CN109650047A - One kind is made up a prescription robot - Google Patents
One kind is made up a prescription robot Download PDFInfo
- Publication number
- CN109650047A CN109650047A CN201910064096.0A CN201910064096A CN109650047A CN 109650047 A CN109650047 A CN 109650047A CN 201910064096 A CN201910064096 A CN 201910064096A CN 109650047 A CN109650047 A CN 109650047A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- fixed plate
- needle
- connecting rod
- syringe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- JGSARLDLIJGVTE-UHFFFAOYSA-N 3,3-dimethyl-7-oxo-6-[(2-phenylacetyl)amino]-4-thia-1-azabicyclo[3.2.0]heptane-2-carboxylic acid Chemical compound O=C1N2C(C(O)=O)C(C)(C)SC2C1NC(=O)CC1=CC=CC=C1 JGSARLDLIJGVTE-UHFFFAOYSA-N 0.000 claims abstract description 55
- 239000012452 mother liquor Substances 0.000 claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 230000000717 retained effect Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 8
- 241001411320 Eriogonum inflatum Species 0.000 claims description 6
- 239000000835 fiber Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 19
- 239000012530 fluid Substances 0.000 description 6
- 239000007788 liquid Substances 0.000 description 4
- 239000003814 drug Substances 0.000 description 3
- 238000004090 dissolution Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000004500 asepsis Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000008155 medical solution Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
It makes up a prescription robot the invention discloses one kind, including fixed plate, the fixed plate side is fixed with electric cabinet, mother liquor bag clamping device, needle and rotating mechanism on syringe, rotating disc type cillin bottle conveying device and needle cap clamping device, the mother liquor bag clamping device is located at needle and rotating mechanism side on the syringe, needle cap clamping device is located at needle and rotating mechanism top on the syringe, needle and rotating mechanism are located at the rotating disc type cillin bottle one side of conveying device on the syringe, the electric cabinet and the mother liquor bag clamping device, needle and rotating mechanism on syringe, rotating disc type cillin bottle conveying device and the electrical connection of needle cap clamping device.The present invention can be realized automated dispensing work by the mutual cooperation of needle and rotating mechanism, rotating disc type cillin bottle conveying device, needle cap clamping device and cillin bottle measuring mechanism on mother liquor bag clamping device, syringe.
Description
Technical field
The present invention relates to dispensing equipment field, in particular to one kind is made up a prescription robot.
Background technique
Work of making up a prescription at present is main or is carried out manually by medical staff, and not only working efficiency is low and less pacifies for this mode
Full health, accordingly, it is desirable to provide a kind of robot that makes up a prescription for capableing of automated dispensing.
Summary of the invention
The technical problem to be solved in the present invention is to provide the robots that makes up a prescription that one kind is capable of automated dispensing.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is as follows:
One kind is made up a prescription robot, including fixed plate, the fixed plate side be fixed with electric cabinet, mother liquor bag clamping device,
Needle and rotating mechanism, rotating disc type cillin bottle conveying device and needle cap clamping device, the mother liquor bag clamping device are located on syringe
Needle and rotating mechanism side on the syringe, needle cap clamping device are located at needle and rotating mechanism top, institute on the syringe
It states needle and rotating mechanism on syringe and is located at the rotating disc type cillin bottle one side of conveying device, the electric cabinet and the mother liquor bag press from both sides
Hold mechanism, needle and rotating mechanism, rotating disc type cillin bottle conveying device and the electrical connection of needle cap clamping device on syringe.
Preferably, the rotating disc type cillin bottle conveying device other side is equipped with cillin bottle measuring mechanism, and the cillin bottle is surveyed
Measuring mechanism is electrically connected with the electric cabinet.
Preferably, the robot that makes up a prescription is placed in mobile security cabinet.
Preferably, the mother liquor bag clamping device includes Linear transmission rail sections；The Linear transmission rail sections
Including bottom plate, the first bearing seat and second bearing seat being connected on bottom plate, be connected to first bearing seat and second bearing seat it
Between line slide rail and ball screw, the sliding shoe being connected on line slide rail and ball screw, and being connected on bottom plate
Driving assembly for driving ball screw to rotate；The bottom plate is vertically mounted in the fixed plate；The mother liquor bag clamping
Mechanism further includes the retained part being arranged in Linear transmission rail sections；The retained part includes being connected on sliding shoe
Driving lever frame, the clamping jaw structure being connected on driving lever frame, the slideway being connected in second bearing seat, and being connected on driving lever frame
, it is being bonded by idle pulley with the inclined-plane on slideway and be able to drive clamping jaw structure movement deflector rod structure.
Preferably, needle and rotating mechanism include the first fixed plate on the syringe, and the second fixed plate is connected by first bearing
The lead screw between the first fixed plate and the second fixed plate, the motor being connected in the second fixed plate are connect, and is connected to motor
First pulley structure between lead screw；Needle and rotating mechanism further include the third being connected in the second fixed plate on the syringe
Fixed plate is connected to rotary sleeve in third fixed plate and for positioning syringe outer barrel, Yi Jilian by second bearing
It connects and is used to position cylinder piston bar and be able to drive the drawing that cylinder piston bar moves back and forth along rectilinear direction on lead screw
Board group part；First fixed plate is mounted in the fixed plate；The second band is also connected between the rotary sleeve and lead screw
Wheel construction；The placement space of syringe outer barrel and cylinder piston bar is formed between the rotary sleeve and pulling plate component.
Preferably, the rotating disc type cillin bottle conveying device includes support post, and the support post is mounted on described solid
On fixed board, disk rotational component is installed at the top of the support post, disk rotational component periphery is equipped with XiLin bottle clip
Bottle component, disk rotational component one end, which is equipped with, unloads bottle；
The disk rotational component include disk cam and be mounted on disk cam periphery for installing the west
The fixed disk of woods bottle clip bottle component, the disk cam are mounted on the driven synchronous pulley of power device, the power device
Including the second motor, on a mounting board, the power output end of second motor is equipped with actively same for the second motor installation
Belt wheel is walked, is arranged with belt in the active synchronization belt wheel, the belt other end is set on the driven synchronous pulley；
XiLin bottle clip bottle component includes several clamping devices, and the clamping device includes left clamping jaw and right clamping jaw, institute
It states left clamping jaw and right clamping jaw to be fixed in the 4th fixed plate by left clamping jaw connecting rod and right clamping jaw connecting rod respectively, the left folder
Pawl connecting rod and right clamping jaw connecting rod are U-shaped structure, the left clamping jaw connecting rod and right clamping jaw connecting rod one end respectively with left folder
Pawl is connected with one end of right clamping jaw, and the other end passes through rotation axis respectively and is rotatably connected in the 4th fixed plate, and the described 4th is fixed
Plate is mounted on the disk cam of the disk rotational component, is connected between the left clamping jaw connecting rod and right clamping jaw connecting rod
Connecting rod limit spring, the right clamping jaw connecting rod top, which is fixedly installed, unloads bottle stopper block, and the left clamping jaw connecting rod is fixed on
The side of 4th fixed plate bottom is equipped with rotation connection pin shaft, the right clamping jaw connecting rod with the rotation connection pin shaft opposite side
Bottom is equipped with U-type groove, and the rotation connection pin shaft is inserted into U-type groove, is equipped on the downside of the U-type groove of the right clamping jaw connecting rod bottom
The convex structure of convex structure, the convex structure and the linkage block for being located at the right clamping jaw connecting rod bottom is mutually stung
It closes, spring anchor block is equipped with below the linkage block, a linkage block limit spring is inserted into the limit hole of the spring anchor block
Interior, linkage block limit spring one end is fixed on the 4th fixed plate bottom by spring anchor block fixed pin shaft, described
The linkage block limit spring other end is fixed on the linkage block bottom, and the spring anchor block passes through linkage block fixed pin shaft and institute
Linkage block is stated to be connected；
The bottle that unloads includes the cylinder being mounted on the mounting plate, and the cylinder output shaft of the cylinder passes through rotation
Axis and oscillating rod are rotatablely connected, and cylinder output shaft side is fixed with connecting rod fixed mount, and the connecting rod fixed mount passes through rotation
Axis is connected with one end of auxiliary connecting rod, and the other end of the auxiliary connecting rod is rotatablely connected by rotation axis and oscillating rod, the pendulum
Lever bottom is equipped with and unloads a bottle block.
Preferably, needle cap clamping device includes clamping part；The clamping part includes support plate, is connected to branch
Pneumatic clamper on fagging, the knife rest being symmetrically connected in pneumatic clamper, and several blades being connected on knife rest；The support plate peace
On push-pull mechanism, the push-pull mechanism is vertically mounted on needle and rotating mechanism top on the syringe；The blade exists
After pneumatic clamper clamps, cross one another, and form the clamping space of needle cap.
Preferably, the cillin bottle measuring mechanism includes the single-chip microcontroller in the electric cabinet, and is arranged in Linear transmission
Measurement part in rail sections；The measurement portion point includes guide rail, and the structure of fiber_optic being connected on guide rail is connected to optical fiber
The drive rod of bracket one end, the light on the shell being connected on structure of fiber_optic, and the inner wall of connection C-shaped through slot on the shell
Fiber sensor, the guide rail are connected on bracket, and the shell is mounted on the rotating disc type cillin bottle by the bracket and conveys
The top of device.
By adopting the above technical scheme, due to passing through needle and rotating mechanism, rotating disc type XiLin on mother liquor bag clamping device, syringe
The mutual cooperation of bottle conveying device, needle cap clamping device and cillin bottle measuring mechanism can be realized automated dispensing work.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram that the present invention is placed in mobile security cabinet；
Fig. 3 is the structural schematic diagram of mother liquor bag clamping device of the invention；
Fig. 4 is the structural schematic diagram of the Linear transmission rail sections of mother liquor bag clamping device of the invention；
Fig. 5 is the structural schematic diagram of the retained part of mother liquor bag clamping device of the invention；
Fig. 6 is the structural schematic diagram of the retained part of mother liquor bag clamping device of the invention；
Fig. 7 is driving lever frame, slideway, idle pulley and deflector rod structure in the retained part of mother liquor bag clamping device of the invention
Main view；
Fig. 8 is driving lever frame, slideway, idle pulley and deflector rod structure in the retained part of mother liquor bag clamping device of the invention
Top view；
Fig. 9 is the main view that the wheel and rack of mother liquor bag clamping device of the invention engages；
Figure 10 is the structural schematic diagram under the bag-shaped state of mother liquor bag gripper mechanism grips mother liquor of the invention；
Figure 11 is the structural schematic diagram of needle and rotating mechanism on syringe of the invention；
Figure 12 is the structural schematic diagram of rotating disc type cillin bottle conveying device of the invention；
Figure 13 is the structural schematic diagram of XiLin bottle clip bottle component of rotating disc type cillin bottle conveying device of the invention；
Figure 14 is the power device of the disk rotational component of rotating disc type cillin bottle conveying device of the invention and unloads bottle
Structural schematic diagram；
Figure 15 is that the structure of the clamping device of XiLin bottle clip bottle component of rotating disc type cillin bottle conveying device of the invention is shown
It is intended to；
Figure 16 is the clamping device opening state of XiLin bottle clip bottle component of rotating disc type cillin bottle conveying device of the invention
Under structural schematic diagram；
Figure 17 is the structural schematic diagram for unloading bottle of rotating disc type cillin bottle conveying device of the invention；
Figure 18 is the structural schematic diagram of needle cap clamping device of the invention；
Figure 19 is needle cap clamping device real use state structural schematic diagram of the invention；
Figure 20 is the structural schematic diagram of the clamping part of needle cap clamping device of the invention；
Figure 21 is the next structural schematic diagram of the cutting blade clip of needle cap clamping device of the invention；
Figure 22 is the structural schematic diagram of cillin bottle measuring mechanism real use state of the invention；
Figure 23 is the structural schematic diagram of the measurement part of cillin bottle measuring mechanism of the invention.
In figure, 1- fixed plate, 2- electric cabinet, 3- mother liquor bag clamping device, needle and rotating mechanism on 4- syringe, 5- rotating disc type
Cillin bottle conveying device, 6- cillin bottle measuring mechanism, 7- needle cap clamping device, 8- mobile security cabinet, 301- bottom plate, 302- first
Bearing block, 303- second bearing seat, 304- line slide rail, 305- ball screw, 306- sliding shoe, 307- driving lever frame, 308- folder
Pawl structure, 308-4- clamping jaw, 308-7- gear, 308-8- rack gear, 309- slideway, 310- idle pulley, the inclined-plane 311-, 312- driving lever knot
Structure, 312-1 pin shaft, 312-2- driving lever, 312-3- spring, 312-4- mobile space, 313- mother liquor bag, the first fixed plate of 401-,
The second fixed plate of 402-, 403- lead screw, 404- first motor, 405- first pulley structure, 406- third fixed plate, 407- second
Bearing, 408- rotary sleeve, 408-1- groove, 408-2- through-hole, 409- pulling plate component, the second pulley structure of 410-, 411- are placed
Space, 412- first bearing, 4101- syringe outer barrel, 4102- cylinder piston bar, 4103- syringe needle, 501- support post, 502-
Disk rotational component, the XiLin 503- bottle clip bottle component, 505- unload bottle, 5201- disk cam, 5202- fixed disk, 5203-
Driven synchronous pulley, the second motor of 5204-, 5205- mounting plate, 5206- active synchronization belt wheel, 5207- belt, the left folder of 5301-
Pawl, the right clamping jaw of 5302-, the left clamping jaw connecting rod of 5303-, the right clamping jaw connecting rod of 5304-, the 4th fixed plate of 5305-, 5306- rotation
Axis, 5307- connecting rod limit spring, 5308- unload bottle stopper block, and 5309- is rotatablely connected pin shaft, 5310-U type groove, 5311- linkage
Block, 5312- linkage block limit spring, 5313- spring anchor block, 5314- spring anchor block fixed pin shaft, 5315- cillin bottle,
5316- linkage block fixed pin shaft, 5501- cylinder, 5502- auxiliary connecting rod, 5503- oscillating rod, 5504- unload a bottle block, 5505- connecting rod
Fixed frame, 608- bracket, 609- guide rail, 610- structure of fiber_optic, 611- drive rod, 612- spring, 613- shell, 614-C shape are logical
Slot, 615- fibre optical sensor, 708- support plate, 709- pneumatic clamper, 710- knife rest, 711- blade, 712- clamping space, 713- push-and-pull
Mechanism, 714- press from both sides needle cylinder.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
As illustrated in fig. 1 and 2, one kind is made up a prescription robot, including fixed plate 1,1 side of fixed plate be fixed with electric cabinet 2,
Needle and rotating mechanism 4, rotating disc type cillin bottle conveying device 5 and needle cap clamping device 7, described on mother liquor bag clamping device 3, syringe
Mother liquor bag clamping device 3 is located at 4 side of needle and rotating mechanism on the syringe, and needle cap clamping device 7 is located at the syringe
At the top of upper needle and rotating mechanism 4, needle and rotating mechanism 4 are located at 5 side of rotating disc type cillin bottle conveying device on the syringe,
Preferably, 5 other side of rotating disc type cillin bottle conveying device is equipped with cillin bottle measuring mechanism 6, the cillin bottle measuring mechanism 6
It is electrically connected with the electric cabinet 2, for measuring the size of different cillin bottles；Preferably, it is described make up a prescription robot use when place
The robot that makes up a prescription in mobile security cabinet 8, described in guarantee uses in the environment of safety asepsis；The electric cabinet 2 and the mother
Needle and rotating mechanism 4, rotating disc type cillin bottle conveying device 5 and needle cap clamping device 7 are electrically connected on liquid bag clamping device 3, syringe,
Cut-offfing for each section can be automatically controlled；
As shown in figs. 3-10, the mother liquor bag clamping device 3, including Linear transmission rail sections；The Linear transmission
Rail sections include bottom plate 301, and first bearing seat 302 and second bearing seat 303 at 301 both ends of bottom plate is bolted,
It is sliding to be connected to straight line for the line slide rail 304 and ball screw 305 being connected between first bearing seat 302 and second bearing seat 303
Sliding shoe 306 on rail 304 and ball screw 305, and be connected on bottom plate 301 and be used to that ball screw 305 to be driven to rotate
Driving assembly, the bottom plate 301 is vertically mounted in the fixed plate 1；The mother liquor bag clamping device 3 further includes that setting exists
Retained part in Linear transmission rail sections；The retained part includes the driving lever frame 307 being connected on sliding shoe 306,
The clamping jaw structure 308 being connected on driving lever frame 307, the slideway 309 being connected in second bearing seat 303, and it is connected to driving lever
Group that be being bonded by idle pulley 310 with the inclined-plane 311 on slideway 309 and being able to drive the movement of clamping jaw structure 308 on frame 307
Rod structure 312；In actual use, ball screw 305 is driven to rotate by the driving assembly in Linear transmission rail sections, it is sliding
Motion block 306 drives driving lever frame 307 mobile along 305 shift position of line slide rail 304 and ball screw, so that driving lever knot
Structure 312 acts, and in moving process, since the idle pulley 310 on deflector rod structure 312 is bonded with the inclined-plane 311 on slideway 309, makes
Driving lever 312-2 pushed, along pin shaft 312-1 in mobile space 312-4 shift position, at this time spring 312-3 elongate, make
Clamping jaw 308-4 movement is obtained, is engaged since clamping jaw 308-4 passes through rack gear 308-8 respectively with gear 308-7, two clamping jaw 308-4 energy
Enough movements have achieved the purpose that clamp (or release) mother liquor bag 313；
As shown in figure 11, needle and rotating mechanism 4 on the syringe, including the first fixed plate 401, the second fixed plate 402 are led to
The lead screw 403 that first bearing 412 is connected between the first fixed plate 401 and the second fixed plate 402 is crossed, the second fixed plate is connected to
First motor 404 on 402, and the first pulley structure 405 being connected between first motor 404 and lead screw 403；Further include
The third fixed plate 406 being connected in the second fixed plate 402, by second bearing 407 be connected to it is in third fixed plate 406 and
And the rotary sleeve 408 for positioning syringe outer barrel 4101, and be connected on lead screw 403 and be used to position cylinder piston bar
4102 and it is able to drive the pulling plate component 409 that cylinder piston bar 4102 moves back and forth along rectilinear direction；Described first is fixed
Plate 401 is mounted in the fixed plate 1；The second pulley structure 410 is also connected between the rotary sleeve 408 and lead screw 403；
The placement space of syringe outer barrel 4101 and cylinder piston bar 4102 is formed between the rotary sleeve 408 and pulling plate component 409
411；Second pulley structure 410 is identical with the structure of first pulley structure 405, all includes belt wheel, and be connected to band
Synchronous belt between wheel；In actual use, by manipulator in the prior art, by syringe outer barrel 4101 and cylinder piston
Bar 4102 is in placement space 411, and syringe outer barrel 4101 is bonded with the groove 408-1 on rotary sleeve 408, cylinder piston bar
4102 are stuck on pulling plate component 409；Again by manipulator in the prior art, by through-hole 408-2, on syringe outer barrel 4101
Load onto syringe needle 4103；Synchronous rotary is realized by first pulley structure 405 and the second pulley structure 410, so that syringe outer barrel
4101 while rotate together with rotary sleeve 408, and cylinder piston bar 4102 can move linearly position, and by lead screw 403
The sensor of setting controls the amount of extraction liquid medicine, and when reaching specified amount, sensor can control the stopping of first motor 404, can
Reliable realize takes out liquid medicine and puts liquid medicine, drives syringe simulation manpower movement to complete to make up a prescription, security reliability is good, operation side
Just；
As shown in figs. 18-21, needle cap clamping device 7 includes clamping part；The clamping part includes support plate
708, the pneumatic clamper 709 being connected in support plate 708, the knife rest 710 being symmetrically connected in pneumatic clamper 709, and it is connected to knife rest 710
On several blades 711；The support plate 708 is mounted on push-pull mechanism 713, and the push-pull mechanism 713 is vertically mounted on
4 top of needle and rotating mechanism on the syringe；The blade 711 crosses one another, and form needle after the clamping of pneumatic clamper 709
The clamping space 712 of cap, arranged in a crossed manner, the better reliability of clamping；In actual use, when needle and whirler on the syringe
After loading onto syringe needle 4103 on syringe outer barrel 4101 on structure 4, the push-pull mechanism 713 drives clamping part to move down, and presss from both sides needle gas
The movement of cylinder 714 drives pneumatic clamper 709 to clamp needle cap, and then the push-pull mechanism 713, which moves up, drives needle cap to be removed；
As shown in Figure 12-17, the rotating disc type cillin bottle conveying device 5 includes support post 501, the support post
501 are mounted in the fixed plate 1, and disk rotational component 502, the disk rotational are equipped at the top of the support post 501
502 periphery of component is equipped with XiLin bottle clip bottle component 503, and described 502 one end of disk rotational component, which is equipped with, unloads bottle 505,
When the clamping cillin bottle 5315 of XiLin bottle clip bottle component 503, which is moved to, unloads bottle 505, bottle 505 is unloaded by XiLin bottle clip bottle
Bottle discharge on component 503；
Continue as shown in Figure 12-17, the disk rotational component 502 includes disk cam 5201 and is mounted on the disk
The fixed disk 5202 for being used to install XiLin bottle clip bottle component 503 of 5201 periphery of cam, the disk cam 5201 are installed
On the driven synchronous pulley 5203 of power device, the power device includes the second motor 5204, second motor 5204
It is mounted on mounting plate 5205, the mounting hole of installation support post 501, second motor is additionally provided on the mounting plate 5205
5204 power output end is equipped with active synchronization belt wheel 5206, is arranged with belt 5207 in the active synchronization belt wheel 5206,
5207 other end of belt is set on the driven synchronous pulley 5203, and active synchronization belt wheel 5206 passes through 5207 band of belt
It moves driven synchronous pulley 5203 to rotate, so that the disk cam 5201 on driven synchronous pulley 5203 be driven to rotate, and then drive
XiLin bottle clip bottle component 503 on disk cam 5201 sequentially rotates；
Continue as shown in Figure 12-17, XiLin bottle clip bottle component 503 includes several clamping devices, the clamping device
Including left clamping jaw 5301 and right clamping jaw 5302, the left clamping jaw 5301 and right clamping jaw 5302 pass through left clamping jaw connecting rod 5303 respectively
It is fixed in the 4th fixed plate 5305 with right clamping jaw connecting rod 5304, the left clamping jaw connecting rod 5303 and right clamping jaw connecting rod
5304 be U-shaped structure, convenient for left clamping jaw connecting rod 5303 and right clamping jaw connecting rod 5304 are set in the disk rotational component
In 502 fixed disk 5202, the left clamping jaw connecting rod 5303 and right 5304 one end of clamping jaw connecting rod respectively with left clamping jaw 5301
It is connected with one end of right clamping jaw 5302, the other end passes through rotation axis 5306 respectively and is rotatably connected in the 4th fixed plate 5305, institute
It states the 4th fixed plate 5305 to be mounted on the disk cam 5201 of the disk rotational component 502, the 4th fixed plate 5305
It can be selected between disk cam 5201 but be not limited to screw and fixed, the left clamping jaw connecting rod 5303 and right clamping jaw connecting rod
Connecting rod limit spring 5307 is connected between 5304, the connecting rod limit spring 5307 can guarantee left clamping jaw 5301 and the right side
In the case that clamping jaw 5302 opens, left clamping jaw connecting rod 5303 and right clamping jaw connecting rod 5304 is pulled to drive by the elastic force of spring
5302 self-return of left clamping jaw 5301 and right clamping jaw is fixedly installed at the top of the right clamping jaw connecting rod 5304 and unloads bottle stopper block
5308, under the pulling of external force, unloading bottle stopper block 5308 can pull right clamping jaw 5302 to open by right clamping jaw connecting rod 5304, left
The side that clamping jaw connecting rod 5303 is fixed on 5305 bottom of the 4th fixed plate is equipped with rotation connection pin shaft 5309, connects with the rotation
Right 5304 bottom of clamping jaw connecting rod of 5309 opposite side of outbound axis is equipped with U-type groove 5310, and the rotation connection pin shaft 5309 is inserted
Enter in U-type groove 5310, can slidably reciprocate in U-type groove 5310, passes through setting rotation connection pin shaft 5309 and U-type groove 5310
Slidably reciprocate structure, can guarantee the synchronous rotation of left clamping jaw connecting rod 5303 and right clamping jaw connecting rod 5304, the right clamping jaw
Convex structure is equipped on the downside of the U-type groove 5310 of 5304 bottom of connecting rod, the convex structure connects with the right clamping jaw is located at
The convex structure of the linkage block 5311 of 5304 bottom of extension bar is mutually engaged, and spring anchor block is equipped with below the linkage block 5311
5313, a linkage block limit spring 5312 is inserted into the limit hole of the spring anchor block 5313, and the linkage block limits bullet
5312 one end of spring is fixed on 5305 bottom of the 4th fixed plate, the linkage block limit by spring anchor block fixed pin shaft 5314
Position 5312 other end of spring is fixed on 5311 bottom of linkage block, and the spring anchor block 5313 passes through linkage block fixed pin shaft
5316 are connected with the linkage block 5311；
Continue as shown in Figure 12-17, the bottle 505 that unloads includes the cylinder being mounted on the mounting plate 5205
5501, the cylinder output shaft of the cylinder 5501 is rotatablely connected by rotation axis and oscillating rod 5503, the cylinder output shaft one
Side is fixed with connecting rod fixed mount 5505, and the connecting rod fixed mount 5505 is connected by rotation axis with one end of auxiliary connecting rod 5502,
The other end of the auxiliary connecting rod 5502 is rotatablely connected by rotation axis and oscillating rod 5503, and 5503 bottom of oscillating rod is equipped with
Bottle block 5504 is unloaded, with the up and down motion of cylinder 5501, drives the oscillating rod 5503 connected by auxiliary connecting rod 5502 to swing, in turn
Drive unloads bottle block 5504 and opens the bottle stopper block 5308 that unloads on the clamping device, to unload cillin bottle；
As depicted in figures 22 and 23, the cillin bottle measuring mechanism 6 includes the single-chip microcontroller in the electric cabinet 2, and setting
Measurement part in Linear transmission rail sections；The measurement portion point includes guide rail 609, the light being connected on guide rail 609
Fine bracket 610 is connected to the drive rod 611 of 610 one end of structure of fiber_optic, the shell 613 being connected on structure of fiber_optic 610, and
The fibre optical sensor 615 being connected on the inner wall of the C-shaped through slot 614 on shell 613, guide rail 609 are connected on bracket 608, institute
The top that shell 613 is mounted on the rotating disc type cillin bottle conveying device 5 by the bracket 608 is stated, convenient for cillin bottle
5315 measure；In actual use, cillin bottle measuring mechanism can measure twice cillin bottle 5315, including XiLin
The measurement of bottle height degree and cillin bottle diameter, and by shell 613 it can be seen that the variation of optical fiber inductive signal.
In the use of the present invention, the retained part of mother liquor bag clamping device 3 moves up and down on line slide rail 304, low
Mother liquor bag 313 is manually placed when position, needle and rotating mechanism 4 on the syringe is risen to when a high position and drives through needle cap clamping
The syringe that needle cap is removed by mechanism 7 is rotated to the side of the mother liquor bag clamping device 3, extraction medical fluid is carried out, after having extracted medical fluid
Needle and rotating mechanism 4, which drive, on the syringe has extracted the syringe of medical fluid to the side of the rotating disc type cillin bottle conveying device 5
It rotates, the medical fluid extracted in syringe, the turntable is squeezed into the cillin bottle 5315 in Xiang Suoshu rotating disc type cillin bottle conveying device 5
Disk rotational component 502 in formula cillin bottle conveying device 5 drives cillin bottle 5315 to rotate back and forth by medical fluid mixed dissolution, to molten
The medical fluid that needle and rotating mechanism 4 extract mixed dissolution in cillin bottle 5315 on the syringe after solution is extracted to syringe, the syringe
Upper needle and rotating mechanism 4 are rotated to 3 side of mother liquor bag clamping device again, and the admixing medical solutions in syringe are squeezed into mother liquor bag
In 313, work of making up a prescription is completed.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (8)
- The robot 1. one kind is made up a prescription, it is characterised in that: including fixed plate (1), fixed plate (1) side is fixed with electric cabinet (2), mother liquor bag clamping device (3), needle and rotating mechanism (4), rotating disc type cillin bottle conveying device (5) and needle cap clamping on syringe Mechanism (7), the mother liquor bag clamping device (3) are located at needle and rotating mechanism (4) side, needle cap clamping machine on the syringe Structure (7) is located at needle and rotating mechanism (4) top on the syringe, and needle and rotating mechanism (4) are located at the turntable on the syringe Needle and whirler on formula cillin bottle conveying device (5) side, the electric cabinet (2) and the mother liquor bag clamping device (3), syringe Structure (4), rotating disc type cillin bottle conveying device (5) and needle cap clamping device (7) electrical connection.
- 2. the robot according to claim 1 that makes up a prescription, it is characterised in that: the rotating disc type cillin bottle conveying device (5) is another Side is equipped with cillin bottle measuring mechanism (6), and the cillin bottle measuring mechanism (6) is electrically connected with the electric cabinet (2).
- 3. the robot according to claim 1 that makes up a prescription, it is characterised in that: the robot that makes up a prescription is placed on mobile security cabinet (8) in.
- 4. the robot according to claim 1 that makes up a prescription, it is characterised in that: the mother liquor bag clamping device (3) includes straight line Drive rail part；The Linear transmission rail sections include bottom plate (301), the first bearing being connected on bottom plate (301) Seat (302) and second bearing seat (303), the line slide rail being connected between first bearing seat (302) and second bearing seat (303) (304) and ball screw (305), the sliding shoe (306) being connected on line slide rail (304) and ball screw (305), Yi Jilian Connect the driving assembly for driving ball screw (305) to rotate on bottom plate (301)；The bottom plate (301) is vertically mounted on On the fixed plate (1)；The mother liquor bag clamping device (3) further includes the clamping part being arranged in Linear transmission rail sections Point；The retained part includes the driving lever frame (307) being connected on sliding shoe (306), the folder being connected on driving lever frame (307) Pawl structure (308), the slideway (309) being connected on second bearing seat (303), and be connected to it is on driving lever frame (307), pass through Driving lever knot that is that idle pulley (310) is bonded with the inclined-plane (311) on slideway (309) and being able to drive clamping jaw structure (308) movement Structure (312).
- 5. the robot according to claim 1 that makes up a prescription, it is characterised in that: needle and rotating mechanism (4) include on the syringe First fixed plate (401), the second fixed plate (402) are connected to the first fixed plate (401) and second by first bearing (412) Lead screw (403) between fixed plate (402), the motor (404) being connected on the second fixed plate (402), and it is connected to motor (404) the first pulley structure (405) between lead screw (403)；Needle and rotating mechanism (4) further include being connected on the syringe Third fixed plate (406) in second fixed plate (402), is connected on third fixed plate (406) by second bearing (407) And the rotary sleeve (408) for positioning syringe outer barrel (4101), and be connected on lead screw (403) and be used to position syringe Piston rod (4102) and it is able to drive the pulling plate component (409) that cylinder piston bar (4102) moves back and forth along rectilinear direction； First fixed plate (401) is mounted on the fixed plate (1)；Also connect between the rotary sleeve (408) and lead screw (403) It is connected to the second pulley structure (410)；Syringe outer barrel is formed between the rotary sleeve (408) and pulling plate component (409) (4101) and the placement space (411) of cylinder piston bar (4102).
- 6. the robot according to claim 1 that makes up a prescription, it is characterised in that: rotating disc type cillin bottle conveying device (5) packet It includes support post (501), the support post (501) is mounted on the fixed plate (1), at the top of the support post (501) It is equipped with disk rotational component (502), disk rotational component (502) periphery is equipped with XiLin bottle clip bottle component (503), institute It states disk rotational component (502) one end and is equipped with and unload bottle (505)；The disk rotational component (502) includes disk cam (5201) and the use for being mounted on the disk cam (5201) periphery In the fixed disk (5202) for installing XiLin bottle clip bottle component (503), the disk cam (5201) is mounted on power device Driven synchronous pulley (5203) on, the power device includes the second motor (5204), second motor (5204) installation On mounting plate (5205), the power output end of second motor (5204) is equipped with active synchronization belt wheel (5206), described It is arranged in active synchronization belt wheel (5206) belt (5207), belt (5207) other end is set in the driven synchronous belt It takes turns on (5203)；XiLin bottle clip bottle component (503) includes several clamping devices, and the clamping device includes left clamping jaw (5301) and the right side Clamping jaw (5302), the left clamping jaw (5301) and right clamping jaw (5302) are connected by left clamping jaw connecting rod (5303) and right clamping jaw respectively Extension bar (5304) is fixed in the 4th fixed plate (5305), the left clamping jaw connecting rod (5303) and right clamping jaw connecting rod (5304) For U-shaped structure, the left clamping jaw connecting rod (5303) and right clamping jaw connecting rod (5304) one end respectively with left clamping jaw (5301) and One end of right clamping jaw (5302) is connected, and the other end passes through rotation axis (5306) respectively and is rotatably connected on the 4th fixed plate (5305) On, the 4th fixed plate (5305) is mounted on the disk cam (5201) of the disk rotational component (502), the left folder It is connected between pawl connecting rod (5303) and right clamping jaw connecting rod (5304) connecting rod limit spring (5307), the right clamping jaw connects It is fixedly installed and unloads bottle stopper block (5308) at the top of extension bar (5304), the left clamping jaw connecting rod (5303) is fixed on the 4th fixed plate (5305) side of bottom is equipped with rotation connection pin shaft (5309), the right folder with described rotation connection pin shaft (5309) opposite side Pawl connecting rod (5304) bottom is equipped with U-type groove (5310), in rotation connection pin shaft (5309) insertion U-type groove (5310), institute State and be equipped with convex structure on the downside of the U-type groove (5310) of right clamping jaw connecting rod (5304) bottom, the convex structure be located at The convex structure of the linkage block (5311) of right clamping jaw connecting rod (5304) bottom is mutually engaged, under the linkage block (5311) Side is equipped with spring anchor block (5313), and a linkage block limit spring (5312) is inserted into the limit of the spring anchor block (5313) In hole, described linkage block limit spring (5312) one end is fixed on the described 4th by spring anchor block fixed pin shaft (5314) and consolidates Fixed board (5305) bottom, linkage block limit spring (5312) other end is fixed on the linkage block (5311) bottom, described Spring anchor block (5313) is connected by linkage block fixed pin shaft (5316) with the linkage block (5311)；Described unload bottle (505) include the cylinder (5501) being mounted on the mounting plate (5205), the cylinder (5501) Cylinder output shaft be rotatablely connected by rotation axis and oscillating rod (5503), cylinder output shaft side is fixed with connecting rod and fixes Frame (5505), the connecting rod fixed mount (5505) are connected by rotation axis with one end of auxiliary connecting rod (5502), and the auxiliary connects The other end of bar (5502) is rotatablely connected by rotation axis and oscillating rod (5503), and oscillating rod (5503) bottom is equipped with and unloads bottle Block (5504).
- 7. the robot according to claim 1 that makes up a prescription, it is characterised in that: needle cap clamping device (7) includes clamping section Point；The clamping part includes support plate (708), and the pneumatic clamper (709) being connected on support plate (708) is symmetrically connected to gas Knife rest (710) on pawl (709), and several blades (711) being connected on knife rest (710)；Support plate (708) peace On push-pull mechanism (713), the push-pull mechanism (713) is vertically mounted on needle and rotating mechanism (4) top on the syringe； After the blade (711) is clamped in pneumatic clamper (709), cross one another, and form the clamping space (712) of needle cap.
- 8. the robot according to claim 2 that makes up a prescription, it is characterised in that: the cillin bottle measuring mechanism (6) includes described Single-chip microcontroller in electric cabinet (2), and the measurement part being arranged in Linear transmission rail sections；The measurement portion is divided Guide rail (609), the structure of fiber_optic (610) being connected on guide rail (609), is connected to the drive rod of structure of fiber_optic (610) one end (611), the shell (613) being connected on structure of fiber_optic (610), and the C-shaped through slot (614) that is connected on shell (613) Fibre optical sensor (615) on inner wall, the guide rail (609) are connected on bracket (608), and the shell (613) passes through described Bracket (608) is mounted on the top of the rotating disc type cillin bottle conveying device (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910064096.0A CN109650047A (en) | 2019-01-23 | 2019-01-23 | One kind is made up a prescription robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910064096.0A CN109650047A (en) | 2019-01-23 | 2019-01-23 | One kind is made up a prescription robot |
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| Publication Number | Publication Date |
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| CN109650047A true CN109650047A (en) | 2019-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910064096.0A Pending CN109650047A (en) | 2019-01-23 | 2019-01-23 | One kind is made up a prescription robot |
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| CN (1) | CN109650047A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110613613A (en) * | 2019-09-16 | 2019-12-27 | 无锡安之卓医疗机器人有限公司 | Turntable for dispensing robot |
| CN110638646A (en) * | 2019-09-16 | 2020-01-03 | 无锡安之卓医疗机器人有限公司 | Powder dispensing robot and mixing method thereof |
| CN110680653A (en) * | 2019-10-30 | 2020-01-14 | 威海福瑞机器人有限公司 | Desktop dispensing robot and dispensing method thereof |
| CN112009953A (en) * | 2020-08-28 | 2020-12-01 | 哈尔滨工业大学（深圳） | Disc type medicine taking device for penicillin bottle and automatic medicine dispensing robot |
| CN113879831A (en) * | 2021-09-30 | 2022-01-04 | 成都彼维仕科技有限公司 | A centre gripping conveyor for xiLin bottle |
| CN114890041A (en) * | 2022-04-26 | 2022-08-12 | 深圳市博为医疗机器人有限公司 | Automatic medicine dispensing machine for penicillin bottles |
| CN115108063A (en) * | 2022-04-15 | 2022-09-27 | 广西盈赛数字科技有限公司 | Device for automatically subpackaging nuclide by using mechanical arm and subpackaging method thereof |
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2019
- 2019-01-23 CN CN201910064096.0A patent/CN109650047A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110613613A (en) * | 2019-09-16 | 2019-12-27 | 无锡安之卓医疗机器人有限公司 | Turntable for dispensing robot |
| CN110638646A (en) * | 2019-09-16 | 2020-01-03 | 无锡安之卓医疗机器人有限公司 | Powder dispensing robot and mixing method thereof |
| CN110680653A (en) * | 2019-10-30 | 2020-01-14 | 威海福瑞机器人有限公司 | Desktop dispensing robot and dispensing method thereof |
| CN112009953A (en) * | 2020-08-28 | 2020-12-01 | 哈尔滨工业大学（深圳） | Disc type medicine taking device for penicillin bottle and automatic medicine dispensing robot |
| CN112009953B (en) * | 2020-08-28 | 2022-04-01 | 哈尔滨工业大学（深圳） | Disc type medicine taking device for penicillin bottle and automatic medicine dispensing robot |
| CN113879831A (en) * | 2021-09-30 | 2022-01-04 | 成都彼维仕科技有限公司 | A centre gripping conveyor for xiLin bottle |
| CN115108063A (en) * | 2022-04-15 | 2022-09-27 | 广西盈赛数字科技有限公司 | Device for automatically subpackaging nuclide by using mechanical arm and subpackaging method thereof |
| CN114890041A (en) * | 2022-04-26 | 2022-08-12 | 深圳市博为医疗机器人有限公司 | Automatic medicine dispensing machine for penicillin bottles |
| CN114890041B (en) * | 2022-04-26 | 2024-02-06 | 深圳市博为医疗机器人有限公司 | Automatic medicine dispensing machine for penicillin bottles |
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