Infusion injection auxiliary robot and disinfection mechanism

Abstract

The invention relates to the technical field of medical auxiliary equipment, in particular to an infusion injection auxiliary robot and a disinfection mechanism, the disinfection mechanism comprises a cotton swab disinfection execution assembly, and the cotton swab disinfection execution assembly comprises at least one gripper for gripping cotton swabs and a driving source for driving the gripper to move on a material taking station, a material loading station and a material unloading station; the discharging end of the cotton swab conveying assembly is located at the material taking station, and the cotton swab conveying assembly is used for conveying cotton swabs to the material taking station; the cotton swab feeding assembly is located at the feeding station and used for driving the cotton swabs located above the cotton swab feeding assembly to rotate and ascend on a gripper; the cotton swab discharging assembly is located at the discharging station and used for discharging the cotton swabs on the tongs; the disinfection assembly is used for disinfecting the cotton swabs located on the feeding station. The automatic infusion device has the advantage that the disinfection problem of the automatic infusion device can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of medical auxiliary equipment, and in particular to an infusion and injection auxiliary robot and a disinfection mechanism. Background Art

[0002] With the continuous development of medical technology, infusion therapy has been widely used in the treatment of various diseases as a common and effective treatment method in clinical practice. However, the traditional infusion method mainly relies on manual operation, which has certain limitations in the operation process.

[0003] In order to solve this problem, some automatic infusion devices have appeared in recent years. These devices can automatically fix the puncture port of the infusion container after the infusion container is hung, and automatically insert and remove the puncture needle. When the infusion container needs to be replaced, the switch is achieved through structures such as a turntable or a conveyor belt. Although these automatic infusion devices have improved the infusion efficiency to a certain extent and reduced the occupation of human resources, they still have certain limitations.

[0004] For example, it is common to need to repeatedly flush the tube with the same bag of liquid. If the sterile protective cover of the bottle mouth is opened, it cannot be used immediately and needs to be disinfected when used again. At the same time, during automatic infusion, no less than two bags of infusion containers will be placed in the automatic liquid exchange device in advance, and the sterile protective cover of the bottle mouth will be opened in advance when placing them. This makes the waiting time for the second bag and subsequent infusion containers far exceed ten minutes. Therefore, it is very important to solve the disinfection problem of the automatic infusion device. Summary of the invention

[0005] In order to solve the disinfection problem of automatic infusion devices, the present application provides an infusion injection auxiliary robot and a disinfection mechanism.

[0006] In a first aspect, the present application provides a disinfection mechanism of an infusion and injection assisting robot, which adopts the following technical solution: An infusion injection auxiliary robot and a disinfection mechanism, comprising: A cotton swab disinfection execution component includes at least one gripper for grabbing the cotton swab, and a driving source for driving the gripper to move between a material picking station, a material loading station, and a material unloading station; A cotton swab conveying component, the discharging end of which is located at the material taking station, and is used to convey the cotton swab to the material taking station; The cotton swab feeding assembly is located at the feeding station and is used to drive the cotton swab located above it to rotate and rise on the gripper; The cotton swab unloading assembly is located at the unloading station and is used to unload the cotton swab from the gripper; The disinfection component is used to disinfect the cotton swabs at the loading station.

[0007] In this configuration, the cotton swab is transported to the material-retrieving station by the cotton swab transport component, and then the cotton swab disinfection executive component takes the cotton swab from the material-retrieving station and delivers it to the loading station, where it is driven to rotate and rise by the cotton swab loading component. During this process, the disinfection component disinfects the cotton swab and the area where the puncture port is located. After the cotton swab moves to a certain height, it contacts the puncture port and rotates under the drive of the cotton swab loading component to wipe and disinfect the puncture port. After the disinfection is completed, the cotton swab loading component is reset, and then the cotton swab disinfection executive component moves the cotton swab to the cotton swab unloading component for unloading, and then returns to the material-retrieving station to take the cotton swab, and so on.

[0008] In one of the embodiments: the gripper is provided with a C-shaped slot for the cotton swab to be inserted, and the C-shaped slot cooperates with the gap between the cotton swabs; one side of the discharge end of the cotton swab conveying assembly is opened, and the gripper grabs the cotton swab when it moves to the material collection station, and takes the cotton swab out of the opening when it moves out of the material collection station.

[0009] With such arrangement, the structure of the cotton swab disinfection execution component is simple, and the discharge end of the cotton swab conveying component does not need to be additionally provided with an auxiliary structure to cooperate with the gripper to grasp, and only one gripper is needed to control its swinging back and forth to realize the grasping of the cotton swab.

[0010] In one embodiment: the cotton swab unloading assembly includes a storage box and a unloading piece located above the storage box. When the gripper moves to the unloading station, the cotton swab on the gripper contacts the unloading piece and is restricted, and the gripper continues to move and separates from the cotton swab.

[0011] Such arrangement has a simple structure and cooperates with the rotation of the gripper, that is, the cotton swab is blocked by the discharge piece instead of the gripper, so that the gripper is separated from the cotton swab after passing through the discharge piece.

[0012] In one embodiment: the cotton swab feeding assembly includes a rotary lifting motor and a cotton swab fixing tube installed on the output shaft of the rotary lifting motor, the cotton swab fixing tube is provided with an inner hole for interference fit with the cotton swab, and the opening of the inner hole is horn-shaped. (It can also be composed of a lifter and a rotary motor) With such an arrangement, through the interference fit of the inner hole and the clearance fit between the C-shaped bayonet and the cotton swab, the cotton swab fixing tube can drive the cotton swab to rotate in the C-shaped bayonet when it moves upward, thereby achieving wiping and disinfection.

[0013] In one embodiment, the disinfection assembly includes a disinfection bottle, an ultraviolet sterilization lamp for irradiating the puncture port, and a drive member for controlling the spray of the disinfection bottle, and the nozzle of the disinfection bottle is directed toward the top of the loading station.

[0014] In the second aspect, the present application provides an infusion injection assisting robot, which adopts the following technical solution: An infusion injection assisting robot, comprising: The disinfection mechanism is located at the disinfection station; The automatic puncture mechanism is located at the puncture station and is used to control the lifting and lowering of the puncture needle; The transport mechanism comprises a turntable and a power source for driving the turntable to switch the infusion container and make the infusion container pass through the disinfection station and the puncture station in sequence.

[0015] With this arrangement, the transport mechanism drives the infusion container to rotate at each station. When it enters the disinfection station, the disinfection mechanism disinfects the puncture port. After the disinfection is completed, it rotates to the puncture station, and the automatic puncture mechanism drives the puncture needle to rise to complete the puncture.

[0016] In one embodiment: the robot further comprises a cover removal mechanism for removing a cap-type sterile protective cover, the cover removal mechanism comprises a cutter-type finger ring, and the cutter-type finger ring is located in front of the puncture station.

[0017] With such arrangement, when the transfer mechanism drives the infusion container from the disinfection station to the puncture station, if there is a cap-type sterile protective cover on the puncture container that has not been removed, the cap-type sterile protective cover will contact the cutter-type ring and remove the cap-type sterile protective cover during the movement of the infusion container.

[0018] In one embodiment, the cover removal mechanism further comprises a cutter motor for driving the cutter-type finger to rotate for auxiliary cutting, and the rotation direction of the cutter-type finger driven by the cutter motor is opposite to the rotation direction of the turntable.

[0019] With such a configuration, the cutter motor can drive the cutter-type finger to rotate, and on the one hand, the cutter-type finger can be controlled to rotate to avoid the protective cover, so that it will not form a cover removal effect. When the cover needs to be removed, the cutter-type finger is controlled to cut the cap-type sterile protective cover in a direction opposite to the moving direction of the infusion container. At the same time, during the rotation process, the rotation will form a cutting force at different angles, so that the cap-type sterile protective cover can be removed more easily and quickly.

[0020] In one embodiment: the robot also includes a hook device for removing the ring-type sterile protective cover, the hook device is located in front of the puncture station, the hook device includes a pull ring limiter, a hook for inserting the ring-type sterile protective cover, and a discharge spring for pushing the ring-type sterile protective cover out of the hook, the hook is arranged on the pull ring limiter, and the discharge spring is sleeved on the hook.

[0021] In this arrangement, the infusion container is driven to rotate by the turntable, and the ring-type sterile protective cover on the puncture port is inserted into the draw hook during the movement, and then the infusion container is separated from the ring-type sterile protective cover during the continuous rotation. During the separation process, the ring-type sterile protective cover compresses the discharge spring, so after separation, the ring-type sterile protective cover can be pushed out of the draw hook by the reset of the discharge spring, thereby realizing automatic discharge.

[0022] In one of the embodiments: the pull ring limiter is installed to slide in the vertical direction, and the hook device also includes a reset member for providing an upward tendency force for the pull ring limiter; the robot also includes an obstacle avoidance device for pushing the pull ring limiter downward, and the obstacle avoidance device includes an obstacle avoidance drive installed on the turntable, and an obstacle avoidance rod controlled by the lifting and lowering of the obstacle avoidance drive.

[0023] With such arrangement, when some longer puncture holes interfere with the hook device, or the ring-type sterile protective cover does not need to be removed temporarily, the obstacle avoidance device can be pushed downward to move it downward, thereby avoiding interference or removing the ring-type sterile protective cover in advance.

[0024] In one embodiment, a plurality of multifunctional fixtures are rotatably mounted on the rotating disk, the multifunctional fixtures comprising a circular fixture body, the fixture body being provided with a mounting groove for mounting the puncture port, the mounting groove forming an opening on the side wall of the fixture body; the side wall of the rotating disk is provided with an avoidance opening for the puncture port to be mounted into the multifunctional fixture; The clamp body is provided with an elastic pushing component for providing a force for the puncture port of the infusion container to move outward from the opening; A plug-type limit block for compensating the size of the puncture hole is detachably mounted on the fixture body. The plug-type limit block is slidably mounted in the mounting groove. When in use, the plug-type limit block and the elastic pushing component are located on both sides of the puncture hole.

[0025] With such a configuration, the multifunctional fixture is installed by rotation, so that after the puncture port of the infusion container is installed on the multifunctional fixture, the puncture port can be locked by rotation, and various puncture ports can be positioned through the design of the elastic pushing component and the detachable plug-type limit block, and the puncture port can also be ensured to be well located in the center of the multifunctional fixture, thereby ensuring accurate positioning during the disinfection, puncture and cover removal processes.

[0026] In one of the embodiments: the auxiliary robot further includes a scanning head for scanning a label on an infusion container, and a rotation source for driving the scanning head to rotate.

[0027] With this configuration, the scanning head is used to scan the label on the infusion container to read its information, so as to confirm whether the data of the infusion container is correct and avoid infusion errors. The rotating source design can control the swing of the scanning head, expand the scanning range of the scanning head, and avoid the infusion container being tilted, etc. When the label position is deviated, it can also be scanned. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the overall structure of this embodiment. Figure 2 It is a structural diagram of the main components in this embodiment Figure 3 The structure of the turntable in this embodiment is shown in FIG. Figure 1 ; Figure 4 The structure of the turntable in this embodiment is shown in FIG. Figure 2 ; Figure 5 This is a schematic diagram of the structure of the multifunctional fixture in this embodiment. Figure 1 ; Figure 6 This is a schematic diagram of the structure of the multifunctional fixture in this embodiment. Figure 2 ; Figure 7 This is a schematic diagram of the structure of the multifunctional fixture in this embodiment. Figure 3 ; Figure 8 This is a schematic diagram of the structure of the multifunctional fixture in this embodiment. Figure 4 ; Fig. 9 The structure of the disinfection mechanism in this embodiment is shown in FIG. Figure 1 ; Fig.10 The structure of the disinfection mechanism in this embodiment is shown in FIG. Figure 2 ; Fig.11 This is a schematic diagram of the structure of the cover removal mechanism in this embodiment. Figure 1 ; Fig.12 This is a schematic diagram of the structure of the cover removal mechanism in this embodiment. Figure 2 .

[0029] In the figure, 10, infusion container; 100, frame; 200, transfer mechanism; 210, turntable; 211, turntable body; 2111, main body; 21111, mounting hole; 21112, avoidance opening; 2112, limit plate; 21121, notch; 212, multifunctional fixture; 2121, fixture body; 21211, upper positioning groove; 21212, limit groove; 21213, lower positioning groove; 2 1214, limit flange; 2122, elastic push assembly; 21221, U-shaped movable bayonet; 21222, elastic member; 21223, sliding rod; 2123, plug-type limit block; 220, turntable motor; 300, automatic puncture mechanism; 310, puncture needle mounting seat; 320, puncture electric push rod; 330, connecting plate; 340, guide rod; 400, disinfection mechanism; 410, cotton swab disinfection execution Component; 411, gripper; 412, driving source; 420, cotton swab transport component; 430, cotton swab feeding component; 431, rotary lifting motor; 432, cotton swab fixing cylinder; 440, cotton swab unloading component; 441, unloading part; 442, storage box; 450, disinfection component; 451, disinfection bottle; 452, driving part; 453, mounting plate; 454, adjusting bolt; 455, ultraviolet germicidal lamp; 50 0. Drop monitoring module; 600. Scanning mechanism; 610. Scanning head; 620. Rotation source; 700. Interactive terminal; 800. First display screen; 900. Cover removal mechanism; 910. Hook device; 911. Pull ring limiter; 912. Hook; 913. Unloading spring; 914. Reset member; 920. Removal device; 921. Cutter-type finger ring; 922. Cutter motor; 930. Obstacle avoidance device. DETAILED DESCRIPTION

[0030] The present application is further described in detail below in conjunction with the accompanying drawings.

[0031] In the description of the present application, it should be understood that the terms "up", "down", "left", "right", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0032] An infusion injection assisting robot, such as Figure 1 As shown, it includes a frame 100, a transport mechanism 200 for switching the infusion container 10, an automatic puncture mechanism 300 for controlling the puncture needle, a disinfection mechanism 400 for disinfecting the puncture port of the infusion container 10, a drip monitoring module 500 for detecting a dripping state, a scanning mechanism 600 for scanning data of the infusion container 10, a cover removal mechanism 900 for removing a protective cover, and an interactive terminal 700.

[0033] like Figure 2 As shown, the transport mechanism 200 includes a turntable 210 and a power source for driving the turntable 210. In this embodiment, the power source is a turntable motor 220. The turntable motor 220 is mounted on the frame 100, and the rotating shaft of the turntable motor 220 is connected to the turntable 210. An auxiliary positioning bracket is provided on the turntable 210, and the auxiliary positioning bracket is used for hanging the infusion container 10. The structure of the auxiliary positioning bracket is not limited. The specific structure is not shown in this embodiment, as long as there is a hook for hanging.

[0034] See attached Figure 3 The turntable 210 includes a turntable body 211 and a multifunctional fixture 212 .

[0035] like Figure 5 As shown, the multifunctional fixture 212 includes a circular fixture body 2121, and a mounting groove for installing the puncture port is provided on the fixture body 2121, and the mounting groove includes an upper positioning groove 21211, a limiting groove 21212 and a lower positioning groove 21213 which are interconnected and arranged in sequence along the axial direction, and the upper positioning groove 21211, the limiting groove 21212 and the lower positioning groove 21213 are formed with openings on the side wall of the fixture body 2121, and are all designed in an arc shape away from the opening end, so that the upper positioning groove 21211, the limiting groove 21212 and the lower positioning groove 21213 are overall U-shaped structure, wherein the arc design can better adapt to the puncture port.

[0036] The upper positioning groove 21211 and the lower positioning groove 21213 respectively penetrate the upper and lower end surfaces of the clamp body 2121 . The width of the upper positioning groove 21211 is smaller than that of the lower positioning groove 21213 , and the width of the lower positioning groove 21213 is smaller than that of the limiting groove 21212 .

[0037] A limiting flange 21214 is formed on the outer wall of the fixture body 2121. The limiting flange 21214 is provided to enable the multifunctional fixture 212 to be axially positioned after being rotatably mounted on the rotating disk 210.

[0038] The limiting groove 21212 is used for the circular step at the lower part of the puncture port of the single-head and double-head infusion container 10 to be inserted, and is used to limit the upper and lower positions of the infusion container 10. The width of the upper positioning groove 21211 is smaller than the lower positioning groove 21213, so that the width of the lower positioning groove 21213 can be suitable for a single head with a large diameter. The upper positioning groove 21211 and the lower positioning groove 21213 are used for the puncture ports above and below the circular step to be inserted. After the puncture port is inserted, the multifunctional fixture 212 is rotated, and the opening is closed by the inner wall of the turntable 210 used to install the multifunctional fixture 212, so that the puncture port can be fixed.

[0039] like Figure 6As shown, the clamp body 2121 is provided with an elastic pushing component 2122 for providing a force for the puncture opening of the infusion container 10 to move outward from the opening.

[0040] Among them, the elastic pushing component 2122 includes a U-shaped movable bayonet 21221 slidably installed on the clamp body 2121, and an elastic member 21222 for providing a sliding tendency force. The U-shaped mouth of the U-shaped movable bayonet 21221 faces the opening. In this embodiment, a sliding rod 21223 is arranged at the bottom of the clamp body 2121. The U-shaped movable bayonet 21221 is slidably installed on the sliding rod 21223. The elastic member 21222 is a spring and is sleeved on the sliding rod 21223.

[0041] With the above arrangement, after the puncture port is installed into the fixture body, under normal circumstances, the elastic pusher will push the puncture port out of the fixture body 2121. Therefore, after the puncture port is installed, the multifunctional fixture 212 is rotated as a whole. At this time, the puncture port will be pushed to the inner wall of the turntable 210 by the elastic pusher to form a position. In this way, a better positioning can be formed by the tendency force provided by the elastic pusher component 2122. Therefore, a good fixing effect can be achieved for some puncture ports that cannot be fixed due to gaps after installation.

[0042] like Figure 7 and Figure 8 As shown, a plug-type stopper 2123 for compensating the size of the puncture hole is detachably mounted on the fixture body 2121, and the plug-type stopper 2123 is slidably mounted on at least one of the upper positioning groove 21211, the stopper groove 21212, and the lower positioning groove 21213. In this embodiment, the plug-type stopper 2123 is slidably mounted on the lower positioning groove 21213. When in use, the plug-type stopper 2123 and the elastic pushing component 2122 are located on both sides of the puncture hole.

[0043] The setting of the plug-type limit block 2123 allows compensation when positioning the puncture port of the cross-shaped tube port with the smallest diameter, that is, under the action of the elastic pushing component 2122, the plug-type limit block 2123 is pressed against the inner wall of the turntable 210, so that the puncture port can be located at the center position of the multi-functional clamp 212, that is, it is ensured to be aligned with the puncture needle, avoiding excessive deviation of the puncture port and causing it to deviate from the puncture path of the puncture needle.

[0044] like Figure 3 and Figure 4 As shown, the turntable body 211 includes a main body 2111 and a limit plate 2112. The main body 2111 is provided with a mounting hole 21111 for the multi-function fixture 212 to be inserted unidirectionally. In this embodiment, four multi-function fixtures 212 are provided, and correspondingly, four mounting holes 21111 are also provided. The four mounting holes 21111 are evenly and equidistantly distributed around the center of the main body 2111.

[0045] The mounting hole 21111 is formed with an avoidance opening 21112 on the side wall of the main body 2111 for the puncture port to be installed, and the limiting plate 2112 is installed on the main body 2111 for axial positioning of the multifunctional fixture 212.

[0046] In addition, since the outer diameters of various parts of the puncture port are different, the avoidance opening 21112 needs to have multiple opening sizes. Therefore, the preferred main body 2111 is a structure formed by at least two stacked discs, that is, the heights corresponding to the three grooves of the upper positioning groove 21211, the limiting groove 21212 and the lower positioning groove 21213 are made of discs with different outer diameters. In this way, avoidance openings 21112 with multiple opening sizes can be directly formed.

[0047] The limiting plate 2112 is provided with a plurality of notches 21121 corresponding to the mounting holes 21111 one by one, and the notches 21121 partially overlap with the mounting holes 21111. During installation, the multifunctional fixture 212 is inserted into the mounting holes 21111 from bottom to top, and then the limiting plate 2112 is installed to the bottom of the main body 2111, and the multifunctional fixture 212 is axially positioned by the limiting plate 2112, so that the multifunctional fixture 212 can be rotatably installed on the turntable body 211.

[0048] like Figure 1 and Figure 2 As shown, the scanning mechanism 600 includes a scanning head 610 for scanning the label on the infusion container 10, and a rotation source 620 for driving the scanning head 610 to rotate. The rotation source 620 is a motor installed on the frame 100. The scanning head 610 is connected to the rotating shaft of the rotation source 620 through a rotating arm.

[0049] A first display screen 800 is also installed on the frame 100. The first display screen 800 has a built-in processing module and a communication module. The scanning head 610 is connected to the first display screen 800 for communication. The communication method can be wired communication or wireless communication. The scanning head 610 scans information and displays infusion information, patient information, sequence information, etc. on the first display screen 800. The sequence information refers to the infusion order, which is manually input by the operator or obtained from the terminal. The terminal information can be entered by operators such as doctors and nurses.

[0050] like Figure 2 As shown, the automatic puncture mechanism 300 corresponds to the puncture station of the transport mechanism 200 and is used to control the lifting of the puncture needle. It includes a puncture needle mounting seat 310 for detachably mounting the puncture needle, and a puncture electric push rod 320 for controlling the movement of the puncture needle mounting seat 310.

[0051] The puncture electric push rod 320 is installed on the frame 100, and the telescopic rod of the puncture electric push rod 320 is connected to the connecting plate 330, and the connecting plate 330 is connected to the puncture needle mounting seat 310. A guide rod 340 is also slidably installed on the frame 100, and the guide rod 340 is arranged parallel to the telescopic rod of the puncture electric push rod 320, and one end of the guide rod 340 is connected to the connecting plate 330. The puncture needle mounting seat 310 is provided with a mounting groove for the puncture needle to be embedded and then snapped in, wherein a micro switch is preferably provided in the mounting groove of the puncture needle mounting seat 310, and the micro switch can be pressed when the puncture needle is snapped into the mounting groove. Correspondingly, the micro switch can be coordinated with an indicator light, an alarm, or a linkage display with the first display screen 800 and / or the second display screen, so that the snapping condition of the puncture needle becomes visualized.

[0052] The drip monitoring module 500 is arranged below the automatic puncture mechanism 300, and is provided with a groove for embedding the burette. In addition, a turbidity sensor and a colorimetric sensor may also be provided on the frame 100, and the turbidity sensor monitors the dripping liquid on the infusion tube or the turbidity of the infusion container 10, and outputs abnormal conditions by detecting the turbidity and colorimetric.

[0053] like Fig. 9 and Fig.10 As shown, the disinfection mechanism 400 is located at the disinfection station, and includes a cotton swab disinfection execution component 410 , a cotton swab transport component 420 , a cotton swab loading component 430 , a cotton swab unloading component 440 and a disinfection component 450 installed on the frame 100 .

[0054] The cotton swab disinfection execution component 410 includes at least one gripper 411 for grabbing the cotton swab, and a driving source 412 for driving the gripper 411 to move on the material picking station, the material loading station and the material unloading station. In this embodiment, the gripper 411 is provided as one, and a C-shaped bayonet for the cotton swab to be inserted is provided on the gripper 411. The C-shaped bayonet is matched with the gap between the cotton swabs. When in use, the cotton swab needs a certain force to be inserted into the C-shaped bayonet, but after entering, it can slide freely up and down in the C-shaped bayonet.

[0055] It should be noted that, in addition to the above structure, when the grippers 411 are provided in plurality, a unidirectional rotation arrangement can be adopted instead of the above reset design, that is, the plurality of grippers 411 form a straight or cross-shaped structure.

[0056] The cotton swab transport component 420 is located at the material picking station. It only needs to be able to automatically transport the cotton swabs to the discharge end. Different structures can be adopted according to different automation. The spring-driven structural design is adopted in this embodiment. It adopts a storage shell structure. An arc-shaped channel is provided in the storage shell for the cotton swabs to be placed. A spring is set at one end of the channel to give thrust to the cotton swabs in the channel, so that it automatically moves to the discharge end.

[0057] One side of the discharging end of the cotton swab conveying assembly 420 is provided with an opening, and the gripper 411 grabs the cotton swab when it moves to the material taking station, and takes the cotton swab out of the opening when it moves out of the material taking station.

[0058] The cotton swab feeding assembly 430 is located at the feeding station and is used to drive the cotton swab located above it to rotate and rise on the gripper 411. It includes a rotary lifting motor 431 and a cotton swab fixing cylinder 432 installed on the output shaft of the rotary lifting motor 431. The cotton swab fixing cylinder 432 is provided with an inner hole that is interference-fitted with the cotton swab, and the opening of the inner hole is horn-shaped.

[0059] In addition, the cotton swab feeding assembly 430 may also be replaced by other components to replace the rotary lifting motor 431, as long as it can achieve the ability to lift and rotate at the same time, such as a combination structure of a lifter and a rotary motor.

[0060] The cotton swab unloading assembly 440 is located at the unloading station and is used to unload the cotton swabs on the gripper 411. It includes a storage box 442 and a unloading member 441 located above the storage box 442. The storage box 442 and the unloading member 441 are both installed on the frame 100. The unloading member 441 is composed of two parallel blocking sheets, and the gripper 411 can pass between the two blocking sheets. When the gripper 411 moves to the unloading station, the cotton swab on the gripper 411 contacts the unloading member 441 and is restricted, and the gripper 411 continues to move and separates from the cotton swab.

[0061] The disinfection assembly 450 is used to disinfect the cotton swabs at the loading station. It includes a disinfection bottle 451 and a driving member 452 for controlling the spray of the disinfection bottle 451. The driving member 452 is installed on the frame 100. The driving member 452 is an electromagnetic push rod, and a mounting plate 453 is installed on its movable rod. The disinfection bottle 451 is installed on the mounting plate 453 by a snap-on method, and the nozzle of the disinfection bottle 451 faces above the loading station.

[0062] The disinfection bottle 451 adopts a pressing structure, and the pressing head at the upper end thereof is abutted against an adjusting bolt 454 on the frame 100. When the mounting plate 453 is driven to move by the electromagnetic push rod, the disinfection bottle 451 is moved with it. During the movement of the disinfection bottle 451, the pressing head of the disinfection bottle 451 is restricted to form a pressing effect, so that the disinfection bottle 451 forms a spray disinfection.

[0063] In addition, the disinfection component 450 can also be provided with an ultraviolet sterilization lamp 455, and disinfection can be performed in two ways to achieve better results.

[0064] like Fig.11 and Fig.12 As shown, the cover removal mechanism 900 includes a removal device 920 for removing a cap-type sterile protective cover, a hook device 910 for removing a ring-type sterile protective cover, and an obstacle avoidance device 930 .

[0065] The removal device 920 includes a cutter-type finger ring 921 and a cutter motor 922 for driving the cutter-type finger ring 921 to rotate for auxiliary cutting. The cutter motor 922 is installed on the frame 100. The direction of rotation of the cutter-type finger ring 921 driven by the cutter motor 922 is opposite to the direction of rotation of the turntable 210. The cutter-type finger ring 921 is located in front of the puncture station.

[0066] When the transport mechanism 200 drives the infusion container 10 to move from the disinfection station to the puncture station, if there is a cap-type sterile protective cover on the puncture container that has not been removed, the cap-type sterile protective cover will contact the cutter-type ring 921 and remove the cap-type sterile protective cover during the movement of the infusion container 10.

[0067] The hook device 910 is located in front of the puncture station and includes a pull ring limiter 911 , a hook 912 for inserting the ring-type sterile protective cover, and a discharge spring 913 for pushing the ring-type sterile protective cover out of the hook 912 .

[0068] The pull ring stopper 911 is slidably mounted on the frame 100 in the vertical direction, and the hook device 910 further includes a reset member 914 for providing an upward force to the pull ring stopper 911. The hook 912 is arranged on the pull ring stopper 911, and this embodiment adopts an integrated design, and the unloading spring 913 is sleeved on the hook 912.

[0069] The obstacle avoidance device 930 is used to push the pull ring limiter 911 downward. The obstacle avoidance device 930 includes an obstacle avoidance driving component installed on the turntable 210, and an obstacle avoidance rod controlled by the obstacle avoidance driving component. The obstacle avoidance driving component can be a cylinder, an electromagnetic push rod, etc. The end of the obstacle avoidance rod is hammer-shaped, and its lower end has rounded corners or chamfers.

[0070] like Figure 1 As shown, the interactive terminal 700 is used to check the information of patients or nurses. When checking the patient information, the information can be obtained by one or more methods including scanning codes, buttons and voice interaction. Preferably, a second display screen is provided thereon to enable a better interactive effect.

[0071] The interactive terminal 700 is preferably detachably mounted on the frame 100, so that it can be easily removed for operation when scanning is required. The interactive terminal 700 can be a separately designed terminal device, or a mobile device such as a mobile phone or a tablet.

[0072] When in use, the interactive terminal 700 obtains patient information by scanning codes, pressing buttons, and voice, and then checks the infusion container 10 information recognized by the scanning mechanism 600 with the patient information. After verifying the match, the transfer mechanism 200 is controlled to transfer the infusion container 10 to the puncture station in sequence according to the sequence information contained in the patient information.

[0073] Specifically, the infusion injection auxiliary method comprises the following steps: S1. Obtain patient information through the interactive terminal 700. The patient information includes name, infusion information and sequence information. The infusion information includes infusion model, infusion volume, infusion time and infusion speed.

[0074] Patient information can be obtained directly from the hospital's system, so in addition to the above information, the patient's allergy information and past infusion problem information can also be obtained.

[0075] S2. The first display screen 800 obtains the patient information sent by the interactive terminal 700, and controls the transport mechanism 200 to rotate to obtain the information of the infusion container 10 one by one.

[0076] The acquired patient information can be directly displayed on the first display screen 800 for the nurse and the patient to view and check. In addition, it should be noted that, in addition to acquiring by controlling the rotation of the transport mechanism 200, it can also be acquired by controlling the rotation of the scanning head 610.

[0077] S3. Check through the first display screen 800 whether the infusion container 10 information matches the infusion information.

[0078] If the match is verified, the first display screen 800 controls the transfer mechanism 200 to rotate and transfer the infusion container 10 corresponding to the first sequence to the puncture station based on the sequence information; If the verification does not match, a matching error warning is sent.

[0079] In this step, the checking process can be directly displayed on the first display screen 800, for example, correct results will be checked with a check mark or the font will turn green, while errors will be checked with a cross or the font will turn red, so that nurses and patients can directly check the matching status and correct errors through the first display screen 800.

[0080] S4. Receive the dripping information acquired by the dripping monitoring module 500 through the first display screen 800, where the dripping information includes the dripping speed, the dripping time and the dripping amount.

[0081] The dripping information may be displayed on the first display screen 800 and / or the second display screen.

[0082] S5. Determine through the first display screen 800 whether the dripping speed is within the preset range of the infusion speed. If not, send adjustment information; if so, send a stop dripping signal when it is determined based on the dripping information that the infusion volume and / or infusion time has been reached.

[0083] In this step, the infusion speed preset in the patient information is usually a range value. The control of dripping is divided into manual and automatic according to different controllers. Manual control uses the controller on the drip tube, while automatic control is to set an electronically controlled controller on the auxiliary device. However, since the infusion container 10 needs to be removed when going to the toilet or walking, the cost of the electronically controlled controller is relatively high, so manual control is used in most cases. The manual control accuracy is low, and some patients will adjust it by themselves. Therefore, monitoring the dripping speed can also provide a reference for such patients to avoid some unexpected situations.

[0084] S6. After the first display screen 800 obtains the stop dripping signal, it sends a verification signal to the interactive terminal 700. After receiving the verification signal, the interactive terminal 700 re-obtains the patient information and sends it to the first display screen 800.

[0085] S7. The first display screen 800 compares the newly acquired patient information with the previous patient information to see if they are consistent. If not, a matching error warning is sent; if so, the automatic puncture mechanism 300 is controlled to start, the puncture needle is pulled downward, and the transfer mechanism 200 is controlled to rotate based on the sequence information to transfer the infusion container 10 corresponding to the next sequence to the puncture station, and then the automatic puncture mechanism 300 is controlled to start, and steps S4-S7 are repeated.

[0086] Information is checked before each infusion to avoid the situation where multiple people take down the infusion container 10 and hang it wrongly with each other. It can be discovered and adjusted in time to avoid medical accidents.

[0087] S8. During steps S4-S5, the interactive terminal 700 sends abnormality verification information and receives feedback information at regular intervals, wherein the abnormality verification information includes infusion comfort and allergy information; If the feedback information is that the infusion comfort is abnormal, a drip rate reduction message is sent; If the feedback information is allergy information, a danger warning and a stop dripping signal are sent.

[0088] S9. During steps S4-S5, when the interactive terminal 700 and / or the first display screen 800 obtains the liquid replacement information, the automatic puncture mechanism 300 is controlled to start, the puncture needle is pulled downward, and the transfer mechanism 200 is controlled to rotate based on the sequence information to transfer the infusion container 10 corresponding to the next sequence to the puncture station, and then the automatic puncture mechanism 300 is controlled to start, and steps S4-S7 are repeated.

[0089] The fluid replacement information may be obtained by scanning the nurse or medical staff interactive terminal 700, or by inputting or button triggering on the interactive terminal 700 and the first display screen 800, or by setting a separate button on the device.

[0090] In S10, steps S3, S7 and S9, the infusion container 10 corresponding to the sequence information is transferred to the front of the puncture station, and the decapping information is obtained. If decapping operation is required, the obstacle avoidance device 930 is controlled to start to make the hook device 910 rise, and the cutter motor 922 is started to remove the bottle cap.

[0091] In this embodiment, the obstacle avoidance device is in the extended state by default, i.e., it is retracted after being activated. Conversely, it can also be set to be in the retracted state by default, so that it is activated when the obtained cap removal information indicates that it is not necessary to remove the cap. When the cutter motor 922 is not activated, the cutter-type finger 921 will not cut the bottle cap, thus avoiding the cap.

[0092] The above-mentioned cover removal information is obtained by a sensor arranged on the frame 100, which may be an infrared sensor. When the distance is less than a preset distance, it indicates that the cover needs to be removed.

[0093] In this step, the dripping process is automatically monitored in real time, for example, by displaying text confirmation on the second display screen or by sending voice inquiries at regular intervals through the voice interaction module to collect the customer's status. When the collected feedback information is that the dripping is too fast and causes discomfort, it can remind you to lower the dripping speed. If some symptoms such as fever, rash, hemolysis, shock, etc. appear, the dripping can be discovered and stopped in time.

[0094] The embodiments of this specific implementation method are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, all equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A disinfection mechanism for an infusion injection assisting robot, characterized in that: include: A cotton swab disinfection execution component (410) comprises at least one gripper (411) for gripping the cotton swab, and a driving source (412) for driving the gripper (411) to move between a material picking station, a material loading station, and a material unloading station; A cotton swab conveying assembly (420), the discharge end of which is located at the material taking station and is used to convey the cotton swab to the material taking station; A cotton swab loading assembly (430), located at the loading station, and used to drive the cotton swab located above it to rotate and rise on the gripper (411); A cotton swab unloading assembly (440), located at the unloading station, and used for unloading the cotton swab from the gripper (411); The disinfection component (450) is used to disinfect the cotton swab located at the loading station.

2. The disinfection mechanism (400) of the infusion injection assisting robot according to claim 1, characterized in that: The gripper (411) is provided with a C-shaped slot for a cotton swab to be inserted into, and the C-shaped slot is matched with the gap between the cotton swabs; one side of the discharge end of the cotton swab conveying component (420) is provided with an opening, and the gripper (411) grabs the cotton swab when it moves to the material taking station, and takes the cotton swab out of the opening when it moves out of the material taking station; The cotton swab unloading assembly (440) comprises a storage box (442) and a unloading member (441) located above the storage box (442); when the gripper (411) moves to the unloading station, the cotton swab on the gripper (411) contacts the unloading member (441) and is restrained; the gripper (411) continues to move and is separated from the cotton swab.

3. The disinfection mechanism (400) of the infusion injection assisting robot according to claim 2, characterized in that: The cotton swab feeding assembly (430) comprises a rotary lifting motor (431) and a cotton swab fixing cylinder (432) mounted on the output shaft of the rotary lifting motor (431), wherein the cotton swab fixing cylinder (432) is provided with an inner hole which is interference-fitted with the cotton swab, and the opening of the inner hole is in a trumpet shape; The disinfection assembly (450) comprises a disinfection bottle (451), an ultraviolet sterilization lamp (455) for irradiating the puncture hole, and a driving member (452) for controlling the spraying of the disinfection bottle (451), wherein the nozzle of the disinfection bottle (451) faces above the loading station.

4. An infusion injection assisting robot, characterized in that: include: The disinfection mechanism (400) according to any one of claims 1 to 3, located at a disinfection station; An automatic puncture mechanism (300), located at the puncture station, is used to control the lifting and lowering of the puncture needle; The transport mechanism (200) comprises a turntable (210) and a power source for driving the turntable (210) to switch the infusion container (10) and to make the infusion container (10) pass through a sterilization station and a puncture station in sequence.

5. The infusion injection assisting robot according to claim 4 is characterized in that: The robot further comprises a removal device (920) for removing the cap-type sterile protective cover, the removal device (920) comprising a cutter-type finger ring (921), and the cutter-type finger ring (921) is located in front of the puncture station.

6. The infusion injection assisting robot according to claim 5 is characterized in that: The removal device (920) further comprises a cutter motor (922) for driving the cutter-type finger ring (921) to rotate for auxiliary cutting, wherein the direction of rotation of the cutter-type finger ring (921) driven by the cutter motor (922) is opposite to the direction of rotation of the rotating disk (210).

7. The infusion injection assisting robot according to claim 4, 5 or 6, characterized in that: The robot also includes a hook device (910) for removing the ring-type sterile protective cover. The hook device (910) is located in front of the puncture station. The hook device (910) includes a pull ring limiter (911), a pull hook (912) for inserting the ring-type sterile protective cover, and a discharge spring (913) for pushing the ring-type sterile protective cover out of the pull hook (912). The pull hook (912) is arranged on the pull ring limiter (911), and the discharge spring (913) is sleeved on the pull hook (912).

8. The infusion injection assisting robot according to claim 6, characterized in that: The pull ring limiter (911) is installed to slide in the vertical direction, and the hook device (910) further comprises a reset member (914) for providing an upward tendency force to the pull ring limiter (911); the robot further comprises an obstacle avoidance device (930) for pushing the pull ring limiter (911) downward, and the obstacle avoidance device (930) comprises an obstacle avoidance driving member installed on the turntable (210), and an obstacle avoidance rod controlled by the lifting of the obstacle avoidance driving member.

9. The infusion injection assisting robot according to claim 4, characterized in that: A plurality of multifunctional fixtures (212) are rotatably mounted on the rotating disk (210), the multifunctional fixture (212) comprising a circular fixture body (2121), the fixture body (2121) being provided with a mounting groove for mounting a puncture port, the mounting groove forming an opening on a side wall of the fixture body (2121); a side wall of the rotating disk (210) being provided with an escape opening (21112) for mounting the puncture port into the multifunctional fixture (212); The clamp body (2121) is provided with an elastic pushing component (2122) for providing a force for the puncture opening of the infusion container (10) to move outward from the opening; A plug-type limit block (2123) for compensating the size of the puncture hole is detachably mounted on the fixture body (2121); the plug-type limit block (2123) is slidably mounted in the mounting groove; when in use, the plug-type limit block (2123) and the elastic pushing assembly (2122) are located on both sides of the puncture hole.

10. The infusion injection assisting robot according to claim 4, characterized in that: The auxiliary robot further comprises a scanning head (610) for scanning a label on an infusion container (10), and a rotation source (620) for driving the scanning head (610) to rotate.

Images