An intelligent infusion robot

Abstract

The present invention discloses an intelligent infusion robot, belonging to the technical field related to infusion robots. It includes a turntable for storing infusion bottle / bags, and a station for placing an infusion bottle / bag balancer is arranged inside the turntable for storing infusion bottle / bags, and an infusion bottle / bag is placed inside the infusion bottle / bag balancer; a puncture manipulator is arranged under the turntable for storing infusion bottle / bags, a notch for placing a puncture device is arranged on the puncture manipulator, a puncture needle protection cap detection device and a disinfection device are respectively arranged on the puncture device and the side end, the puncture device is arranged inside the puncture manipulator, and the puncture manipulator is arranged as a detachable mechanism; an air column detector for the end of the infusion tube of the puncture device is arranged at the lower end of the puncture manipulator, and a drip chamber liquid level detection and liquid level compensator and an infusion tube locking mechanism are arranged at the drip chamber of the puncture device. The present invention provides an intelligent infusion robot, which significantly improves the efficiency and accuracy of the infusion process and provides an efficient, safe and reliable infusion solution.

Description

Technical Field

[0001] The present invention belongs to the technical field related to infusion robots, and specifically relates to an intelligent infusion robot. Background Art

[0002] There is a large shortage of nurses globally. Especially in the wards, a large amount of nurses' working hours are occupied by repetitive tasks such as hanging saline.

[0003] Traditional infusion methods have many inconveniences, such as difficulty in independent movement, the need for accompanying personnel to assist in nursing, easy blood return, and inability to automatically stop the infusion. The intelligent infusion robot comprehensively improves the safety, accuracy, efficiency, and comfort of infusion by carrying intelligent modules with different functions, such as intelligent tracking module, automatic warning module, display and speed control module, warmth preservation and reinforcement module, etc. With the continuous development of medical technology, the functions of infusion robots are becoming more and more perfect. It can not only complete the infusion work, but also realize functions such as automatic drug dispensing and automatic injection, which can greatly alleviate the problem of the shortage of clinical nurses and reduce the nurse staffing ratio.

[0004] Existing infusion robots mainly focus on the technical points of infusion volume and automatic infusion alarm. For example, infrared recognition, metering devices or other methods are used to detect when the infusion is about to end and send an alarm to remind medical staff to replace the infusion bag. This function only reflects in the infusion alarm reminder, and there is not much intelligent assistance for the substantial work of infusion. However, there are no corresponding improvements in aspects such as the stable placement of infusion bottles / bags, the detection of the puncture needle protective cap, the detection of liquid level compensation, and the detection of infusion bottles, thus affecting the efficiency and accuracy of the infusion process. Therefore, it is necessary to develop an intelligent infusion robot to solve the above technical problems. Summary of the Invention

[0005] In view of the above problems, the present invention provides an intelligent infusion robot for solving the technical problems raised in the background art.

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

[0007] An intelligent infusion robot includes a turntable for storing infusion bottles / bags. A station for placing an infusion balancer is provided inside the turntable for storing infusion bottles / bags, and an infusion bottle / bag is placed inside the infusion balancer; a puncture manipulator is provided under the turntable for storing infusion bottles / bags. A notch for placing a puncture device is provided on the puncture manipulator. A puncture needle protective cap detection device and a disinfection device are respectively provided on the puncture device and its side end. The puncture device is arranged inside the puncture manipulator, and the puncture manipulator is set as a detachable mechanism; a detector for the air column in the infusion tube at the tail end of the puncture device is provided at the lower end of the puncture manipulator. A drip chamber liquid level detection and liquid level compensator and an infusion tube locking mechanism are provided at the drip chamber of the puncture device; an infusion bottle detection device is provided inside the turntable for storing infusion bottles / bags.

[0008] As a further improvement of the above solution, the infusion balancer includes a guiding device arranged on the storage turntable for infusion bottles and bags. The infusion balancer includes an infusion bag balancer and an infusion bottle balancer. The mating positions of the storage turntable for infusion bottles and bags with the infusion bag balancer and the infusion bottle balancer are ramp structures; the internal structures of the infusion bag balancer and the infusion bottle balancer match the shapes of the infusion bag and the infusion bottle; an infusion container detection unit and an infusion container balancer detection unit are respectively arranged at the lower end and the side end of the storage turntable for infusion bottles and bags.

[0009] As a further improvement of the above solution, the infusion bag balancer includes a first frame. A first through groove matching the shape of the infusion bag is arranged on the first frame. At both sides of the lower end of the first frame, first guide sleeves are oppositely arranged through first connecting rods. The first guide sleeves are adapted to the guiding device. A first limiting groove adapted to the bottle mouth of the infusion bag is arranged at the lower end of the first guide sleeve; the first guide sleeves are adapted to the guiding device, and a chamfer for quick cooperation with the first guide sleeve is arranged on the guiding device.

[0010] As a further improvement of the above solution, the infusion bottle balancer includes a second frame. A second through groove matching the shape of the infusion bottle is arranged on the second frame. At both sides of the lower end of the second frame, second guide sleeves are oppositely arranged through second connecting rods. The second guide sleeves are adapted to the guiding device. A second limiting groove adapted to the bottle mouth of the infusion bottle is arranged at the lower end of the opposite second guide sleeves; the second guide sleeves are adapted to the guiding device, and a chamfer for quick cooperation with the second guide sleeve is arranged on the guiding device.

[0011] As a further improvement of the above solution, the puncture needle protection cap detection device includes a detection module for determining the state of the protection cap on the puncture device; the detection module includes an image recognition detection mechanism, a direct light wave or sound wave receiving detection mechanism, and a reflected light wave or sound wave receiving detection mechanism;

[0012] A control unit is also connected to the detection module and is used to prevent the infusion robot from performing the operation of inserting the puncture device into the infusion container when it is detected that the protection cap on the puncture device has not been removed.

[0013] As a further improvement of the above solution, the disinfection device includes a conveying pipeline arranged at the lower end of the infusion robot body. An opening is arranged on the conveying pipeline. The part for loading the puncture device by the puncture manipulator is arranged in the opening. A side nozzle is arranged at the opening of the conveying pipeline, and a plurality of top nozzles are arranged at the upper end of the conveying pipeline; one place at the bottom end of the conveying pipeline is communicated with a plasma generator; a plasma generation chamber is arranged outside the plasma generator; the lower end of the plasma generator is communicated with a plasma driving air pump.

[0014] As a further improvement of the above solution, the liquid level compensator puncture device pipeline liquid medicine compensator is divided into four compensation methods: linear extrusion compensation and crankshaft extrusion method, puncture motor rotary force extrusion method, and puncture motor bidirectional drive liquid level compensation method.

[0015] As a further improvement of the above solution, the detachable puncture manipulator includes a first transmission part, a second transmission part, and a puncture device parallel grasping and pressing part. A first disassembly docking device is provided on the first transmission part for docking with the second disassembly docking device on the second transmission part. A pressing docking track is provided on the second transmission part for docking with the pressing docking groove on the puncture device parallel grasping and pressing part;

[0016] As a further improvement of the above solution, an automatic unlocking device, an automatic locking position correction device, and an automatic locking device are respectively provided at the lower end and the side end of the detachable puncture manipulator.

[0017] As a further improvement of the above solution, a lifting device is provided at the lower end of the infusion bottle bag storage turntable. The lifting device includes a transmission lead screw provided at the lower end of the infusion bottle bag storage turntable and connected through a transmission rod and a transmission block. The transmission rod, the transmission block, and the transmission lead screw are arranged in a transmission track, and the transmission lead screw is connected to a driving mechanism; A threshold crossing device is provided at the bottom end of the lifting device through a docking frame.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] The present invention provides an intelligent infusion robot, which significantly improves the efficiency and accuracy of the infusion process. The cooperation of the storage turntable and the balancer not only optimizes the management of infusion bottle bags but also ensures the stability of the infusion process. The combined use of the puncture needle protective cap detection device and the disinfection device enhances the operation safety and reduces the infection risk. The detachable puncture manipulator simplifies the equipment maintenance and replacement process, and the settings of the drip chamber liquid level detection and compensator, the infusion tube locking mechanism, and the air column detector further improve the infusion accuracy and patient safety. In addition, the addition of the infusion bottle detection device strengthens the monitoring of the infusion state, reduces human errors, improves patient comfort, and facilitates the supervision and recording of the infusion process, thereby improving the quality and level of medical services. Through the automation and intelligent improvement, this technical solution provides a high-efficiency, safe, and reliable infusion solution for hospitals.

[0020] The infusion balancer in the present invention includes an infusion bag balancer and an infusion bottle balancer. Its internal structure matches the shape of the infusion container, and it can adapt to infusion containers of different sizes, capacities, and shapes, including infusion bottles, infusion bags, and glass bottles made of plastic materials, solving the transportation problems caused by the non-uniformity of infusion containers produced by different manufacturers. Through the guiding device matching the infusion balancer and the design of the infusion bag balancer and the infusion bottle balancer, the infusion container can move smoothly during transportation, avoiding jamming phenomena and improving the smoothness and stability of transportation. The detection units at both ends of the mounting rack can monitor the states of the infusion container and the balancer in real time, enhancing the safety and accuracy of infusion.

[0021] The setting of the puncture needle protective cap detection device in the present invention improves safety. By detecting whether the puncture device protective cap is removed, it avoids inserting the puncture device into the infusion bottle in a contaminated state, thereby reducing the risk of contamination of the infusion liquid and improving the safety of the infusion process.

[0022] The disinfection device in the present invention can achieve seamless integration and automated operation with the infusion robot system while ensuring the disinfection effect; the design of the side nozzles and the top nozzles can achieve comprehensive disinfection of the puncture device part, ensuring that the puncture device can be effectively disinfected before and after puncturing the infusion container, thereby improving the thoroughness and uniformity of disinfection. Connecting the bottom end of the delivery pipe directly to the plasma generator can ensure that the plasma is directly delivered to the puncture device part, achieving efficient disinfection of the puncture device while reducing the loss of plasma during transmission. Setting up a plasma generation chamber can control the generation and transmission of plasma, ensuring the stability of plasma and the disinfection effect.

[0023] The liquid medicine compensator for the liquid medicine channel in the puncture device of the present invention can ensure that the liquid medicine channel in the puncture device is always filled with liquid medicine during infusion, avoid air entry, reduce safety hazards such as overcurrent during infusion, and improve the safety and reliability of infusion. An air column detector is set at the end of the puncture device to monitor the air column situation in the infusion tube at the end of the puncture device in real time, promptly discover and compensate for the liquid medicine, prevent air bubbles from entering the patient's body, and ensure infusion safety. By monitoring the liquid level change in the drip chamber with a liquid level detector, the liquid medicine compensator automatically compensates for the liquid medicine according to the detection result, ensuring that the liquid level in the drip chamber remains in a safe and effective position and improving the stability of the infusion process. The infusion tube locking mechanism ensures the stability of the infusion tube during the compensation process, prevents liquid medicine leakage, and improves the safety of the infusion process.

[0024] By designing a detachable puncture manipulator, the present invention can quickly adapt to infusion devices of different specifications, improving the versatility and adaptability of the infusion robot and facilitating switching between infusion devices of different brands and models.

[0025] By synchronously operating the automatic unlocking device, the automatic locking position correction device, and the automatic locking device, the present invention ensures the motion synchronization between the infusion bottle / bag storage turntable and the puncture manipulator, improving the accuracy and reliability of the infusion process. The displacement correction device of the present invention can automatically adjust the position of the infusion bottle / bag storage turntable to ensure the correct alignment and puncture of the infusion bottle, enhancing the precision of the infusion process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the present invention.

[0027] Figure 2 It is a three-dimensional schematic diagram of the infusion balancer in the present invention.

[0028] Figure 3 It is a three-dimensional exploded view of the infusion balancer in the present invention.

[0029] Figure 4 It is a three-dimensional schematic diagram of the infusion bag balancer in the present invention.

[0030] Figure 5 It is a three-dimensional schematic diagram of the infusion bottle balancer in the present invention.

[0031] Figure 6 It is a schematic diagram of the camera detection principle in the present invention.

[0032] Figure 7 It is a schematic diagram of the direct irradiation principle of light waves or sound waves in the present invention.

[0033] Figure 8 It is a schematic diagram of the reflection principle of light waves or sound waves in the present invention.

[0034] Figure 9 It is a schematic diagram of the disinfection device in the present invention.

[0035] Figure 10 It is a schematic diagram of the linear extrusion compensation method and the crankshaft extrusion method of the puncture device pipeline liquid medicine compensator in the present invention.

[0036] Figure 11 It is a schematic diagram of the puncture motor rotary force extrusion method of the puncture device pipeline liquid medicine compensator in the present invention.

[0037] Figure 12 It is a schematic diagram of the puncture motor bidirectional drive liquid level compensation of the puncture device pipeline liquid medicine compensator in the present invention.

[0038] Figure 13 It is an exploded view of each component of the puncture manipulator after disassembly in the present invention.

[0039] Figure 14 It is a schematic diagram of the puncture manipulator after being combined with the turntable in the present invention.

[0040] Figure 15 This is a schematic diagram of the non - cooperation between the puncture manipulator and the turntable in the present invention.

[0041] Figure 16 This is a schematic diagram of the lifting device in the present invention.

[0042] In the figure: 1. Infusion balancer; 12. Infusion container balancer detection unit; 13. Infusion bag balancer; 131. First frame; 132. First through groove; 133. First connecting rod; 134. First guide sleeve; 135. First limiting groove; 14. Infusion bottle balancer; 141. Second frame; 142. Second through groove; 143. Second connecting rod; 144. Second guide sleeve; 145. Second limiting groove; 15. Guide device; 151. Chamfer; 16. Infusion bottle; 17. Infusion bag; 18. Slope; 19. Infusion container detection unit; 2. Puncture needle protection cap detection device; 21. Protection cap; 22. Puncturer; 23. Background plate; 24. Camera; 25. Receiver; 26. Transmitter; 3. Air column detector for the infusion tube at the tail end of the puncturer; 4. Liquid level compensator; 44. Puncture manipulator; 46. Crankshaft motor; 47. Crankshaft; 48. Liquid level detector in the drip chamber; 49. Infusion tube locking mechanism; 491. Locking mechanism motor; 492. Locking mechanism lead screw; 493. Locking block; 410. Telescopic drive block; 411. First drive lead screw; 412. Linear motor; 413. Drive motor; 414. Third lead screw; 415. First extrusion block; 416. Extrusion drive block; 417. First drive rod; 418. First motor; 419. Lifting block; 420. Spring; 421. Second extrusion block; 422. Lead screw drive block; 423. First lead screw; 424. Second lead screw; 425. Connecting block; 5. Disinfection device; 51. Top nozzle; 52. Delivery pipeline; 53. Plasma generation chamber; 54. Plasma drive air pump; 55. Plasma generator; 56. Puncturer loading part of the puncture manipulator; 57. Side nozzle; 58. Opening; 59. Connecting pipeline; 6. Infusion bottle detection device; 61. First drive part; 62. First disassembly and docking device; 63. Second disassembly and docking device; 64. Second drive part; 65. Pressing docking track; 66. Pressing docking groove; 67. Puncturer parallel grasping and pressing part; 68. Side; 69. Displacement correction device; 610. Automatic unlocking device; 611. First spring; 612. First self-locking block; 6121. Sliding block; 6122. Interpenetrating pin; 613. First parallel movement surface; 614. First locking sliding surface; 615. Stroke self-locking block; 616. Second locking sliding surface; 617. Second parallel movement surface; 618. Automatic locking position correction device; 619. Second self-locking block; 6191. Movable block; 6192. Movable pin; 6193. Second spring; 620. Pressure release surface; 621. Release locking device; 622. Automatic locking device; 7. Lifting device; 71. Second drive rod; 72. Drive block; 73. Motor; 74. First drive gear; 75. Second drive gear; 76. First sensor; 77. Drive track; 78. Second drive lead screw; 79. Control center; 710. Second sensor; 8. Infusion bottle and bag storage turntable; 9. Notch. Detailed Implementation Modes

[0043] To enable those skilled in the art to better understand the technical solution, the present invention will be described in detail below in conjunction with embodiments. The description in this part is only exemplary and explanatory, and should not have any restrictive effect on the protection scope of the present invention.

[0044] As Figure 1-16 shown, the specific solution of this embodiment is: an intelligent infusion robot, including a turntable 8 for storing infusion bottle bags, a station for placing an infusion balancer 1 is arranged inside the turntable 8 for storing infusion bottle bags, and an infusion bottle bag is placed inside the infusion balancer 1; a puncture manipulator is arranged under the turntable 8 for storing infusion bottle bags, a notch 9 for placing a puncture device is arranged on the puncture manipulator, a puncture needle protection cap detection device 2 and a disinfection device 5 are respectively arranged at the upper end and the side end of the puncture device, the puncture device is arranged inside the puncture manipulator, and the puncture manipulator is arranged as a detachable mechanism; a puncture device tail-end infusion tube air column detector 3 is arranged at the lower end of the puncture manipulator, a drip chamber liquid level detection and liquid level compensator 4 and an infusion tube locking mechanism 49 are arranged at the drip chamber of the puncture device; an infusion bottle detection device 6 is arranged inside the turntable 8 for storing infusion bottle bags.

[0045] As Figures 2-5 shown, as a preferred mode of the above embodiment, the infusion balancer 1 includes a guiding device 15 arranged on the turntable 8 for storing infusion bottle bags. The infusion balancer 1 includes an infusion bag balancer 13 and an infusion bottle balancer 14. The matching positions of the turntable 8 for storing infusion bottle bags with the infusion bag balancer 13 and the infusion bottle balancer 14 are of a ramp 18 structure; the internal structures of the infusion bag balancer 13 and the infusion bottle balancer 14 are matched with the shapes of the infusion bag 17 and the infusion bottle 16; an infusion container detection unit 19 and an infusion container balancer detection unit 12 are respectively arranged at the lower end and the side end of the turntable 8 for storing infusion bottle bags.

[0046] The infusion bag balancer 13 includes a first frame 131, a first through groove 132 matching the shape of the infusion bag 17 is arranged on the first frame 131, first guide sleeves 134 are oppositely arranged at both sides of the lower end of the first frame 131 through first connecting rods 133, the first guide sleeves 134 are adapted to the guiding device 15, and a first limiting groove 135 adapted to the bottle mouth of the infusion bag 17 is arranged at the lower end of the first guide sleeve 134; the first guide sleeve 134 is adapted to the guiding device 15, and a chamfer 151 for quickly matching with the first guide sleeve 134 is arranged on the guiding device 15.

[0047] The infusion bottle balancer 14 includes a second frame 141. A second through groove 142 matching the shape of the infusion bottle 16 is provided on the second frame 141. On both sides of the lower end of the second frame 141, second guide sleeves 144 are oppositely arranged through second connecting rods 143. The second guide sleeves 144 are adapted to the guiding device 15. At the lower ends of the oppositely arranged second guide sleeves 144, second limiting grooves 145 adapted to the bottle mouth of the infusion bottle 16 are provided; the second guide sleeves 144 are adapted to the guiding device 15, and a chamfer 151 for quickly cooperating with the second guide sleeves 144 is provided on the guiding device 15. The infusion container detection unit 19 and the infusion container balancer detection unit 12 are both sensors installed at corresponding positions.

[0048] The working process of the infusion balancer 1 is as follows: The infusion container (infusion bag 17 or infusion bottle 16) is placed into the corresponding balancer (infusion bag balancer 13 or infusion bottle balancer 14).

[0049] Among them, the body of the infusion bag 17 is limited by the first through groove 132, and the first limiting groove 135 is used to adapt to the bottle mouth of the infusion bag 17 to ensure that the infusion bag 17 can be stably placed; similarly, the body of the infusion bottle 16 is limited by the second through groove 142, and the second limiting groove 145 is used to adapt to the bottle mouth of the infusion bottle 16.

[0050] Through the cooperation of the first guide sleeve 134 or the second guide sleeve 144 with the guiding device 15 and the slope 18 structure provided on the infusion bottle / bag storage turntable 8, the infusion bag balancer 13 or the infusion bottle balancer 14 is quickly positioned and fixed in the balancer.

[0051] The infusion container detection unit 19 and the infusion container balancer detection unit 12 monitor the states of the infusion container and the infusion balancer 1 through sensors to ensure the correct placement and removal of the infusion container and the infusion balancer 1.

[0052] After the infusion is completed, the system detects the removal state of the infusion container through the sensor and is ready to receive the next infusion container or perform other operations.

[0053] As Figures 6-8 shown, as a preferred mode of the above embodiment, the puncture needle protective cap detection device 2 includes a detection module for determining the state of the protective cap 21 on the puncturer 22; the detection module includes an image recognition detection mechanism, a direct light wave or sound wave reception detection mechanism, and a reflected light wave or sound wave reception detection mechanism;

[0054] It also includes a control unit connected to the detection module, which is used to prevent the infusion robot from performing the operation of inserting the puncturer 22 into the infusion container when it detects that the protective cap 21 on the puncturer 22 has not been removed.

[0055] As Figure 6As shown in the figure, as a preferred embodiment of the above, the image recognition and detection mechanism includes a camera 24 and an image analysis system. The camera 24 is used to capture images of the puncture device 22, and the image analysis system analyzes the state of the protective cap 21 on the puncture device 22 based on the captured images. To ensure accurate photographing by the camera 24, the objects to be photographed are only the puncture device 22 and the protective cap 21, and a background board 23 is provided directly opposite the camera 24.

[0056] The camera 24 continuously takes pictures of the upper part of the manipulator of the puncture device 22 to form pictures and stores them. The image analysis system analyzes the state of "whether there is a puncture device 22 on the puncture manipulator and whether the protective cap 21 of the loaded puncture device 22 has been removed or not" based on the differences in the sizes of the puncture device 22 and the puncture cap and the photographing results of the puncture device 22.

[0057] As Figure 7 shown in the figure, as a preferred embodiment of the above, the direct light wave or sound wave reception and detection mechanism includes a transmitter 26 and a receiver 25. The transmitter 26 and the receiver 25 are located at predetermined positions of the puncture manipulator and are on the same straight line as the puncture device 22. The receiver 25 and the transmitter 26 are respectively located on both sides of the puncture manipulator. The receiver 25 determines the state of the protective cap 21 on the puncture device 22 based on the intensity of the light wave or sound wave received.

[0058] The receiver 25 of the light wave or sound wave determines the state of whether the puncture cap has been removed or not and whether there is a puncture device 22 based on the intensity of the light wave or sound wave received.

[0059] When the received direct light is the strongest, it indicates the state of no puncture device 22 loaded. When the received direct light wave or sound wave is the least, it indicates the state that the protective cap 21 of the puncture device 22 has not been removed. When the received direct light wave or sound wave is medium, it indicates the state that the protective cap 21 of the puncture device 22 has been removed.

[0060] As Figure 8 shown in the figure, as a preferred embodiment of the above, the reflected light wave or sound wave reception and detection mechanism includes a transmitter 26, a receiver 25 and a reflection device. The transmitter 26 and the receiver 25 are located at predetermined positions of the puncture manipulator, and the transmitter 26 and the receiver 25 are located on one side of the puncture manipulator, while the reflection device is located on the other side of the puncture device 22. The receiver 25 determines the state of the protective cap 21 on the puncture device 22 based on the intensity of the reflected light wave or sound wave received.

[0061] The receiver 25 of the light wave or sound wave determines the state of whether the puncture cap has been removed or not and whether there is a puncture device 22 based on the intensity of the light wave or sound wave received.

[0062] The strongest received reflected light indicates the state where the puncture device 22 is not loaded. The least received reflected light wave or sound wave indicates the state where the protective cap 21 of the puncture device 22 has not been removed. The medium received reflected light wave or sound wave indicates the state where the protective cap 21 of the puncture device 22 has been removed.

[0063] As Figure 9 shown, as a preferred embodiment of the above, the disinfection device 5 includes a delivery pipeline 52 provided at the lower end of the infusion robot body. An opening 58 is provided on the delivery pipeline 52, and a puncture manipulator loading puncture device part 56 is provided in the opening 58. A side nozzle 57 is provided at the opening 58 of the delivery pipeline 52, and a plurality of top nozzles 51 are provided at the upper end of the delivery pipeline 52. One place at the bottom end of the delivery pipeline 52 is communicated with a plasma generator 55. A plasma generation chamber 53 is provided outside the plasma generator 55. The lower end of the plasma generator 55 is communicated with a plasma driving air pump 54. Wherein one place at the bottom end of the delivery pipeline 52 is communicated with the plasma generator 55 through a connecting pipeline 59.

[0064] The working principle of the disinfection device 5 of this infusion robot is mainly based on the generation and delivery of plasma, as well as liquid injection technology, to achieve efficient disinfection of the puncture window of the infusion container and part of the puncture device 22. The plasma generator 55 generates plasma, through the action of the plasma driving air pump 54 and the plasma generation chamber 53, and then disinfects the puncture device through the side nozzle 57 and the top nozzle 51 of the delivery pipeline 52. The arc-shaped structure of the delivery pipeline 52 and the inverted conical structure of the top nozzle 51 help to optimize the flow and distribution of plasma or disinfectant liquid, ensuring that all parts of the puncture device can be fully disinfected.

[0065] As Figures 10-12 shown, as a preferred embodiment of the above, a drip chamber liquid level detector 48 and a liquid level compensator 4 for the puncture device pipeline are provided at the drip chamber part of the puncture device 22. The puncture device pipeline liquid level compensator 4 is divided into four compensation methods: linear extrusion compensation and crankshaft extrusion method, puncture motor rotational force extrusion method, puncture motor bidirectional transmission liquid level compensation method.

[0066] As Figure 10 shown, the linear extrusion compensation and the crankshaft extrusion method are respectively provided on both sides of the drip chamber part. For the linear extrusion compensation, the output end of a linear motor 412 is connected to a first transmission lead screw 411. After passing through the first transmission lead screw 411 and inserted into a vertical plate, it is connected to a telescopic transmission block 410. An oblique cutting part is provided at the extrusion part of the telescopic transmission block 410.

[0067] For the crankshaft extrusion method, the output end of a crankshaft motor 46 is connected to a crankshaft 47.

[0068] When the puncture device pipeline liquid compensator is in linear extrusion compensation and crankshaft extrusion mode, the puncture robot transmission mechanism is that the output end of the transmission motor 413 is connected to the third screw rod 414 through the transmission assembly, and the third screw rod 414 is connected to the puncture robot 44 through the lifting block.

[0069] The working principle and working process of the above technical solution are:

[0070] When the liquid level recognition mechanism in the infusion container of the infusion bottle switching mechanism of the infusion robot cannot recognize the liquid level change in some infusion containers or some special infusion requirements, the liquid level in the infusion container is continued to be infused by the infusion robot until the infusion liquid in the bottle is infused, and air enters the tube inside the puncture device 22, and the air column detector 3 placed in the infusion tube at the tail end of the puncture device detects the flow of the air column, which gives information to the central processing center, and the central processing center gives a signal, and the infusion tube locking mechanism 49 locks the catheter to intercept the flow. The puncture device 22 is driven by the puncture manipulator 44 to detach (pull out) from the puncture window of the infusion bottle to disconnect the infusion channel, and the infusion bottle switching mechanism sends the next bottle of infusion to the infusion work position at the upper end of the puncture manipulator 44, and the puncture manipulator 44 drives the puncture device 22 to enter the puncture window of the infusion bottle to open the infusion channel.

[0071] The linear motor 412 of the linear motor driven liquid medicine compensation mechanism drives the first transmission screw 411 to push the linear telescopic transmission block 410 to squeeze the drip pot, and push the air column on the upper part of the air column detector 3 in the infusion tube at the tail end of the puncture device back into the infusion bottle. The motor of the liquid level compensation mechanism drives the first transmission screw 411 to retract the linear telescopic transmission block 410 to release the squeezing of the drip pot, and the infusion tube locking mechanism 49 releases the lock on the infusion tube. The liquid in the infusion bottle is driven by gravity or the pump force of the infusion pump to partially fill the puncture device 22 with liquid medicine. The infusion enters the next process.

[0072] The crankshaft motor 46 of the crankshaft motor 46 of the liquid medicine compensation mechanism drives the crankshaft 47, and the crankshaft 47 rotates to squeeze the drip pot, so as to squeeze the air in the puncture device 22 back to the infusion bottle. The crankshaft 47 partially rotates to release the squeezing of the drip pot and replenishes the liquid in the infusion bottle back to the tube in the puncture device 22.

[0073] like Figure 11As shown, the rotational force extrusion mode of the puncture motor is extrusion of the extrusion transmission block 416, and the extrusion transmission block 416 and the first extrusion block 415 are an inclined wedge mechanism; the first extrusion block 415 is arranged at the side end of the drip pot, and a spring 420 is arranged in the first extrusion block 415. The upper end of the extrusion transmission block 416 is provided with a first transmission rod 417, and the middle part and the upper end of the first transmission rod 417 are respectively inserted in the connecting block 425 and the lifting block 419; the second screw rod 424 is connected to the output end of the first motor 418 through the connecting block 425; the puncture manipulator 44 is arranged at the side end of the lifting block 419 through the support block.

[0074] Puncturer manipulator linkage mechanism extrusion method:

[0075] The movement of the puncture manipulator 44 can be divided into driving the puncture device 22 upward from the initial position to enter the puncture window of the infusion container to open the infusion channel; driving the puncture device 22 downward to separate from the puncture window of the infusion container to cut off the infusion channel. Different liquid medicine compensation linkage mechanisms are arranged on it to complete the driving of the liquid medicine compensation mechanism. In this way, the infusion device drip pot is squeezed to supplement the liquid medicine in the puncture device 22.

[0076] ① The liquid compensation mechanism for the downward movement of the puncture manipulator (such as Figure 11 shown):

[0077] When the liquid level recognition mechanism in the infusion container of the infusion container switching mechanism of the infusion robot cannot recognize the liquid level change in some infusion containers or there are some special infusion requirements, the liquid level in the infusion container is continued to be infused by the infusion robot, and the liquid medicine in the infusion container is completely infused, and air enters the tube inside the puncture device 22, and the air column detector 3 placed in the infusion tube at the tail end of the puncture device detects the flow of the air column, which gives information to the central processing center, and the central processing center gives a signal, and the infusion tube locking mechanism 49 locks the catheter to intercept the flow. Driven by the puncture manipulator 44, the puncture device 22 is detached (pulled out) from the puncture window of the infusion bottle to disconnect the infusion channel. In the process of returning to the zero position, the puncture manipulator 44 carries the liquid medicine compensation linkage mechanism on it and moves downward. When the liquid medicine compensation linkage mechanism passes through the extrusion transmission block 416 of the liquid medicine compensator, the extrusion transmission block 416 pushes the first extrusion block 415 of the drip pot to squeeze the drip pot. After the infusion container switching mechanism delivers the liquid of the next infusion container to the infusion working position,

[0078] During the process that the puncture manipulator moves upward to drive the puncture device into the puncture window of the infusion container in the infusion working position, it incidentally drives the liquid medicine compensation linkage mechanism thereon to disengage from the extrusion transmission block 416. The first extrusion block 415 retracts under the action of the spring 420 and returns to the initial position where it does not extrude the drip chamber, releasing the extrusion on the drip chamber. The drip chamber returns to its original state under its own elasticity, and the medicine in the infusion bottle is filled into the puncture device pipeline, and the infusion robot enters the current infusion process.

[0079] ② Liquid medicine compensation mechanism when the puncture manipulator moves upward (as Figure 11 shown):

[0080] When the liquid level recognition mechanism in the infusion container switching mechanism part of the infusion robot cannot recognize the liquid level change in some infusion containers or for some special infusion requirements, the liquid level in the infusion container is continuously infused by the infusion robot, and the liquid medicine in the infusion container is completely infused. Air enters the tube inside the puncture device 22. The air column detector 3 placed in the infusion tube at the end of the puncture device detects the flow of the air column, gives information to the central processing center, and the central processing center gives a signal, and the infusion tube locking mechanism 49 locks the catheter to intercept the flow. The puncture device 22 is driven by the puncture manipulator 44 to disengage from (pull out) the puncture window of the infusion bottle to disconnect the infusion channel. During the process that the puncture manipulator 44 returns to the zero position, it carries the liquid medicine compensation linkage mechanism thereon and moves downward, and the liquid medicine compensation linkage mechanism disengages from the pushing part of the liquid medicine compensation mechanism.

[0081] The infusion container switching mechanism takes the already infused infusion container away from the infusion working position and transports the next infusion liquid container to the infusion working position. The puncture manipulator 44 drives the puncture device 22 and the liquid medicine compensator to move upward, and the puncture device 22 is transported into the puncture window of the infusion container to conduct the infusion channel. The air in the puncture device 22 is squeezed back into the infusion bottle. The liquid medicine compensation linkage mechanism disengages from the extrusion transmission block 416. The first extrusion block 415 returns to the initial position under the action of the restoring spring 420 force, releasing the force for squeezing the drip chamber, and the drip chamber automatically restores, and the liquid medicine in the infusion bottle is replenished into the infusion channel of the puncture device 22.

[0082] The infusion tube locking mechanism 49 is opened, and the infusion robot enters the normal infusion process.

[0083] The upper extrusion transmission block 416 and the first extrusion block 415 are a wedge mechanism. The vertical movement of the extrusion transmission block 416 is converted into the horizontal movement of the first extrusion block 415, so as to squeeze or release the drip chamber. The vertical movement of the extrusion transmission block 416 is driven by the rotation of the first motor 418 to drive the second lead screw 424 to rotate, driving the first transmission rod 417 arranged in the lifting block 419 to move up and down, and the extrusion transmission block 416 is of an integral structure with the first transmission rod 417, thus realizing the vertical movement of the extrusion transmission block 416.

[0084] Here, the puncture device 22 is detached from the puncture window of the infusion bottle (pulled out) under the drive of the puncture manipulator 44 to disconnect the infusion channel, or the puncture manipulator 44 drives the puncture device 22 and the liquid medicine compensator to move upward. Both are driven by the rotation of the first motor 418 to drive the second lead screw 424 to rotate, thereby driving the lifting block 419 inserted in the second lead screw 424 to move up and down, and then driving the support block connected to the puncture manipulator 44 to move up and down.

[0085] Such as Figure 12 As shown, the puncture motor bidirectional drive liquid level compensation method is the extrusion of the second extrusion block 421. The second extrusion block 421 and the lead screw drive block 422 form an inclined wedge mechanism, and a spring 420 is arranged in the second extrusion block 421. The lead screw drive block 422 is arranged at the side end of the drip chamber; the lead screw drive block 422 is inserted into the first lead screw 423, the middle part of the first lead screw 423 is inserted into the connecting block 425, and the first lead screw 423 is also arranged at the upper end of the connecting block 425. The upper first lead screw 423 is arranged in the lifting block 419; the upper and lower first lead screws 423 are connected to the output end of the first motor 418 through the connecting block 425; the puncture manipulator 44 is arranged at the side end of the lifting block 419 through the support block.

[0086] The infusion tube locking mechanism 49 includes a locking mechanism motor 491. The output end of the locking mechanism motor 491 is connected to a locking mechanism lead screw 492, and the locking mechanism lead screw 492 is connected to a locking block 493; a bevel cut part is arranged at the top of the locking block 493.

[0087] The puncture manipulator motor additional lead screw drive method extrudes the drip chamber to compensate the liquid medicine in the puncture device pipeline:

[0088] The first motor 418 is provided with the first lead screw 423 at both the upper and lower ends through the connecting block 425. The upper first lead screw 423 is responsible for synchronously driving the puncture manipulator 44 to move up and down. It drives the first lead screw 423 to rotate through the rotation of the first motor 418, drives the lifting block 419 inserted in the first lead screw 423 to move up and down, and further drives the support block connected to the puncture manipulator 44 to move up and down.

[0089] The lower first lead screw 423 is responsible for synchronously compensating the liquid medicine in the puncture device 22 pipeline.

[0090] The lead screw drive block 422 and the second extrusion block 421 form an inclined wedge mechanism. The vertical movement of the lead screw drive block 422 is converted into the horizontal movement of the second extrusion block 421, so as to squeeze or release the drip chamber. The vertical movement of the lead screw drive block 422 is driven by the rotation of the first motor 418 to drive the lower first lead screw 423 to rotate, and the lead screw drive block 422 is arranged on the first lead screw 423, thus realizing the vertical movement of the lead screw drive block 422.

[0091] As shown in Figure 13 FIG. [FIG. number not provided], as a preferred embodiment of the above embodiment, the detachable puncture manipulator includes a first transmission part 61, a second transmission part 64, and a puncture device parallel grasping and pressing part 67. A first disassembly docking device 62 is provided on the first transmission part 61 for docking with a second disassembly docking device 63 on the second transmission part 64. A pressing docking track 65 is provided on the second transmission part 64 for docking with a pressing docking groove 66 on the puncture device parallel grasping and pressing part 67;

[0092] The first disassembly docking device 62 is set as a pin body structure, and the second disassembly docking device 63 is provided with a through groove structure to fit the pin body structure; The docking method using the pin body structure and the through groove structure simplifies the disassembly and loading process of the manipulator, making the operation more intuitive and easy to execute. The pressing docking groove 66 is set as a stepped groove, and the pressing docking track 65 fits the stepped groove. The design of the stepped groove and the docking track provides a stable docking platform, ensuring the parallel grasping and pressing of the puncture device and guaranteeing the stability of the infusion.

[0093] As shown in Figures 14-15 FIG. [FIG. number not provided], as a preferred embodiment of the above embodiment, an automatic unlocking device 610, an automatic locking position correction device 618, and an automatic locking device 622 are respectively provided at the lower end and the side end of the detachable puncture manipulator.

[0094] The automatic unlocking device 610 includes a first self-locking block 612. The first self-locking block 612 includes a sliding block 6121 and an insertion pin 6122. A first spring 611 is provided on the insertion pin 6122. The side surface and the upper surface of the sliding block 6121 are respectively set as a first parallel movement surface 613 and a first locking sliding surface 614; The insertion pin 6122 is used to fit the detachable part of the puncture manipulator.

[0095] The automatic locking position correction device 618 includes a stroke self-locking block 615. The side surface and the bottom surface of the stroke self-locking block 615 are respectively set as a second parallel movement surface 617 and a second locking sliding surface 616. The second parallel movement surface 617, the second locking sliding surface 616 are suitable for the first parallel movement surface 613 and the first locking sliding surface 614.

[0096] The automatic locking device 622 includes a second self-locking block 619 suitable for the detachable part of the puncture manipulator. The second self-locking block 619 includes a movable block 6191. A movable pin 6192 is provided at the side end of the movable block 6191. A second spring 6193 is inserted on the movable pin 6192; A pressure release surface 620 is provided on the side surface of the movable block 6191, and a release locking device 621 is provided at the side end of the pressure release surface 620.

[0097] As shown in Figures 14-15As shown in the figure, it includes a displacement correction device 69. The displacement correction device 69 is set as a plug structure, and the plug is suitable for the sleeve on the infusion bottle bag storage turntable 8. The displacement correction device 69 is set as a pin body structure, and the top is provided with a slope.

[0098] The self-locking puncture manipulator adopts the following two schemes:

[0099] ① As Figure 14 shown in the figure, a puncture manipulator automatic unlocking device 610 is provided at the puncture manipulator part, and an automatic locking position correction device 618 is provided at the stroke self-locking block 615 at the stroke self-locking position of its movement track.

[0100] A first self-locking block 612 is provided on the automatic unlocking device 610 of the puncture manipulator. The first self-locking block 612 includes a sliding block 6121 and an insertion pin 6122. A first spring 611 is provided on the insertion pin 6122; the side surface and the upper side surface of the sliding block 6121 are respectively set as a first parallel movement surface 613 and a first locking sliding surface 614.

[0101] A second parallel movement surface 617 and a second locking sliding surface 616 are provided on the stroke self-locking block 615 of the automatic locking position correction device 618.

[0102] When the puncture manipulator is in the zero (initial) position, the detachable part of the puncture manipulator is in an open and unlocked state. When the puncture manipulator moves upward, when the first locking sliding surface 614 of the automatic unlocking device 610 of the puncture manipulator moves to the stroke self-locking block 615 and touches the second locking sliding surface 616 of the automatic locking position correction device 618, the first self-locking block 612 starts to move and lock the detachable part of the puncture manipulator (the side surface 68 of the second disassembly docking device 63 and the hole on the side surface 68) under the movement cooperation of the second locking sliding surface 616 and the first locking sliding surface 614. When the puncture manipulator moves upward to reach the parallel movement surface position, the first self-locking block 612 locks the detachable part of the puncture manipulator. Under the combined movement of the first parallel movement surface 613 and the second parallel movement surface 617, the puncture manipulator keeps the detachable part locked and moves upward to send the puncture device into the infusion bottle to conduct the infusion channel. Moving downward cuts off the infusion channel. When moving downward until the first locking sliding surface 614 and the second locking sliding surface 616 are disengaged, under the cooperation of the first locking sliding surface 614 and the second locking sliding surface 616, the first self-locking block 612 slowly releases the locking state of the detachable part under the action of the first spring 611 until it returns to the initial position.

[0103] ② As Figure 15 shown in the figure, an automatic locking device 622 of the puncture manipulator is provided at the puncture manipulator part, and an automatic unlocking device 610 is provided at its initial state zero position.

[0104] The automatic locking device 622 of the puncture manipulator is provided with a second self-locking block 619. The second self-locking block 619 includes a movable block 6191. A movable pin 6192 is provided at the side end of the movable pin 6192, and a second spring 6193 is inserted through the movable pin 6192. A pressure release surface 620 is provided on the side surface of the movable block 6191, and a release locking device 621 is provided at the side end of the pressure release surface 620.

[0105] When the puncture manipulator is in its initial zero position, the release locking device 621 locks the pressure release surface 620 of the locking device, keeping it in an unlocked state for the detachable part of the puncture manipulator. As the puncture manipulator moves upward, after the pressure release surface 620 leaves the release locking device 621, the locking block locks the detachable part of the puncture manipulator under the action of the locking elastic device.

[0106] Such as Figure 14 and Figure 15 , the device for ensuring the synchronous movement and self-locking of the puncture manipulator and the infusion bottle / bag storage device (turntable) adopts the following scheme:

[0107] A displacement correction device 69 for synchronizing the puncture manipulator with the infusion bottle / bag storage turntable 8 is provided on the puncture manipulator, and a number of turntable infusion bottle / bag storage turntables 8 for docking with it are provided on the infusion bottle / bag storage turntable 8.

[0108] For the displacement correction device 69 synchronized with the puncture manipulator, every time the infusion bottle / bag storage turntable 8 moves (rotates) one station, even within the range of a movement error of 1 - 5 mm, through the upward movement of the puncture manipulator, the inclined port of the displacement correction device 69 can be docked with the turntable infusion bottle / bag storage turntable 8, and it can also ensure that the puncture device on the puncture manipulator is inserted into the infusion bottle within a very small error range or even zero error range.

[0109] Such as Figure 1 shown, as a preferred mode of the above embodiment, a lifting device 7 is provided at the lower end of the infusion bottle / bag storage turntable 8. The lifting device 7 includes a second transmission screw rod 78 provided at the lower end of the infusion bottle / bag storage turntable 8 and connected to a transmission block 72 through a transmission rod second transmission rod 71. The second transmission rod 71, the transmission block 72, and the second transmission screw rod 78 are arranged in a transmission track 77. The second transmission screw rod 78 is connected to a drive mechanism; a second sensor 710 and a first sensor 76 are respectively provided at the top end and the bottom end of the transmission track 77. The drive mechanism includes a motor 73. The output end of the motor 73 is connected to a first transmission gear 74. The first transmission gear 74 is meshed and connected to a second transmission gear 75. The second transmission screw rod 78 is arranged inside the second transmission gear 75.

[0110] Working principle: The motor 73, as the core of the driving mechanism, has its output end connected to the first transmission gear 74. The rotational motion of the motor 73 transmits power through the first transmission gear 74. The first transmission gear 74 is meshed and connected to the second transmission gear 75, and the power is transmitted through the meshed gears, causing the second transmission gear 75 to rotate accordingly. The second transmission screw rod 78 is arranged inside the second transmission gear 75. With the rotation of the second transmission gear 75, the second transmission rod 71 and the second transmission block 72 are arranged on the second transmission screw rod 78. The rotation of the second transmission screw rod 78 drives the second transmission rod 71 and the transmission block 72 to move up and down, realizing the up and down movement of the lifting type infusion robot body. During the whole process, the control center 79 is responsible for receiving the input signals from the sensors and controlling the operation of the motor 73 according to these signals and the preset program. The control center 79 receives the signals from the first sensor 76 and the second sensor 710. When the lifting device 7 reaches the limit position, the control center 79 will stop the operation of the motor 73.

[0111] It should be noted that in this article, the terms "including", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or device. Specific examples are used in this article to elaborate on the principle and implementation mode of the technical solution of the present invention. The description of the above examples is only used to help understand the method of the present invention and its core idea. The above is only the preferred implementation mode of the present invention. It should be pointed out that due to the limited nature of written expression and objectively infinite specific structures, for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements, refinements or changes can be made, or the above technical features can be combined in an appropriate manner; these improvements, refinements, changes or combinations, or directly applying the concept and technical solution of the invention to other occasions without improvement, should all be regarded as the protection scope of the present invention.

Claims

1. An intelligent infusion robot, comprising a turntable (8) for storing infusion bottles and bags, characterized in that: A station for placing an infusion balancer (1) is provided in the infusion bottle bag storage turntable (8), and an infusion bottle bag is placed in the infusion balancer (1); a puncture manipulator is provided below the infusion bottle bag storage turntable (8), and a slot (9) for placing a puncture device is provided on the puncture manipulator; a puncture needle protection cap detection device (2) and a disinfection device (5) are provided at the upper end and the side end of the puncture device, respectively; the puncture device is arranged in the puncture manipulator, and the puncture manipulator is provided as a detachable mechanism; an air column detector (3) for the infusion tube at the tail end of the puncture device is provided at the lower end of the puncture manipulator, and a liquid level compensator (4) and an infusion tube locking mechanism (49) are provided at the drip pot of the puncture device; an infusion bottle detection device (6) is provided in the infusion bottle bag storage turntable (8) Liquid level compensator (4) There are three compensation modes for the liquid compensator in the puncture pipeline: linear extrusion compensation and crankshaft extrusion mode, puncture motor rotary force extrusion mode, and puncture motor bidirectional transmission liquid level compensation mode; The linear extrusion compensation and crankshaft extrusion methods are respectively arranged on both sides of the drip pot; the linear extrusion compensation is that the output end of the linear motor (412) is connected to the transmission screw (4411), the transmission screw (11) is inserted into the vertical plate and connected to the telescopic transmission block 4 (10), and the extrusion part of the telescopic transmission block (10) is provided with a chamfered part; the crankshaft extrusion method is that the output end of the crankshaft motor (46) is connected to the crankshaft (47); The detachable puncture manipulator comprises a first transmission part (61), a second transmission part (64) and a puncture device parallel grasping and pressing part (67); the first transmission part (61) is provided with a first disassembly docking device (62) for docking with a second disassembly docking device (63) on the second transmission part (64); the second transmission part (64) is provided with a pressing docking track (65) for docking with a pressing docking groove (66) on the puncture device parallel grasping and pressing part (67).

2. The intelligent infusion robot according to claim 1, characterized in that: The infusion balancer (1) comprises a guide device (15) arranged on an infusion bottle bag storage turntable (8), the infusion balancer (1) comprises an infusion bag balancer (13) and an infusion bottle balancer (14), the matching position of the infusion bottle bag storage turntable (8) and the infusion bag balancer (13) and the infusion bottle balancer (14) is a slope (18) structure; the internal structure of the infusion bag balancer (13) and the infusion bottle balancer (14) matches the shape of the infusion bag (17) and the infusion bottle (16); the lower end and the side end of the infusion bottle bag storage turntable (8) are respectively provided with an infusion container detection unit (19) and an infusion container balancer detection unit (12).

3. The intelligent infusion robot according to claim 1, characterized in that: The puncture needle protective cap detection device (2) comprises a detection module for determining the state of the protective cap (21) on the puncture device (22); the detection module comprises an image recognition detection mechanism, a light wave or sound wave direct reception detection mechanism and a light wave or sound wave reflection reception detection mechanism; It also includes a control unit connected to the detection module and used to prevent the infusion robot from executing the operation of inserting the puncture device (22) into the infusion container when it detects that the protective cap (21) on the puncture device (22) has not been removed.

4. The intelligent infusion robot according to claim 1, characterized in that: The disinfection device (5) comprises a delivery pipe (52) arranged at the lower end of the infusion robot body, the delivery pipe (52) is provided with an opening (58), a puncture manipulator loading puncture device portion (56) is provided in the opening (58), a side end nozzle (57) is provided at the opening (58) of the delivery pipe (52), and a plurality of top nozzles (51) are provided at the upper end of the delivery pipe (52); a bottom end of the delivery pipe (52) is connected to a plasma generator (55); a plasma generating chamber (53) is provided outside the plasma generator (55); and the lower end of the plasma generator (55) is connected to a plasma driving air pump (54).

5. The intelligent infusion robot according to claim 1, characterized in that: The rotational force extrusion method of the puncture motor is extrusion of the extrusion transmission block (416), and the extrusion transmission block (416) and the first extrusion block (415) are an inclined wedge mechanism; the first extrusion block (415) is arranged at the side end of the drip pot; a transmission rod (417) is arranged at the upper end of the extrusion transmission block (416), and the transmission rod (417) is connected to the first motor (418) through a connecting block (425), a lifting block (419) and a second screw rod (424); The bidirectional transmission liquid level compensation method of the puncture motor is that the second extrusion block (421) is extruded, and the second extrusion block (421) and the screw drive block (422) are an inclined wedge mechanism; the screw drive block (422) is arranged at the side end of the drip pot; the screw drive block (422) is inserted into the first screw (423), and the first screw (423) is connected to the output end of the first motor (418) through the connecting block (425).

6. The intelligent infusion robot according to claim 1, characterized in that: The lower end and the side end of the detachable puncture manipulator are respectively provided with an infusion bottle detection device (6), and the infusion bottle detection device (6) comprises an automatic unlocking device (610), an automatic locking position correction device (618) and an automatic locking device (622).

7. The intelligent infusion robot according to claim 1, characterized in that: A lifting device (7) is provided at the lower end of the infusion bottle bag storage turntable (8). The lifting device (7) comprises a second transmission screw (78) arranged at the lower end of the infusion bottle bag storage turntable (8) and connected via a second transmission rod (71) and a transmission block (72). The second transmission rod (71), the transmission block (72) and the second transmission screw (78) are arranged in a transmission track (77), and the second transmission screw (78) is connected to a driving mechanism.

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