Dropping liquid recovery mechanism before needle throwing

Abstract

The invention relates to the field of waste liquid recycling equipment, in particular to a dropping liquid recycling mechanism before needle throwing, which comprises a mechanical arm, a needle placing table and two garbage cans are arranged beside the mechanical arm, a tray is placed on the needle placing table, a plurality of injectors are placed in the tray, and a mounting plate is arranged on the mechanical arm. A clamping assembly, an extruding assembly and a separating assembly are arranged on the mounting plate, a recycling frame is arranged beside the mechanical arm, a sealing box with the hollow interior and one open side is arranged on the recycling frame, a sealing door is hinged to the open end of the sealing box and used for sealing the open end of the sealing box, a collecting bottle is placed in the sealing box, and a needle containing opening is formed in the top of the sealing box. The needle containing opening is located over an opening in the top of the collecting bottle, an airtight assembly is arranged on the sealing box, when the needle is inserted into the needle containing opening and separated from the needle cylinder, the airtight assembly is used for sealing a gap between the needle containing opening and the needle, and a negative pressure piece is arranged on the recycling frame. The syringe has the effect of reducing liquid medicine residues in the syringe.

Description

Technical Field

[0001] The present application relates to the field of waste liquid recovery equipment, and in particular to a mechanism for recovering dripping liquid before a needle is lost. Background Art

[0002] A syringe is a common medical device consisting of a needle, a syringe, and a piston rod. Syringes are commonly used to inject small amounts of liquid medicine into a patient's body and are also commonly used to prepare liquid medicine.

[0003] Syringes are usually disposable and need to be discarded in a dedicated medical waste bin after use. After using a syringe to prepare liquid, the remaining liquid in the syringe needs to be processed first, and then the syringe can be discarded in a dedicated medical waste bin.

[0004] At present, the method of pushing the piston core rod is usually adopted to discharge the liquid medicine remaining in the syringe into a special collection pool, and then the syringe is discarded. However, in the actual operation process, it can be found that there is still some liquid medicine remaining in the needle of the discarded syringe, and the number of syringes used for liquid preparation in hospitals is usually large. As a result, a large amount of liquid medicine will remain in the medical waste box. Such a large amount of liquid medicine can easily pollute the environment after being discarded, which is insufficient. Summary of the Invention

[0005] In order to improve the problem that the residual liquid medicine in the needle easily pollutes the environment, the present application provides a liquid drop recovery mechanism before the needle is discarded.

[0006] The present application provides a mechanism for recovering droplets before a needle is lost, which adopts the following technical solution: A mechanism for recovering droplets before a lost needle is disposed, comprising a mechanical arm, a needle placement platform and two trash bins being arranged beside the mechanical arm, a tray being placed on the needle placement platform, a plurality of syringes being placed in the tray, a mounting plate being provided on the mechanical arm, a clamping assembly, an extrusion assembly and a separation assembly being provided on the mounting plate, the clamping assembly being used to clamp the syringe on the tray, the extrusion assembly being used to push the piston core rod to slide, the separation assembly being used to separate the needle from the syringe, a recovery rack being arranged beside the mechanical arm, and a hollow interior and a A sealed box with an open side, a sealed door hinged at the open end of the sealed box, the sealed door is used to close the open end of the sealed box, a collecting bottle is placed in the sealed box, a needle placement port is provided at the top of the sealed box, the needle placement port is located directly above the opening at the top of the collecting bottle, an airtight component is provided on the sealed box, when the needle is inserted into the needle placement port and the needle is separated from the syringe, the airtight component is used to seal the gap between the needle placement port and the needle, a negative pressure piece is provided on the recovery rack, the negative pressure piece is used to form negative pressure in the sealed box.

[0007] By adopting the above technical solution, the doctor places a tray with several syringes on the needle placement table, and then places the collecting bottle in the sealed box. After that, the control system starts the robotic arm, the robotic arm drives the mounting plate close to the tray, the clamping assembly clamps the syringe on the tray, and the robotic arm drives the clamped syringe to the top of the sealed box. At the same time, the needle tip part of the needle is located in the needle placement port. Subsequently, the extrusion assembly pushes the piston core rod to slide, so that the residual liquid medicine in the syringe is squeezed from the needle placement port into the collecting bottle. Then, the separation assembly separates the needle from the syringe, the airtight assembly seals the gap between the needle placement port and the needle, the negative pressure part forms a negative pressure in the sealed box, and the external air flows into the sealed box through the needle. During this process, the liquid medicine remaining in the needle will fall into the collection bottle directly below the needle with the airflow, thereby completing the complete recovery of the residual liquid medicine in the syringe. Finally, the robotic arm throws the separated needle and syringe into two trash cans respectively.

[0008] Optionally, the clamping assembly includes a slide rail arranged on the mounting plate, an adjustment block is slidably fitted on the slide rail, an adjustment cylinder is provided on the mounting plate, the adjustment block is provided on the piston rod of the adjustment cylinder, and avoidance grooves for the sliding of the adjustment block are provided on both sides of the mounting plate and along the length direction of the slide rail. A horizontal cylinder is provided on the adjustment block, and the extension direction of the piston rod of the horizontal cylinder is perpendicular to the length direction of the slide rail. A support plate is provided on the piston rod of the horizontal cylinder, and a first clamping cylinder and a camera are provided on the support plate. The first clamping cylinder is used to clamp the syringe, and the adjustment cylinder, the horizontal cylinder, the first clamping cylinder and the camera are all electrically connected to a control system.

[0009] By adopting the above technical solution, when the robotic arm drives the mounting plate to move, the camera constantly feeds back the surrounding images to the control system until the first clamping cylinder approaches the syringe. At this time, the control system starts the adjustment cylinder, and the piston rod of the adjustment cylinder drives the adjustment block to slide. At the same time, the piston rod of the horizontal cylinder drives the support plate to slide, so that the clamping claw of the first clamping cylinder can clamp to the appropriate position of the syringe. Finally, the robotic arm drives the syringe clamped by the first clamping cylinder to the needle port on the top of the sealing box, thereby completely taking out the syringe.

[0010] Optionally, the extrusion assembly includes a sliding screw rotatably arranged on the mounting plate, an extrusion motor electrically connected to the control system is provided on the mounting plate, the sliding screw is coaxially arranged on the output shaft of the extrusion motor, an extrusion seat is threadedly connected to the sliding screw, the axis of the sliding screw is parallel to the length direction of the slide rail, a guide rod parallel to the axis of the sliding screw is provided on the mounting plate, the extrusion seat is slidably sleeved on the guide rod, a rotating cylinder electrically connected to the control system is provided on the extrusion seat, a pressure plate is provided on the rotating end of the rotating cylinder, and the pressure plate is used to abut the piston core rod.

[0011] By adopting the above technical solution, the control system starts the horizontal cylinder and the rotary cylinder. After the piston rod of the horizontal cylinder drives the clamped syringe to the set position, the rotating end of the rotary cylinder drives the pressure plate to rotate to the top of the piston core rod of the syringe. Then, the control system starts the extrusion motor, and the output shaft of the extrusion motor drives the sliding screw to rotate. Under the restriction of the guide rod, the extrusion seat continues to approach the syringe. As the extrusion motor continues to work, the pressure plate pushes the piston core rod down. During this process, the liquid medicine remaining in the syringe is squeezed into the collection bottle.

[0012] Optionally, the separation assembly includes a bridge plate arranged on the mounting plate, an extension cylinder is provided on the bridge plate, the extension direction of the piston rod of the extension cylinder is parallel to the extension direction of the piston rod of the horizontal cylinder, a second clamping cylinder is provided on the piston rod of the extension cylinder, the second clamping cylinder is used to clamp the needle, and the extension cylinder and the second clamping cylinder are both electrically connected to the control system.

[0013] By adopting the above technical solution, before the needle of the syringe is inserted into the needle port, the control system will start the adjusting cylinder according to the length of the syringe, and the piston rod of the adjusting cylinder will drive the clamped syringe close to the extension cylinder. Then the control system will start the extension cylinder, and the piston rod of the extension cylinder will drive the second clamping cylinder close to the needle of the syringe. Subsequently, the control system controls the second clamping cylinder to clamp the needle of the syringe, and then the robotic arm drives the syringe with the clamped needle to slowly insert it into the needle port. When the medicine in the syringe is squeezed into the collection bottle, the control system starts the adjusting cylinder again, and the piston rod of the adjusting cylinder will retract. At this time, the piston rod of the adjusting cylinder drives the clamped syringe to separate from the needle.

[0014] Optionally, the airtight component includes a disc arranged on the top of the sealing box, the needle placement port is coaxially opened on the disc, and a plurality of fan plates are arranged on the disc for uniform sliding circumferentially, and the fan plates slide in the radial direction of the axis of the disc, a slider is provided on the fan plate, and a sliding groove for the sliding of the slider is provided on the disc, and the cross-sections of the slider and the sliding groove are both T-shaped, and a sealing rubber plate with a fan-shaped cross-section is provided on the side of the fan plate close to the axis of the disc, the fan-shaped radius of the sealing rubber plate is larger than the radius of the needle placement port, and the sealing rubber plate is used to abut the outer wall of the needle head, and a sliding part for driving the plurality of fan plates to slide synchronously is provided on the sealing box.

[0015] By adopting the above technical solution, after the syringe is separated from the needle, the sliding member drives multiple fan plates to slide synchronously, and multiple fan plates slide toward the axis of the disc at the same time. The fan plates will drive the sealing rubber plates on them to slide synchronously until the two adjacent sealing rubber plates abut against each other. At this time, the sealing rubber plates will abut the outer wall of the needle. At the same time, the needle port is blocked by multiple spliced ​​sealing rubber plates, thereby completing the sealing effect between the needle port and the needle.

[0016] Optionally, the sliding member includes a driving ring plate rotatably set on the sealing box and coaxial with the disc, a driving column is provided on the fan plate, a plurality of straight grooves are opened on the driving ring plate, the straight grooves correspond to the fan plates one by one, the driving columns slide in conjunction with the straight grooves, the distances between the two ends of the straight grooves and the axis of the disc are not equal, a gear ring is coaxially provided on the driving ring plate, an airtight motor electrically connected to the control system is provided on the sealing box, and a gear meshing with the gear ring is provided on the output shaft of the airtight motor.

[0017] By adopting the above technical solution, after the syringe is separated from the needle, the control system starts the airtight motor, and the output shaft of the airtight motor drives the gear ring to rotate through the gear, and the gear ring drives the drive ring plate to rotate synchronously, and the rotating drive ring plate will drive the straight groove on it to rotate synchronously. During this process, the straight groove will push the drive column on the fan plate, and the fan plate is restricted in the sliding direction by the slider and the slide groove. Therefore, the drive column will slide relative to the straight groove. At the same time, the drive column will drive the fan plate to slide along the length direction of the slide groove, thereby realizing the movement process of the sealing rubber plate approaching or away from the axis of the disc.

[0018] Optionally, the negative pressure member includes an air pump disposed on the recovery rack, the air pump is electrically connected to a control system, and an exhaust pipe is connected between the air inlet end of the air pump and the inner wall of the sealed box.

[0019] By adopting the above technical solution, when the sealing rubber plate abuts the needle, the control system starts the vacuum pump, and the vacuum pump draws out the air in the sealed box through the exhaust pipe, forming a negative pressure in the sealed box. At this time, the air outside the sealed box flows into the sealed box through the channel on the needle. During this process, the liquid medicine remaining in the needle will fall into the collection bottle with the air flow, thereby completing the recovery of the liquid medicine in the needle.

[0020] Optionally, a filter is provided on the exhaust pipe.

[0021] By adopting the above technical solution, the filter screen will absorb the medicine liquid floating in the air inside the sealed box, thereby reducing the possibility of the medicine liquid expanding to the outside of the sealed box.

[0022] Optionally, a limiting ring is detachably provided on the inner bottom wall of the sealing box, and the bottom of the collecting bottle is inserted into the ring of the limiting ring.

[0023] By adopting the above technical solution, it is convenient to place and position the collecting bottle.

[0024] Optionally, an adjusting screw is threadedly connected to the pressure plate, an end plate is provided on the adjusting screw, the end plate is used to abut the piston core rod, and a locking nut is threadedly connected to the adjusting screw, and the locking nut is used to abut the pressure plate.

[0025] By adopting the above technical solution, doctors can adjust the fixed position of the adjusting screw to change the distance between the end disc and the pressure plate, thereby adapting to syringes of different sizes.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. The doctor places a tray with several syringes on the needle placement table, and then places the collection bottle in the sealed box. After that, the control system starts the robotic arm, and the robotic arm drives the mounting plate close to the tray. The clamping assembly clamps the syringe on the tray, and the robotic arm drives the clamped syringe to the top of the sealed box. At the same time, the needle tip is located in the needle placement port. Subsequently, the squeezing assembly pushes the piston core rod to slide, so that the remaining liquid medicine in the syringe is squeezed from the needle placement port into the collection bottle. Then, the separation assembly separates the needle from the syringe, and the airtight assembly seals the gap between the needle placement port and the needle. The negative pressure piece forms a negative pressure in the sealed box, and the external air flows into the sealed box through the needle. In this process, the liquid medicine remaining in the needle will fall into the collection bottle just below the needle with the airflow, thereby completing the complete recovery of the residual liquid medicine in the syringe. Finally, the robotic arm throws the separated needle and syringe into two trash cans respectively; 2. The control system starts the horizontal cylinder and the rotary cylinder. After the piston rod of the horizontal cylinder drives the clamped syringe to the set position, the rotating end of the rotary cylinder drives the pressure plate to rotate to the top of the syringe's piston core rod. Then, the control system starts the extrusion motor. The output shaft of the extrusion motor drives the sliding screw to rotate. Under the restriction of the guide rod, the extrusion seat continues to approach the syringe. As the extrusion motor continues to work, the pressure plate pushes the piston core rod down. During this process, the liquid medicine remaining in the syringe is squeezed into the collection bottle; 3. When the sealing rubber plate contacts the needle, the control system starts the vacuum pump, which draws out the air in the sealed box through the exhaust pipe, forming a negative pressure in the sealed box. At this time, the air outside the sealed box flows into the sealed box through the channel on the needle. During this process, the liquid medicine remaining in the needle will fall into the collection bottle with the air flow, thereby completing the recovery of the liquid medicine in the needle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural diagram of an embodiment of the present application.

[0028] Figure 2 It is a cross-sectional view used to illustrate the positional relationship among the drive ring plate, the disc and the filter screen in the embodiment of the present application.

[0029] Figure 3 yes Figure 1 Enlarged view of part A.

[0030] Figure 4 It is a structural diagram used to reflect the positional relationship among the slide rail, the horizontal cylinder and the adjustment cylinder in the embodiment of the present application.

[0031] Figure 5 It is a structural diagram used to illustrate the positional relationship between the needle and the syringe when they are separated in the embodiment of the present application.

[0032] Figure 6 It is a cross-sectional view used to illustrate the positional relationship when the sealing rubber plate abuts against the needle in the embodiment of the present application.

[0033] Explanation of the accompanying symbols: 1. Syringe; 101. Needle; 102. Syringe; 103. Piston core rod; 2. Robotic arm; 3. Needle placement table; 4. Trash can; 5. Tray; 6. Mounting plate; 7. Clamping assembly; 71. Slide rail; 72. Adjustment block; 73. Adjustment cylinder; 74. Avoidance groove; 75. Horizontal cylinder; 76. Support plate; 77. First clamping cylinder; 78. Camera; 8. Extrusion assembly; 81. Sliding screw; 82. Extrusion motor; 83. Extrusion seat; 84. Guide rod; 85. Rotating cylinder; 86. Press plate; 9. Separation assembly; 91. Bridge plate; 92. Extension cylinder; 93. Second clamping Cylinder; 10. Recovery rack; 11. Sealing box; 12. Sealing door; 13. Collecting bottle; 14. Needle port; 15. Airtight component; 151. Disc; 152. Fan plate; 153. Slider; 154. Slide; 155. Sealing rubber plate; 156. Sliding part; 1561. Drive ring plate; 1562. Drive column; 1563. Straight groove; 1564. Gear ring; 1565. Airtight motor; 1566. Gear; 16. Negative pressure part; 161. Vacuum pump; 162. Exhaust pipe; 17. Filter; 18. Limiting ring; 19. Adjusting screw; 20. End plate; 21. Locking nut; 22. Guide column. DETAILED DESCRIPTION

[0034] The following is combined with Figures 1-6 This application is described in further detail.

[0035] The embodiment of the present application discloses a mechanism for recovering dripping liquid before a needle is lost.

[0036] Reference Figure 1 A mechanism for recovering droplets before a needle is lost includes a robotic arm 2. The robotic arm 2 can be a robotic arm 2 in the prior art. A needle placement table 3 and two trash bins 4 are arranged next to the robotic arm 2. A tray 5 is placed on the needle placement table 3. Several syringes 1 are placed in the tray 5. A mounting plate 6 is bolted to the free end of the robotic arm 2.

[0037] Reference Figure 1 A recovery rack 10 is arranged next to the robotic arm 2. A sealed box 11 with a hollow interior and an open side is welded to the top of the recovery rack 10. A sealed door 12 is hinged at the open end of the sealed box 11. Rubber sealing rings (not shown in the figure) are arranged around the sealed door 12.

[0038] Reference Figure 2 The sealing door 12 is used to close the open end of the sealing box 11. A collecting bottle 13 is placed in the sealing box 11. A limiting ring 18 is bolted to the inner bottom wall of the sealing box 11. The bottom of the collecting bottle 13 is inserted into the ring of the limiting ring 18. A needle port 14 is opened on the top of the sealing box 11, and the needle port 14 is located directly above the top opening of the collecting bottle 13.

[0039] The doctor first places the collecting bottle 13 in the ring of the limiting ring 18 by opening the sealing door 12, and then closes the sealing door 12. Thereafter, the doctor places the tray 5 with the syringe 1 on the needle placement table 3, and then inputs the size information of each component of the syringe 1 into the control system.

[0040] Reference Figure 1 、 Figure 2 and Figure 3 A clamping assembly 7 is arranged on the mounting plate 6, and the clamping assembly 7 is used to clamp the syringe 1 on the tray 5. The clamping assembly 7 includes a slide rail 71 bolted to the mounting plate 6, and an adjustment block 72 is slidably fitted on the slide rail 71. An adjustment cylinder 73 electrically connected to the control system is bolted to the mounting plate 6, and the adjustment block 72 is bolted to the piston rod of the adjustment cylinder 73.

[0041] Reference Figure 3 and Figure 4 On both sides of the mounting plate 6 and along the length direction of the slide rail 71, there are avoidance grooves 74 for the adjustment block 72 to slide. The adjustment block 72 is bolted with a horizontal cylinder 75 electrically connected to the control system, and the extension direction of the piston rod of the horizontal cylinder 75 is perpendicular to the length direction of the slide rail 71.

[0042] Reference Figure 4 、 Figure 5 and Figure 6 A support plate 76 is bolted to the piston rod of the horizontal cylinder 75, and a guide column is welded on the support plate 76. The guide column slides through the adjustment block 72. A first clamping cylinder 77 and a camera 78 are bolted to the support plate 76. The first clamping cylinder 77 is used to clamp the syringe 102. The first clamping cylinder 77 and the camera 78 are both electrically connected to the control system.

[0043] Reference Figure 3 、 Figure 4 and Figure 5 An extrusion assembly 8 is arranged on the mounting plate 6. The extrusion assembly 8 is used to push the piston core rod 103 to slide. The extrusion assembly 8 includes a sliding screw 81 rotatably connected to the mounting plate 6. An extrusion motor 82 electrically connected to the control system is bolted to the mounting plate 6. The extrusion motor 82 can adopt the forward and reverse motor in the existing technology. The sliding screw 81 is coaxially bolted to the output shaft of the extrusion motor 82.

[0044] Reference Figure 3 、 Figure 4 and Figure 5 The sliding screw 81 is threadedly connected to an extrusion seat 83, the axis of the sliding screw 81 is parallel to the length direction of the slide rail 71, and a guide rod 84 parallel to the axis of the sliding screw 81 is welded on the mounting plate 6. The extrusion seat 83 is slidably sleeved on the guide rod 84, and a rotating cylinder 85 electrically connected to the control system is bolted to the extrusion seat 83.

[0045] Reference Figure 3 、 Figure 4 and Figure 5 A pressure plate 86 is bolted to the rotating end of the rotating cylinder 85, and an adjusting screw 19 is threadedly connected to the pressure plate 86. An end plate 20 is welded to the adjusting screw 19, and the end plate 20 is used to abut the piston core rod 103. A locking nut 21 is threadedly connected to the adjusting screw 19, and the locking nut 21 is used to abut the pressure plate 86.

[0046] Reference Figure 3 、 Figure 4 and Figure 6 A separation assembly 9 is arranged on the mounting plate 6, and the separation assembly 9 is used to separate the needle 101 from the syringe 102. The separation assembly 9 includes a bridge plate 91 welded to the mounting plate 6, and an extension cylinder 92 electrically connected to the control system is bolted to the bridge plate 91.

[0047] Reference Figure 4 The extension direction of the piston rod of the extension cylinder 92 is parallel to the extension direction of the piston rod of the horizontal cylinder 75. The piston rod of the extension cylinder 92 is bolted with a second clamping cylinder 93 electrically connected to the control system. The second clamping cylinder 93 is used to clamp the needle 101.

[0048] The control system starts the robotic arm 2 and the camera 78. The robotic arm 2 drives the mounting plate 6 to move directly above the tray 5. Then the control system starts the adjusting cylinder 73 and the horizontal cylinder 75. The piston rod of the adjusting cylinder 73 drives the adjusting block 72 to slide. The piston rod of the horizontal cylinder 75 drives the first clamping cylinder 77 on the support plate 76 to slide, thereby moving the first clamping cylinder 77 to the appropriate position of the syringe 1 on the tray 5.

[0049] The control system starts the first clamping cylinder 77, and the first clamping cylinder 77 clamps the syringe 1's syringe barrel 102. Then, the robotic arm 2 moves the clamped needle 101 of the syringe 1 to the needle placement port 14 at the top of the sealing box 11. During this process, the control system will start the adjustment cylinder 73 and the horizontal cylinder 75 again based on the size information of each component of the syringe 1 input into the control system, so that the clamped syringe 1 moves to a suitable position close to the extension cylinder 92.

[0050] The control system starts the extension cylinder 92, and the piston rod of the extension cylinder 92 drives the second clamping cylinder 93 to approach the needle 101 of the syringe 1. Then, the control system controls the second clamping cylinder 93 to clamp the needle 101 of the syringe 1. After that, the robotic arm 2 drives the syringe 1 with the needle 101 and the syringe 102 clamped therein to slowly descend through the mounting plate 6, and makes the needle tip part of the needle 101 vertically inserted into the needle port 14.

[0051] The control system starts the rotating cylinder 85, and the rotating end of the rotating cylinder 85 drives the pressure plate 86 to rotate. The rotating pressure plate 86 drives the end plate 20 to rotate synchronously through the adjusting screw 19, so that the end plate 20 rotates to the top of the piston core rod 103 of the syringe 1, and the control system controls the output shaft of the extrusion motor 82 to rotate in the forward direction.

[0052] The output shaft of the extrusion motor 82 drives the sliding screw 81 to rotate. Under the limiting action of the guide rod 84, the extrusion seat 83 drives the end plate 20 to continuously approach the syringe 1 until the end plate 20 abuts and pushes the piston core rod 103 down until the extrusion motor 82 stops working. At this time, the liquid medicine remaining in the syringe 102 is squeezed into the collection bottle 13.

[0053] Reference Figure 2 and Figure 6 An airtight component 15 is arranged on the sealing box 11. When the needle 101 is inserted into the needle port 14 and the needle 101 is separated from the syringe 102, the airtight component 15 is used to seal the gap between the needle port 14 and the needle 101. The airtight component 15 includes a disc 151 bolted to the top of the sealing box 11. The needle port 14 is coaxially opened on the disc 151. A plurality of fan plates 152 are uniformly arranged for sliding circumference on the disc 151. The fan plates 152 slide in the radial direction of the axis of the disc 151.

[0054] Reference Figure 2 and Figure 6 A slider 153 is welded on the fan plate 152, and a slide groove 154 is provided at the bottom of the disk 151 for the slider 153 to slide. The cross sections of the slider 153 and the slide groove 154 are both T-shaped. A sealing rubber plate 155 with a fan-shaped cross section is bonded to the side of the fan plate 152 close to the axis of the disk 151. The sealing rubber plate 155 can be made of rubber material, and the fan-shaped radius of the sealing rubber plate 155 is larger than the radius of the needle port 14.

[0055] Reference Figure 2 and Figure 6 The sealing rubber plate 155 is used to abut the outer wall of the needle head 101. A sliding member 156 is arranged on the sealing box 11 to drive multiple fan plates 152 to slide synchronously. The sliding member 156 includes a driving ring plate 1561 that is rotatably connected to the bottom of the sealing box 11 and coaxial with the disc 151. A driving column 1562 is welded on the side of the fan plate 152 facing the driving ring plate 1561, and a plurality of straight grooves 1563 are provided on the driving ring plate 1561.

[0056] Reference Figure 2 and Figure 6The straight groove 1563 corresponds to the fan plate 152 one by one, the driving column 1562 slides in cooperation with the straight groove 1563, the distances between the two ends of the straight groove 1563 and the axis of the disk 151 are not equal, and a gear ring 1564 is coaxially bolted to the circumferential outer side of the driving ring plate 1561, and an airtight motor 1565 electrically connected to the control system is bolted to the sealing box 11. The airtight motor 1565 can adopt the forward and reverse motor in the prior art, and a gear 1566 meshing with the gear ring 1564 is welded on the output shaft of the airtight motor 1565.

[0057] Reference Figure 1 and Figure 2 A negative pressure member 16 is arranged on the recovery rack 10, and the negative pressure member 16 is used to form a negative pressure in the sealed box 11. The negative pressure member 16 includes an air pump 161 bolted to the recovery rack 10, and the air pump 161 is electrically connected to the control system. An exhaust pipe 162 is connected between the air inlet end of the air pump 161 and the inner wall of the sealed box 11, and a filter screen 17 is bolted in the exhaust pipe 162.

[0058] The control system starts the output shaft of the extrusion motor 82 to rotate in the opposite direction, and the extrusion seat 83 slides vertically upward under the drive of the sliding screw 81 until the extrusion seat 83 is reset. Then the control system starts the adjustment cylinder 73, and the piston rod of the adjustment cylinder 73 contracts. The piston rod of the adjustment cylinder 73 drives the adjustment block 72 and the syringe 102 clamped by the first clamping cylinder 77 away from the needle 101 clamped by the second clamping cylinder 93.

[0059] The control system starts the airtight motor 1565, and the output shaft of the airtight motor 1565 drives the gear 1566 to rotate forward, and the gear 1566 drives the driving ring plate 1561 to rotate synchronously through the gear ring 1564, because there is an angle between the length direction of the straight groove 1563 and the length direction of the slide groove 154.

[0060] The straight groove 1563 on the rotating driving ring plate 1561 will push the fan plate 152 to slide along the length direction of the sliding groove 154 through the driving column 1562, so that multiple sealing plates 155 can slide simultaneously along the axial direction close to the disc 151 until the sealing plates 155 abut the needle head 101.

[0061] The control system starts the vacuum pump 161, and the vacuum pump 161 draws out the air in the sealed box 11 through the exhaust pipe 162, forming a negative pressure in the sealed box 11. At this time, the air outside the sealed box 11 flows into the sealed box 11 through the channel on the needle 101. During this process, the medicine liquid remaining in the needle 101 will fall into the collection bottle 13 with the air flow, thereby completing the recovery of the medicine liquid in the needle 101.

[0062] After a period of time, the control system controls the output shaft of the airtight motor 1565 to rotate in the opposite direction, thereby separating the sealing rubber plate 155 from the needle 101. Then, the control system controls the robotic arm 2 to discard the needle 101 and the syringe 102 into two trash cans 4 respectively, and finally clamps the new syringe 1 on the tray 5 again and repeats the operation.

[0063] The implementation principle of the drip recovery mechanism before the needle is lost in an embodiment of the present application is: the doctor first places the collection bottle 13 in the ring of the limiting ring 18 by opening the sealing door 12, and then closes the sealing door 12, and then places the tray 5 with the syringe 1 on the needle placement table 3, and then inputs the size information of each component of the syringe 1 into the control system.

[0064] The control system starts the robotic arm 2 and the camera 78. The robotic arm 2 drives the mounting plate 6 to move directly above the tray 5. Then the control system starts the adjusting cylinder 73 and the horizontal cylinder 75. The piston rod of the adjusting cylinder 73 drives the adjusting block 72 to slide. The piston rod of the horizontal cylinder 75 drives the first clamping cylinder 77 on the support plate 76 to slide, thereby moving the first clamping cylinder 77 to the appropriate position of the syringe 1 on the tray 5.

[0065] The control system starts the first clamping cylinder 77, and the first clamping cylinder 77 clamps the syringe 1's syringe barrel 102. Then, the robotic arm 2 moves the clamped needle 101 of the syringe 1 to the needle placement port 14 at the top of the sealing box 11. During this process, the control system will start the adjustment cylinder 73 and the horizontal cylinder 75 again based on the size information of each component of the syringe 1 input into the control system, so that the clamped syringe 1 moves to a suitable position close to the extension cylinder 92.

[0066] The control system starts the extension cylinder 92, and the piston rod of the extension cylinder 92 drives the second clamping cylinder 93 to approach the needle 101 of the syringe 1. Then, the control system controls the second clamping cylinder 93 to clamp the needle 101 of the syringe 1. After that, the robotic arm 2 drives the syringe 1 with the needle 101 and the syringe 102 clamped therein to slowly descend through the mounting plate 6, and makes the needle tip part of the needle 101 vertically inserted into the needle port 14.

[0067] The control system starts the rotating cylinder 85, and the rotating end of the rotating cylinder 85 drives the pressure plate 86 to rotate. The rotating pressure plate 86 drives the end plate 20 to rotate synchronously through the adjusting screw 19, so that the end plate 20 rotates to the top of the piston core rod 103 of the syringe 1, and the control system controls the output shaft of the extrusion motor 82 to rotate in the forward direction.

[0068] The output shaft of the extrusion motor 82 drives the sliding screw 81 to rotate. Under the limiting action of the guide rod 84, the extrusion seat 83 drives the end plate 20 to continuously approach the syringe 1 until the end plate 20 abuts and pushes the piston core rod 103 down until the extrusion motor 82 stops working. At this time, the liquid medicine remaining in the syringe 102 is squeezed into the collection bottle 13.

[0069] The control system starts the output shaft of the extrusion motor 82 to rotate in the opposite direction, and the extrusion seat 83 slides vertically upward under the drive of the sliding screw 81 until the extrusion seat 83 is reset. Then the control system starts the adjustment cylinder 73, and the piston rod of the adjustment cylinder 73 contracts. The piston rod of the adjustment cylinder 73 drives the adjustment block 72 and the syringe 102 clamped by the first clamping cylinder 77 away from the needle 101 clamped by the second clamping cylinder 93.

[0070] The control system starts the airtight motor 1565, and the output shaft of the airtight motor 1565 drives the gear 1566 to rotate forward, and the gear 1566 drives the driving ring plate 1561 to rotate synchronously through the gear ring 1564, because there is an angle between the length direction of the straight groove 1563 and the length direction of the slide groove 154.

[0071] The straight groove 1563 on the rotating driving ring plate 1561 will push the fan plate 152 to slide along the length direction of the sliding groove 154 through the driving column 1562, so that multiple sealing plates 155 can slide simultaneously along the axial direction close to the disc 151 until the sealing plates 155 abut the needle head 101.

[0072] The control system starts the vacuum pump 161, and the vacuum pump 161 draws out the air in the sealed box 11 through the exhaust pipe 162, forming a negative pressure in the sealed box 11. At this time, the air outside the sealed box 11 flows into the sealed box 11 through the channel on the needle 101. During this process, the medicine liquid remaining in the needle 101 will fall into the collection bottle 13 with the air flow, thereby completing the recovery of the medicine liquid in the needle 101.

[0073] After a period of time, the control system controls the output shaft of the airtight motor 1565 to rotate in the opposite direction, thereby separating the sealing rubber plate 155 from the needle 101. Then, the control system controls the robotic arm 2 to discard the needle 101 and the syringe 102 into two trash cans 4 respectively, and finally clamps the new syringe 1 on the tray 5 again and repeats the operation.

[0074] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A mechanism for recovering droplets before needle loss, comprising a mechanical arm (2), a needle placement table (3) and two trash bins (4) arranged next to the mechanical arm (2), characterized in that: A tray (5) is placed on the needle placement table (3), and a plurality of syringes (1) are placed in the tray (5). A mounting plate (6) is provided on the mechanical arm (2), and a clamping assembly (7), an extrusion assembly (8) and a separation assembly (9) are provided on the mounting plate (6). The clamping assembly (7) is used to clamp the syringe (1) on the tray (5), the extrusion assembly (8) is used to push the piston core rod (103) to slide, and the separation assembly (9) is used to separate the needle (101) from the syringe (102). A recovery rack (10) is arranged next to the mechanical arm (2), and a sealing box (11) with a hollow interior and an open side is provided on the recovery rack (10), and a sealing door (11) is hinged at the open end of the sealing box (11). 2), the sealing door (12) is used to close the open end of the sealing box (11), a collecting bottle (13) is placed in the sealing box (11), a needle port (14) is opened on the top of the sealing box (11), and the needle port (14) is located directly above the top opening of the collecting bottle (13), and an airtight component (15) is provided on the sealing box (11). When the needle (101) is inserted into the needle port (14) and the needle (101) is separated from the syringe (102), the airtight component (15) is used to seal the gap between the needle port (14) and the needle (101), and a negative pressure piece (16) is provided on the recovery rack (10), and the negative pressure piece (16) is used to form a negative pressure in the sealing box (11).

2. The drip recovery mechanism before needle loss according to claim 1, characterized in that: The clamping assembly (7) includes a slide rail (71) provided on the mounting plate (6), an adjustment block (72) is slidably fitted on the slide rail (71), an adjustment cylinder (73) is provided on the mounting plate (6), the adjustment block (72) is provided on the piston rod of the adjustment cylinder (73), and avoidance grooves (74) for the adjustment block (72) to slide are provided on both sides of the mounting plate (6) and along the length direction of the slide rail (71), and a horizontal cylinder (73) is provided on the adjustment block (72). 5), the extension direction of the piston rod of the horizontal cylinder (75) is perpendicular to the length direction of the slide rail (71), a support plate (76) is provided on the piston rod of the horizontal cylinder (75), a first clamping cylinder (77) and a camera (78) are provided on the support plate (76), the first clamping cylinder (77) is used to clamp the syringe (102), and the adjustment cylinder (73), the horizontal cylinder (75), the first clamping cylinder (77) and the camera (78) are all electrically connected to a control system.

3. The drip recovery mechanism before needle loss according to claim 2, characterized in that: The extrusion assembly (8) includes a sliding screw (81) rotatably arranged on the mounting plate (6), an extrusion motor (82) electrically connected to the control system is arranged on the mounting plate (6), the sliding screw (81) is coaxially arranged on the output shaft of the extrusion motor (82), an extrusion seat (83) is threadedly connected to the sliding screw (81), the axis of the sliding screw (81) is parallel to the length direction of the slide rail (71), a guide rod (84) parallel to the axis of the sliding screw (81) is arranged on the mounting plate (6), the extrusion seat (83) is slidably sleeved on the guide rod (84), a rotating cylinder (85) electrically connected to the control system is arranged on the extrusion seat (83), a pressure plate (86) is arranged on the rotating end of the rotating cylinder (85), and the pressure plate (86) is used to abut the piston core rod (103).

4. The drip recovery mechanism before needle loss according to claim 3, characterized in that: The separation assembly (9) includes a bridge plate (91) arranged on the mounting plate (6), an extension cylinder (92) is arranged on the bridge plate (91), the extension direction of the piston rod of the extension cylinder (92) is parallel to the extension direction of the piston rod of the horizontal cylinder (75), a second clamping cylinder (93) is arranged on the piston rod of the extension cylinder (92), the second clamping cylinder (93) is used to clamp the needle (101), and the extension cylinder (92) and the second clamping cylinder (93) are both electrically connected to a control system.

5. The drip recovery mechanism before needle loss according to claim 4, characterized in that: The airtight component (15) includes a disk (151) arranged on the top of the sealing box (11), the needle placement port (14) is coaxially opened on the disk (151), a plurality of fan plates (152) are uniformly slidably arranged on the disk (151), the fan plates (152) slide along the radial direction of the axis of the disk (151), a slider (153) is arranged on the fan plate (152), and a slide groove (154) for the slider (153) to slide is opened on the disk (151). The cross sections of the slider (153) and the slide groove (154) are both T-shaped. A sealing rubber plate (155) with a fan-shaped cross section is provided on the side of the fan plate (152) close to the axis of the disc (151). The fan radius of the sealing rubber plate (155) is greater than the radius of the needle port (14). The sealing rubber plate (155) is used to abut the outer wall of the needle head (101). The sealing box (11) is provided with a sliding member (156) that drives multiple fan plates (152) to slide synchronously.

6. The drip recovery mechanism before needle loss according to claim 5, characterized in that: The sliding member (156) includes a driving ring plate (1561) rotatably arranged on the sealing box (11) and coaxial with the disc (151), a driving column (1562) is arranged on the fan plate (152), and a plurality of straight grooves (1563) are opened on the driving ring plate (1561), the straight grooves (1563) correspond one-to-one with the fan plate (152), the driving column (1562) and the straight grooves (1563) are slidably matched, and the distances between the two ends of the straight grooves (1563) and the axis of the disc (151) are not equal, a gear ring (1564) is coaxially arranged on the driving ring plate (1561), an airtight motor (1565) electrically connected to the control system is arranged on the sealing box (11), and a gear (1566) meshing with the gear ring (1564) is arranged on the output shaft of the airtight motor (1565).

7. The drip recovery mechanism before needle loss according to claim 5, characterized in that: The negative pressure member (16) comprises an air pump (161) arranged on the recovery rack (10), the air pump (161) being electrically connected to a control system, and an exhaust pipe (162) being connected between an air inlet end of the air pump (161) and an inner side wall of the sealing box (11).

8. The drip recovery mechanism before needle loss according to claim 7, characterized in that: The exhaust pipe (162) is provided with a filter screen (17).

9. The drip recovery mechanism before needle loss according to claim 1, characterized in that: A limiting ring (18) is detachably provided on the inner bottom wall of the sealing box (11), and the bottom of the collecting bottle (13) is inserted into the ring of the limiting ring (18).

10. The drip recovery mechanism before needle loss according to claim 3, characterized in that: The pressure plate (86) is threadedly connected to an adjusting screw (19), and an end plate (20) is provided on the adjusting screw (19). The end plate (20) is used to abut against the piston core rod (103). The adjusting screw (19) is threadedly connected to a locking nut (21), and the locking nut (21) is used to abut against the pressure plate (86).

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