensor (53) is connected to the first robotic arm (30). The vision sensor (53) is used to detect the position information of the ampoule (92) and feed back the position information of the ampoule (92) to the first robotic arm (30). The first robotic arm (30) is used to adjust the position of the ampoule (92) according to the position information of the ampoule (92) so that the laser generator (52) is aligned with the pre-fracture point of the ampoule (92).

3. The medicine bottle pretreatment device according to claim 2, characterized in that, The laser heating device (50) is also provided with a groove (51), and the laser generator (52) is disposed in the groove (51).

4. The medicine bottle pretreatment device according to claim 1, characterized in that, It also includes a bottle-breaking device (60), which is equipped with a drive motor and a bottle-breaking turntable (61). The output shaft of the drive motor is connected to the bottle-breaking turntable (61). The bottle-breaking turntable (61) is provided with multiple limiting posts (61a). The limiting posts (61a) are used to engage with the ampoule (92). The drive motor is used to drive the bottle-breaking turntable (61) to rotate so that the limiting posts (61a) break the heated ampoule (92).

5. The medicine bottle pretreatment device according to claim 4, characterized in that, The bottle-breaking device (60) is provided with an ampoule cap recycling slot (62), which is used to recycle broken ampoule caps.

6. The medicine bottle pretreatment device according to claim 4, characterized in that, The bottle-breaking device (60) is also equipped with a detection camera (63), which is connected to the drive motor. The detection camera (63) is used to detect the position information of the ampoule (92) and feed it back to the drive motor. When the detection camera (63) detects that the ampoule (92) has reached a preset position, the drive motor drives the bottle-breaking turntable (61) to rotate, thereby causing the limiting post (61a) to break the ampoule.

7. The medicine bottle pretreatment device according to claim 6, characterized in that, The detection camera (63) is also connected to the first robotic arm (30). The detection camera (63) is also used to feed back the position information of the ampoule (92) to the first robotic arm (30). The first robotic arm (30) is also used to adjust the position of the ampoule (92) according to the position information of the ampoule (92).

8. The medicine bottle pretreatment device according to claim 1, characterized in that, It also includes a medicine rack (10), which is connected to the platform (20). The medicine rack (10) is provided with multiple vial trays (11) and multiple ampoule trays (12). The vial trays (11) are used to place vials (91), and the ampoule trays (12) are used to place ampoules (92). The first robotic arm (30) is also used to pick up vials (91) from vial trays (11) and pick up ampoules (92) from ampoule trays (12).

9. The medicine bottle pretreatment device according to claim 8, characterized in that, It also includes a vial opening device (70), which is mounted on the platform (20). The vial opening device (70) is provided with a cap gripper (71), which is used to grip the cap of the vial (91). The first robotic arm (30) is also used to move the vial (91) away from the cap gripper (71) to open the vial (91).

10. The medicine bottle pretreatment device according to claim 1, characterized in that, It also includes a second robotic arm (40), which is equipped with a pull device (41). The pull device (41) is equipped with a needle tube (42). The second robotic arm (40) is used to drive the needle tube (42) to move. The pull device (41) is used to pull the needle tube (42) to inject the liquid medicine in the ampoule (92) on the shaking device (80) into the vial (91) on the shaking device (80). After the needle tube (42) injects the liquid medicine in the ampoule (92) into the vial (91), the shaking device (80) shakes the vial (91) to mix the liquid medicine and the powder medicine.

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