Infusion controller based on PID (Proportion Integration Differentiation) theory control

Abstract

The invention discloses an infusion controller based on PID (Proportion Integration Differentiation) theory control, which relates to the technical field of infusion control and comprises a medicine infusion mechanism and a medicine conveying mechanism, the medicine conveying mechanism comprises an indexing rotating seat and a stepping motor; the stepping motor drives the indexing rotating seat to intermittently rotate at equal angles; the indexing rotating seat comprises an indexing conveying disc and an infusion tube assembly; the indexing conveying disc is provided with a plurality of needle tube containing grooves evenly distributed in the circumference, and a center containing groove is formed in the center. The needle tube accommodating groove is used for accommodating a first needle cylinder filled with anesthetic; the medicine infusion mechanism is used for sequentially pressing the first needle cylinders; the central placement groove is used for placing a second needle cylinder filled with normal saline; the medicine infusion mechanism is used for pressing one of the first needle cylinder or the second needle cylinder; the infusion tube assembly is used for connecting the first needle cylinder, the second needle cylinder and an external anesthesia infusion tube. Switching and injection of different anesthetic drugs are automatically completed, the workload of anesthetists is reduced, personal errors are reduced, and the drug administration accuracy is improved.

Description

Technical Field

[0001] The invention relates to the technical field of anesthesia infusion, and in particular to an infusion controller based on PID theory control. Background Art

[0002] General anesthesia is a reversible state induced by drugs. The appropriate depth of anesthesia needs to achieve anti-nociception, loss of consciousness, amnesia and no body movement response. The anesthesia induction phase is the beginning stage of general anesthesia. It refers to the process of gradually transitioning the patient from a waking state to a deep anesthesia state through the action of drugs. During this stage, the doctor will provide the patient with anesthetic drugs through intravenous injection to quickly put the patient into an anesthesia state. Modern anesthesia tends to adopt a combined induction method, that is, combining the advantages of different drugs to achieve the best anesthetic effect while reducing the dosage and side effects of the drugs.

[0003] Since various anesthetics have different onset times and different drug combinations also have differences in their application, and the drug concentration, dosage and injection speed are all manually controlled by the anesthesiologist, the anesthesia induction period is a process that requires precise operation but is tedious and difficult to control. It places high demands on anesthesiologists and the work intensity is high. Summary of the invention

[0004] In order to overcome the deficiencies in the prior art, the present invention provides an infusion controller based on PID theory control, which has the advantage of reducing the workload of anesthesiologists.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: An infusion controller based on PID theory control includes a drug infusion mechanism and a drug delivery mechanism; the drug delivery mechanism includes a graduated rotary seat and a stepper motor; the stepper motor drives the graduated rotary seat to intermittently rotate at equal angles; the graduated rotary seat includes a graduated conveying disk and an infusion tube assembly; the graduated conveying disk is provided with a plurality of needle tube placement grooves evenly distributed on the circumference and a central placement groove in the center; the needle tube placement groove is used to place a first syringe filled with anesthetic drugs; the drug infusion mechanism is used to press the first syringe in turn; the central placement groove is used to place a second syringe filled with physiological saline; the drug infusion mechanism is used to press one of the first syringes or the second syringe; the infusion tube assembly is used to connect the first syringe, the second syringe and an external anesthesia infusion tube.

[0006] By adopting the above technical scheme, different anesthetic drugs are selected according to different conditions of the patients and are respectively loaded in different first syringes, and then they are placed in the circumferentially distributed needle tube placement grooves in sequence according to the order of infusion. At the same time, a second syringe filled with physiological saline is placed in the central placement groove, and then the stepping motor drives the indexing rotary seat to rotate at a fixed angle gap, so that the first syringes reach the drug infusion mechanism in sequence according to the set order, and then the drug infusion mechanism presses the first syringes in sequence to push out the drugs therein. After each first syringe drug is pushed out, the drug infusion mechanism squeezes the second syringe once and flushes it with the physiological saline therein, thereby reducing the retention amount of anesthetic drugs, which is conducive to accurately controlling the dosage of anesthetic drugs. In this way, the switching and injection of different anesthetic drugs are automatically completed, reducing the workload of anesthesiologists, while reducing human errors and improving the accuracy of drug administration.

[0007] Optionally, the drug infusion mechanism includes an electric push rod and a push rod assembly; the electric push rod is used to drive the push rod assembly to move linearly; the electric push rod controls its extension speed and extension amount through PID control.

[0008] By adopting the above technical solution, the electric push rod controls its extension and retraction speed through PID control, thereby accurately controlling the movement speed and displacement of the push rod assembly, that is, the pressing speed of the first syringe, thereby accurately controlling the injection speed and achieving timely and quantitative accurate delivery of different drugs.

[0009] Optionally, the stepper motor controls its angular displacement by PID control.

[0010] By adopting the above technical solution, the stepper motor controls its angular displacement through PID control, so that the indexing rotary seat driven by the stepper motor rotates at an accurate angle, thereby realizing accurate movement of the first needle cylinder.

[0011] Optionally, the push rod assembly includes a linear moving plate, a first push rod, a first adjusting member, a second push rod and a second adjusting member; the first adjusting member drives the first push rod to move and is arranged on the linear moving plate; the second adjusting member drives the second push rod to move and is arranged on the linear moving plate; the first push rod is used to press the first syringe; the second push rod is used to press the second syringe.

[0012] By adopting the above technical solution, when it is necessary to press the first syringe, the first adjusting member drives the first push rod to the pressing position, and the second adjusting member drives the second push rod to leave the pressing position. At this time, the push rod assembly moves to only press the first syringe; when it is necessary to press the second syringe, the first adjusting member drives the first push rod to leave the pressing position, and the second adjusting member drives the second push rod to the pressing position. At this time, the push rod assembly moves to only press the second syringe. In this way, through this switching, only one electric push rod can be used to achieve the switching and pressing of the first syringe and the second syringe, saving costs.

[0013] Optionally, the infusion tube assembly includes a plurality of first infusion tubes, a plurality of second infusion tubes, a third infusion tube, a distribution chamber and a multi-position connected liquid leak; the first infusion tube, the second infusion tube and the first syringe correspond to each other one by one; one end of the first infusion tube is connected to the liquid outlet end of the first syringe, and the other end is connected to the multi-position connected liquid leak; one end of the third infusion tube is connected to the second syringe, and the other end is connected to the distribution chamber; one end of the second infusion tube is connected to the distribution chamber, and the other end is connected to the first infusion tube; an electromagnetic valve is provided on the second infusion tube; the liquid outlet end of the multi-position connected liquid leak is connected to an external anesthesia infusion tube.

[0014] By adopting the above technical scheme, the medicine in the first syringe flows along the first infusion tube to the multi-position connected liquid leak, and then enters the external anesthesia infusion tube, and then the solenoid valve on the corresponding side is opened, and the physiological saline in the second syringe flows along the third infusion tube, the distribution chamber, the second infusion tube on the corresponding side and the first infusion tube on the corresponding side to the multi-position connected liquid leak, and then enters the external anesthesia infusion tube, so that the anesthetic drug pushed out from the first syringe is brought into the external anesthesia infusion tube by the physiological saline as much as possible, thereby reducing the retention of anesthetic drugs, reducing waste, and more accurately controlling the anesthetic drugs.

[0015] Optionally, the first infusion tube includes a first infusion branch tube, a second infusion branch tube and a three-way one-way valve; the three-way one-way valve is used to connect the first infusion branch tube, the second infusion branch tube and the second infusion tube; the first infusion branch tube and the second infusion tube are connected to the two liquid inlet ends of the three-way one-way valve; the second infusion branch tube is connected to the liquid outlet end of the three-way one-way valve.

[0016] By adopting the above technical solution, the existence of the three-way one-way valve can play a connecting role and prevent the drug from flowing back and affecting the anesthesia effect.

[0017] Optionally, the drug delivery mechanism also includes a positioning assembly; the positioning assembly includes a syringe positioning disk and a limiting component; the syringe positioning disk is arranged between the drug infusion mechanism and the indexing rotating seat; the limiting component is used to control the relative position between the syringe positioning disk and the indexing rotating seat; the syringe positioning disk abuts against the pressing heads of the first syringe and the second syringe; the syringe positioning disk is provided with a first positioning hole and a second positioning hole; the first positioning hole is opposite to one of the first syringes; the second positioning hole is opposite to the second syringe.

[0018] By adopting the above technical solution, the limiting component makes the syringe positioning disk abut against the pressing heads of the first syringe and the second syringe and controls the relative position between the syringe positioning disk and the indexing rotating seat, so that the air in the first syringe and the second syringe can be squeezed out to ensure the safety of infusion and at the same time facilitate the accuracy of the anesthetic drug dosage.

[0019] Optionally, the limiting component includes a pair of positioning components; the positioning component includes a positioning screw, a positioning nut and a positioning compression spring; the pair of positioning screws pass through the syringe positioning disk; the positioning compression spring provides a thrust for the syringe positioning disk to move away from the indexing rotating seat; the positioning nut is threadedly connected to the positioning screw and limits the syringe positioning disk from detaching from the positioning screw.

[0020] By adopting the above technical solution, due to the presence of the positioning compression spring, the relative position between the syringe positioning disk and the indexing rotating seat can be adjusted by only rotating the positioning nut, which is easy to operate. At the same time, the adjustment is performed through the positioning nut, the adjustment speed is not fast, and it is easier to control.

[0021] Optionally, a sliding ring groove for sliding the pressing head of the first syringe is formed on the end face of the syringe positioning plate facing the dividing rotating seat; a limit switch is installed on the side wall of the sliding ring groove; the limit switch is opposite to the first positioning hole; the limit switch is used to turn off the stepper motor and open the pipeline in the infusion tube assembly for delivering physiological saline.

[0022] By adopting the above technical solution, the existence of the sliding ring groove is conducive to improving the movement accuracy of the first needle cylinder, thereby further ensuring the position accuracy of the first needle cylinder during pressing, which is conducive to subsequent precise pressing.

[0023] Optionally, a buffer compression spring is provided in both the needle tube placement groove and the central placement groove; the buffer compression spring provides a thrust to prevent the first syringe or the second syringe from detaching from the indexing conveying disk.

[0024] By adopting the above technical solution, the existence of the buffer compression spring prevents the first syringe and the second syringe from directly abutting against the indexing conveying disk, thereby reducing the possibility of damage to the first syringe and the second syringe. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the present invention in cross section.

[0026] Figure 2 It is a schematic structural diagram of a top view of the push rod assembly of the present invention.

[0027] Figure 3 It is a schematic diagram of the structure of the syringe positioning disk of the present invention from a top view.

[0028] Figure 4 The present invention Figure 1 A schematic diagram of the cross-section structure of the indexing rotary seat.

[0029] Figure 5 It is a schematic structural diagram of a top view of the indexing conveyor plate of the present invention.

[0030] Figure 6 It is a control schematic diagram of the present invention.

[0031] Description of reference numerals: 10. Casing; 20. Drug infusion institutions; 30. Electric push rod; 40. Push rod assembly; 41. Linear moving plate; 410. First sliding groove; 411. Second sliding groove; 42. First adjusting member; 43. First connecting block; 44. First push rod; 45. Second adjusting member; 46. Second connecting block; 47. Second push rod; 50. Position limiting component; 51. Positioning seat; 52. Positioning screw; 53. Positioning compression spring; 54. Positioning nut; 60, syringe positioning plate; 61, positioning plate body; 610, first positioning hole; 611, second positioning hole; 612, sliding ring groove; 62, connecting plate; 620, through hole; 70. Indexing rotating seat; 71. First supporting plate; 72. First connecting rod; 73. Second connecting rod; 74. Indexing conveying plate; 740. Needle tube placement groove; 741. Upper placement groove; 742. Middle placement groove; 743. Lower placement groove; 744. Center placement groove; 75. Buffer compression spring; 76. Infusion tube assembly; 761. First infusion tube; 762. First infusion branch pipe; 7621. First connecting sleeve; 763. Three-way one-way valve; 764. Second infusion branch pipe; 765. Third infusion tube; 7651. Second connecting sleeve; 766. Distribution chamber; 767. Second infusion tube; 768. Solenoid valve; 769. Multi-position connected liquid leakage; 77. Second supporting plate; 80. Stepper motor; 90. First syringe; 100. Second syringe. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1-Figure 6 The present invention is described in further detail.

[0033] Embodiment 1: Disclose an infusion controller based on PID theory control, refer to Figure 1 , including a housing 10, a drug infusion mechanism 20, a drug delivery mechanism and a control module; the housing 10 is hollow inside; the drug infusion mechanism 20 and the drug delivery mechanism are located inside the housing 10; the drug infusion mechanism 20 includes an electric push rod 30 and a push rod assembly 40; the electric push rod 30 is fixed on the upper side wall of the housing 10; the push rod assembly 40 is fixed to the push rod bottom of the electric push rod 30; the electric push rod 30 is used to drive the push rod assembly 40 to move linearly; wherein the control module controls the electric push rod 30, and the servo motor of the electric push rod 30 controls the extension speed and extension amount of the electric push rod 30 through the PID control method; the drug delivery mechanism includes a graduated rotary seat 70 and a stepper motor 80; the stepper motor 80 is fixed on the lower side of the housing 10 The indexing rotating seat 70 is mounted on the wall and is fixed to the upper end of the output shaft of the stepping motor 80; wherein the control module controls the stepping motor 80, and the stepping motor 80 controls its angular displacement through the PID control method. The specific control theory refers to the mathematical model of the stepping motor PID speed regulation system; the stepping motor 80 drives the indexing rotating seat 70 to rotate intermittently at equal angles; the indexing rotating seat 70 is used to place a plurality of first syringes 90 and second syringes 100; the first syringe 90 is used to hold anesthetic drugs, and each first syringe 90 is loaded with different anesthetic drugs as required, and the first syringes 90 are distributed along the circumference of the indexing rotating seat 70 in the order of infusion; the second syringe 100 is used to hold physiological saline and is located at the axis of the indexing rotating seat 70.

[0034] refer to Figure 2 and Figure 3 The push rod assembly 40 includes a linear moving plate 41, a first push rod 44, a first adjusting member 42, a second push rod 47 and a second adjusting member 45; the linear moving plate 41 is fixedly connected to the push rod of the electric push rod 30; a first sliding groove 410 and a second sliding groove 411 are formed on the linear moving plate 41; the first push rod 44 is slidably arranged in the first sliding groove 410; the second push rod 47 is slidably arranged in the second sliding groove 411; the first adjusting member 42 and the second adjusting member 45 are both electromagnetic push-pull rods; A first connecting block 43 is fixed to the push rod end of the first adjusting member 42; the first push rod 44 is fixedly connected to the first connecting block 43; a second connecting block 46 is fixed to the push rod end of the second adjusting member 45; the second push rod 47 is fixedly connected to the second connecting block 46; the first adjusting member 42 drives the first push rod 44 to slide along the first sliding groove 410; the second adjusting member 45 drives the second push rod 47 to slide along the second sliding groove 411; wherein the control module controls the first adjusting member 42 and the second adjusting member 45.

[0035] The first sliding groove 410 and the second sliding groove 411 may be Figure 2 The first adjusting member 42 and the second adjusting member 45 are rotatably connected to the linear moving plate 41. In other embodiments, the first sliding groove 410 and the second sliding groove 411 may be linear, the first adjusting member 42 and the second adjusting member 45 are fixed to the linear moving plate 41, the telescopic direction of the first adjusting member 42 is parallel to the direction of the first sliding groove 410, and the telescopic direction of the second adjusting member 45 is parallel to the direction of the second sliding groove 411.

[0036] Speed ​​sensors are provided on the first push rod 44 and the second push rod 47; a displacement sensor is provided on the push rod end of the electric push rod 30; a current sensor is provided on the servo motor of the electric push rod 30; the speed sensor, the displacement sensor and the current sensor are all electrically connected to the control module, so that the extension and retraction speed and amount of the electric push rod 30 are PID controlled through the feedback of the current loop, the speed loop and the position loop.

[0037] The control module is a PID controller, and its core formula is: U(t) = Kp×e(t) + Ki×∫e(t)dt + Kd×(de / dt) Among them, U(t) is the controller output, e(t) is the error, Kp is the proportional constant, Ki is the integral constant, Kd is the differential constant, de / dt is the error change rate, and ∫e(t)dt is the integral of the error.

[0038] In speed control, the set value is the desired speed, the feedback signal is the actual speed, and the error is the difference between the two. In position control, the set value is the desired position, the feedback signal is the actual position, and the error is the difference between the two. According to the formula of the PID controller, the control amount of the servo motor that controls the electric push rod 30 is the output value U (t).

[0039] refer to Figure 4 and Figure 5 The indexing rotating seat 70 includes a first support plate 71, a second support plate 77, a indexing conveying disk 74 and an infusion tube assembly 76 which are sequentially distributed from bottom to top; the first support plate 71 and the second support plate 77 are connected by a pair of first connecting rods 72; the indexing conveying disk 74 and the second support plate 77 are connected by a pair of second connecting rods 73; the infusion tube assembly 76 is fixed on the second support plate 77.

[0040] refer to Figure 4 and Figure 5The indexing conveying disk 74 is provided with a plurality of needle tube placement grooves 740 evenly distributed around the circumference and a central placement groove 744 in the center; the needle tube placement groove 740 is used to place the first needle cylinder 90; the central placement groove 744 is used to place the second needle cylinder 100. The needle tube placement groove 740 and the central placement groove 744 vertically penetrate the indexing conveying disk 74 and have the same structure; the needle tube placement groove 740 is composed of an upper placement groove 741, a middle placement groove 742 and a lower placement groove 743 distributed from top to bottom; the cross-sectional shape of the upper placement groove 741 is the same as the curling side shape of the empty cylinder of the first needle cylinder 90; the middle placement groove 742 is cylindrical and its diameter is the same as the outer diameter of the empty cylinder of the first needle cylinder 90; the lower placement groove 743 is cylindrical and its diameter is smaller than the diameter of the middle placement groove 742 and larger than the outer diameter of the nipple of the first needle cylinder 90. In order to prevent the first syringe 90 and the second syringe 100 from directly abutting against the indexing conveying disk 74 and being damaged by force when the first syringe 90 and the second syringe 100 are pressed, a buffer spring 75 is placed in the upper seating groove 741 of the needle tube seating groove 740 and the center seating groove 744. The inner diameter of the buffer spring 75 is larger than the outer diameter of the empty tube of the first syringe 90 and the second syringe 100. When working, one end of the buffer spring 75 abuts against the curled edge of the empty tube of the first syringe 90, and the other end abuts against the bottom surface of the upper seating groove 741.

[0041] refer to Figure 4 The infusion tube assembly 76 includes a plurality of first infusion tubes 761, a plurality of second infusion tubes 767, a third infusion tube 765, a distribution chamber 766 and a multi-position connected liquid leak 769; the multi-position connected liquid leak 769 passes through and is fixed on the second support plate 77; the first infusion tube 761, the second infusion tube 767 and the first syringe 90 correspond to each other one by one; one end of the first infusion tube 761 is connected to the liquid outlet end of the first syringe 90, and the other end is connected to the multi-position connected liquid leak 769; one end of the third infusion tube 765 is connected to the second syringe 100, and the other end is connected to the distribution chamber 766; one end of the second infusion tube 767 is connected to the distribution chamber 766, and the other end is connected to the first infusion tube 761; an electromagnetic valve 768 is provided on the second infusion tube 767; the liquid outlet end of the multi-position connected liquid leak 769 is connected to an external anesthesia infusion tube. Among them, the first infusion tube 761 includes a first infusion branch tube 762, a second infusion branch tube 764 and a three-way one-way valve 763; one end of the first infusion branch tube 762 is connected to the liquid outlet end of the first syringe 90, and the other end is connected to a liquid inlet end of the three-way one-way valve 763; the second infusion tube 767 is connected to the first infusion tube 761 through the other liquid inlet end of the three-way one-way valve 763; one end of the second infusion branch tube 764 is connected to the liquid outlet end of the three-way one-way valve 763, and the other end is connected to the multi-position connected liquid leak 769.

[0042] In order to facilitate the connection with the first syringe 90 and the second syringe 100, refer to Figure 4The first infusion branch pipe 762 is formed with a first connecting sleeve 7621 that cooperates with the nipple of the first syringe 90. The first connecting sleeve 7621 is sleeved on the nipple of the first syringe 90 and the two are interference fit; the third infusion tube 765 is formed with a second connecting sleeve 7651 that cooperates with the nipple of the second syringe 100. The second connecting sleeve 7651 is sleeved on the nipple of the second syringe 100 and the two are interference fit.

[0043] Working principle of embodiment 1: refer to Figure 6 First, according to the patient's condition, set the anesthesia plan, confirm the type, dosage and infusion order of the required anesthetic drugs; then load the corresponding dose of anesthetic drugs into the first syringe 90, and then put them into the needle tube placement groove 740 of the graduated conveyor disk 74 in sequence according to the infusion order, and put the second syringe 100 filled with saline into the central placement groove 744 of the graduated conveyor disk 74; then the first adjustment member 42 drives the first push rod 44 to reach the pressing position, and the second adjustment member 45 drives the second push rod 47 to leave the pressing position, and then the electric push rod 30 drives the linear moving plate 41, the first push rod 44, the first adjustment member 42, the second push rod 47 and the second adjustment member 45 to move downward at a certain speed, and the first push rod 44 presses the first syringe 90 directly below, so that the anesthetic drugs in the first syringe 90 are injected into the first infusion tube 761, so that the anesthetic drugs go along the first infusion branch pipe 762, the three-way one-way valve 763, and the second infusion branch pipe 764, thereby entering the multi-position connected liquid leak 769 , and finally enters the external anesthesia infusion tube; then the electric push rod 30 rises back to its original position, and then the first adjustment member 42 drives the first push rod 44 to leave the pressing position, and the second adjustment member 45 drives the second push rod 47 to reach the pressing position, and then the electric push rod 30 moves downward, and the second push rod 47 presses the second syringe 100, and the physiological saline in the second syringe 100 flows along the third infusion tube 765 into the distribution chamber 766, and then along the second infusion tube 767 opened by the solenoid valve 768, and the three-way check valve 763 , the second infusion branch tube 764, and then enters the multi-position connected liquid leak 769, and finally enters the external anesthesia infusion tube, thus reducing the retention of anesthetic drugs and replenishing the liquid dosage. Then the electric push rod 30 rises and returns to its position; then the stepper motor 80 drives the indexing rotating seat 70 to rotate a certain angle, so that the next first syringe 90 reaches the pressing position, and then the first syringe 90 and the second syringe 100 are pressed in sequence according to the above principle, so that the pressing of all the first syringes 90 is completed in sequence.

[0044] Embodiment 2: The difference between Embodiment 2 and Embodiment 1 is: Figure 1 In order to achieve the positioning of the first syringe 90, the drug delivery mechanism also includes a positioning assembly; the positioning assembly includes a syringe positioning disk 60 and a limiting component 50; the limiting component 50 includes a pair of positioning components.

[0045] refer to Figure 1 and Figure 3 The syringe positioning plate 60 is disposed between the drug infusion mechanism 20 and the indexing rotating seat 70 and abuts against the pressing heads of the first syringe 90 and the second syringe 100; the syringe positioning plate 60 includes a positioning plate body 61 and a pair of connecting plates 62 formed on the edge of the positioning plate body 61; the positioning plate body 61 is provided with a first positioning hole 610 and a second positioning hole 611; the first positioning hole 610 faces one of the first syringes 90; the second positioning hole 611 faces the second syringe 100. During operation, the first push rod 44 passes through the first positioning hole 610 to press the first syringe 90 facing the first positioning hole 610, and the second push rod 47 passes through the second positioning hole 611 to press the second syringe 100 facing the second positioning hole 611.

[0046] refer to Figure 1 The positioning components include a positioning seat 51, a positioning screw 52, ​​a positioning nut 54 and a positioning compression spring 53; the positioning seat 51 is fixed on the lower side wall of the casing 10; the positioning screw 52 is fixed on the positioning seat 51; the positioning compression spring 53 is sleeved on the positioning screw 52; the positioning nut 54 is screwed on the positioning nut 54; a through hole 620 for the positioning screw 52 to pass through is formed on the connecting plate 62 of the syringe positioning disk 60; a pair of positioning screws 52 respectively pass through a pair of connecting plates 62 of the syringe positioning disk 60; the connecting plate 62 is located between the positioning compression spring 53 and the positioning nut 54; one end of the positioning compression spring 53 abuts against the positioning seat 51, and the other end abuts against the connecting plate 62, thereby providing a thrust to move the syringe positioning disk 60 and the positioning seat 51 away. In this way, the relative position between the syringe positioning disk 60 and the indexing rotating seat 70 can be controlled by rotating the positioning nut 54, so that the syringe positioning disk 60 presses all the first syringes 90 and the second syringes 100 at the same time, thereby squeezing out the air in all the first syringes 90 and the second syringes 100, ensuring the safety and smoothness of subsequent infusion.

[0047] Embodiment 3: The difference between Embodiment 3 and Embodiment 2 is: Figure 1 and Figure 3In order to improve the movement stability of the first syringe 90, a coaxially arranged sliding ring groove 612 is formed on the lower end surface of the positioning plate body 61; the sliding ring groove 612 allows the pressing head of the first syringe 90 to slide circumferentially; in order to reduce the friction and make the sliding smoother, a number of evenly distributed balls are embedded on the top wall of the sliding ring groove 612. In order to make the first syringe 90 aim at the first positioning hole 610, a limit switch (not shown) is embedded and installed on the side wall of the sliding ring groove 612. The limit switch (not shown) is directly opposite to the first positioning hole 610. The limit switch is used to control the stepper motor 80 to stop and the solenoid valve 768 to open; in this way, when the first syringe 90 reaches the first positioning hole 610, the pressing head of the first syringe 90 triggers the limit switch (not shown), the stepper motor 80 stops, and the solenoid valve 768 on the second infusion tube 767 for delivering physiological saline is opened.

[0048] In order not to hinder the movement of the pressing head of the first needle cylinder 90, the trigger end of the limit switch (not shown) is a ball.

[0049] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An infusion controller based on PID theory control, characterized in that: The invention comprises a drug infusion mechanism (20) and a drug delivery mechanism; the drug delivery mechanism comprises a graduated rotating seat (70) and a stepping motor (80); the stepping motor (80) drives the graduated rotating seat (70) to intermittently rotate at equal angles; the graduated rotating seat (70) comprises a graduated conveying disk (74) and an infusion tube assembly (76); the graduated conveying disk (74) is provided with a plurality of needle tube placement grooves (740) evenly distributed on the circumference, and a central placement groove (744) is provided at the center; the needle tube placement groove (74 0) is used to place a first syringe (90) filled with anesthetic drugs; the drug infusion mechanism (20) is used to press the first syringe (90) in sequence; the central placement groove (744) is used to place a second syringe (100) filled with physiological saline; the drug infusion mechanism (20) is used to press one of the first syringe (90) or the second syringe (100); the infusion tube assembly (76) is used to connect the first syringe (90), the second syringe (100) and an external anesthetic infusion tube; The drug infusion mechanism (20) comprises an electric push rod (30) and a push rod assembly (40); the electric push rod (30) is used to drive the push rod assembly (40) to move linearly; the electric push rod (30) controls its extension speed and extension amount by means of PID control; The stepping motor (80) controls its angular displacement by means of PID control.

2. The infusion controller based on PID theory control according to claim 1, characterized in that: The push rod assembly (40) comprises a linear movable plate (41), a first push rod (44), a first adjusting member (42), a second push rod (47) and a second adjusting member (45); the first adjusting member (42) drives the first push rod (44) to move and is disposed on the linear movable plate (41); the second adjusting member (45) drives the second push rod (47) to move and is disposed on the linear movable plate (41); the first push rod (44) is used to press the first syringe (90); and the second push rod (47) is used to press the second syringe (100).

3. The infusion controller based on PID theory control according to claim 1, characterized in that: The infusion tube assembly (76) comprises a plurality of first infusion tubes (761), a plurality of second infusion tubes (767), a third infusion tube (765), a distribution chamber (766) and a multi-position connected liquid leak (769); the first infusion tubes (761), the second infusion tubes (767) and the first syringe (90) correspond to each other in a one-to-one manner; one end of the first infusion tube (761) is connected to the liquid outlet end of the first syringe (90), and the other end is connected to the multi-position connected liquid leak (769); one end of the third infusion tube (765) is connected to the second syringe (100), and the other end is connected to the distribution chamber (766); one end of the second infusion tube (767) is connected to the distribution chamber (766), and the other end is connected to the first infusion tube (761); a solenoid valve (768) is provided on the second infusion tube (767); and the liquid outlet end of the multi-position connected liquid leak (769) is connected to an external anesthesia infusion tube.

4. The infusion controller based on PID theory control according to claim 3, characterized in that: The first infusion tube (761) comprises a first infusion branch tube (762), a second infusion branch tube (764) and a three-way one-way valve (763); the three-way one-way valve (763) is used to connect the first infusion branch tube (762), the second infusion branch tube (764) and the second infusion tube (767); the first infusion branch tube (762) and the second infusion tube (767) are connected to two liquid inlet ends of the three-way one-way valve (763); and the second infusion branch tube (764) is connected to the liquid outlet end of the three-way one-way valve (763).

5. The infusion controller based on PID theory control according to claim 1, characterized in that: The drug delivery mechanism further comprises a positioning assembly; the positioning assembly comprises a syringe positioning disk (60) and a limiting component (50); the syringe positioning disk (60) is arranged between the drug infusion mechanism (20) and the indexing rotating seat (70); the limiting component (50) is used to control the relative position between the syringe positioning disk (60) and the indexing rotating seat (70); the syringe positioning disk (60) abuts against the pressing heads of the first syringe (90) and the second syringe (100); a first positioning hole (610) and a second positioning hole (611) are arranged on the syringe positioning disk (60); the first positioning hole (610) faces one of the first syringes (90); and the second positioning hole (611) faces the second syringe (100).

6. The infusion controller based on PID theory control according to claim 5, characterized in that: The limiting component (50) includes a pair of positioning components; the positioning components include a positioning screw (52), a positioning nut (54) and a positioning compression spring (53); the pair of positioning screws (52) penetrate the syringe positioning disk (60); the positioning compression spring (53) provides a thrust for the syringe positioning disk (60) to move away from the indexing rotating seat (70); the positioning nut (54) is screwed onto the positioning screw (52) and limits the syringe positioning disk (60) from being separated from the positioning screw (52).

7. The infusion controller based on PID theory control according to claim 5, characterized in that: A sliding ring groove (612) for sliding movement of the pressing head of the first syringe (90) is formed on the end surface of the syringe positioning plate (60) facing the indexing rotating seat (70); a limit switch is installed on the side wall of the sliding ring groove (612); the limit switch is directly opposite to the first positioning hole (610); the limit switch is used to turn off the stepping motor (80) and open the pipeline in the infusion tube assembly (76) for delivering physiological saline.

8. The infusion controller based on PID theory control according to claim 1, characterized in that: A buffer compression spring (75) is disposed in both the needle tube placement groove (740) and the central placement groove (744); the buffer compression spring (75) provides a thrust force for the first needle cylinder (90) or the second needle cylinder (100) to separate from the indexing conveying disk (74).

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