Batch medication preparation robot for ampoule bottles

Abstract

A batch medication preparation robot for ampoule bottles, comprising a feeding device (20), a bottle opening device (30), a withdrawal and injection device (40), a transfer device (50), and a stock solution bag clamping device (60). The feeding device (20) is used for continuously supplying two or more ampoule bottles at the same time; the bottle opening device (30) is used for performing bottleneck cutting and breaking on different ampoule bottles; the withdrawal and injection device (40) is used for withdrawing liquid medications in the ampoule bottles and injecting the liquid medications into a stock solution bag; and the transfer device (50) is used for receiving the two or more ampoule bottles supplied by the feeding device (20) and transferring the ampoule bottles to the bottle opening device (30) for bottleneck cutting and breaking, and simultaneously transferring the two or more ampoule bottles from the bottle opening device (30) to the withdrawal and injection device (40) for liquid medication withdrawal. The batch medication preparation robot for ampoule bottles has the advantages of a simple structure and high medication preparation efficiency.

Description

A robot for batch dispensing of ampoules Technical Field

[0001] The present invention relates to the field of medicine dispensing equipment, in particular to an ampoule batch dispensing robot. Background Art

[0002] Intravenous medication dispensing in hospitals is still primarily performed manually by medical staff. Due to the high demand for intravenous medication across various hospital departments, manual operations not only consume significant manpower and material resources, but also increase the risk of harming nursing staff and contaminating medication solutions. With the advancement of robotics, intravenous medication dispensing robots are gradually becoming available. These robots can automatically obtain prescriptions and dispense medications, significantly reducing these risks.

[0003] Dispensing robots in the prior art can usually only perform single-prescription dispensing operations, that is, they use a single-channel method to dispense medicines and can only prepare one prescription at a time; for example, patent document 201811438209.0 discloses an automatic dispensing robot for ampoules; however, in hospitals, there is often a need to dispense a large number of identical prescription drugs in batches, and this type of dispensing robot is difficult to meet the clinical staff's requirements for dispensing efficiency.

[0004] In order to solve the problem of batch dispensing, batch dispensing equipment has appeared in the prior art to carry out batch dispensing; for example, patent document 202010588356.7 discloses a batch dispensing robot and dispensing method based on ampoule medicines; although the above-mentioned prior arts such as the above can achieve batch dispensing, its structure is too complicated; in addition, a single manipulator module is used to transfer ampoules between various dispensing stations, and the manipulator can only grab one ampoule at a time, resulting in low ampoule transfer efficiency and inability to achieve rapid connection between dispensing stations, resulting in low dispensing efficiency.

[0005] Summary of the Invention

[0006] In view of the deficiencies in the prior art, the main purpose of the present invention is to provide an ampoule batch dispensing robot with a simple structure and high dispensing efficiency.

[0007] In order to achieve the above main objectives, the present invention provides an ampoule batch dispensing robot for automatically dispensing multiple ampoules at the same time; the ampoule batch dispensing robot comprises:

[0008] A drug feeding device for continuously and simultaneously supplying two or more ampoules;

[0009] Bottle opening device, used to cut and break the necks of different ampoules;

[0010] A suction injection device, used to extract the liquid medicine from the ampoule and inject it into the mother liquid bag; and

[0011] The transfer device is used to receive two or more ampoules supplied by the drug feeding device and transfer the ampoules to the bottle opening device for cutting and breaking the bottlenecks, and simultaneously transfer the two or more ampoules from the bottle opening device to the suction injection device for liquid drug extraction; wherein the transfer device has two clamping parts, and the two clamping parts alternately transfer the ampoules under the independent drive of two moving components.

[0012] According to a specific embodiment of the present invention, the medicine-feeding device, the bottle-opening device and the suction and injection device are distributed in sequence along the first direction; the two clamping parts are respectively the first clamping part and the second clamping part, and the two moving components are respectively the first moving component and the second moving component; wherein, the first clamping part can be driven by the first moving component to reciprocate along the first direction; the second clamping part can be driven by the second moving component to reciprocate along the first direction and the second direction perpendicular to the first direction, so that the movement of the first clamping part and the movement between the second clamping part can form mutual avoidance.

[0013] According to a specific embodiment of the present invention, the transfer device includes a support seat and two guide rails arranged on the support seat, the two guide rails are arranged along a first direction, and the two clamping parts are respectively arranged on the two guide rails; the second moving assembly includes a moving seat slidably arranged on the guide rails, and the second clamping part is installed on the moving seat in a manner that can slide along the second direction; wherein, a guide groove is provided on the support seat, and the second clamping part has a connecting part that can move along the guide groove; the guide groove has a first groove section, a second groove section and a third groove section connected in sequence; the first groove section and the third groove section are flush with each other and extend along the first direction, and the second groove section is located on the side of the first groove section and the third groove section away from the first clamping part.

[0014] According to a specific embodiment of the present invention, the second moving assembly further includes a spring, one end of the spring is connected to the moving seat, and the other end of the spring is connected to the second clamping portion.

[0015] According to a specific embodiment of the present invention, the first moving assembly and the second moving assembly are both screw-type moving assemblies.

[0016] According to a specific embodiment of the present invention, each clamping portion is provided with two or more clamping jaws, and the number of the clamping jaws is set to be no less than the number of ampoules supplied by the drug feeding device in a single cycle.

[0017] According to a specific embodiment of the present invention, the medicine feeding device includes a medicine box, a medicine dispensing assembly and a clamping assembly; the medicine box has two or more medicine feeding channels; the medicine dispensing assembly includes a medicine dispensing slider, which is provided with two or more receiving grooves, and the receiving grooves are used to receive ampoules from the medicine feeding channels; wherein, the medicine dispensing slider can be moved under the drive of a driving member, so that the ampoule bottle located in the receiving groove is misaligned with the ampoule bottle in the medicine feeding channel to achieve separation of adjacent ampoules; the clamping assembly is used to clamp the separated ampoule bottle and transfer the ampoule bottle to the transfer device.

[0018] According to a specific embodiment of the present invention, two or more medicine feeding channels are spaced apart along a first direction, and the medicine dispensing slider moves along the first direction under the drive of the driving member.

[0019] According to a specific embodiment of the present invention, the bottle opening device includes a cutter assembly and an inference assembly, which are arranged in pairs to cut and break the bottlenecks of different ampoule bottles respectively; wherein the cutter assembly and the inference assembly can both move along the second direction.

[0020] According to a specific embodiment of the present invention, it also includes a mother liquid bag clamping device for clamping the mother liquid bag; the suction and injection device can move between a suction position and an injection position along a first direction; wherein the mother liquid bag clamping device is located next to the suction and injection device in the first direction.

[0021] The present invention has the following beneficial effects:

[0022] The ampoule batch dispensing robot of the present invention can continuously perform simultaneous drug loading operations, bottle opening operations, and suction injection operations on two or more ampoules; the transfer device can also perform coordinated transfer of two or more ampoules, with high ampoule transportation efficiency and fast connection between dispensing stations; the present invention has the advantages of simple structure and high batch dispensing efficiency.

[0023] In order to more clearly illustrate the purpose, technical solutions and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] FIG1 is a perspective structural diagram of an ampoule batch dispensing robot according to the present invention;

[0025] FIG2 is a top view of the ampoule batch dispensing robot of the present invention;

[0026] FIG3 is a first perspective view of the transfer device;

[0027] FIG4 is a second perspective view of the transfer device;

[0028] FIG5 is a top view of the transfer device;

[0029] FIG6 is an exploded view of the transfer device;

[0030] FIG7 is a structural diagram of a mobile assembly;

[0031] FIG8 is a perspective view of the medicine box and the medicine dispensing assembly;

[0032] FIG9 is a top view of the medicine box and medicine dispensing assembly. DETAILED DESCRIPTION

[0033] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0034] As shown in Figures 1-2, an embodiment of the present invention provides an ampoule batch dispensing robot for automatically dispensing multiple ampoules at the same time; for ease of understanding, the following content and accompanying drawings of the present invention are introduced using the example of dispensing two ampoules at the same time. It should be understood that in other embodiments, more than two ampoules can be dispensed as needed. The ampoule batch dispensing robot of the embodiment includes a base plate 10 and a drug applying device 20, a bottle opening device 30, a suction injection device 40, a transfer device 50 and a mother liquid bag clamping device 60 arranged on the base plate 10; preferably, the drug applying device 20, the bottle opening device 30, and the suction injection device 40 are distributed in sequence along the first direction N1, the transfer device 50 is arranged beside the bottle opening device 30 and the suction injection device 40 in the first direction N1, and the mother liquid bag clamping device 60 is adjacent to the suction injection device 40 and is located beside the suction injection device 40; preferably, the mother liquid bag clamping device 60 and the transfer device 50 are located on the same side of the suction injection device 40 in the first direction N1, which is conducive to making the overall structure more regular and compact.

[0035] The drug loading device 20 is used to continuously and simultaneously supply two or more ampoules. As shown in Figures 1 and 8-9, the drug loading device 20 includes a medicine box 21, a drug dispensing assembly 22, and a gripping assembly 23. The medicine box 21 is used to store a large number of ampoules, with twenty ampoules shown in Figure 8. In an optional embodiment, the medicine box 21 can be connected to an external ampoule supply device to achieve automated continuous supply of ampoules. The medicine box 21 has two parallel drug loading channels 211 to simultaneously supply two groups of ampoules. The drug loading channels 211 are preferably arranged along the second direction N2 to save space.

[0036] The medicine separating component 22 is used to separate the ampoules supplied in the medicine supply channel 211, so that the two medicine supply channels 211 each supply an ampoule, and the two ampoules at the front end are separated at the same time for easy clamping; specifically, the medicine separating component 22 includes a medicine separating slider 221 and a driving component, and the medicine separating slider 221 is provided with two receiving grooves 222, and the two receiving grooves 222 correspond to the two medicine supply channels 211 respectively, for receiving ampoules from the medicine supply channels 211.

[0037] The medicine-dispensing slider 221 has a receiving position for receiving ampoules and a separation position for separating adjacent ampoules; the medicine-dispensing slider 221 can be moved along the first direction N1 under the drive of a driving member, so that the ampoule bottle located in the receiving groove 222 and the ampoule bottle in the medicine-supplying channel 211 are misaligned to achieve separation of adjacent ampoules, and the driving member is, for example, an electric push rod; please refer to Figure 9, the medicine-dispensing slider 221 in the separation position can also block the outlet of the medicine-supplying channel 211, so that the ampoule bottle in the medicine-supplying channel 211 cannot be supplied out through the outlet of the medicine-supplying channel 211. The medicine-dispensing slider 221 in the embodiment switches between the receiving position and the separation position, and can realize automatic medicine-supplying and separation of ampoules in different medicine-supplying channels 211, with the advantages of simple structure and good separation effect.

[0038] The clamping assembly 23 is used to clamp the separated ampoule and transfer the ampoule to the transfer device 50; please refer to Figure 1, the clamping assembly 23 is arranged corresponding to the medicine dispensing slider 221; specifically, the clamping assembly 23 preferably includes a motion robot arm 231 and two clamping parts 232, the two clamping parts 232 are used to clamp and release the bottle head of the ampoule, and the motion robot arm 231 is used to move the clamping part 232 and the ampoule; in an optional embodiment, the motion robot arm 231 adopts, for example, a multi-axis robot arm in the prior art, and the clamping part 232 is, for example, a pneumatic or electric clamp. The structure of the motion robot arm 231 and the clamping part is not limited here and will not be expanded.

[0039] The bottle opening device 30 is used to cut and break the bottlenecks of different ampoules; as shown in Figure 2, the bottle opening device 30 includes a cutter assembly 31 and an inference assembly 32, and the cutter assembly 31 and the inference assembly 32 are preferably arranged in pairs (specifically two pairs) to cut and break the bottlenecks of different ampoules respectively; wherein, the cutter assembly 31 and the inference assembly 32 can both move along the second direction N2 to avoid the ampoule before the ampoule is in place, and cut and break the bottleneck of the ampoule after the ampoule is in place; the cutter assembly 31 in the embodiment can refer to the grinding wheel type bottleneck cutting structure in the prior art, and the inference assembly 32 can refer to the push rod type bottleneck inference structure in the prior art. The structures of the cutter assembly 31 and the inference assembly 32 are not limited here and will not be expanded.

[0040] The suction injection device 40 is used to extract the medicinal liquid in the ampoule and inject the medicinal liquid into the mother liquid bag; please refer to Figure 1 again. The suction injection device 40 in the embodiment can move between the suction position and the injection position along the first direction N1; in the suction position, the medicinal liquid in the ampoule is sucked by the syringe assembly 41 in the suction injection device 40. After the suction is completed, it moves to the right along the first direction N1 to the injection position under the drive of, for example, an electric drive, and injects the medicinal liquid in the syringe assembly 41 into the mother liquid bag clamped in the mother liquid bag clamping device 60; the suction injection device 40 can refer to the relevant structures in the prior art, such as the relevant structures in patent document 201811438209.0, which will not be expanded here.

[0041] As shown in Figures 3-7, the transfer device 50 of this embodiment employs an alternating transfer structure to receive two ampoules supplied by the medication loading device 20 and transfer the ampoules to the bottle opening device 30 for neck cutting and breaking. It also simultaneously transfers the two ampoules from the bottle opening device 30 to the suction and injection device 40 for liquid extraction. The transfer device 50 comprises two clamping portions 51 and two moving assemblies 52. The two clamping portions 51, driven independently by the two moving assemblies 52, alternately transfer the ampoules, improving ampoule transfer efficiency and facilitating faster connections between dispensing stations.

[0042] The two clamping portions 51 are respectively a first clamping portion 51a and a second clamping portion 51b. Each clamping portion 51 is equipped with two or more clamping jaws 512. The number of clamping jaws 512 is set to be no less than the number of ampoules supplied by the drug feeding device 20 in a single cycle; in this embodiment, there are two clamping jaws 512. The two moving assemblies 52 are respectively a first moving assembly 52a and a second moving assembly 52b. Both the first moving assembly 52a and the second moving assembly 52b are screw-type moving assemblies.

[0043] In the embodiment, the first clamping portion 51a can be driven by the first moving component 52a to reciprocate along the first direction N1, and the second clamping portion 51b can be driven by the second moving component 52b to reciprocate along the first direction N1 and the second direction N2 perpendicular to the first direction N1, so that the movement of the first clamping portion 51a and the movement between the second clamping portion 51b can form mutual avoidance.

[0044] Furthermore, the transfer device 50 includes a support base 53 and two guide rails arranged on the support base 53. The support base 53 is fixed on the base plate 10. The two guide rails are arranged along the first direction N1. The two clamping parts 51 are respectively arranged on the two guide rails; the two guide rails are respectively a first guide rail 54 and a second guide rail 55; wherein, the first clamping part 51a is fixedly arranged on the first movable base 56, and the first movable base 56 is slidably arranged on the first guide rail 54.

[0045] The second clamping portion 51b has a mounting frame 511, and the mounting frame 511 is arranged on the second movable seat 58 through a floating track 57 extending along the second direction N2, and the second movable seat 58 is slidably arranged on the second guide rail 55; wherein, a guide groove 531 is provided on the support seat 53, and the second clamping portion 51b has a connecting portion 513 that can move along the guide groove 531, and the connecting portion 513 is specifically a rolling bearing arranged under the mounting frame 511. Under the coordinated guidance of the second guide rail 55 and the floating track 57, the sliding of the connecting portion 513 in the guide groove 531 is converted into a composite movement of the second clamping portion 51b in the first direction N1 and the second direction N2.

[0046] Preferably, to maintain the smooth movement and position accuracy of the mounting bracket 511, a spring 59 is provided on the second movable seat 58. The spring 59 is preferably arranged along the second direction, with one end of the spring 59 connected to the second movable seat 58 and the other end of the spring 59 connected to the mounting bracket 511. The spring 59 is preferably always kept in a stretched or compressed state.

[0047] As shown in Figures 6-7, the guide groove 531 has a first groove section 5311, a second groove section 5312 and a third groove section 5313 connected in sequence, and the first groove section 5311, the second groove section 5312 and the third groove section 5313 are roughly U-shaped structures; the first groove section 5311 and the third groove section 5313 are flush with each other and extend along the first direction N1, and the second groove section 5312 is located on the side of the first groove section 5311 and the third groove section 5313 away from the first clamping portion 51a.

[0048] Furthermore, the support base 53 in the embodiment is preferably provided with a hole structure for collecting the broken bottle head and the ampoule body after the drug solution is sucked out.

[0049] During medication dispensing, according to the medication dispensing process, for example, the first clamping portion 51a is preferably set to receive two ampoules from the medication feeding device 20. Driven by the first moving component 52a, the first clamping portion 51a and the ampoules move from left to right and perform the following three stages: 1) Cutting stage: the two ampoules located on the first clamping portion 51a contact the two cutter components 31 respectively (preferably simultaneously) and perform bottleneck cutting; 2) Breaking stage: after the bottleneck cutting is completed, the first clamping portion 51a drives the two ampoules to continue to move to the right and the bottle heads are broken by the two inference components 32 during the movement; 3) Suction stage: after the bottle heads are cut out of the bottleneck and broken, the first clamping portion 51a drives the two ampoules to continue to move to the right and move to the suction injection device 40 corresponding to the suction position, so as to complete the suction of the liquid medicine in the two ampoules through the syringe component 41 in the suction injection device 40.

[0050] After the first clamping portion 51a and the two ampoules complete the cutting stage and the breaking stage, the cutter assembly 31 and the inference assembly 32 are in a waiting state; since it takes a certain amount of time to complete the suction of the liquid medicine in the two ampoules, the second clamping portion 51b is controlled according to the dispensing process to receive the two ampoules from the medicine feeding device 20. Under the drive of the second moving assembly 52b, the second clamping portion 51b and the ampoules move along the first direction N1 and the second direction N2 perpendicular to the first direction N1 under the guidance of the guide groove 531, and during the movement, the first clamping portion 51a and the second clamping portion 51b are formed. Avoid each other; under such a structure, when the first clamping part 51a and the two ampoules thereon complete the suction, they can immediately return to the initial position waiting to receive the ampoule supplied by the medicine feeding device 20. At this time, the second clamping part 51b and the two ampoules thereon have also completed the bottleneck cutting and breaking. After the first clamping part 51a returns to the initial position, the second clamping part 51b can be moved to the position corresponding to the suction injection device 40 to continue to suck the liquid medicine; thereby, the connection between the various dispensing stations can be carried out more quickly, so that the various dispensing stations can operate in parallel, shortening the dispensing cycle and improving the transportation efficiency of the ampoules.

[0051] Although the present invention has been described above through embodiments, it should be understood that the above embodiments are only used to exemplify the possible implementation schemes of the present invention and should not be interpreted as limiting the scope of protection of the present invention. That is, any substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the scope of protection of the claims of the present invention.

Claims

1. An ampoule batch dispensing robot, used for automatically dispensing multiple ampoules at the same time; characterized in that: The ampoule batch dispensing robot comprises: A drug feeding device for continuously and simultaneously supplying two or more ampoules; Bottle opening device, used to cut and break the neck of different ampoules; A suction injection device, used to extract the liquid medicine in the ampoule bottle and inject the liquid medicine into the mother solution bag; and A transfer device is used to receive two or more ampoules supplied by the drug feeding device and transfer the ampoules to the bottle opening device for bottleneck cutting and breaking, and simultaneously transfer two or more ampoules from the bottle opening device to the suction injection device for liquid drug extraction; wherein the transfer device has two clamping parts, and the two clamping parts transfer the ampoules alternately under the independent drive of two moving components.

2. The ampoule batch dispensing robot according to claim 1, characterized in that: The medicine feeding device, the bottle opening device and the suction injection device are sequentially distributed along a first direction; The two clamping parts are respectively a first clamping part and a second clamping part, and the two moving components are respectively a first moving component and a second moving component; Among them, the first clamping part can reciprocate along the first direction under the drive of the first moving component; the second clamping part can reciprocate along the first direction and the second direction perpendicular to the first direction under the drive of the second moving component, so that the movement of the first clamping part and the movement between the second clamping part can form mutual avoidance.

3. The ampoule batch dispensing robot according to claim 2, characterized in that: The transfer device comprises a support seat and two guide rails arranged on the support seat, the two guide rails are arranged along a first direction, and the two clamping parts are respectively arranged on the two guide rails; The second moving assembly comprises a moving seat slidably arranged on the guide rail, and the second clamping portion is mounted on the moving seat in a manner that it can slide along the second direction; Wherein, the support seat is provided with a guide groove, and the second clamping part has a connecting part that can move along the guide groove; the guide groove has a first groove section, a second groove section and a third groove section that are connected in sequence; the first groove section and the third groove section are flush with each other and extend along the first direction, and the second groove section is located on the side of the first groove section and the third groove section away from the first clamping part.

4. The ampoule batch dispensing robot according to claim 3, characterized in that: The second moving assembly further comprises a spring, one end of the spring is connected to the moving seat, and the other end of the spring is connected to the second clamping portion.

5. The ampoule batch dispensing robot according to claim 2, characterized in that: The first moving assembly and the second moving assembly are both screw-type moving assemblies.

6. The ampoule batch dispensing robot according to claim 1, characterized in that: Each of the clamping parts is provided with two or more clamping jaws, and the number of the clamping jaws is set to be no less than the number of ampoules supplied by the medicine feeding device in a single cycle.

7. The ampoule batch dispensing robot according to claim 1, characterized in that: The medicine feeding device comprises a medicine box, a medicine dispensing component and a clamping component; The medicine box has two or more medicine feeding channels; The medicine dispensing assembly includes a medicine dispensing slider, on which two or more receiving grooves are provided, and the receiving grooves are used to receive the ampoule bottle from the medicine feeding channel; wherein the medicine dispensing slider is provided with two or more receiving grooves, and the receiving grooves are used to receive the ampoule bottle from the medicine feeding channel; The slider can be moved under the drive of the driving member, so that the ampoule bottle in the receiving groove and the ampoule bottle in the medicine feeding channel are misaligned to achieve separation of adjacent ampoule bottles; The clamping assembly is used to clamp the separated ampoule bottle and transfer the ampoule bottle to the transfer device.

8. The ampoule batch dispensing robot according to claim 7, characterized in that: Two or more of the medicine feeding channels are arranged at intervals along a first direction, and the medicine dispensing sliding block moves along the first direction under the drive of the driving component.

9. The ampoule batch dispensing robot according to claim 1, characterized in that: The bottle opening device comprises a cutter assembly and an inference assembly, wherein the cutter assembly and the inference assembly are arranged in pairs to respectively cut and break the necks of different ampoule bottles; wherein both the cutter assembly and the inference assembly can move along the second direction.

10. The ampoule batch dispensing robot according to claim 1, characterized in that: It also includes a mother liquid bag clamping device, which is used to clamp the mother liquid bag; The suction and injection device can move between a suction position and an injection position along a first direction; wherein the mother liquid bag clamping device is located beside the suction and injection device in the first direction.

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