CN110638646A - Powder dispensing robot and mixing method thereof - Google Patents

Abstract

The invention discloses a powder dispensing robot and a mixing method thereof, comprising a base on which a bottle loading mechanism, a bottle feeding mechanism, a drug dissolving mechanism, a reversing mechanism, a three-way syringe and an infusion bag turntable mechanism are arranged and a control box, the bottle feeding mechanism is arranged on one side of the bottle loading mechanism, the drug dissolving mechanism and the reversing mechanism are arranged on one side of the bottle loading mechanism, and the drug dissolving mechanism is arranged on the rear side of the reversing mechanism, and the three-way The syringe is installed on the reversing mechanism, the infusion bag turntable mechanism is arranged on one side of the drug dissolving mechanism, the soft needle tube fixing mechanism is installed between the reversing mechanism and the infusion bag turntable mechanism, and the control box is arranged on the base At the rear edge of the end face, the present invention makes different dispensing actions become mechanized actions of the assembly line by corresponding to different operation steps at different stages, which not only has high dispensing efficiency, but also can avoid the problem of liquid leakage caused by multiple needle insertions and extractions. Compared with manual dispensing, it also has the advantage of reducing labor intensity.

Description

A kind of powder dispensing robot and its mixing method

technical field

The invention relates to the field of medicine filling, in particular to a powder dispensing robot.

Background technique

At present, large hospitals need to prepare more than 10,000 injections every day, but the current dispensing of injections is still done manually by medical staff, which is very inefficient and unsafe. At present, some hospitals have also begun to use dispensing robots for injections, but their dispensing robots mainly rely on increasing the number of single mixing to increase efficiency, which is limited in efficiency and does not solve the safety problem caused by the needle entering and exiting the medicine bottle multiple times.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a powder dispensing robot, which intelligently dispenses medicine, continuously dispenses medicine, has high dispensing efficiency and low labor intensity.

In order to solve the above-mentioned technical problems, the technical scheme of the present invention is:

A powder dispensing robot includes a base on which a bottle feeding mechanism, a bottle feeding mechanism, a drug dissolving mechanism, a reversing mechanism, a three-way syringe and an infusion bag turntable mechanism are arranged, and the bottle feeding mechanism is provided on the upper On one side of the bottle mechanism, the drug dissolving mechanism and the reversing mechanism are arranged on one side of the bottle loading mechanism, and the drug dissolving mechanism is arranged on the rear side of the reversing mechanism, the three-way syringe is installed on the reversing mechanism, and the infusion bag The turntable mechanism is arranged on one side of the dissolving mechanism, and the control box is arranged at the rear edge of the upper end face of the base.

Preferably, the bottle loading mechanism includes a cylinder seat, the lower end of the cylinder seat is fixed with a bottle loading driving cylinder, the output end of the bottle loading driving cylinder passes through the cylinder seat and is fixed to a guide seat, and one side of the guide seat is provided with The slider is slidably installed on the linear guide rail, the linear guide rail is fixed on the base, the lower end of the guide seat is installed with a box seat through a round rod, and a box body is inclined on one side of the upper end surface of the box seat, A vial is placed in the box body, a bottle loading sensor is arranged on the upper side of the box seat, and the bottle loading sensor is arranged between the box seat and the guide seat and fixed on the base.

Preferably, the bottle feeding mechanism includes an inner shell and an outer shell, an outer shell driver is arranged on the upper end of the inner shell, and the inner shell is mounted on the base through a manipulator, the output end of the outer shell driver is fixedly connected with the outer shell, and the outer periphery of the outer shell is fixedly connected. An upper ring is fixed on the surface, a lower ring is arranged on the outer peripheral surface of the inner shell, the upper ring and the lower ring are fixed by multiple sets of connecting rods, and multiple sets of connecting rods are evenly arranged on the upper end surface of the inner shell Clamping jaw driver, there are multiple groups of vial clamping jaws evenly arranged between the upper ring and the lower ring, the multiple groups of clamping jaw drivers correspond to the multiple groups of vial clamping jaws one-to-one, the outer periphery of the upper ring is provided with medicines Work station, dispensing station and bottle disposal station;

The vial clamping jaws include a clamping jaw 1 and a clamping jaw 2 with parallel centerlines, the clamping jaws 1 and the clamping jaws 2 are both rotatably installed between the upper ring and the lower ring, and the clamping jaw 1 is provided with Torsion spring 1, one extension end of the torsion spring 1 is fixed on the first clamping claw, the other extension end of the torsion spring 1 is fixed on the upper ring, and the clamping claw 2 is provided with a torsion spring 2 , one extension end of the second torsion spring is fixed on the second clamping jaw, and the other extension end of the second torsion spring is fixed on the upper ring. A vial, and the first jaw and the second jaw are meshed with involute teeth, a rocker is provided on the outer surface of one side of the jaw, and a rocker is provided on the outer surface of the second side of the jaw Second, the second rocker corresponds to the gripper driver.

Preferably, the drug dissolving mechanism includes a support arm and a guide rod, a servo motor is fixed on one side of the upper surface of the support arm, the output end of the servo motor is provided with a bevel gear, and the lower end of the bevel gear meshes with the bevel gear II , the second bevel gear is rotatably installed on the front side of the upper end of the support arm through a hollow shaft, the lower end of the hollow shaft penetrates the support arm and the suction cup is fixed by screws, the upper end of the hollow shaft rotates and installs a trachea joint, and the upper end of the trachea joint is connected to the control box connected;

A support frame is installed on the lower end of the guide rod through a slider and a slide rail, and a lift drive cylinder is arranged on the support frame, and the output end of the lift drive cylinder is fixed at the edge of the side of the lower end face of the support arm away from the second bevel gear , and the lift driving cylinder is arranged on the base, the upper and lower proximity switches on the upper and lower sides of the side of the support frame are respectively provided with an upper proximity switch and a lower proximity switch, and the slider is arranged between the upper proximity switch and the lower proximity switch.

Preferably, the reversing mechanism includes a reversing base, a drug dissolving cylinder is fixed on the lower end surface of the base, and the output end of the dissolving cylinder is fixedly connected to the reversing base through the base, and the reversing base The linear driver is fixed on the rear side of the seat, and the output end of the linear driver penetrates the base and fixes the piston rod seat. The rear side of the upper surface of the reversing base is provided with a reversing swing cylinder, and the output end of the reversing swing cylinder penetrates The reversing base is installed with a reversing lever, the upper end of the reversing base is provided with a limit cylinder, and the output end of the limit cylinder passes through the reversing base and fixes the pneumatic clamping jaws.

Preferably, the three-way syringe includes a syringe, a needle valve, a three-way needle and a hose needle, the syringe is arranged at the front end of the reversing base, and the piston rod on the syringe is clamped on the piston rod seat, so The three-way needle is arranged on the upper end of the needle cylinder, and one output end of the three-way needle is inserted into the vial, the rear end of the pneumatic gripper is abutted against the front end of the three-way needle, and the needle valve is installed on the three-way needle. The reversing lever is engaged with the needle valve, and the other output end of the three-way needle is connected to the hose needle.

Preferably, the infusion bag turntable mechanism includes a bracket fixed on the base, the upper end of the bracket is fixed with a bag changing swing cylinder, the output end of the bag changing swing cylinder is installed with an infusion bag turntable, and the infusion bag turntable is arranged obliquely, The infusion bag turntable is provided with two sets of storage grooves and infusion bag grippers equidistant from the center, and the installation directions of the two sets of infusion bag grippers are centrally symmetrical. A set of side stop posts is provided, and a center stop post is arranged at the center of the infusion bag turntable.

Preferably, the infusion bag gripper includes a base, and a left gripper seat and a right gripper seat are installed inside the base through the left and right hinges, respectively, and one end of the left gripper seat and one end of the right gripper seat pass through screws. The left gripper and the right gripper are respectively installed, a torsion spring three is sleeved on the right rotating shaft, and the three ends of the torsion spring are respectively fixed on the right gripper seat and the base, and the inside of the base is close to one of the left gripper seat. A clamping cylinder is installed on the side, a limit end is provided on the side of the left clamping claw seat away from the left clamping claw, the output end of the clamping cylinder is arranged directly below the limiting end, and the lower end of the base is close to one side of the right clamping claw. There is a top post on the side, the upper end of the top post passes through the base and extends to the lower side of the right jaw, the lower end of the top post is connected with an inductive contact through a thread, and a jaw sensor is arranged directly under the inductive contact, so The induction contact is sleeved with a spring, the lower end of the base and the upper end of the infusion bag turntable are provided with grooves, the springs are hidden in the grooves, the lower end of the infusion bag turntable is provided with a through hole, and the through hole is connected with the groove. Slots are connected.

Preferably, the infusion bag turntable mechanism further includes two sets of needle-piercing cylinders and two sets of fixing clips, the two sets of needle-piercing cylinders are symmetrically fixed on the lower end surface of the infusion bag turntable, and the two sets of needle-piercing cylinders are relatively opposite to the infusion bag turntable. It is centrally symmetrical, the fixing clip is fixed on the output end of the needle sticking cylinder, the infusion bag turntable is centrally symmetrically provided with two sets of gaps, and the fixing clips are arranged in the gaps.

A dispensing method for a powder dispensing robot, comprising the following steps:

Step 1: The turntable mechanism of the infusion bag and the reversing mechanism work. After the gripper sensor senses the sensing contact, the gripping cylinder is extended and pressed against the limit end on the left gripper, and the infusion bag is clamped in the gripper of the infusion bag. ;

The needle cylinder shrinks, driving the fixing clip to approach the direction of the infusion bag turntable, the hose needle is inserted into the infusion bag, and the limit cylinder in the reversing mechanism drives the pneumatic gripper against the tee needle. At this time, the flow direction of the tee needle is between the syringe and the infusion bag;

The bottle driving cylinder in the bottle loading mechanism drives the guide seat, the slider, the box seat and the box body to rise in sequence to complete the bottle loading action. At the same time, the bottle feeding mechanism is located on the upper side of the vial. long, against the rocker 2 and drive the rocker 2 to move, realize the rotation of the gripper 2, the vial gripper opens, and the torque of the torsion spring 2 increases. The driver shrinks, and the second clamping jaw and the second rocker return to their positions under the torque of the second torsion spring, so that the clamping jaws of the vial are closed, and the vial in the corresponding position is clamped, and the upper bottle driving cylinder drives the box body to drop back to its original position;

Step 2: The casing driver drives the casing, the upper ring, the lower ring and the vial gripper to rotate to the dispensing station synchronously;

The reversing mechanism works, and the piston rod at the lower end of the syringe is driven by the piston rod seat to make a pulling movement, and the medicinal liquid in the infusion bag is drawn into the syringe;

Step 3: The reversing swing cylinder drives the engaged reversing lever and needle valve to convert the flow direction of the three-way needle between the vial and the syringe;

Step 4: The lifting and driving cylinder drives the suction cup on the support arm to move downward, and wraps the tail of the vial, the dissolving cylinder drives the reversing base to move upward as a whole, and the three-way needle is inserted into the vial;

Step 5: The control box vacuumizes the suction cup through the trachea joint and the hollow shaft, and the vial is fixed inside the suction cup;

Step 6: The linear driver in the reversing mechanism drives the piston rod seat to move, pushes the piston rod in the syringe, and pushes the liquid medicine from the syringe into the vial through the three-way needle;

Step 7: The servo motor in the dissolving mechanism works. After the power output of the servo motor is turned by the power of the first bevel gear and the second bevel gear, the suction cup is driven to rotate through the hollow shaft to realize the rotation of the vial, speed up the mixing of the liquid medicine, linear The driver pulls the piston rod to extract the mixed medicinal liquid, and at the same time, the dissolving cylinder shrinks, and the three-way needle is gradually drawn out from the vial to complete the extraction of the mixed medicinal liquid;

Step 8: The reversing swing cylinder in the reversing mechanism works, and the circulation direction of the three-way needle is switched between the syringe and the infusion bag through the engaged reversing lever and the needle valve;

Step 9: The linear driver drives the piston rod seat to push the piston rod, and pushes the liquid medicine in the syringe into the infusion bag;

Step 10: The shell driver in the bottle feeding mechanism works, rotates the vial gripper to the bottle discarding station, the gripper driver drives the two jaws to open, the vial loses its gripping force and falls naturally, and removes the sharps box and other containers Put it under the bottle discarding station on the base, and collect the discarded bottles directly;

The turntable mechanism of the infusion bag works, the needle cylinder is extended to drive the fixing clip to move away from the turntable of the infusion bag, and the hose needle is drawn out from the infusion bag;

Step 11: The infusion bag turntable is reversed after being driven by the bag changing swinging cylinder, the infusion bag with the liquid medicine is turned to the lower side, and the infusion bag that has not been dispensed is turned to the upper side to prepare for the next dispensing;

Step 12: The limit cylinder in the reversing mechanism is extended, driving the pneumatic gripper to separate from the three-way needle, and at the same time the gripping cylinder in the infusion bag turntable mechanism shrinks, the left gripper seat is no longer restricted, and the right gripper and The right gripper seat is opened under the action of the three torques of the torsion spring, the infusion bag is released, and the dispensing is completed;

Step 13: Repeat steps 1 to 13 until all configurations of the same medicinal solution are completed;

Step 14: Clean the dispensing environment and store the infusion bag.

Using the above technical solution, through the cooperation of the bottle loading mechanism, the bottle feeding mechanism, the drug dissolving mechanism, the reversing mechanism, and the infusion bag turntable mechanism, and intelligently controlled by the control box, different stages correspond to different operation steps, so that the Different dispensing actions become the mechanized actions of the assembly line. The continuous operations of bottle loading, bottle clamping, dispensing, bottle discarding, and bag changing not only have high dispensing efficiency, but also avoid the problem of liquid leakage caused by multiple needle insertions and withdrawals. Compared with manual dispensing It also has the advantage of reducing labor intensity.

The invention has intelligent dispensing, continuous dispensing, high dispensing efficiency and low labor intensity.

Description of drawings

Fig. 1 is the perspective view of the present invention;

Fig. 2 is the left side view of the present invention;

Fig. 3 is the perspective view of the bottle loading mechanism in the present invention;

Fig. 4 is the top view of the bottle feeding mechanism in the present invention;

Figure 5 is a cross-sectional view along line A-A in Figure 4;

6 is a perspective view of a vial gripper in the present invention;

Fig. 7 is the perspective view of the dissolving mechanism in the present invention;

Figure 8 is a schematic diagram of the assembly of the second bevel gear and the suction cup in the drug dissolving mechanism of the present invention;

9 is a perspective view of the reversing mechanism in the present invention;

Figure 10 is a left side view of the reversing mechanism of the present invention;

Fig. 11 is the structural representation of the three-way syringe in the present invention;

12 is a perspective view of the turntable mechanism of the infusion bag in the present invention;

13 is a schematic structural diagram of the infusion bag gripper in the present invention;

Figure 14 is a schematic diagram of the assembly of the infusion bag gripper, the bag changing swing cylinder, the bracket and the infusion bag gripper;

Figure 15 is a top view of the assembly of the infusion bag turntable, the bag changing swing cylinder and the needle sticking cylinder;

16 is a front view of the turntable mechanism of the infusion bag in the present invention;

FIG. 17 is a cross-sectional view taken along line B-B in FIG. 16 .

In the figure, 1-base, 2-bottle loading mechanism, 3-bottle feeding mechanism, 4-dissolving mechanism, 5-reversing mechanism, 6-three-way syringe, 7-infusion bag turntable mechanism, 8-control box, 9-PLC touch screen, 10-feeding station, 11-dispensing station, 12-bottle disposal station, 21-box seat, 22-bottle driving cylinder, 23-cylinder seat, 24-guide seat, 25 -Slider, 26-Linear guide, 27-Vial sensor, 28-Vial, 29-Box, 31-Housing, 32-Housing drive, 33-Upper ring, 34-Lower ring, 35-Gripper Driver, 36-inner shell, 37-vial gripper, 51-linear drive, 52-reversing base, 53-dissolving cylinder, 54-piston rod seat, 55-pneumatic gripper, 56-limiting cylinder, 57-reversing swing cylinder, 58-reversing lever, 61-syringe, 62-needle valve, 63-three-way needle, 64-hose needle, 71-infusion bag turntable, 72-infusion bag gripper, 73 -Infusion bag storage slot, 74-side stopper, 75-center stopper, 76-bag-changing swing cylinder, 77-support, 78-needle cylinder, 79-fixing clip, 371-claw 1, 372-rocker 1 , 373-torsion spring one, 374-rocker two, 375-torsion spring two, 376-claw two, 401 lift drive cylinder, lower proximity switch, 403-support frame, 404-upper proximity switch, 405-guide rod, 406-support arm, 407-servo motor, 408-bevel gear one, 409-trachea joint, 410-bevel gear two, 411-suction cup, 7201-clamping cylinder, 7202-base, 7203-left jaw seat, 7204- Left shaft, 7205-screw, 7206-left jaw, 7207-right jaw, 7208-right jaw seat, 7209-right shaft, 7210-torsion spring three, 7211-top column, 7212-sensing contact, 7213- Spring, 7214 - Gripper sensor.

Detailed ways

The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted here that the descriptions of these embodiments are used to help the understanding of the present invention, but do not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Please refer to accompanying drawings 1 and 2, the present invention provides a powder dispensing robot, comprising a base 1, and the base 1 is provided with a bottle loading mechanism 2, a bottle feeding mechanism 3, a medicine dissolving mechanism 4, a reversing mechanism 5, The three-way syringe 6, the infusion bag turntable mechanism 7 and the control box 8, the bottle feeding mechanism 3 is arranged on the side of the bottle loading mechanism 2, the drug dissolving mechanism 4 and the reversing mechanism 5 are arranged on the side of the bottle loading mechanism 2, And the dissolving mechanism 4 is arranged on the rear side of the reversing mechanism 5, the three-way syringe 6 is installed on the reversing mechanism 5, the infusion bag turntable mechanism 7 is arranged on the side of the dissolving mechanism 4, and the control box 8 is arranged At the rear edge of the upper end face of the base 1, a PLC touch screen 9 is arranged at the corner of the base 1, and the electrical control and pneumatic control provided in the control box 8 are electrically connected with the electrical components in each mechanism, which is the whole The circuit integrated control system of the robot uses the PLC touch screen 9 to control the entire equipment to realize intelligent dispensing.

Please refer to FIG. 3 , the bottle loading mechanism 2 includes a cylinder seat 23 , the lower end of the cylinder seat 23 is fixed to the bottle driving cylinder 22 , and the output end of the bottle driving cylinder 22 passes through the cylinder seat 23 and fixes the guide seat 24 , a slider 25 is provided on one side of the guide seat 24, the slider 25 is slidably installed on the linear guide rail 26, the linear guide rail 26 is fixed on the base 1, and the lower end of the guide seat 24 is installed by a round rod The box seat 21 is provided with a box body 29 inclined on one side of the upper end surface of the box seat 21, and a vial 28 is placed in the box body 29. The upper side of the box seat 21 is provided with a bottle loading sensor 27. The bottle loading sensor 27 is arranged between the box seat 21 and the guide seat 24 and is fixed on the base 1. When the upper bottle driving cylinder 22 drives the guide seat 24 to move, the guide seat 24 drives the slider 25 to slide on the linear guide The bottle trajectory is a straight line, which ensures that the vial loading sensor 27 can sense the vial 28 corresponding to its position.

4-5, the bottle feeding mechanism 3 includes an inner casing 36 and an outer casing 31, an outer casing driver 32 is arranged on the upper end of the inner casing 36, and the inner casing 36 is mounted on the base 1 by a manipulator, and the outer casing driver The output end of 32 is fixedly connected with the outer casing 31, the outer peripheral surface of the outer casing 31 is fixed with an upper ring 33, the outer peripheral surface of the inner casing 36 is provided with a lower ring 34, and the upper ring 33 and the lower ring 34 are fixed. They are fixed by multiple sets of connecting rods, and multiple sets of clamping jaw drivers 35 are evenly arranged on the upper end surface of the inner shell 36. The support of the connecting rods makes a certain distance between the upper ring 33 and the lower ring 34, which is convenient for arranging the outer casing. The driver 32 and the clamping jaw driver 35, the upper ring 33 and the lower ring 34 are evenly arranged with multiple groups of vial clamping jaws 37, and the multiple groups of clamping jaw drivers 35 are in one-to-one correspondence with the multiple groups of vial clamping jaws 37, The outer circumference of the upper ring 33 is provided with a medicine feeding station 10 , a dispensing station 11 and a bottle discarding station 12 .

Please refer to FIG. 6 , the vial clamping jaw 37 includes a clamping jaw 1 371 and a clamping jaw 2 376 with parallel centerlines. Between the rings 34, a torsion spring 1 373 is arranged on the clamping jaw 1 371, one extension end of the torsion spring 1 373 is fixed on the clamping jaw 1 371, and the other extension end of the torsion spring 1 373 is fixed on the clamping jaw 1 371. Fixed on the upper ring 33, the second clamping jaw 376 is provided with a second torsion spring 375, one extension end of the second torsion spring 375 is fixed on the second clamping jaw 376, the other of the second torsion spring 375 The protruding end is fixed on the upper ring 33, the vial 28 is clamped between the first jaw 371 and the second jaw 376, and the first jaw 371 and the second jaw 376 are engaged by involute teeth, The engaging jaw one 371 and the jaw two 376 are convenient for both to rotate at the same time, the outer surface of one side of the jaw one 371 is provided with a rocker 1 372, and the outer surface of one side of the jaw two 376 is provided with a rocker lever Two 374, the rocker two 374 corresponds to the jaw driver 35, when the two jaws 376 return and clamp the vial 28 together with the one jaw 371, the one jaw 371 and the two jaws 376 are in the torsion spring The first 373 and the second torsion spring 375 are rotated until the torque of the first torsion spring 373 and the second torsion spring 375 is the same, and the center line of the vial 28 is always in the middle of the first jaw 371 and the second jaw 376.

7-8, the drug dissolving mechanism 4 includes a support arm 406 and a guide rod 405. A servo motor 407 is fixed on one side of the upper surface of the support arm 406. The output end of the servo motor 407 is provided with a bevel gear. 408. The lower end of the first bevel gear 408 meshes with the second bevel gear 410. The second bevel gear 410 is rotated and installed on the front side of the upper end of the support arm 406 through the hollow shaft 411. The lower end of the hollow shaft 411 penetrates the support arm 406 and fixes the suction cup by screws. 412, the upper end of the hollow shaft 411 is rotated and installed with a gas pipe joint 409, and the upper end of the gas pipe joint 409 is connected with the control box 8. After the power steering of the bevel gear 1 408 and the bevel gear 2 410, the deceleration rotation is realized to achieve the purpose of assisting stirring, Increase the speed of drug dissolution in vial 28.

A support frame 403 is installed on the lower end of the guide rod 405 through the slider 25 and the slide rail. The support frame 403 is provided with a lift driving cylinder 401 , and the output end of the lift driving cylinder 401 is fixed on the lower end face of the support arm 406 away from the cone. One side edge of the second gear 410, and the lift driving cylinder 401 is arranged on the base 1, the upper and lower sides of the side of the support frame 403 are respectively provided with an upper proximity switch 404 and a lower proximity switch 402, and the slider 25 is arranged at Between the upper proximity switch 404 and the lower proximity switch 402, when the lift driving cylinder 401 drives the support arm 406 to move up and down, the guide rod 405 drives the slider 25 to slide on the slide rail, and the upper proximity switch 404 and the lower proximity switch 402 realize monitoring feedback Function, when the upper proximity switch 404 or the lower proximity switch 402 detects the slider 25, the upper proximity switch 404 or the lower proximity switch 402 feeds back the detection signal to the control box 8, and the control box 8 receives the signal and processes it to control the lift drive cylinder 401 Stop stretching or shortening.

Referring to Figures 9-10, the reversing mechanism 5 includes a reversing base 52, a drug dissolving cylinder 53 is fixed on the lower end surface of the base 1, and the output end of the drug dissolving cylinder 53 passes through the base 1 and is exchanged It is fixedly connected to the base 52. The linear driver 51 is fixed on the rear side of the reversing base 52. The output end of the linear driver 51 penetrates the base 1 and fixes the piston rod seat 54. The upper surface of the reversing base 52 is behind There is a reversing swing cylinder 57 on the side, and the output end of the reversing swing cylinder 57 penetrates the reversing base 52 and installs a reversing lever 58. The upper end of the reversing base 52 is provided with a limit cylinder 56. The output end of the position cylinder 56 passes through the reversing base 52 and fixes the pneumatic gripper 55. The dissolving cylinder 53 can drive the reversing base 52 and the components on the reversing base 52 to move as a whole, and the reversing swing cylinder 57 drives the The reversing lever 58 switches back and forth between 0° and 180°.

Referring to FIG. 11 , the three-way syringe 6 includes a syringe 61 , a needle valve 62 , a three-way needle 63 and a hose needle 64 . The syringe 61 is disposed at the front end of the reversing base 52 , and the syringe 61 The piston rod is clamped on the piston rod seat 54, the three-way needle 63 is arranged on the upper end of the syringe 61, and one output end of the three-way needle 63 is inserted into the vial 28, and the rear end of the pneumatic gripper 55 abuts against the three-way needle 63. At the front end of the needle head 63 , the needle valve 62 is installed on the three-way needle head 63 , the reversing lever 58 is engaged with the needle valve 62 , and the other output end of the three-way needle head 63 is connected to the hose needle 64 .

12 and 14, the infusion bag turntable mechanism 7 includes a bracket 77 fixed on the base 1, the upper end of the bracket 77 is fixed with a bag-changing swing cylinder 76, and the output end of the bag-changing swing cylinder 76 is installed with infusion The bag turntable 71, the bag changing swinging cylinder 76 drives the infusion bag turntable 71 to switch back and forth between 0° and 180°, the infusion bag turntable 71 is inclined and provided with two sets of storage bags equidistant from the center. The groove 73 and the infusion bag clamping jaws 72, the installation directions of the two groups of infusion bag clamping jaws 72 are symmetrical in the center, and the inclined infusion bag turntable 71 is convenient for the infusion bag to be placed. When the liquid medicine flows back into the hose needle 64, two sets of side blocking posts 74 are provided on both sides of the center line of the storage tank 73 on the infusion bag turntable 71, and a central blocking post is provided in the center of the infusion bag turntable 71. 75. The side blocking posts 74 and the central blocking post 75 limit and block the infusion bags in the two groups of storage slots 73, so as to improve the stability of the infusion bags.

Referring to FIG. 13 , the infusion bag gripper 72 includes a base 7202 , and a left gripper seat 7203 and a right gripper seat 7208 are installed inside the base 7202 through a left rotation shaft 7204 and a right rotation shaft 7209 respectively. The left gripper One end of the seat 7203 and one end of the right clamping claw seat 7208 are respectively installed with a left clamping claw 7206 and a right clamping claw 7207 through screws 7205. A torsion spring 3 7210 is sleeved on the right rotating shaft 7209, and both ends of the torsion spring 3 7210 are respectively fixed on the right On the gripper seat 7208 and the base 7202, a clamping cylinder 7201 is installed on the side of the base 7202 close to the left gripper seat 7203, and a limit end is provided on the side of the left gripper seat 7203 away from the left gripper 7206, The output end of the clamping cylinder 7201 is set directly below the limit end, the bottom end of the base 7202 is provided with a top column 7211 on the side close to the right clamping jaw 7207, and the upper end of the top column 7211 passes through the base 7202 and extends to the right clamp On the lower side of the claw 7207, the lower end of the top post 7211 is connected with a sensing contact 7212 through a thread, a clamping claw sensor 7214 is arranged directly under the sensing contact 7212, a spring 7213 is sleeved on the sensing contact 7212, and the base The lower end of 7202 and the upper end of the infusion bag turntable 71 are provided with grooves, the springs 7213 are hidden in the grooves, and the lower end of the infusion bag turntable 71 is provided with a through hole, which communicates with the groove. , just put the neck of the infusion bag into the gap between the left clamping jaw 7206 and the right clamping jaw 7207, and press the infusion bag downward, the infusion bag moves in the left clamping jaw 7206 and the right clamping jaw 7207, and the right clamp The claw 7207 drives the right jaw seat 7208 to rotate, the top post 7211 moves downward under the extrusion of the right jaw seat 7208, and at the same time the torque of the torsion spring 3 7210 increases, the top post 7211 drives the sensing contact 7212 to move downward while compressing the spring 7213, the potential energy of the spring 7213 increases until the sensing contact 7212 passes through the base 7202 and the infusion bag turntable 71, and is sensed by the gripper sensor 7214, the gripping cylinder 7201 extends and abuts the limit end on the left gripper 7206 , the infusion bag is clamped in the left gripper 7206 and the right gripper 7207, the grooves and through holes are designed to facilitate the sensing contact 7212 to pass through the infusion bag turntable 71 and approach the gripper sensor 7214.

Please refer to the accompanying drawings 15-17, in the infusion bag turntable mechanism 7, it also includes two sets of needle sticking cylinders 78 and two sets of fixing clips 79, and the two sets of needle sticking cylinders 78 are symmetrically fixed on the lower end surface of the infusion bag turntable 71, And the two sets of needle sticking cylinders 78 are centrally symmetric with respect to the infusion bag turntable 71, the fixing clip 79 is fixed on the output end of the needle sticking cylinder 78, and the fixing clip 79 is used to clamp and fix the hose needle 64. The infusion bag turntable 71 Two sets of gaps are arranged symmetrically on the center, and the fixing clips 79 are arranged in the gaps. When the control box 8 controls the needle cylinder 78 to shorten or extend, the fixing clips 79 holding the hose needle 64 reciprocate relative to the gaps. Movement to achieve automatic needle insertion and needle extraction, the gap achieves the purpose of avoidance, and provides a reserved space for the fixing clip 79. In actual use, a set of hose needles 64 are clamped on a set of fixing clips 71 in advance. When the bag is inflated, control the corresponding needle sticking cylinder 78 to work, so that the needle sticking cylinder 78 drives the fixing clip 79 and the hose needle 64 to be inserted into the infusion bag, and the infusion bag is deflated.

A dispensing method for a powder dispensing robot, comprising the following steps:

Step 1: The infusion bag turntable mechanism 7 and the reversing mechanism 5 work, the clamping claw sensor 7214 should reach the induction contact 7212, and then the clamping cylinder 7201 extends and presses against the limit end on the left clamping claw 7206, and the infusion bag is clamped Hold it in the infusion bag gripper 72;

The needle sticking cylinder 78 shrinks, driving the fixing clip 79 to approach the direction of the infusion bag turntable 71, the hose needle 64 is inserted into the infusion bag, and the limiting cylinder 56 in the reversing mechanism 5 drives the pneumatic clamping jaw 55 against the tee needle 63. When the flow direction of the three-way needle 63 is between the syringe 61 and the infusion bag;

The bottle-loading driving cylinder 22 in the bottle-loading mechanism 2 drives the guide seat 24 , the slider 25 , the box seat 21 and the box body 29 to rise in sequence to complete the bottle-loading action. At the same time, the bottle feeding mechanism 3 is located on the upper side of the vial 28 The gripper driver 35 of the medicine station 10 is extended, and it presses against the second rocker 374 and drives the second rocker 374 to move, so that the second gripper 376 rotates, the vial gripper 37 opens, and the torque of the second torsion spring 375 increases. When the box body 29 is raised to the upper bottle sensor 27 and the vial 28 is sensed, the clamping jaw driver 35 contracts, and the clamping jaw 2 376 and the rocker 2 374 return to their positions under the torque of the torsion spring 2 375 to realize the closure of the vial clamp 37 claws. Clamp the vial 28 at the corresponding position, and the upper bottle driving cylinder 22 drives the box body 29 to descend back to its original position;

Step 2: The casing driver 32 drives the casing 31, the upper ring 33, the lower ring 34 and the vial gripper 37 to rotate to the dispensing station 11 synchronously;

The reversing mechanism 5 works, and the piston rod at the lower end of the syringe 61 is driven by the piston rod seat 54 to perform a pulling motion, and the medicinal liquid in the infusion bag is drawn into the syringe 61;

Step 3: The reversing swing cylinder 57 drives the engaged reversing lever 58 and the needle valve 62 to convert the flow direction of the three-way needle 63 to between the vial 28 and the syringe 61;

Step 4: The lifting and driving cylinder 401 drives the suction cup 412 on the support arm 406 to move downward, and wraps the tail of the vial 28, the drug dissolving cylinder 53 drives the reversing base 52 to move upward as a whole, and the three-way needle 63 is inserted into the vial 28;

Step 5: The control box 8 evacuates the suction cup 412 through the tracheal joint 409 and the hollow shaft 411, and the vial 28 is fixed inside the suction cup 412;

Step 6: The linear driver 51 in the reversing mechanism 5 drives the piston rod seat 54 to move, pushes the piston rod in the syringe 61, and pushes the medicinal liquid from the syringe 61 into the vial 28 through the three-way needle 63;

Step 7: The servo motor 407 in the dissolving mechanism 4 works, the power output of the servo motor 407 is turned by the power of the first bevel gear 408 and the second bevel gear 410, and then drives the suction cup 412 to rotate through the hollow shaft 411 to realize the rotation of the vial 28 , to speed up the mixing of the medicinal liquid, the linear drive 51 pulls the piston rod to extract the mixed medicinal liquid, and at the same time the dissolving cylinder 53 shrinks, the three-way needle 63 is gradually drawn out from the vial 28, and the mixed medicinal liquid is completed. extract;

Step 8: The reversing swing cylinder 57 in the reversing mechanism 5 works, and the circulation direction of the three-way needle 63 is converted to between the syringe 61 and the infusion bag through the engaged reversing lever 58 and the needle valve 62;

Step 9: The linear driver 51 drives the piston rod seat 54 to push the piston rod, and pushes the medicinal liquid in the syringe 61 into the infusion bag;

Step 10: The casing driver 32 in the bottle feeding mechanism 3 works, rotates the vial clamping jaw 37 to the bottle discarding station 12, the clamping jaw driver 35 drives the clamping jaw 2 376 to open, and the vial 28 loses its clamping force and falls naturally , in advance, put the sharps box and other containers under the bottle discarding station 11 on the base 1, and directly collect the discarded bottles;

The infusion bag turntable mechanism 7 works, the needle sticking cylinder 78 extends and drives the fixing clip 79 to move away from the infusion bag turntable 71, and the hose needle 64 is pulled out from the infusion bag;

Step 11: The infusion bag turntable 71 is reversed after being driven by the bag changing swing cylinder 76, the infusion bag with the medicine solution is turned to the lower side, and the infusion bag that has not been dispensed is turned to the upper side to prepare for the next medicine dispensing;

Step 12: The limit cylinder 56 in the reversing mechanism 5 is extended, driving the pneumatic gripper 55 to separate from the three-way needle 63, and at the same time the clamping cylinder 7201 in the infusion bag turntable mechanism 7 shrinks, and the left gripper seat 7203 is no longer there. Restricted, the right gripper 7207 and the right gripper seat 7208 are opened under the action of the torque of the torsion spring III 7210, the infusion bag is released, and the completion of one dispensing is completed;

Step 13: Repeat steps 1 to 13 until all configurations of the same medicinal solution are completed;

Step 14: Clean the dispensing environment and store the infusion bag.

The present invention is controlled by a PLC touch screen and intelligently controls the cooperation of the bottle loading mechanism, the bottle feeding mechanism, the drug dissolving mechanism, the reversing mechanism and the infusion bag turntable mechanism through the control box, and corresponds to different operation steps at different stages. , making different dispensing actions into mechanized actions of the assembly line, continuous operation of bottle loading, bottle clamping, dispensing, bottle discarding, and bag changing, which not only has high dispensing efficiency, but also avoids the problem of liquid leakage caused by multiple needle insertions and withdrawals. Manual dispensing also has the advantage of reducing labor intensity.

The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, without departing from the principle and spirit of the present invention, various changes, modifications, substitutions and alterations to these embodiments still fall within the protection scope of the present invention.

Claims (10)

1. The utility model provides a powder machine people that dispenses which characterized in that: the automatic bottle-feeding device comprises a base, be equipped with bottle mechanism, bottle-feeding mechanism, medicine dissolving mechanism, reversing mechanism, three-way syringe and infusion bag carousel mechanism on the base in proper order, bottle-feeding mechanism sets up in bottle-feeding mechanism one side, medicine dissolving mechanism and reversing mechanism set up in bottle-feeding mechanism one side, and medicine dissolving mechanism sets up in the reversing mechanism rear side, three-way syringe installs on reversing mechanism, infusion bag carousel mechanism sets up and is dissolving medicine mechanism one side.

2. A powder dispensing robot as recited in claim 1, wherein: the bottle feeding mechanism comprises a cylinder seat, an upper bottle driving cylinder is fixed at the lower end of the cylinder seat, the output end of the upper bottle driving cylinder penetrates through the cylinder seat and fixes a guide seat, a sliding block is arranged on one side face of the guide seat, the sliding block is slidably mounted on a linear guide rail, the linear guide rail is fixed on a base, the lower end of the guide seat is provided with a box seat through a round rod, a box body is obliquely arranged on one side of the upper end face of the box seat, a penicillin bottle is placed in the box body, an upper bottle sensor is arranged on the upper side of the box seat, and the upper bottle sensor is arranged between the box seat and the guide seat and fixed.

3. A powder dispensing robot as recited in claim 1, wherein: the bottle conveying mechanism comprises an inner shell and an outer shell, an outer shell driver is arranged at the upper end of the inner shell, the inner shell is installed on a base through a manipulator, the output end of the outer shell driver is fixedly connected with the outer shell, an upper ring is fixed on the outer peripheral surface of the outer shell, a lower ring is arranged on the outer peripheral surface of the inner shell, the upper ring and the lower ring are fixed through a plurality of groups of connecting rods, a plurality of groups of clamping jaw drivers are uniformly arranged on the upper end surface of the inner shell, a plurality of groups of penicillin bottle clamping jaws are uniformly arranged between the upper ring and the lower ring, the plurality of groups of clamping jaw drivers correspond to the plurality of groups of penicillin bottle clamping jaws one by one, and a medicine;

XiLin bottle gripper includes clamping jaw one and clamping jaw two that the central line is parallel, clamping jaw one and clamping jaw two all rotate the installation at last ring under and between the ring, clamping jaw one is equipped with torsional spring one, one of torsional spring one stretches out the end and fixes on clamping jaw one, another stretch out end of torsional spring one is fixed on last ring, clamping jaw two is equipped with torsional spring two, one of torsional spring two stretches out the end and fixes on clamping jaw two, another stretch out end of torsional spring two is fixed on last ring, the clamp has the xiLin bottle between clamping jaw one and the clamping jaw two, and through gradually opening the tooth mesh between clamping jaw one and the clamping jaw two, clamping jaw one is equipped with rocker one on the one side surface outward, clamping jaw two one side surface is equipped with rocker two on the surface, rocker two is corresponding with the clamping jaw driver.

4. A powder dispensing robot as recited in claim 1, wherein: the medicine dissolving mechanism comprises a supporting arm and a guide rod, a servo motor is fixed on one side of the upper surface of the supporting arm, a first bevel gear is arranged at the output end of the servo motor, the lower end of the first bevel gear is meshed with a second bevel gear, the second bevel gear is rotatably installed on the front side of the upper end of the supporting arm through a middle idle shaft, a sucker is fixed at the lower end of the hollow rotating shaft, and the lower end of the hollow rotating shaft penetrates through the supporting arm and is fixed with the sucker;

the support frame is installed through slider and slide rail to the guide arm lower extreme, it drives actuating cylinder to be equipped with the lift on the support frame, the output that drives actuating cylinder to lift is fixed at a side edge department that bevel gear two was kept away from to the terminal surface under the support arm, and drives actuating cylinder setting on the base to lift, both sides are equipped with proximity switch and proximity switch down respectively about the support frame side, the slider sets up at last proximity switch under and between the proximity switch.

5. A powder dispensing robot as recited in claim 1, wherein: reversing mechanism is including the switching-over base, the fixed medicine cylinder that dissolves of terminal surface under the base, the output of dissolving the medicine cylinder passes base and switching-over base fixed connection, the fixed linear driver of switching-over base trailing flank, the output of linear driver runs through base and fixed piston rod seat, switching-over base upper surface rear side is equipped with switching-over swing cylinder, switching-over swing cylinder's output runs through the switching-over base and installs the switching-over control rod, switching-over base upper end is equipped with spacing cylinder, the output of spacing cylinder passes the switching-over base and fixes pneumatic clamping jaw.

6. A powder dispensing robot as claimed in claim 1 or 5, wherein: the three-way syringe comprises a needle cylinder, a needle valve, a three-way needle head and a hose needle, wherein the needle cylinder is arranged at the front end of a reversing base, a piston rod on the needle cylinder is clamped on a piston rod seat, the three-way needle head is arranged at the upper end of the needle cylinder, an output end of the three-way needle head is inserted into a penicillin bottle, the rear end of a pneumatic clamping jaw supports the front end of the three-way needle head, the needle valve is arranged on the three-way needle head, a reversing control lever is clamped with the needle valve, and the hose needle is connected with another output end of the three.

7. A powder dispensing robot as recited in claim 1, wherein: infusion bag carousel mechanism is including fixing the support on the base, the fixed bag swing cylinder that trades in support upper end, trade the output installation infusion bag carousel of bag swing cylinder, infusion bag carousel slope sets up, infusion bag carousel is equipped with two sets of storage tanks and infusion bag clamping jaw for central equidistance, and two sets of infusion bag clamping jaw installation directions are central symmetry, the both sides that lie in the storage tank central line on the infusion bag carousel are equipped with two sets of limit bumping posts, infusion bag carousel central point puts and is equipped with central bumping post.

8. A powder dispensing robot as recited in claim 7, wherein: the infusion bag clamping jaw comprises a base, a left clamping jaw seat and a right clamping jaw seat are respectively installed in the base through a left rotating shaft and a right rotating shaft, a left clamping jaw and a right clamping jaw are respectively installed at one end of the left clamping jaw seat and one end of the right clamping jaw seat through screws, a third torsion spring is sleeved on the right rotating shaft, two ends of the third torsion spring are respectively fixed on the right clamping jaw seat and the base, a clamping cylinder is installed at one side, close to the left clamping jaw seat, in the base, a limiting end is arranged on one side face, away from the left clamping jaw, of the left clamping jaw seat, the output end of the clamping cylinder is arranged under the limiting end, a top column is arranged at one side, close to the right clamping jaw, of the lower end of the base, the upper end of the top column penetrates through the base and extends to the lower side of the right clamping jaw, an induction contact is connected with the lower end of the top column through threads, a, the spring is hidden in the groove, a through hole is formed in the lower end of the infusion bag turntable and communicated with the groove.

9. A powder dispensing robot as recited in claim 7, wherein: the infusion bag turntable mechanism comprises an infusion bag turntable mechanism and is characterized by further comprising two groups of needle inserting air cylinders and two groups of fixing clamps, the two groups of needle inserting air cylinders are symmetrically fixed on the lower end face of the infusion bag turntable, the two groups of needle inserting air cylinders are centrosymmetrically arranged relative to the infusion bag turntable, the fixing clamps are fixed on the output ends of the needle inserting air cylinders, two groups of openings are symmetrically arranged on the infusion bag turntable, and the fixing clamps are arranged in the openings.

10. A mixing method of a powder dispensing robot is characterized by comprising the following steps:

the method comprises the following steps: the infusion bag turntable mechanism and the reversing mechanism work, the clamping cylinder extends and abuts against the limiting end on the left clamping jaw after the clamping jaw sensor senses the induction contact, and the infusion bag is clamped in the infusion bag clamping jaw;

the needle inserting cylinder contracts to drive the fixing clamp to approach to the direction of the infusion bag rotating disc, the hose needle is inserted into the infusion bag, the limiting cylinder in the reversing mechanism drives the pneumatic clamping jaw to abut against the three-way needle head, and the flowing direction of the three-way needle head is between the needle cylinder and the infusion bag;

an upper bottle driving cylinder in the bottle feeding mechanism drives a guide seat, a sliding block, a box seat and a box body to rise in sequence to finish the action of feeding bottles, meanwhile, a clamping jaw driver of a bottle feeding mechanism, which is positioned at a medicine feeding station on the upper side of each penicillin bottle, extends to abut against a second rocker and drives the second rocker to move, so that the second clamping jaw rotates, a clamping jaw of each penicillin bottle opens, the torque of the second torsion spring increases, when the box body rises to a position where a penicillin bottle sensor senses the penicillin bottle, the clamping jaw driver contracts, the second clamping jaw and the second rocker return to the position under the action of the torque of the second torsion spring, so that the penicillin bottle clamping jaws close to clamp the penicillin bottles at corresponding positions, and the upper;

step two: the shell driver drives the shell, the upper ring, the lower ring and the penicillin bottle clamping claws to synchronously rotate to the dispensing station;

the reversing mechanism works, the piston rod at the lower end of the needle cylinder is driven to do drawing motion through the piston rod seat, and the liquid medicine in the infusion bag is pumped into the needle cylinder;

step three: the reversing swing cylinder drives the clamped reversing control rod and the needle valve to convert the flowing direction of the three-way needle head between the penicillin bottle and the needle cylinder;

step four: the lifting driving cylinder drives the sucker on the supporting arm to move downwards and wrap the tail of the penicillin bottle, the medicine dissolving cylinder drives the reversing base to move upwards integrally, and the three-way needle head is inserted into the penicillin bottle;

step five: the control box vacuumizes the sucker through the air pipe joint and the middle idle shaft, and the penicillin bottle is fixed inside the sucker;

step six: a linear driver in the reversing mechanism drives a piston rod seat to move, a piston rod in a needle cylinder is pushed, and liquid medicine is pushed into a penicillin bottle from the needle cylinder through a three-way needle head;

step seven: a servo motor in the drug dissolving mechanism works, the power output of the servo motor is turned by the power of a bevel gear I and a bevel gear II, a sucker is driven to rotate through a hollow rotating shaft, the rotation of a penicillin bottle is realized, the mixing of drug liquid is accelerated, a linear driver pulls a piston rod to extract the mixed drug liquid, a drug dissolving cylinder contracts, a three-way needle head is gradually extracted from the penicillin bottle, and the extraction of the mixed drug liquid is completed;

step eight: a reversing swing cylinder in the reversing mechanism works, and the flow direction of the three-way needle head is switched to be between the needle cylinder and the infusion bag through a clamped reversing control rod and a needle valve;

step nine: the linear driver drives the piston rod seat to push the piston rod, so that the liquid medicine in the needle cylinder is pushed into the infusion bag;

step ten: a shell driver in the bottle conveying mechanism works to rotate the penicillin bottle clamping jaws to a bottle abandoning station, the clamping jaw driver drives the clamping jaws to open, the penicillin bottles lose clamping force and naturally fall off, containers such as a sharp instrument box and the like are placed below the bottle abandoning station on the base, and the abandoned bottles are directly collected;

when the infusion bag turntable mechanism works, the needle inserting cylinder extends to drive the fixing clamp to move towards the direction far away from the infusion bag turntable, and the hose needle is drawn out of the infusion bag;

step eleven: the infusion bag rotary table is driven by the bag changing swing cylinder to change the direction, the infusion bag with the prepared liquid medicine is rotated to the lower side, and the infusion bag without the prepared liquid medicine is rotated to the upper side to prepare for the next preparation;

step twelve: a limiting cylinder in the reversing mechanism extends to drive the pneumatic clamping jaw to separate from the three-way needle head, meanwhile, a clamping cylinder in the infusion bag turntable mechanism contracts, the left clamping jaw seat is not limited, the right clamping jaw and the right clamping jaw seat are opened under the action of three torques of the torsion spring, the infusion bag is released, and dispensing is finished;

step thirteen: repeating the steps from one to thirteen until all the preparation of the same liquid medicine is finished;

fourteen steps: clean environment of dispensing, store infusion bag.

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