A detachable puncture manipulator and an infusion robot with synchronous operation and self-locking

Abstract

The present invention discloses a detachable puncture manipulator and an infusion robot with synchronous operation and self-locking. It belongs to the technical field related to the application of infusion robots. The puncture manipulator is set as a detachable structure, including a first transmission part, a second transmission part, and a puncture device parallel grasping and pressing part. A first disassembly and docking device is arranged on the first transmission part for docking with a second disassembly and docking device on the second transmission part. A pressing docking track is arranged on the second transmission part and docked with a pressing docking groove on the puncture device parallel grasping and pressing part. An automatic unlocking device, an automatic locking position correction device, and an automatic locking device are respectively arranged at the lower end and the side end of the detachable puncture manipulator. The present invention is used to solve the technical problems in the prior art that the puncture device manipulator is not a detachable structure and cannot ensure the synchronous movement center of the infusion bottle / bag storage turntable and the puncture manipulator, improving the adaptability, safety, and accuracy of the infusion robot and simplifying the operation process.

Description

Technical Field

[0001] The present invention belongs to the technical field related to the application of infusion robots, and particularly relates to a detachable puncture manipulator and an infusion robot with synchronous operation and self-locking. Background Technique

[0002] During the development of infusion robots, since there are various specifications of infusion sets produced by different manufacturers for use with the puncture manipulator of the infusion robot, in order to adapt the puncture manipulator to the loading and grasping of puncture parts of different infusion sets, a detachable puncture manipulator is adopted to adapt to the grasping and loading of the puncture parts of different infusion sets.

[0003] At the same time, it is found during the application of the infusion robot that when the turntable of the infusion bottle of the infusion robot moves and the puncture manipulator drives the puncture part of the infusion set to insert, due to various reasons, it is impossible to ensure the synchronization of the movement center of the infusion bottle / bag storage turntable during the transportation of the infusion bottle with the movement of the puncture manipulator, resulting in the failure of various sensors during the infusion process, and the inability to correctly judge the movement position of the infusion bottle storage turntable and the liquid level change in the infusion bottle. As a result, during the infusion process, the accuracy of the movement position of the infusion bottle storage turntable is lost, and the accurate position of the liquid level change in the infusion bottle is lost, making the infusion robot unable to achieve good infusion application effects.

[0004] Therefore, we have provided an infusion robot with an automatically locked detachable puncture manipulator and synchronous operation and self-locking between the puncture manipulator and 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 an infusion robot with synchronous operation and self-locking, which are used to solve the technical problems in the prior art that the puncture manipulator is not of a detachable structure and the movement centers of the infusion bottle / bag storage turntable and the puncture manipulator cannot be guaranteed to be synchronized.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A detachable puncture manipulator and an infusion robot with synchronous operation and self-locking, the puncture manipulator is set as a detachable structure, including a first transmission part, a second transmission part, and a puncture device parallel grasping and pressing part. A first disassembly and docking device is provided on the first transmission part for docking with a second disassembly and docking device on the second transmission part. A pressing docking track is provided on the second transmission part for docking with a pressing docking groove on the puncture device parallel grasping and pressing part; on the lower side of the second disassembly and docking device of the detachable puncture manipulator, an automatic unlocking device and an automatic locking device are respectively provided, and an automatic locking position correction device is provided above the automatic unlocking device.

[0008] As a further improvement of the above solution, the first disassembly and docking device is set as a pin body structure, and the second disassembly and docking device is provided with a through groove structure to be applicable to the pin body structure.

[0009] As a further improvement of the above solution, the pressing docking groove is set as a stepped groove, and the pressing docking track is applicable to the stepped groove.

[0010] As a further improvement of the above solution, the automatic unlocking device includes a first self-locking block. The first self-locking block includes a sliding block and an insertion pin. A first spring is arranged on the insertion pin. The side surface and the upper side surface of the sliding block are respectively set as a first parallel movement surface and a first locking sliding surface; the insertion pin is used to be applicable to the detachable part of the puncture manipulator.

[0011] As a further improvement of the above solution, the automatic locking position correction device includes a stroke self-locking block. The side surface and the bottom surface of the stroke self-locking block are respectively set as a second parallel movement surface and a second locking sliding surface. The second parallel movement surface, the second locking sliding surface are applicable to the first parallel movement surface and the first locking sliding surface.

[0012] As a further improvement of the above solution, the automatic locking device includes a second self-locking block applicable to the detachable part of the puncture manipulator. The second self-locking block includes a movable block. A movable pin is arranged at the side end of the movable block, and a second spring is inserted on the movable pin; a pressure release surface is arranged on the side surface of the movable block, and a release locking device is arranged at the side end of the pressure release surface.

[0013] As a further improvement of the above solution, it further includes a displacement correction device. The displacement correction device is set as a plug pin structure, and the plug pin is applicable to the sleeve on the turntable.

[0014] As a further improvement of the above solution, the displacement correction device is set as a pin body structure, and a slope is arranged at the top end.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] The present invention provides a detachable puncture manipulator and an infusion robot with synchronous operation and self-locking. By designing a detachable puncture manipulator, it can quickly adapt to different specifications of infusion sets, improving the versatility and adaptability of the infusion robot and facilitating the switching between different brands and models of infusion sets.

[0017] The present invention ensures the movement synchronization of the infusion bottle / bag storage turntable and the puncture manipulator by synchronously operating the automatic unlocking device, the automatic locking position correction device and the automatic locking device, improving the accuracy and reliability of the infusion process.

[0018] The displacement correction device of the present invention can automatically adjust the position of the infusion bottle / bag storage turntable, ensuring the correct alignment and puncture of the infusion bottle, and improving the precision of the infusion process. Brief Description of the Drawings

[0019] Figure 1 This is an exploded view of each component of the puncture manipulator in the present invention after disassembly.

[0020] Figure 2 This is a schematic diagram of the puncture manipulator and the turntable in the present invention before cooperation.

[0021] Figure 3 It is Figure 2 An enlarged schematic view of part A in

[0022] Figure 4 This is a schematic diagram of the puncture manipulator and the turntable in the present invention after cooperation.

[0023] Figure 5 It is Figure 4 An enlarged schematic view of part B in

[0024] In the figure: 1. First transmission part; 2. First disassembly and docking device; 3. Second disassembly and docking device; 4. Second transmission part; 5. Pressing docking track; 6. Pressing docking groove; 7. Puncture parallel grasping and pressing part; 8. Turntable; 9. Displacement correction device; 10. Automatic unlocking device; 11. First spring; 12. First self-locking block; 1201. Sliding block; 1202. Interpenetrating pin; 13. First parallel movement surface; 14. First locking sliding surface; 15. Stroke self-locking block; 16. Second locking sliding surface; 17. Second parallel movement 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. Removable puncture manipulator; 23. Side. Detailed Description of the Preferred Embodiments

[0025] In order to enable those skilled in the art to better understand the technical solution, the present invention will be described in detail below in conjunction with the embodiments. The description of this part is only exemplary and explanatory, and should not have any restrictive effect on the protection scope of the present invention.

[0026] Such as Figures 1-5As shown in the figure, the specific solution of this embodiment is as follows: A detachable puncture manipulator and an infusion robot with synchronous operation and self-locking. The puncture manipulator is set as the detachable puncture manipulator 100, which includes a first transmission part 1, a second transmission part 4, and a puncture device parallel grasping and pressing part 7. A first disassembly and docking device 2 is arranged on the first transmission part 1 for docking with the second disassembly and docking device 3 on the second transmission part 4. A pressing docking track 5 is arranged on the second transmission part 4 and docked with a pressing docking groove 6 on the puncture device parallel grasping and pressing part 7; on the lower side of the second disassembly and docking device 3 of the detachable puncture manipulator, an automatic unlocking device 10 and an automatic locking device 22 are respectively arranged, and an automatic locking position correction device 18 is arranged above the automatic unlocking device 10.

[0027] As Figure 1 shown, as a preferred mode of the above embodiment, the first disassembly and docking device 2 is set as a pin body structure, and the second disassembly and docking device 3 is provided with a through groove structure to be applicable to 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 execute. The pressing docking groove 6 is set as a stepped groove, and the pressing docking track 5 is applicable to the stepped groove. The design of the stepped groove and the docking track provides a stable docking platform, ensuring the parallel grasping and pressing of the puncture device and guaranteeing the stability of infusion.

[0028] As Figures 2-3 shown, as a preferred mode 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 an insertion pin 1202. A first spring 11 is arranged on the insertion pin 1202. The side surface and the upper surface of the sliding block 1201 are respectively set as a first parallel movement surface 13 and a first locking sliding surface 14; the insertion pin 1202 is used to be applicable to the detachable part of the puncture manipulator.

[0029] As Figures 2-3 shown, as a preferred mode of the above embodiment, the automatic locking position correction device 18 includes a stroke self-locking block 15. The side surface and the bottom surface of the stroke self-locking block 15 are respectively set as a second parallel movement surface 17 and a second locking sliding surface 16, and the second parallel movement surface 17, the second locking sliding surface 16 are applicable to the first parallel movement surface 13 and the first locking sliding surface 14.

[0030] As Figures 4-5 shown, as a preferred mode of the above embodiment, the automatic locking device 22 includes a second self-locking block 19 applicable to the detachable part of the puncture manipulator. The second self-locking block 19 includes a movable block 1901. A movable pin 1902 is arranged at the side end of the movable block 1901, and a second spring 1903 is inserted on the movable pin 1902; a pressure release surface 20 is arranged on the side surface of the movable block 1901, and a release locking device 21 is arranged at the side end of the pressure release surface 20.

[0031] As Figure 2 and Figure 4 shown, as a preferred embodiment of the above, it further includes a displacement correction device 9. The displacement correction device 9 is set as a plug structure, and the plug is adapted to the sleeve on the turntable 8. The displacement correction device 9 is set as a pin body structure, and the top is provided with a slope.

[0032] The specific working principle of the present invention:

[0033] I. The puncture manipulator with self-locking adopts the following two schemes:

[0034] ① As Figures 2-3 shown, a puncture manipulator automatic unlocking device 10 is provided at the puncture manipulator part, and an automatic locking position correction device 18 is provided at the stroke self-locking block 15 at the stroke self-locking position of its movement track.

[0035] A first self-locking block 12 is provided on the automatic unlocking device 10 of the puncture manipulator. The first self-locking block 12 includes a sliding block 1201 and an insertion pin 1202. A first spring 11 is provided on the insertion pin 1202; the side surface and the upper side surface of the sliding block 1201 are respectively set as a first parallel movement surface 13 and a first locking sliding surface 14.

[0036] A second parallel movement surface 17 and a second locking sliding surface 16 are provided on the stroke self-locking block 15 of the automatic locking position correction device 18. 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, when 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 touches the second locking sliding surface 16 of the automatic locking position correction device 18, the first self-locking block 12 starts to move and lock the detachable part of the puncture manipulator (the side surface 23 of the second disassembly docking device 3 and the hole on the side surface 23) under the movement cooperation of the second locking sliding surface 16 and the first locking sliding surface 14. When the puncture manipulator moves upward to reach the parallel movement surface position, the first self-locking block 12 locks the detachable part of the puncture manipulator. Under the combined movement of the first parallel movement surface 13 and the second parallel movement surface 17, the puncture manipulator keeps the detachable part locked and moves upward to send the puncture device into the infusion bottle to conduct the infusion channel. Moving downward cuts off the infusion channel. When moving downward until the first locking sliding surface 14 and the second locking sliding surface 16 are disengaged, under the cooperation of the first locking sliding surface 14 and the second locking sliding surface 16, the first self-locking block 12 slowly releases the locking state of the detachable part under the action of the first spring 11 until it returns to the initial position.

[0037] ② As Figures 2-4As shown, an automatic locking device 22 of the puncture manipulator is provided at the puncture manipulator part, and an automatic unlocking device 10 is provided at its initial state zero position.

[0038] As Figures 4-5 shown, the automatic locking device 22 of the puncture manipulator is provided with a second self-locking block 19. 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 through the movable pin 1902; a pressure release surface 20 is provided on the side surface of the movable block 1901, and a release locking device 21 is provided at the side end of the pressure release surface 20.

[0039] When the puncture manipulator is at its initial zero position, the release locking device 21 locks the pressure release surface 20 of the locking device, keeping it in an unlocked state for the detachable part of the puncture manipulator. As the puncture manipulator moves upward, after the pressure release surface 20 leaves the release locking device 21, the locking block locks the detachable part of the puncture manipulator under the action of the locking elastic device.

[0040] Second, as Figure 2 and Figure 4 shown, the device for ensuring the synchronous movement and self-locking of the puncture manipulator and the infusion bottle / bag storage device (turntable) adopts the following scheme:

[0041] A displacement correction device 9 for the puncture manipulator to be synchronous with the infusion bottle storage device (turntable) is provided on the puncture manipulator, and a number of turntables 8 for docking with it are provided on the infusion bottle storage device (turntable).

[0042] Synchronous with the displacement correction device 9 of the puncture manipulator, every time the infusion bottle storage device (turntable) moves (rotates) one station, even within the range of a movement error of 1 - 5 mm, through the upward movement of the puncture manipulator, the inclined port of the displacement correction device 9 can be docked with the turntable 8, and it can also be ensured that the puncture device on the puncture manipulator can be inserted into the infusion bottle within a very small error range or even zero error range.

[0043] It should be noted that in this text, the terms "including", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Specific examples are used in this text to elaborate on the principles and implementation manners of the technical solution of the present invention. The description of the above examples is only used to help understand the method and its core idea of the present invention. The above is only the preferred implementation manner of the present invention. It should be pointed out that due to the limited nature of written expression and the objectively infinite specific structures, for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements, refinements or changes can be made, or the above technical features can be combined in an appropriate manner; these improvements, refinements, changes or combinations, or directly applying the concept and technical solution of the invention to other occasions without improvement, shall all 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 configured as 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 configured as a pin body structure, and the second disassembly docking device (3) is configured 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 configured as a step groove, and 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 respectively provided with an automatic unlocking device (10) and an automatic locking device (22); an automatic locking position correction device (18) is provided above the automatic unlocking device (10); 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.

2. A detachable puncture manipulator and a 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.

3. 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).

4. The detachable puncture manipulator and the synchronously operated 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).

5. The detachable puncture manipulator and the synchronously operated self-locking infusion robot according to claim 4, characterized in that: The displacement correction device (9) is configured as a pin structure, and a top end is configured with an inclination.

Images