Intelligent infusion robot

Abstract

The invention discloses an intelligent infusion robot, which belongs to the related technical field of infusion robots, and comprises an infusion bottle and bag storage turntable, a station for placing an infusion bottle / bag balancer is arranged in the infusion bottle and bag storage turntable, and infusion bottles and bags are placed in the infusion bottle / bag balancer; a puncture manipulator is arranged below the infusion bottle and bag storage turntable, a notch for placing a puncture outfit is formed in the puncture manipulator, a puncture needle protective cap detection device and a disinfection device are arranged on the puncture outfit and at the side end of the puncture outfit respectively, the puncture outfit is arranged in the puncture manipulator, and the puncture manipulator is arranged to be a detachable mechanism; a puncture outfit tail end infusion tube air column detector is arranged at the lower end of the puncture manipulator, and a drip cup liquid level detection and liquid level compensator and an infusion tube locking mechanism are arranged at a drip cup of the puncture outfit. According to the intelligent infusion robot, the efficiency and accuracy of the infusion process are remarkably improved, and an efficient, safe and reliable infusion solution is provided.

Description

Technical Field

[0001] The present invention belongs to the technical field related to infusion robots, and specifically relates to an intelligent infusion robot. Background Art

[0002] There is a large shortage of nurses worldwide, especially in wards, where a large amount of nurses' working time is taken up by repetitive tasks such as hanging saline solution.

[0003] Traditional infusion methods have many inconveniences, such as difficulty in independent action, need for accompanying personnel to assist in nursing, easy to cause blood return, inability to stop the infusion automatically, etc. Intelligent infusion robots are equipped with intelligent modules with different functions, such as intelligent tracking modules, automatic warning modules, display and speed control modules, and warm reinforcement modules, which comprehensively improve the safety, accuracy, efficiency and pleasantness of infusion. With the continuous development of medical technology, the functions of infusion robots are becoming more and more perfect. It can not only complete the infusion work, but also realize automatic dispensing and automatic injection, which can greatly alleviate the shortage of clinical nurses and reduce the ratio of nurses to personnel.

[0004] Existing infusion robots mainly focus on the technical points of infusion volume and automatic infusion alarm, such as using infrared recognition, metering devices or other methods to detect that the infusion is about to end and issue an alarm to remind medical staff to replace the infusion bag. This function is only reflected in the infusion alarm reminder, and there is not much intelligent assistance for the substantive work of infusion. However, there is no corresponding improvement in the stable placement of the infusion bottle bag, the detection of the puncture needle protective cap, the detection of the liquid level compensation, the detection of the infusion bottle, etc., which affects the efficiency and accuracy of the infusion process. Therefore, it is necessary to develop an intelligent infusion robot to solve the above technical problems. Summary of the invention

[0005] In view of the above problems, the present invention provides an intelligent infusion robot for solving the technical problems raised in the background technology.

[0006] To achieve the above object, the technical solution adopted by the present invention is: An intelligent infusion robot comprises a turntable for storing infusion bottles and bags, a workstation for placing an infusion balancer is arranged in the turntable for storing infusion bottles and bags, and the infusion balancer is arranged in the turntable for storing infusion bottles and bags; a puncture manipulator is arranged under the turntable for storing infusion bottles and bags, a slot for placing a puncturer is arranged on the puncture manipulator, a puncture needle protection cap detection device and a disinfection device are arranged on the top and side of the puncturer respectively, the puncturer is arranged in the puncture manipulator, and the puncture manipulator is arranged as a detachable mechanism; an air column detector for an infusion tube at the tail end of the puncturer is arranged at the lower end of the puncture manipulator, a drip pot liquid level detection and a liquid level compensator and an infusion tube locking mechanism are arranged at the drip pot of the puncturer; an infusion bottle detection device is arranged in the turntable for storing infusion bottles and bags.

[0007] As a further improvement of the above scheme, the infusion balancer includes a guiding device arranged on the infusion bottle bag storage turntable, the infusion balancer includes an infusion bag balancer and an infusion bottle balancer, and the matching position of the infusion bottle bag storage turntable, the infusion bag balancer and the infusion bottle balancer is a slope structure; the internal structure of the infusion bag balancer and the infusion bottle balancer matches the shape of the infusion bag and the infusion bottle; the lower end and side end of the infusion bottle bag storage turntable are respectively provided with an infusion container detection unit and an infusion container balancer detection unit.

[0008] As a further improvement of the above scheme, the infusion bag balancer includes a first frame, which is provided with a first through groove matching the shape of the infusion bag, and first guide sleeves are oppositely arranged on both sides of the lower end of the first frame through a first connecting rod, the first guide sleeve is applicable to the guide device, and the lower end of the first guide sleeve is provided with a first limiting groove applicable to the bottle mouth of the infusion bag; the first guide sleeve is applicable to the guide device, and the guide device is provided with a chamfer for quick cooperation with the first guide sleeve.

[0009] As a further improvement of the above scheme, the infusion bottle balancer includes a second frame, which is provided with a second through groove matching the shape of the infusion bottle, and second guide sleeves are oppositely arranged on both sides of the lower end of the second frame through a second connecting rod, the second guide sleeves are applicable to the guide device, and the lower end of the opposing second guide sleeve is provided with a second limiting groove applicable to the bottle mouth of the infusion bottle; the second guide sleeve is applicable to the guide device, and the guide device is provided with a chamfer for quick cooperation with the second guide sleeve.

[0010] As a further improvement of the above scheme, the puncture needle protective cap detection device includes a detection module for determining the state of the protective cap on the puncture device; the detection module includes an image recognition detection mechanism, a light wave or sound wave direct reception detection mechanism and a light wave or sound wave reflection reception detection mechanism; A control unit is also provided, which is connected to the detection module and is used to prevent the infusion robot from inserting the puncture device into the infusion container when it is detected that the protective cap on the puncture device has not been removed.

[0011] As a further improvement of the above scheme, the disinfection device includes a delivery pipe arranged at the lower end of the infusion robot body, the delivery pipe is provided with an opening, a puncture manipulator filling puncture device portion is provided in the opening, a side end nozzle is provided at the opening of the delivery pipe, and a plurality of top nozzles are provided at the upper end of the delivery pipe; a bottom end of the delivery pipe is connected to a plasma generator; a plasma generating chamber is provided on the outside of the plasma generator; and the lower end of the plasma generator is connected to a plasma driving air pump.

[0012] As a further improvement of the above scheme, the liquid level compensator puncture pipeline liquid compensator is divided into four compensation methods: linear extrusion compensation and crankshaft extrusion method, puncture motor rotation force extrusion method, and puncture motor bidirectional transmission liquid level compensation method.

[0013] As a further improvement of the above scheme, the detachable puncture manipulator includes a first transmission part, a second transmission part and a puncture parallel grasping and pressing part, the first transmission part is provided with a first disassembly docking device for docking with a second disassembly docking device on the second transmission part, and the second transmission part is provided with a pressing docking track for docking with a pressing docking groove on the puncture parallel grasping and pressing part; As a further improvement of the above solution, the lower end and the side end of the detachable puncture manipulator are respectively provided with an automatic unlocking device, an automatic locking position correction device and an automatic locking device.

[0014] As a further improvement of the above scheme, a lifting device is provided at the lower end of the infusion bottle bag storage turntable, and the lifting device includes a transmission screw arranged at the lower end of the infusion bottle bag storage turntable and connected through a transmission rod and a transmission block, the transmission rod, the transmission block and the transmission screw are arranged in a transmission track, and the transmission screw is connected to the driving mechanism; a threshold device is provided at the bottom end of the lifting device through a docking frame.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides an intelligent infusion robot, which significantly improves the efficiency and accuracy of the infusion process. The combination of the storage turntable and the balancer not only optimizes the management of the infusion bottle bag, but also ensures the stability of the infusion process. The combined use of the puncture needle protective cap detection device and the disinfection device enhances the safety of the operation and reduces the risk of infection. The detachable puncture manipulator simplifies the maintenance and replacement process of the equipment, and the setting of the drip pot liquid level detection and compensator, the infusion tube locking mechanism and the air column detector further improves the accuracy of the infusion and the safety of the patient. In addition, the addition of the infusion bottle detection device strengthens the monitoring of the infusion status, reduces human errors, improves the patient's comfort, and facilitates the supervision and recording of the infusion process, thereby improving the quality and level of medical services. This technical solution provides hospitals with an efficient, safe and reliable infusion solution through automation and intelligent improvements.

[0016] The infusion balancer in the present invention includes an infusion bag balancer and an infusion bottle balancer, the internal structure of which matches the shape of the infusion container, and can adapt to infusion containers of different sizes, capacities and shapes, including infusion bottles, infusion bags and glass bottles made of plastic materials, solving the transportation problem caused by the infusion containers produced by different manufacturers being not uniform. Through the guide device matched with the infusion balancer, and the design of the infusion bag balancer and the infusion bottle balancer, the infusion container can move smoothly during the transportation process, avoiding the jamming phenomenon, and improving the smoothness and stability of the transportation. The detection units at both ends of the mounting frame can monitor the status of the infusion container and the balancer in real time, enhancing the safety and accuracy of the infusion.

[0017] The provision of the puncture needle protective cap detection device in the present invention improves safety. By detecting whether the puncture device protective cap is removed, the puncture device is prevented from being inserted into the infusion bottle in a contaminated state, thereby reducing the risk of contamination of the infusion liquid and improving the safety of the infusion process.

[0018] The disinfection device in the present invention can achieve seamless integration and automated operation with the infusion robot system while ensuring the disinfection effect; the design of the side nozzle and the top nozzle can achieve all-round disinfection of the puncture site, ensuring that the puncture can be effectively disinfected before and after puncturing the infusion container, thereby improving the thoroughness and uniformity of disinfection. Directly connecting the bottom end of the delivery pipeline with the plasma generator can ensure that the plasma is directly delivered to the puncture site, achieving efficient disinfection of the puncture, while reducing the loss of plasma during the transmission process. Setting up a plasma generation chamber can control the generation and transmission of plasma, ensuring the stability and disinfection effect of plasma.

[0019] The liquid compensator in the liquid medicine channel of the puncture device of the present invention can ensure that the puncture device is always filled with liquid medicine during the infusion process, avoid air from entering, reduce safety hazards such as infusion overcurrent, and improve the safety and reliability of infusion. The air column detector arranged at the tail end of the puncture device can monitor the air column in the infusion tube at the tail end of the puncture device in real time, timely detect and compensate the liquid medicine, prevent bubbles from entering the patient's body, and ensure the safety of infusion. The liquid level change in the drip pot is monitored by the liquid level detector, and the liquid medicine compensator automatically compensates the liquid medicine according to the detection results, ensuring that the liquid level of the drip pot remains at a safe and effective position, thereby improving the stability of the infusion process. The infusion tube locking mechanism ensures the stability of the infusion tube during the compensation process, prevents leakage of the liquid medicine, and improves the safety of the infusion process.

[0020] The present invention can quickly adapt to infusion sets of different specifications by designing a detachable puncture manipulator, thereby improving the versatility and adaptability of the infusion robot and facilitating switching between infusion sets of different brands and models.

[0021] The present invention ensures the movement synchronization between the infusion bottle / bag storage turntable and the puncture manipulator by synchronously running the automatic unlocking device, the automatic locking position correction device and the automatic locking device, thereby improving the accuracy and reliability of the infusion process. The displacement correction device of the present invention can automatically adjust the position of the infusion bottle / bag storage turntable to ensure the correct alignment and puncture of the infusion bottle, thereby improving the accuracy of the infusion process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the present invention.

[0023] Figure 2 It is a three-dimensional schematic diagram of the infusion balancer in the present invention.

[0024] Figure 3 It is a three-dimensional exploded view of the infusion balancer in the present invention.

[0025] Figure 4 It is a three-dimensional schematic diagram of the infusion bag balancer in the present invention.

[0026] Figure 5 It is a three-dimensional schematic diagram of the infusion bottle balancer in the present invention.

[0027] Figure 6 This is a schematic diagram of the camera detection principle in the present invention.

[0028] Figure 7 This is a schematic diagram of the principle of direct light or sound waves in the present invention.

[0029] Figure 8 This is a schematic diagram of the light wave or sound wave reflection principle in the present invention.

[0030] Fig. 9 It is a schematic diagram of the disinfection device in the present invention.

[0031] Fig.10 It is a schematic diagram of the puncture device pipeline liquid compensator in the present invention in a linear extrusion compensation mode and a crankshaft extrusion mode.

[0032] Fig.11 It is a schematic diagram of the puncture device pipeline liquid compensator in the present invention being squeezed by the rotational force of the puncture motor.

[0033] Fig.12 It is a schematic diagram of the liquid compensator in the puncture device pipeline of the present invention for bidirectional transmission liquid level compensation of the puncture motor.

[0034] Fig.13 This is an exploded view of the puncture robot after the components are disassembled in the present invention.

[0035] Fig.14 This is a schematic diagram of the cooperation between the puncture robot and the turntable in the present invention.

[0036] Fig.15 This is a schematic diagram of the puncture robot and the turntable not being matched in the present invention.

[0037] Fig.16 It is a schematic diagram of the lifting device in the present invention.

[0038] In the figure: 1. infusion balancer; 12. infusion container balancer detection unit; 13. infusion bag balancer; 131. first frame; 132. first through slot; 133. first connecting rod; 134. first guide sleeve; 135. first limiting slot; 14. infusion bottle balancer; 141. second frame; 142. second through slot; 143. second connecting rod; 144. second guide sleeve; 145. second limiting slot; 15. guide device; 151. chamfer; 16. infusion bottle; 17. infusion bag; 18. slope; 19. infusion container detection unit; 2. puncture needle protective cap detection device; 21. protective cap; 22. puncture device; 23. background board; 24. camera; 25. receiver; 26. transmitter; 3. puncture device Air column detector of the tail end infusion tube; 4, liquid level compensator; 44, puncture manipulator; 46, crankshaft motor; 47, crankshaft; 48, liquid level detector in the drip pot; 49, infusion tube locking mechanism; 491, locking mechanism motor; 492, locking mechanism screw; 493, locking block; 410, telescopic transmission block; 411, first transmission screw; 412, linear motor; 413, transmission motor; 414, third screw; 415, first extrusion block; 416, extrusion transmission block; 417, first transmission rod; 418, first motor; 419, lifting block; 420, spring; 421, second extrusion block; 422, screw transmission block; 423, first screw; 424, second screw; 425, connecting block; 5, elimination poison device; 51, top nozzle; 52, delivery pipeline; 53, plasma generating chamber; 54, plasma driven air pump; 55, plasma generator; 56, puncture manipulator loading puncture device position; 57, side nozzle; 58, opening; 59, connecting pipeline; 6, infusion bottle detection device; 61, first transmission part; 62, first disassembly docking device; 63, second disassembly docking device; 64, second transmission part; 65, pressing docking track; 66, pressing docking groove; 67, puncture device parallel grasping pressing part; 68, side; 69, displacement correction device; 610, automatic unlocking device; 611, first spring; 612, first self-locking block; 6121, sliding block; 6122, insertion pin; 613, first Parallel motion surface; 614, first locking sliding surface; 615, travel self-locking block; 616, second locking sliding surface; 617, second parallel motion surface; 618, automatic locking position correction device; 619, second self-locking block; 6191, movable block; 6192, movable pin; 6193, second spring; 620, pressure release surface; 621, release locking device; 622, automatic locking device; 7, lifting device; 71, second transmission rod; 72, transmission block; 73, motor; 74, first transmission gear; 75, second transmission gear; 76, first sensor; 77, transmission track; 78, second transmission screw; 79, control center; 710, second sensor; 8, infusion bottle bag storage turntable; 9, notch. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the technical solution, the present invention is described in detail below in conjunction with embodiments. The description in this section is only exemplary and explanatory and should not have any limiting effect on the scope of protection of the present invention.

[0040] like Figure 1-16 As shown, the specific scheme of this embodiment is: an intelligent infusion robot, including an infusion bottle bag storage turntable 8, a workstation for placing an infusion balancer 1 is arranged in the infusion bottle bag storage turntable 8, and an infusion bottle bag is placed in the infusion balancer 1; a puncture manipulator is arranged under the infusion bottle bag storage turntable 8, and a slot 9 for placing a puncturer is arranged on the puncture manipulator, and a puncture needle protection cap detection device 2 and a disinfection device 5 are respectively arranged at the upper end and the side end of the puncturer, the puncturer is arranged in the puncture manipulator, and the puncture manipulator is arranged as a detachable mechanism; an air column detector 3 for the infusion tube at the tail end of the puncturer is arranged at the lower end of the puncture manipulator, and a drip pot liquid level detection and liquid level compensator 4 and an infusion tube locking mechanism 49 are arranged at the drip pot of the puncturer; an infusion bottle detection device 6 is arranged in the infusion bottle bag storage turntable 8.

[0041] like Figure 2-Figure 5 As shown, as a preferred embodiment of the above embodiment, the infusion balancer 1 includes a guide device 15 arranged on the infusion bottle bag storage turntable 8, the infusion balancer 1 includes an infusion bag balancer 13 and an infusion bottle balancer 14, and the matching position of the infusion bottle bag storage turntable 8 and the infusion bag balancer 13 and the infusion bottle balancer 14 is a slope 18 structure; the internal structure of the infusion bag balancer 13 and the infusion bottle balancer 14 matches the shape of the infusion bag 17 and the infusion bottle 16; the lower end and the side end of the infusion bottle bag storage turntable 8 are respectively provided with an infusion container detection unit 19 and an infusion container balancer detection unit 12.

[0042] The infusion bag balancer 13 includes a first frame 131, on which a first through groove 132 matching the shape of the infusion bag 17 is provided, and first guide sleeves 134 are oppositely provided on both sides of the lower end of the first frame 131 through a first connecting rod 133, and the first guide sleeve 134 is applicable to the guide device 15, and the lower end of the first guide sleeve 134 is provided with a first limiting groove 135 applicable to the bottle mouth of the infusion bag 17; the first guide sleeve 134 is applicable to the guide device 15, and the guide device 15 is provided with a chamfer 151 for quick cooperation with the first guide sleeve 134.

[0043] The infusion bottle balancer 14 includes a second frame 141, on which a second through slot 142 matching the shape of the infusion bottle 16 is disposed, and second guide sleeves 144 are disposed oppositely on both sides of the lower end of the second frame 141 through second connecting rods 143, and the second guide sleeves 144 are adapted to the guide device 15, and the lower end of the second guide sleeve 144 is provided with a second limiting slot 145 adapted to the mouth of the infusion bottle 16; the second guide sleeve 144 is adapted to the guide device 15, and the guide device 15 is provided with a chamfer 151 for quick cooperation with the second guide sleeve 144. The infusion container detection unit 19 and the infusion container balancer detection unit 12 are both equipped with sensors at corresponding positions.

[0044] The working process of the infusion balancer 1 is as follows: the infusion container (infusion bag 17 or infusion bottle 16) is placed in the corresponding balancer (infusion bag balancer 13 or infusion bottle balancer 14).

[0045] The first through groove 132 is used to limit the body of the infusion bag 17, and the first limiting groove 135 is used to adapt to the bottle mouth of the infusion bag 17 to ensure that the infusion bag 17 can be placed stably; similarly, the second through groove 142 is used to limit the body of the infusion bottle 16, and the second limiting groove 145 is used to adapt to the bottle mouth of the infusion bottle 16.

[0046] Through the cooperation between the first guide sleeve 134 or the second guide sleeve 144 and the guide device 15 and the ramp 18 structure set on the infusion bottle bag storage turntable 8, the infusion bag balancer 13 or the infusion bottle balancer 14 can be quickly positioned and fixed in the balancer.

[0047] The infusion container detection unit 19 and the infusion container balancer detection unit 12 monitor the status of the infusion container and the infusion balancer 1 through sensors to ensure that the infusion container and the infusion balancer 1 are correctly placed and removed.

[0048] After the infusion is completed, the system detects the removal status of the infusion container through the sensor and prepares to accept the next infusion container or perform other operations.

[0049] like Figure 6-Figure 8 As shown, as a preferred embodiment of the above embodiment, the puncture needle protective cap detection device 2 includes a detection module for determining the state of the protective cap 21 on the puncture device 22; the detection module includes an image recognition detection mechanism, a light wave or sound wave direct reception detection mechanism and a light wave or sound wave reflection reception detection mechanism; The control unit is also connected to the detection module and is used to prevent the infusion robot from inserting the puncture device 22 into the infusion container when it is detected that the protection cap 21 on the puncture device 22 is not removed.

[0050] like Figure 6As shown, as a preferred mode of the above embodiment, the image recognition detection mechanism includes a camera 24 and an image analysis system, the camera 24 is used to capture the image of the puncture device 22, and the image analysis system analyzes the state of the protective cap 21 on the puncture device 22 according to the captured image. In order to ensure that the camera 24 takes pictures accurately, the objects photographed are only the puncture device 22 and the protective cap 21, and a background plate 23 is set directly opposite the camera 24.

[0051] The camera 24 continuously takes pictures of the upper part of the manipulator of the puncture device 22 to form pictures and store them. The image analysis system analyzes the status of "whether there is a puncture device 22 on the puncture robot, and whether the protective cap 21 of the loaded puncture device 22 has been removed or not" by analyzing the difference in the sizes of the puncture device 22 and the puncture cap, and the photographed results of whether there is a puncture device 22.

[0052] like Figure 7 As shown, as a preferred embodiment of the above embodiment, the light wave or sound wave direct receiving detection mechanism includes a transmitter 26 and a receiver 25. The transmitter 26 and the receiver 25 are located at predetermined positions of the puncture manipulator and are in the same straight line as the puncture device 22. The receiver 25 and the transmitter 26 are respectively located on both sides of the puncture manipulator. The receiver 25 determines the state of the protective cap 21 on the puncture device 22 according to the strength of the received light wave or sound wave.

[0053] The receiver 25 of light waves or sound waves determines whether the puncture cap is removed or not, and whether the puncture device 22 is present or not according to the strength of the received light waves or sound waves.

[0054] The strongest reception of direct light is when the puncture device 22 is not loaded, the least reception of direct light waves or sound waves is when the protective cap 21 of the puncture device 22 is not removed, and the moderate reception of direct light waves or sound waves is when the protective cap 21 of the puncture device 22 is removed.

[0055] like Figure 8 As shown, as a preferred embodiment of the above embodiment, the light wave or sound wave reflection reception detection mechanism includes a transmitter 26, a receiver 25 and a reflection device, the transmitter 26 and the receiver 25 are located at predetermined positions of the puncture manipulator, and the transmitter 26 and the receiver 25 are located on one side of the puncture manipulator, and the reflection device is located on the other side of the puncture device 22, and the receiver 25 determines the state of the protective cap 21 on the puncture device 22 according to the strength of the received reflected light wave or sound wave.

[0056] The receiver 25 of light waves or sound waves determines whether the puncture cap is removed or not, and whether the puncture device 22 is present or not according to the strength of the received light waves or sound waves.

[0057] The strongest reflected light indicates that the puncture device 22 is not loaded, the least reflected light or sound wave indicates that the protective cap 21 of the puncture device 22 is not removed, and the medium reflected light or sound wave indicates that the protective cap 21 of the puncture device 22 is removed.

[0058] like Fig. 9 As shown, as a preferred embodiment of the above embodiment, the disinfection device 5 includes a delivery pipe 52 arranged at the lower end of the infusion robot body, an opening 58 is arranged on the delivery pipe 52, a puncture manipulator loading puncture device portion 56 is arranged in the opening 58, a side end nozzle 57 is arranged at the opening 58 of the delivery pipe 52, and a plurality of top nozzles 51 are arranged at the upper end of the delivery pipe 52; a bottom end of the delivery pipe 52 is connected to a plasma generator 55; a plasma generating chamber 53 is arranged outside the plasma generator 55; and the lower end of the plasma generator 55 is connected to a plasma driving air pump 54. A bottom end of the delivery pipe 52 is connected to the plasma generator 55 through a connecting pipe 59.

[0059] The working principle of the disinfection device 5 of the infusion robot is mainly based on the generation and delivery of plasma and liquid injection technology to achieve efficient disinfection of the puncture window of the infusion container and the puncture device 22. The plasma generator 55 generates plasma, and through the plasma driving air pump 54 and the plasma generating chamber 53, the puncture device is disinfected through the side nozzle 57 and the top nozzle 51 of the delivery pipe 52. The arc-shaped delivery pipe 52 and the inverted cone-shaped top nozzle 51 help to optimize the flow and distribution of plasma or disinfectant, ensuring that all parts of the puncture device can be fully disinfected.

[0060] like Figure 10-12 As shown, as a preferred mode of the above-mentioned embodiment, the drip pot portion of the puncture device 22 is provided with a drip pot liquid level detector 48 and a liquid level compensator 4 of the puncture device pipeline. The puncture device pipeline liquid level compensator 4 is divided into four compensation modes: linear extrusion compensation and crankshaft extrusion mode, puncture motor rotation force extrusion mode, and puncture motor bidirectional transmission liquid level compensation mode.

[0061] like Fig.10 As shown, the linear extrusion compensation and crankshaft extrusion methods are respectively arranged on both sides of the drip pot; the linear extrusion compensation is that the output end of the linear motor 412 is connected to the first transmission screw 411, and the first transmission screw 411 is inserted into the vertical plate and then connected to the telescopic transmission block 410, and the extrusion part of the telescopic transmission block 410 is provided with a beveled part.

[0062] The crankshaft extrusion method is that the output end of the crankshaft motor 46 is connected to the crankshaft 47.

[0063] When the puncture device pipeline liquid compensator is in linear extrusion compensation and crankshaft extrusion mode, the puncture robot transmission mechanism is that the output end of the transmission motor 413 is connected to the third screw rod 414 through the transmission assembly, and the third screw rod 414 is connected to the puncture robot 44 through the lifting block.

[0064] The working principle and working process of the above technical solution are: When the liquid level recognition mechanism in the infusion container of the infusion bottle switching mechanism of the infusion robot cannot recognize the liquid level change in some infusion containers or some special infusion requirements, the liquid level in the infusion container is continued to be infused by the infusion robot until the infusion liquid in the bottle is infused, and air enters the tube inside the puncture device 22, and the air column detector 3 placed in the infusion tube at the tail end of the puncture device detects the flow of the air column, which gives information to the central processing center, and the central processing center gives a signal, and the infusion tube locking mechanism 49 locks the catheter to intercept the flow. The puncture device 22 is driven by the puncture manipulator 44 to detach (pull out) from the puncture window of the infusion bottle to disconnect the infusion channel, and the infusion bottle switching mechanism sends the next bottle of infusion to the infusion work position at the upper end of the puncture manipulator 44, and the puncture manipulator 44 drives the puncture device 22 to enter the puncture window of the infusion bottle to open the infusion channel.

[0065] The linear motor 412 of the linear motor driven liquid medicine compensation mechanism drives the first transmission screw 411 to push the linear telescopic transmission block 410 to squeeze the drip pot, and push the air column on the upper part of the air column detector 3 in the infusion tube at the tail end of the puncture device back into the infusion bottle. The motor of the liquid level compensation mechanism drives the first transmission screw 411 to retract the linear telescopic transmission block 410 to release the squeezing of the drip pot, and the infusion tube locking mechanism 49 releases the lock on the infusion tube. The liquid in the infusion bottle is driven by gravity or the pump force of the infusion pump to partially fill the puncture device 22 with liquid medicine. The infusion enters the next process.

[0066] The crankshaft motor 46 of the crankshaft motor 46 of the liquid medicine compensation mechanism drives the crankshaft 47, and the crankshaft 47 rotates to squeeze the drip pot, so as to squeeze the air in the puncture device 22 back to the infusion bottle. The crankshaft 47 partially rotates to release the squeezing of the drip pot and replenishes the liquid in the infusion bottle back to the tube in the puncture device 22.

[0067] like Fig.11 As shown, the rotational force extrusion mode of the puncture motor is extrusion of the extrusion transmission block 416, and the extrusion transmission block 416 and the first extrusion block 415 are an inclined wedge mechanism; the first extrusion block 415 is arranged at the side end of the drip pot, and a spring 420 is arranged in the first extrusion block 415. The upper end of the extrusion transmission block 416 is provided with a first transmission rod 417, and the middle part and the upper end of the first transmission rod 417 are respectively inserted in the connecting block 425 and the lifting block 419; the second screw rod 424 is connected to the output end of the first motor 418 through the connecting block 425; the puncture manipulator 44 is arranged at the side end of the lifting block 419 through the support block.

[0068] Puncturer manipulator linkage mechanism extrusion method: The movement of the puncture manipulator 44 can be divided into driving the puncture device 22 upward from the initial position to enter the puncture window of the infusion container to open the infusion channel; driving the puncture device 22 downward to separate from the puncture window of the infusion container to cut off the infusion channel. Different liquid medicine compensation linkage mechanisms are arranged on it to complete the driving of the liquid medicine compensation mechanism. In this way, the infusion device drip pot is squeezed to supplement the liquid medicine in the puncture device 22.

[0069] ① The liquid compensation mechanism for the downward movement of the puncture manipulator (such as Fig.11 shown): When the liquid level recognition mechanism in the infusion container of the infusion container switching mechanism of the infusion robot cannot recognize the liquid level change in some infusion containers or there are some special infusion requirements, the liquid level in the infusion container is continued to be infused by the infusion robot, and the liquid medicine in the infusion container is completely infused, and air enters the tube inside the puncture device 22, and the air column detector 3 placed in the infusion tube at the tail end of the puncture device detects the flow of the air column, which gives information to the central processing center, and the central processing center gives a signal, and the infusion tube locking mechanism 49 locks the catheter to intercept the flow. Driven by the puncture manipulator 44, the puncture device 22 is detached (pulled out) from the puncture window of the infusion bottle to disconnect the infusion channel. In the process of returning to the zero position, the puncture manipulator 44 carries the liquid medicine compensation linkage mechanism on it and moves downward. When the liquid medicine compensation linkage mechanism passes through the extrusion transmission block 416 of the liquid medicine compensator, the extrusion transmission block 416 pushes the first extrusion block 415 of the drip pot to squeeze the drip pot. After the infusion container switching mechanism delivers the liquid of the next infusion container to the infusion working position, When the puncture robot moves upward to drive the puncture device into the puncture window of the infusion container on the infusion work station, it also drives the liquid medicine compensation linkage mechanism thereon to disengage from the squeezing transmission block 416. The first squeezing block 415 retreats under the action of the spring 420 and returns to the initial position where the drip pot is not squeezed, releasing the squeezing of the drip pot. The drip pot returns to its original state under the action of its own elasticity, and the medicine in the infusion bottle is filled into the puncture device pipeline. The infusion robot enters the current infusion process.

[0070] ② The liquid compensation mechanism for the upward movement of the puncture manipulator (such as Fig.11 shown): When the liquid level recognition mechanism in the infusion container switching mechanism of the infusion robot cannot recognize the liquid level change in some infusion containers or some special infusion requirements, the liquid level in the infusion container is continued by the infusion robot, and the liquid medicine in the infusion container is completely infused, and air enters the tube inside the puncture device 22, and the air column detector 3 placed in the infusion tube at the tail end of the puncture device detects the flow of the air column, and gives information to the central processing center, and the central processing center gives a signal, and the infusion tube locking mechanism 49 locks the catheter to intercept the flow. The puncture device 22 is driven by the puncture manipulator 44 to detach (pull out) from the puncture window of the infusion bottle to disconnect the infusion channel. In the process of returning to the zero position, the puncture manipulator 44 carries the liquid medicine compensation linkage mechanism on it and moves downward, and the liquid medicine compensation linkage mechanism is separated from the pushing part of the liquid medicine compensation mechanism.

[0071] The infusion container switching mechanism takes the infusion container that has been completed away from the infusion work station and transports the next infusion medicine container to the infusion work station. The puncture manipulator 44 moves upward with the puncture device 22 and the medicine compensator. The puncture device 22 is transported into the puncture window of the infusion container to open the infusion channel. The air in the puncture device 22 is squeezed back into the infusion bottle. The medicine compensation linkage mechanism disengages from the squeezing transmission block 416. The first squeezing block 415 returns to its initial position under the action of the return spring 420, releasing the squeezing force on the drip pot. The drip pot automatically recovers, and the medicine in the infusion bottle is replenished into the infusion channel of the puncture device 22.

[0072] The infusion tube locking mechanism 49 is opened, and the infusion robot enters the normal infusion process.

[0073] The extrusion transmission block 416 and the first extrusion block 415 are an inclined wedge mechanism, and the vertical movement of the extrusion transmission block 416 is converted into the horizontal movement of the first extrusion block 415, thereby releasing or controlling the drip pot. The vertical movement of the extrusion transmission block 416 is achieved by the rotation of the first motor 418 to drive the second screw rod 424 to rotate, driving the first transmission rod 417 set in the lifting block 419 to move up and down, and the extrusion transmission block 416 is an integrated structure with the first transmission rod 417, thereby realizing the vertical movement of the extrusion transmission block 416.

[0074] Here, the puncture device 22 is detached (pulled out) from the puncture window of the infusion bottle under the drive of the puncture robot 44 to disconnect the infusion channel, or the puncture robot 44 moves upward with the puncture device 22 and the liquid medicine compensator. The rotation of the first motor 418 drives the second screw rod 424 to rotate, thereby driving the lifting block 419 inserted in the second screw rod 424 to move up and down, thereby driving the support block connected to the puncture robot 44 to move up and down.

[0075] like Fig.12As shown, the bidirectional transmission liquid level compensation mode of the puncture motor is extrusion by the second extrusion block 421, the second extrusion block 421 and the screw drive block 422 are an inclined wedge mechanism, and a spring 420 is arranged in the second extrusion block 421. The screw drive block 422 is arranged at the side end of the drip pot; the screw drive block 422 is inserted in the first screw 423, the middle part of the first screw 423 is inserted in the connecting block 425, and the upper end of the connecting block 425 is also provided with the first screw 423, and the first screw 423 at the upper end is arranged in the lifting block 419; the first screw 423 arranged up and down is connected to the output end of the first motor 418 through the connecting block 425; the puncture manipulator 44 is arranged at the side end of the lifting block 419 through the support block.

[0076] The infusion tube locking mechanism 49 includes a locking mechanism motor 491, the output end of the locking mechanism motor 491 is connected to the locking mechanism screw 492, and the locking mechanism screw 492 is connected to the locking block 493; the top of the locking block 493 is provided with a chamfered portion.

[0077] The puncture robot motor has an additional screw drive mode to squeeze the drip pot to compensate the liquid in the pipeline of the puncture device: The first motor 418 is provided with a first screw rod 423 at both the upper and lower ends through the connecting block 425. The first screw rod 423 at the upper end is responsible for synchronously driving the puncture manipulator 44 to move up and down. The first motor 418 drives the first screw rod 423 to rotate through the rotation, drives the lifting block 419 inserted in the first screw rod 423 to move up and down, and further drives the support block connected to the puncture manipulator 44 to move up and down.

[0078] The first screw rod 423 at the lower end is responsible for synchronizing the puncture device 22 pipeline drug liquid compensator.

[0079] The screw drive block 422 and the second extrusion block 421 are an inclined wedge mechanism, and the vertical movement of the screw drive block 422 is converted into the horizontal movement of the second extrusion block 421, thereby releasing or releasing the drip pot. The vertical movement of the screw drive block 422 is driven by the rotation of the first motor 418 to drive the first screw 423 at the lower end to rotate, and the screw drive block 422 is arranged on the first screw 423, thereby realizing the vertical movement of the screw drive block 422.

[0080] like Fig.13 As shown, as a preferred embodiment of the above embodiment, the detachable puncture manipulator includes a first transmission part 61, a second transmission part 64 and a puncture device parallel grasping and pressing part 67, the first transmission part 61 is provided with a first disassembly docking device 62 for docking with a second disassembly docking device 63 on the second transmission part 64, and the second transmission part 64 is provided with a pressing docking track 65 for docking with a pressing docking groove 66 on the puncture device parallel grasping and pressing part 67; The first disassembly docking device 62 is configured as a pin structure, and the second disassembly docking device 63 is configured with a through-slot structure to match the pin structure; the docking method of the pin structure and the through-slot structure simplifies the disassembly and loading process of the manipulator, making the operation more intuitive and easy to perform. The pressing docking groove 66 is configured as a step groove, and the pressing docking track 65 is compatible with the step groove. The design of the step groove and the docking track provides a stable docking platform, ensuring the parallel grasping and pressing of the puncture device, and ensuring the stability of the infusion.

[0081] like Figure 14-15 As shown, as a preferred embodiment of the above embodiment, the lower end and the side end of the detachable puncture manipulator are respectively provided with an automatic unlocking device 610, an automatic locking position correction device 618 and an automatic locking device 622.

[0082] The automatic unlocking device 610 includes a first self-locking block 612, which includes a sliding block 6121 and a through pin 6122. The through pin 6122 is provided with a first spring 611. The side surface and the upper side surface of the sliding block 6121 are respectively provided as a first parallel motion surface 613 and a first locking sliding surface 614; the through pin 6122 is used to be compatible with the detachable part of the puncture robot.

[0083] The automatic locking position correction device 618 includes a travel self-locking block 615, the side and bottom surfaces of which are respectively arranged as a second parallel motion surface 617 and a second locking sliding surface 616, and the second parallel motion surface 617, the second locking sliding surface 616 and the first parallel motion surface 613, the first locking sliding surface 614 are applicable to each other.

[0084] The automatic locking device 622 includes a second self-locking block 619 suitable for the detachable part of the puncture robot arm, the second self-locking block 619 includes a movable block 6191, a movable pin 6192 is provided at the side end of the movable pin 6192, and a second spring 6193 is inserted on the movable pin 6192; a pressure release surface 620 is provided on the side of the movable block 6191, and a release locking device 621 is provided at the side end of the pressure release surface 620.

[0085] like Figure 14-15 As shown, it includes a displacement correction device 69, which is configured as a latch structure, and the latch is adapted to the sleeve on the infusion bottle bag storage turntable 8. The displacement correction device 69 is configured as a pin structure, and the top end is provided with an inclination.

[0086] The self-locking puncture manipulator adopts the following two solutions: ① Such as Fig.14 As shown, an automatic unlocking device 610 of the puncture robot arm is provided at the puncture machine arm, and an automatic locking position correction device 618 is provided at the travel self-locking block 615 at the travel self-locking position of its motion trajectory.

[0087] A first self-locking block 612 is provided on the automatic unlocking device 610 of the puncture robot, and the first self-locking block 612 includes a sliding block 6121 and a plug pin 6122, and the plug pin 6122 is provided with a first spring 611; the side surface and the upper side surface of the sliding block 6121 are respectively provided as a first parallel motion surface 613 and a first locking sliding surface 614.

[0088] A second parallel motion surface 617 and a second locking sliding surface 616 are provided on the travel self-locking block 615 of the automatic locking position correction device 618 .

[0089] When the puncture manipulator is in the zero (initial) position, the detachable part of the puncture manipulator is in an open and unlocked state. When the puncture device manipulator moves upward, the first locking sliding surface 614 of the automatic unlocking device 610 of the puncture manipulator moves to the stroke self-locking block 615 and hits the second locking sliding surface 616 of the automatic locking position correction device 618. The first self-locking block 612 starts to move and lock the detachable part of the puncture manipulator (the side 68 of the second disassembly docking device 63 and the hole on the side 68) under the cooperation of the movement of the second locking sliding surface 616 and the first locking sliding surface 614. When the puncture manipulator moves upward again and reaches the parallel motion surface position, the first self-locking block 612 locks the detachable part of the puncture manipulator. Under the coordinated movement of the first parallel motion surface 613 and the second parallel motion surface 617, the puncture manipulator keeps the detachable part in the locked state and moves upward to send the puncture device into the infusion bottle to open the infusion channel. The infusion channel is cut off by moving downward. After the first locking sliding surface 614 and the second locking sliding surface 616 are disengaged, the first self-locking block 612 slowly releases the locking state of the detachable part under the cooperation of the first locking sliding surface 614 and the second locking sliding surface 616 under the action of the first spring 611 until it returns to the initial position.

[0090] ② If Fig.15 As shown, an automatic locking device 622 of the puncture robot arm is provided at the puncture machine arm position and an automatic unlocking device 610 is provided at its initial state zero position.

[0091] The automatic locking device 622 of the puncture robot is provided with a second self-locking block 619, and the second self-locking block 619 includes a movable block 6191, and a movable pin 6192 is provided at the side end of the movable pin 6192, and a second spring 6193 is inserted on the movable pin 6192; a pressure release surface 620 is provided on the side of the movable block 6191, and a release locking device 621 is provided at the side end of the pressure release surface 620.

[0092] When the puncture robot is in its initial zero position, the release locking device 621 locks the pressure release surface 620 of the locking device, so that it remains in an unlocked state for the detachable part of the puncture robot. As the puncture robot moves upward, the pressure release surface 620 leaves the release locking device 621, and the locking block locks the detachable part of the puncture robot under the force of the locking elastic device.

[0093] like Fig.14 and Fig.15 The following scheme is adopted to ensure the synchronous movement and self-locking device of the puncture manipulator and the infusion bottle / bag storage device (turntable): The puncture manipulator is provided with a displacement correction device 69 which synchronizes the puncture manipulator with the infusion bottle bag storage turntable 8, and the infusion bottle bag storage turntable 8 is provided with a plurality of turntable infusion bottle bag storage turntables 8 for docking therewith.

[0094] Synchronous with the displacement correction device 69 of the puncture manipulator, each time the infusion bottle bag storage turntable 8 moves (rotates) one station, even if the movement error is in the range of 1-5 mm, the puncture manipulator can move upward and the turntable infusion bottle bag storage turntable 8 can be docked through the inclined port of the displacement correction device 69, which can also ensure that the puncture on the puncture manipulator is inserted into the infusion bottle with a very small error or even zero error.

[0095] like Figure 1 As shown, as a preferred mode of the above embodiment, a lifting device 7 is provided at the lower end of the infusion bottle bag storage turntable 8, and the lifting device 7 includes a second transmission screw 78 provided at the lower end of the infusion bottle bag storage turntable 8 and connected by a transmission rod, a second transmission rod 71 and a transmission block 72. The second transmission rod 71, the transmission block 72 and the second transmission screw 78 are provided in a transmission track 77, and the second transmission screw 78 is connected to the driving mechanism; the top and bottom ends of the transmission track 77 are provided with a second sensor 710 and a first sensor 76, respectively. The driving mechanism includes a motor 73, the output end of the motor 73 is connected to a first transmission gear 74, the first transmission gear 74 is meshed and connected to a second transmission gear 75, and the second transmission screw 78 is provided in the second transmission gear 75.

[0096] Working principle: The motor 73 is the core of the driving mechanism, and its output end is connected to the first transmission gear 74. The rotational movement of the motor 73 transmits power through the first transmission gear 74. The first transmission gear 74 is meshed and connected with the second transmission gear 75, and the power is transmitted through the meshing gears, so that the second transmission gear 75 rotates accordingly. The second transmission screw 78 is arranged in the second transmission gear 75. As the second transmission gear 75 rotates, the second transmission screw 78 is provided with a second transmission rod 71 and a second transmission block 72. The second transmission screw 78 rotates to drive the second transmission rod 71 and the transmission block 72 to rise and fall, thereby realizing the lifting and falling movement of the lifting infusion robot body. During the whole process, the control center 79 is responsible for receiving the input signals of the sensor, and controlling the operation of the motor 73 according to these signals and the preset program. The control center 79 receives signals from the first sensor 76 and the second sensor 710. When the lifting device 7 reaches the limit position, the control center 79 stops the operation of the motor 73.

[0097] It should be noted that, in this article, the terms include, contain or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. Specific examples are used in this article to illustrate the principle and implementation of the technical solution of the present invention. The above examples are only used to help understand the method of the present invention and its core idea. The above is only a preferred implementation of the present invention. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements, modifications or changes can be made, and the above technical features can also be combined in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concept and technical solution of the invention to other occasions without improvement, should be regarded as the protection scope of the present invention.

Claims

1. An intelligent infusion robot, comprising a turntable (8) for storing infusion bottles and bags, characterized in that: A station for placing an infusion balancer (1) is arranged in the infusion bottle bag storage turntable (8), and an infusion bottle bag is placed in the infusion balancer (1); a puncture manipulator is arranged below the infusion bottle bag storage turntable (8), and a slot (9) for placing a puncture tool is arranged on the puncture manipulator, and a puncture needle protection cap detection device (2) and a disinfection device (5) are respectively arranged at the upper end and the side end of the puncture tool, and the puncture tool is arranged in the puncture manipulator, and the puncture manipulator is arranged as a detachable mechanism; an air column detector (3) for the infusion tube at the tail end of the puncture tool is arranged at the lower end of the puncture manipulator, and a liquid level compensator (4) and an infusion tube locking mechanism (49) are arranged at the drip pot of the puncture tool; and an infusion bottle detection device (6) is arranged in the infusion bottle bag storage turntable (8).

2. The intelligent infusion robot according to claim 1, characterized in that: The infusion balancer (1) comprises a guide device (15) arranged on an infusion bottle bag storage turntable (8), the infusion balancer (1) comprises an infusion bag balancer (13) and an infusion bottle balancer (14), the matching position of the infusion bottle bag storage turntable (8) and the infusion bag balancer (13) and the infusion bottle balancer (14) is a slope (18) structure; the internal structure of the infusion bag balancer (13) and the infusion bottle balancer (14) matches the shape of the infusion bag (17) and the infusion bottle (16); the lower end and the side end of the infusion bottle bag storage turntable (8) are respectively provided with an infusion container detection unit (19) and an infusion container balancer detection unit (12).

3. The intelligent infusion robot according to claim 1, characterized in that: The puncture needle protective cap detection device (2) comprises a detection module for determining the state of the protective cap (21) on the puncture device (22); the detection module comprises an image recognition detection mechanism, a light wave or sound wave direct reception detection mechanism and a light wave or sound wave reflection reception detection mechanism; It also includes a control unit connected to the detection module and used to prevent the infusion robot from executing the operation of inserting the puncture device (22) into the infusion container when it detects that the protective cap (21) on the puncture device (22) has not been removed.

4. The intelligent infusion robot according to claim 1, characterized in that: The disinfection device (5) comprises a delivery pipe (52) arranged at the lower end of the infusion robot body, the delivery pipe (52) is provided with an opening (58), a puncture manipulator loading puncture device portion (56) is provided in the opening (58), a side end nozzle (57) is provided at the opening (58) of the delivery pipe (52), and a plurality of top nozzles (51) are provided at the upper end of the delivery pipe (52); a bottom end of the delivery pipe (52) is connected to a plasma generator (55); a plasma generating chamber (53) is provided outside the plasma generator (55); and the lower end of the plasma generator (55) is connected to a plasma driving air pump (54).

5. The intelligent infusion robot according to claim 1, characterized in that: Liquid level compensator (4) The liquid compensator in the puncture pipe is divided into four compensation modes: linear extrusion compensation and crankshaft extrusion mode, puncture motor rotation force extrusion mode, and puncture motor bidirectional transmission liquid level compensation mode.

6. The intelligent infusion robot according to claim 1, characterized in that: The detachable puncture manipulator comprises a first transmission part (61), a second transmission part (64) and a puncture device parallel grasping and pressing part (67); the first transmission part (61) is provided with a first disassembly docking device (62) for docking with a second disassembly docking device (63) on the second transmission part (64); the second transmission part (64) is provided with a pressing docking track (65) for docking with a pressing docking groove (66) on the puncture device parallel grasping and pressing part (67).

7. The intelligent infusion robot according to claim 1, characterized in that: The lower end and the side end of the detachable puncture manipulator are respectively provided with an infusion bottle detection device (6), and the infusion bottle detection device (6) comprises an automatic unlocking device (610), an automatic locking position correction device (618) and an automatic locking device (622).

8. The intelligent infusion robot according to claim 1, characterized in that: A lifting device (7) is provided at the lower end of the infusion bottle bag storage turntable (8). The lifting device (7) comprises a second transmission screw (78) arranged at the lower end of the infusion bottle bag storage turntable (8) and connected via a second transmission rod (71) and a transmission block (72). The second transmission rod (71), the transmission block (72) and the second transmission screw (78) are arranged in a transmission track (77), and the second transmission screw (78) is connected to a driving mechanism.

Images