Blood collection device of mechanical arm and blood collection method of blood collection device

Abstract

The invention belongs to the field of medical treatment and mechanical control, and particularly relates to a blood collection device of a mechanical arm. The blood collection device comprises a mechanical arm assembly, a blood collection assembly, a visual identification positioning module and a finger extrusion positioning assembly; the mechanical arm assembly is fixedly connected with the blood collection assembly; the finger extrusion positioning assembly is fixed below the blood collection assembly; and the visual identification positioning module is arranged on the side face of the finger extrusion positioning assembly. According to the designed blood collection motion control device of the mechanical arm, a blood collecting person and a blood-collected person are not in contact through the device, the blood collection efficiency is greatly improved, and the medical cost is saved.

Description

technical field [0001] The invention belongs to the field of medical treatment and mechanical control, and in particular relates to a blood collection device of a mechanical arm and a blood collection method thereof. Background technique [0002] With the development of science and technology in our country, the application of manipulators in the product manufacturing industry is becoming more and more extensive. The design process of manipulators involves technologies such as machinery, control, manufacturing and vision. Because the control system of manipulators has high-level and low-level There are multiple degrees of freedom, so the automatic control of the manipulator is an important and difficult problem. In actual production, the use of small robotic arms to carry out regular rotation, curve motion, and point coordinate movement on the workpiece or product is an important part of the work of small robotic arms, and it has also been widely used in industrial productio...

AI Technical Summary

Problems solved by technology

Velocity planning is carried out in the joint space. General joint velocity planning includes trapezoidal planning, S-type planning and polynomial planning, but trapezoidal planning and S-type planning have acceleration mutations, and S-type planning is more segmented and complex to calculate, so polynomial planning is not performed. Segmentation but calculation is more complex

The existing technology to control the motion of the manipulator to realize the path algorithm is very complicated, the precision is not high, and it cannot be used for automatic blood collection. The servo control force required for the target trajectory realizes precise control of the robotic arm, and the central processing computer controls the movement of the robotic arm to achieve blood collection

Images