Detachable puncture manipulator and synchronous operation self-locking infusion robot

Abstract

The invention discloses a detachable puncture manipulator and a synchronous operation self-locking infusion robot, and belongs to the related technical field of infusion robot application. The puncture manipulator is of a detachable structure and comprises a first transmission part, a second transmission part and a puncture outfit parallel grabbing and pressing part; the first transmission part is provided with a first dismounting butt joint device used for being in butt joint with a second dismounting butt joint device on the second transmission part, and the second transmission part is provided with a pressing butt joint rail in butt joint with a pressing butt joint groove in the puncture outfit parallel grabbing pressing part. An automatic unlocking device, an automatic locking position correcting device and an automatic locking device are arranged at the lower end and the side end of the detachable puncture mechanical arm respectively. The technical problems that in the prior art, a puncture outfit mechanical arm is not of a detachable structure, and it cannot be guaranteed that the motion center of the infusion bottle / bag storage rotating disc and the motion center of the puncture mechanical arm are synchronous are solved, the adaptability, safety and accuracy of the infusion robot are improved, and the operation process is simplified.

Description

Technical Field

[0001] The present invention belongs to the technical field related to the application of infusion robots, and specifically relates to a detachable puncture manipulator and a synchronously running self-locking infusion robot. Background Art

[0002] In the process of developing the infusion robot, because the infusion sets used with the puncture manipulator of the infusion robot have different specifications of infusion sets produced by various manufacturers, in order to adapt the puncture manipulator to the filling and grabbing of the puncture sets of different infusion sets, a detachable puncture manipulator is used to adapt to the grabbing and filling of different puncture sets of infusion sets.

[0003] At the same time, during the application of the infusion robot, it was found that when the turntable of the infusion bottle of the infusion robot moves and the puncture manipulator drives the puncture part of the infusion device to insert, due to various reasons, it is impossible to ensure that the movement of the infusion bottle / bag storage turntable is synchronized with the movement center of the puncture manipulator when transporting the infusion bottle, resulting in various sensors in the infusion process failing, unable to correctly judge the movement position of the infusion bottle storage turntable and the liquid level change in the infusion bottle, resulting in the loss of judgment on the accuracy of the movement position of the infusion bottle storage turntable during the infusion process, and the loss of judgment on the exact position of the liquid level change in the infusion bottle, making it impossible for the infusion robot to achieve a good infusion application effect.

[0004] Therefore, we have set up an infusion robot with an automatically locking and detachable puncture manipulator and a self-locking infusion robot that runs synchronously with the infusion bottle / bag storage device (turntable) to solve the above technical problems. Summary of the invention

[0005] In view of the above problems, the present invention provides a detachable puncture manipulator and a synchronously running self-locking infusion robot, which are used to solve the technical problems in the prior art that the puncture manipulator is not a detachable structure and cannot ensure the synchronization of the motion center of the infusion bottle / bag storage turntable and the puncture manipulator.

[0006] To achieve the above object, the technical solution adopted by the present invention is: A detachable puncture manipulator and a synchronously running self-locking infusion robot, wherein the puncture manipulator is arranged as a detachable structure, comprising a first transmission part, a second transmission part and a puncture device 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, the second transmission part is provided with a pressing docking track for docking with a pressing docking groove on the puncture device parallel grasping and pressing part; the lower end side of the second disassembly docking device of the detachable puncture manipulator is respectively provided with an automatic unlocking device and an automatic locking device, and an automatic locking position correction device is arranged above the automatic unlocking device.

[0007] As a further improvement of the above solution, the first disassembly and docking device is configured as a pin body structure, and the second disassembly and docking device is configured with a through groove structure to be compatible with the pin body structure.

[0008] As a further improvement of the above solution, the pressed docking groove is set as a step groove, and the pressed docking track is compatible with the step groove.

[0009] As a further improvement of the above scheme, the automatic unlocking device includes a first self-locking block, the first self-locking block includes a sliding block and a through pin, the through pin is provided with a first spring, the side surface and the upper side surface of the sliding block are respectively arranged as a first parallel motion surface and a first locking sliding surface; the through pin is used to be compatible with the detachable part of the puncture robot.

[0010] As a further improvement of the above-mentioned scheme, the automatic locking position correction device includes a travel self-locking block, and the side and bottom surfaces of the travel self-locking block are respectively arranged as a second parallel motion surface and a second locking sliding surface, and the second parallel motion surface and the second locking sliding surface are applicable to the first parallel motion surface and the first locking sliding surface.

[0011] As a further improvement of the above scheme, the automatic locking device includes a second self-locking block suitable for the detachable part of the puncture robot, the second self-locking block includes a movable block, a movable pin is provided at the side end of the movable pin, and a second spring is inserted on the movable pin; a pressure release surface is provided on the side of the movable block, and a release locking device is provided at the side end of the pressure release surface.

[0012] As a further improvement of the above solution, it also includes a displacement correction device, which is configured as a latch structure, and the latch is compatible with the sleeve on the turntable.

[0013] As a further improvement of the above solution, the displacement correction device is configured as a pin structure, and a slope is provided at the top end.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a detachable puncture manipulator and a synchronously running self-locking infusion robot. By designing the detachable puncture manipulator, the infusion robot can quickly adapt to infusion sets of different specifications, thereby improving the versatility and adaptability of the infusion robot and facilitating switching between infusion sets of different brands and models.

[0015] 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.

[0016] 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

[0017] Figure 1 This is an exploded view of the puncture robot after the components are disassembled in the present invention.

[0018] Figure 2 This is a schematic diagram of the puncture robot and the turntable not being matched in the present invention.

[0019] Figure 3 for Figure 2 Enlarged schematic diagram at point A in the middle.

[0020] Figure 4 This is a schematic diagram of the cooperation between the puncture robot and the turntable in the present invention.

[0021] Figure 5 for Figure 4 Enlarged schematic diagram of point B in the middle.

[0022] In the figure: 1. first transmission part; 2. first disassembly docking device; 3. second disassembly docking device; 4. second transmission part; 5. pressing docking track; 6. pressing docking groove; 7. parallel grasping pressing part of the puncture device; 8. turntable; 9. displacement correction device; 10. automatic unlocking device; 11. first spring; 12. first self-locking block; 1201. sliding block; 1202. insertion pin; 13. first parallel motion surface; 14. first locking sliding surface; 15. stroke self-locking block; 16. second locking sliding surface; 17. second parallel motion surface; 18. automatic locking position correction device; 19. second self-locking block; 1901. movable block; 1902. movable pin; 1903. second spring; 20. pressure release surface; 21. release locking device; 22. automatic locking device; 100. detachable puncture manipulator; 23. side. DETAILED DESCRIPTION

[0023] 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.

[0024] like Figure 1-Figure 5As shown, the specific scheme of this embodiment is: a detachable puncture manipulator and a synchronously running self-locking infusion robot, the puncture manipulator is set as a detachable puncture manipulator 100, including a first transmission part 1, a second transmission part 4 and a puncture parallel grasping and pressing part 7, the first transmission part 1 is provided with a first disassembly docking device 2 for docking with the second disassembly docking device 3 on the second transmission part 4, and the second transmission part 4 is provided with a pressing docking track 5 for docking with the pressing docking groove 6 on the puncture parallel grasping and pressing part 7; the second disassembly docking device 3 of the detachable puncture manipulator is provided with an automatic unlocking device 10 and an automatic locking device 22 on the lower side, and an automatic locking position correction device 18 is provided above the automatic unlocking device 10.

[0025] like Figure 1 As shown, as a preferred embodiment of the above embodiment, the first disassembly docking device 2 is set as a pin body structure, and the second disassembly docking device 3 is provided with a through groove structure to be compatible with the pin body structure; the docking method of the pin body structure and the through groove structure simplifies the disassembly and loading process of the manipulator, making the operation more intuitive and easy to perform. The pressing docking groove 6 is set as a step groove, and the pressing docking track 5 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 the stability of the infusion.

[0026] like Figure 2-Figure 3 As shown, as a preferred embodiment of the above embodiment, the automatic unlocking device 10 includes a first self-locking block 12, the first self-locking block 12 includes a sliding block 1201 and a plug pin 1202, the plug pin 1202 is provided with a first spring 11, the side surface and the upper side surface of the sliding block 1201 are respectively provided as a first parallel motion surface 13 and a first locking sliding surface 14; the plug pin 1202 is used to be compatible with the detachable part of the puncture robot.

[0027] like Figure 2-Figure 3 As shown, as a preferred mode of the above embodiment, the automatic locking position correction device 18 includes a travel self-locking block 15, and the side and bottom surfaces of the travel self-locking block 15 are respectively set to a second parallel motion surface 17 and a second locking sliding surface 16, and the second parallel motion surface 17, the second locking sliding surface 16 and the first parallel motion surface 13, the first locking sliding surface 14 are applicable.

[0028] like Figure 4-Figure 5 As shown, as a preferred embodiment of the above embodiment, the automatic locking device 22 includes a second self-locking block 19 suitable for the detachable part of the puncture robot, the second self-locking block 19 includes a movable block 1901, a movable pin 1902 is provided at the side end of the movable pin 1902, and a second spring 1903 is inserted on the movable pin 1902; a pressure release surface 20 is provided on the side of the movable block 1901, and a release locking device 21 is provided at the side end of the pressure release surface 20.

[0029] like Figure 2 and Figure 4 As shown, as a preferred embodiment of the above embodiment, it also includes a displacement correction device 9, which is configured as a latch structure, and the latch is adapted to the sleeve on the turntable 8. The displacement correction device 9 is configured as a pin structure, and the top end is provided with an inclination.

[0030] The specific working principle of the present invention is: 1. The self-locking puncture manipulator adopts the following two solutions: ① Such as Figure 2-Figure 3 As shown, an automatic unlocking device 10 for the puncture robot arm is provided at the puncture machine arm, and an automatic locking position correction device 18 is provided at the travel self-locking block 15 at the travel self-locking position of its motion trajectory.

[0031] A first self-locking block 12 is arranged on the automatic unlocking device 10 of the puncture robot, and the first self-locking block 12 includes a sliding block 1201 and a plug pin 1202, and the plug pin 1202 is provided with a first spring 11; the side surface and the upper side surface of the sliding block 1201 are respectively arranged as a first parallel motion surface 13 and a first locking sliding surface 14.

[0032] The stroke self-locking block 15 of the automatic locking position correction device 18 is provided with a second parallel motion surface 17 and a second locking sliding surface 16. 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 manipulator moves upward, the first locking sliding surface 14 of the automatic unlocking device 10 of the puncture manipulator moves to the stroke self-locking block 15 and hits the second locking sliding surface 16 of the automatic locking position correction device 18. The first self-locking block 12 is locked in the second locking sliding surface. The moving surface 16 and the first locking sliding surface 14 start to move and lock the detachable part of the puncture manipulator (the side 23 of the second disassembly docking device 3 and the hole on the side 23). When the puncture manipulator moves upward to reach the parallel moving surface position, the first self-locking block 12 locks the detachable part of the puncture manipulator. Under the coordinated movement of the first parallel moving surface 13 and the second parallel moving surface 17, the puncture manipulator keeps the detachable part locked and moves upward to send the puncture device into the infusion bottle to open the infusion channel. Move downward to cut off the infusion channel. After moving downward to the first locking sliding surface 14 and the second locking sliding surface 16 are disengaged, the first self-locking block 12 slowly releases the locking state of the detachable part under the action of the first spring 11 under the cooperation of the first locking sliding surface 14 and the second locking sliding surface 16 until it returns to the initial position.

[0033] ② If Figure 2-Figure 4 As shown, an automatic locking device 22 of the puncture robot is provided at the puncture robot position and an automatic unlocking device 10 is provided at its initial state zero position.

[0034] like Figure 4-Figure 5 As shown, the automatic locking device 22 of the puncture robot is provided with a second self-locking block 19, and the second self-locking block 19 includes a movable block 1901, and a movable pin 1902 is provided at the side end of the movable pin 1902, and a second spring 1903 is inserted on the movable pin 1902; a pressure release surface 20 is provided on the side of the movable block 1901, and a release locking device 21 is provided at the side end of the pressure release surface 20.

[0035] When the puncture robot is in its initial zero position, the release locking device 21 locks the pressure release surface 20 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 20 leaves the release locking device 21, and the locking block locks the detachable part of the puncture robot under the force of the locking elastic device.

[0036] 2. Figure 2 and Figure 4 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 9 which synchronizes the puncture manipulator with the infusion bottle storage device (turntable), and a plurality of turntables 8 for docking with the infusion bottle storage device (turntable) are provided on the infusion bottle storage device (turntable).

[0037] Synchronous with the displacement correction device 9 of the puncture manipulator, each time the infusion bottle storage device (turntable) moves (rotates) one station, even if the movement error is in the range of 1-5 mm, the puncture manipulator can move upward and dock with the turntable 8 through the inclined port of the displacement correction device 9, which can also ensure that the puncture on the puncture manipulator can be inserted into the infusion bottle with a very small error or even zero error.

[0038] 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. A detachable puncture manipulator and a synchronously operated self-locking infusion robot, characterized in that: The puncture manipulator is provided with a detachable structure, comprising a first transmission part (1), a second transmission part (4) and a puncture parallel grasping and pressing part (7); the first transmission part (1) is provided with a first disassembly docking device (2) for docking with a second disassembly docking device (3) on the second transmission part (4); the first disassembly docking device (2) is provided with a pin body structure; the second disassembly docking device (3) is provided with a through groove structure to be compatible with the pin body structure; the second transmission part (4) is provided with a pressing docking track (5) for docking with a pressing docking groove (6) on the puncture parallel grasping and pressing part (7); the pressing docking groove (6) is provided with a step groove; the pressing docking track (5) is compatible with the step groove; the lower end side of the second disassembly docking device (3) of the detachable puncture manipulator is provided with an automatic unlocking device (10) and an automatic locking device (22), respectively; an automatic locking position correction device (18) is provided above the automatic unlocking device (10).

2. A detachable puncture manipulator and a synchronously operated self-locking infusion robot according to claim 1, characterized in that: The automatic unlocking device (10) comprises a first self-locking block (12), the first self-locking block (12) comprising a sliding block (1201) and a plugging pin (1202), the plugging pin (1202) being provided with a first spring (11), the side surface and the upper side surface of the sliding block (1201) being respectively provided as a first parallel motion surface (13) and a first locking sliding surface (14); the plugging pin (1202) is adapted to be compatible with a detachable portion of a puncture manipulator.

3. The detachable puncture manipulator and the synchronously operated self-locking infusion robot according to claim 1, characterized in that: The automatic locking position correction device (18) comprises a travel self-locking block (15), the side surface and the bottom surface of the travel self-locking block (15) are respectively arranged as a second parallel motion surface (17) and a second locking sliding surface (16), and the second parallel motion surface (17), the second locking sliding surface (16) and the first parallel motion surface (13), the first locking sliding surface (14) are compatible with each other.

4. The detachable puncture manipulator and the synchronously operated self-locking infusion robot according to claim 1, characterized in that: The automatic locking device (22) comprises a second self-locking block (19) adapted for use with the detachable portion of the puncture manipulator, the second self-locking block (19) comprising a movable block (1901), a movable pin (1902) being provided at the side end of the movable pin (1902), a second spring (1903) being inserted through the movable pin (1902); a pressure release surface (20) being provided at the side of the movable block (1901), and a release locking device (21) being provided at the side end of the pressure release surface (20).

5. The detachable puncture manipulator and synchronous self-locking infusion robot according to claim 1, characterized in that: It also includes a displacement correction device (9), which is configured as a latch structure, and the latch is adapted to fit the sleeve on the rotating disk (8).

6. A detachable puncture manipulator and a synchronously operated self-locking infusion robot according to claim 5, characterized in that: The displacement correction device (9) is configured as a pin structure, and a top end is configured with an inclination.

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