Intelligent blood sampling robot

Abstract

The invention relates to the field of blood sampling devices, and discloses an intelligent blood sampling robot which comprises a platform, and an arm fastener, a hemostasis mechanism and a blood sampling mechanism which are sequentially arranged on the platform from front to back, the tourniquets internally provided with the air storage cavities, the lacing assemblies and the limiting assemblies are arranged, after the blood taking needle is inserted into the vein blood vessel of the patient, the corresponding tourniquets can cover the needle inserting position of the patient from top to bottom through the spatial position adjusting assemblies, and the tourniquets are close to one another through the lacing assemblies, so that the tourniquets are preliminarily wound around the arm of the patient; when the blood taking needle is pulled out, the tightening assembly moves towards the arm of a patient while extruding the tourniquet, gas in the tourniquet can be extruded to the hemostatic cotton, the tourniquet is expanded until the tourniquet tightly sleeves the arm, and the two ends of the tourniquet are tightly connected through the first pressing assembly and the second pressing assembly. The arm of a patient can be quickly pulled out, and the blood sampling efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of blood sampling devices, and more specifically, to an intelligent blood sampling robot. Background Art

[0002] At present, most of the medical environments in China have been automated, except for the blood collection process, which still relies on manual blood collection by nurses. When nurses use the existing manual venous blood collection method to collect blood, there are problems such as heavy workload, complicated procedures, and difficulty in finding blood vessels. This not only brings many inconveniences to the nurses' work, but also increases the pain of patients.

[0003] With the development of science and technology, automatic blood sampling robots have appeared on the market. Through high-precision data collection such as near-infrared imaging technology, ultrasonic Doppler imaging, multi-axis motion system, and machine vision algorithm recognition, they can accurately obtain data such as vein contours, and calculate the optimal puncture direction, angle, and depth of the blood collection needle. They can automatically perform venous blood sampling on patients with an accuracy of more than 80%, such as an automatic blood sampling and puncture device disclosed in Patent No. CN108056780A, an intelligent physical examination all-in-one machine disclosed in Patent No. CN113273985A, and an automatic blood sampling device and automatic blood sampling method disclosed in Patent No. CN109953762A.

[0004] However, after blood collection, when the needle is pulled out from the blood vessel and the needle hole is hemostatic, a hemostatic drug is usually sprayed or a pressing mechanism is used to press the needle hole. The hemostatic effect of the spray hemostatic drug is not strong and cannot be applied to the hemostasis of the puncture hole for venous blood collection. The devices that use pressing hemostasis also press the puncture point directly through the pressing component after the blood collection needle is separated from the patient's arm. This also causes the patient's arm to remain still on the blood collection device for several minutes before it can be withdrawn from the corresponding arm inflation airbag after blood collection. When a large number of patients need to have blood drawn, the efficiency of blood drawing will be greatly reduced, and if the arm is left for too long, it is easy to cause discomfort to the patient. Moreover, the blood collection structure of the blood collection device occupies a large space above the patient's arm, and the space for medical staff to manually stop bleeding is obviously insufficient, and it is impossible to effectively cooperate with manual work to stop bleeding at the blood collection point on the patient's arm. When the blood collection needle is out of the patient's vein, it is necessary to prepare for bleeding. Therefore, the existing blood collection equipment cannot effectively and quickly stop bleeding at the patient's puncture point. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent blood sampling robot in order to solve the above problems.

[0006] The present invention provides an intelligent blood sampling robot, comprising a platform, an arm fastener, a hemostatic mechanism and a blood sampling mechanism arranged on the platform in sequence from front to back; the hemostatic mechanism comprises two spatial position adjustment components symmetrically connected to the platform, a spliced ​​bracket connected to the spatial position adjustment component, a tightening component and a limiting component connected to the spliced ​​bracket, a hemostatic component connected to one of the spliced ​​brackets, a first clamping component connected to one of the clamping components and a second clamping component connected to the other clamping component; the hemostatic component comprises a belt storage component connected to the spliced ​​bracket and a tourniquet arranged in the belt storage component, one end of the tourniquet passes through the corresponding spliced ​​bracket and extends to the other spliced ​​bracket, a plurality of hemostatic cottons are arranged on the side of the tourniquet, and a plurality of air storage cavities matching the hemostatic cottons are arranged in the tourniquet; the tightening component comprises a belt storage component connected to the spliced ​​bracket and a first clamping component connected to the first clamping component and a second clamping component connected to the second ... A slider on the frame, a second Z-axial moving component connected to the spliced ​​bracket, a second X-axial moving component connected to the slider, a first connecting block connected to the output end of the second X-axial moving component, an elastic telescopic member and a cutting member connected to the first connecting block, and a second connecting block connected to the elastic telescopic member, the cutting member is matched with the tourniquet, and the output end of the second Z-axial moving component is connected to the slider; the limiting component includes a third Z-axial moving component connected to the spliced ​​bracket and a pressure plate connected to the output end of the third Z-axial moving component, and the pressure plate is used to limit and fix the tourniquet on the spliced ​​bracket; the first clamping assembly includes a first tightening plate and a buckle connected to the first tightening plate; the second clamping assembly includes a second tightening plate and a buckle groove provided on the second tightening plate, the buckle is matched with the buckle groove, and the first tightening plate and the second tightening plate are both plugged into the corresponding second connecting block.

[0007] As a further optimization scheme of the present invention, the spatial position adjustment component includes a Y-axial moving component connected to the platform, a first X-axial moving component connected to the Y-axial moving component, and a first Z-axial moving component connected to the first X-axial moving component, the Y-axial moving component is used to drive the first X-axial moving component to move a set distance along the Y-axial direction, the first X-axial moving component is used to drive the first Z-axial moving component to move a set distance along the X-axial direction, and the spliced ​​bracket is connected to the first Z-axial moving component, and the first Z-axial moving component is used to drive the spliced ​​bracket to move a set distance along the Z-axial direction.

[0008] As a further optimization scheme of the present invention, the spliced ​​bracket includes a flat plate and an L-shaped plate connected to the flat plate, the L-shaped plate is provided with a sliding groove matching the slider, and the L-shaped plate is provided with a limiting groove for the tourniquet to pass through, and the sliding groove is located below the limiting groove.

[0009] The second Z-axis moving assembly and the third Z-axis moving assembly are both fixedly connected to the L-shaped plate, and the pressing plate is located in the limiting groove.

[0010] As a further optimization scheme of the present invention, the second Z-axial moving component is fixedly connected to the first motor on the L-shaped plate, the reducer connected to the output end of the first motor, the coupling connected to the output end of the reducer, the screw connected to one end of the coupling and the fixed block fixedly connected to the slider, and the screw is threadedly connected to the fixed block.

[0011] As a further optimization scheme of the present invention, the belt storage assembly includes a frame, a belt storage drum fixedly connected to the frame and a second motor, a belt winding rod movably connected to the inner wall of the belt storage drum, and a conveying roller group movably connected to the frame. The tourniquet is wound around the belt winding rod, and one end of the tourniquet passes through the belt storage drum, the conveying roller group, and the limit groove in sequence and extends to the limit groove on another L-shaped plate. One of the rollers in the conveying roller group is connected to the output shaft of the second motor.

[0012] As a further optimization scheme of the present invention, the first tightening plate is connected to two first limiting plugs which are symmetrically distributed in upper and lower directions, the second tightening plate is connected to two second limiting plugs which are symmetrically distributed in upper and lower directions, the second connecting block is provided with two slots which are symmetrically distributed in upper and lower directions, and the first limiting plugs and the second limiting plugs are both matched with the slots.

[0013] As a further optimization solution of the present invention, a damping layer is provided on the outer surface of the first limiting plug block, the outer surface of the second limiting plug block and the outer surface of the slot.

[0014] As a further optimization scheme of the present invention, the distance between the blade of the cutting piece and an end surface of the second connecting block away from the elastic elastic piece is smaller than the compression deformation of the elastic elastic piece, and the width of the cutting piece is larger than the width of the tourniquet.

[0015] As a further optimization solution of the present invention, a skin soothing piece is provided on the L-shaped plate. The skin soothing piece is made of silicone and is in the shape of a wedge-shaped block.

[0016] The beneficial effects of the present invention are as follows: the present invention is provided with a tourniquet with an air storage cavity inside, and is provided with a tightening component that can tighten the tourniquet and limiting components at both ends of the limiting tourniquet. After the blood collection needle is inserted into the patient's venous blood vessel, the corresponding tourniquet can be covered on the patient's needle insertion site from top to bottom through the spatial position adjustment component, and the tourniquet is moved toward each other through the tightening component, so that the tourniquet is initially wrapped around the patient's arm. When the blood collection needle is pulled out, the tightening component can squeeze the tourniquet while moving toward the patient's arm, so that the gas in the tourniquet can be squeezed to the hemostatic cotton, and the tourniquet can be inflated until the tourniquet stops when it is tightly fitted on the arm, and the two ends of the tourniquet are tightly connected through the first clamping component and the second clamping component, so that the patient can quickly withdraw his arm, thereby greatly improving the efficiency of blood collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a structural schematic diagram of the hemostatic structure of the present invention.

[0019] Figure 3 It is a structural schematic diagram of the blood sampling mechanism of the present invention.

[0020] Figure 4 It is a matching view of the spliced ​​bracket and the tightening assembly of the present invention.

[0021] Figure 5 This is a diagram showing the coordination of the spliced ​​stent and the hemostasis assembly of the present invention.

[0022] Figure 6 It is a view of the coordination between the tightening assembly and the second clamping assembly of the present invention.

[0023] Figure 7 It is a matching view of the tightening assembly and the first clamping assembly of the present invention.

[0024] Figure 8 The present invention Figure 6 Magnified view at A in the middle.

[0025] Fig. 9 The present invention Figure 7 Magnified view at B.

[0026] Fig.10 This is a diagram showing the matching of the position limiting assembly and the spliced ​​bracket of the present invention.

[0027] Fig.11 It is a partial cross-sectional view of the tourniquet of the present invention.

[0028] In the figure: 1, platform; 2, arm fastener; 3, blood collection mechanism; 31, mechanical arm; 32, angle adjustment frame; 33, automatic blood collection assembly; 34, ultrasonic probe; 35, infrared camera; 4, hemostasis mechanism; 4101, Y-axis moving assembly; 4102, first X-axis moving assembly; 4103, first Z-axis moving assembly; 42, spliced ​​bracket; 4201, flat plate; 4202, L-shaped plate; 4203, slide groove; 4204, limit groove; 43, tightening assembly; 4301, slider; 4302, second X-axis moving assembly; 4303, fixing block; 4304, first motor; 4305, screw rod; 4306, first connecting Block; 4307, elastic telescopic member; 4308, second connecting block; 4309, cutting member; 44, hemostasis assembly; 4401, frame; 4402, belt storage drum; 4403, conveying roller group; 4404, second motor; 4405, tourniquet; 4406, hemostatic cotton; 4407, air storage chamber; 45, limiting assembly; 4501, third Z-axial moving assembly; 4502, pressure plate; 46, skin stretching member; 47, first clamping assembly; 4701, first tightening plate; 4702, first limiting plug block; 4703, buckle; 48, second clamping assembly; 4801, second tightening plate; 4802, second limiting plug block; 4803, buckle groove. DETAILED DESCRIPTION

[0029] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and the functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Each example may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples.

[0030] like Figure 1-Figure 11As shown, an intelligent blood sampling robot comprises a platform 1, an arm fastener 2, a hemostatic mechanism 4 and a blood sampling mechanism 3 arranged on the platform 1 from front to back; the hemostatic mechanism 4 comprises two spatial position adjustment components symmetrically connected to the platform 1, a spliced ​​bracket 42 connected to the spatial position adjustment component, a tightening component 43 and a limiting component 45 connected to the spliced ​​bracket 42, a hemostatic component 44 connected to one of the spliced ​​brackets 42, a first clamping component 47 connected to one of the tightening components 43 and a second clamping component 48 connected to the other tightening component 43; the hemostatic component 44 comprises a belt storage component connected to the spliced ​​bracket 42 and a tourniquet 4405 arranged in the belt storage component, and the hemostatic component 44 comprises a belt storage component connected to the spliced ​​bracket 42 and a tourniquet 4405 arranged in the belt storage component. One end of the blood belt 4405 passes through the corresponding spliced ​​bracket 42 and extends to another spliced ​​bracket 42. A plurality of hemostatic cottons 4406 are arranged on the side of the tourniquet 4405, and a plurality of air storage chambers 4407 cooperating with the hemostatic cottons 4406 are arranged inside the tourniquet 4405; the tightening assembly 43 includes a slider 4301 slidably connected to the spliced ​​bracket 42, a second Z-axial moving assembly connected to the spliced ​​bracket 42, a second X-axial moving assembly 4302 connected to the slider 4301, a first connecting block 4306 connected to the output end of the second X-axial moving assembly 4302, an elastic telescopic member 4307 and a cutting member 4309 connected to the first connecting block 4306, and a connecting member 4308 connected to the elastic telescopic member 43 07, the second connecting block 4308, the cutting piece 4309 is matched with the tourniquet 4405, and the output end of the second Z-axis moving component is connected to the slider 4301; the limiting component 45 includes a third Z-axis moving component 4501 connected to the spliced ​​bracket 42 and a pressure plate 4502 connected to the output end of the third Z-axis moving component 4501, and the pressure plate 4502 is used to limit and fix the tourniquet 4405 on the spliced ​​bracket 42; the first clamping component 47 includes a first tightening plate 4701 and a buckle 4703 connected to the first tightening plate 4701; the second clamping component 48 includes a second tightening plate 4801 and a buckle groove 4803 provided on the second tightening plate 4801, and the buckle 4703 and the buckle groove 4803 are arranged in coordination with each other, the first tightening plate 4701 and the second tightening plate 4801 are both plugged into the corresponding second connecting block 4308; the spliced ​​bracket 42 includes a flat plate 4201 and an L-shaped plate 4202 connected to the flat plate 4201, the L-shaped plate 4202 is provided with a slide groove 4203 that cooperates with the slider 4301, and the L-shaped plate 4202 is provided with a limiting groove 4204 for the tourniquet 4405 to pass through, and the slide groove 4203 is located below the limiting groove 4204; the distance between the blade portion of the cutting piece 4309 and an end face of the second connecting block 4308 away from the elastic telescopic piece 4307 is less than the compression deformation of the elastic telescopic piece 4307, and the width of the cutting piece 4309 is greater than the width of the tourniquet 4405.

[0031] Among them, the blood sampling mechanism 3 includes a mechanical arm 31, an angle adjustment frame 32 connected to the mechanical arm 31, an automatic blood sampling component 33 connected to the angle adjustment frame 32, an ultrasonic probe 34 and an infrared camera 35, all of which are prior arts. The automatic blood sampling component 33 is composed of an electric push rod or a cylinder or a hydraulic cylinder and a detachable blood sampling needle and matching pipelines. When the patient's venous blood is collected, after the ultrasonic probe 34 and the infrared camera 35 collect and calculate the patient's arm vein data, the data of the best blood sampling vein can be accurately obtained, and the blood sampling needle is inserted into the corresponding vein to set the depth after adjusting the puncture direction and angle of the blood sampling needle, and then the subsequent blood sampling process is carried out. When the blood sampling needle is inserted into the vein, the ultrasonic probe 34 is moved from After the patient's arm is raised, it returns to the initial position. At this time, the two spliced ​​brackets 42 are moved to a position close to the blood collection needle in the arm through the spatial position adjustment component, and the hemostatic cotton 4406 on the tourniquet 4405 is accurately aligned with the puncture hole where the blood collection needle pierces the skin and vein by acquiring spatial data. At this time, the blood collection needle still remains in the patient's vein, and then the spliced ​​bracket 42 is controlled to be close to the patient's arm and drive the tourniquet 4405 to move down from above the patient's arm until the hemostatic cotton 4406 covers the puncture hole, and the spliced ​​bracket 42 is controlled to continue to move down. Because the two ends of the tourniquet 4405 are respectively fixed on the spliced ​​bracket 42 by the corresponding limiting components 45, the spliced ​​bracket 42 will drive the hemostasis after moving down. The two ends of the belt 4405 continue to move downward. During this process, in order to prevent the tourniquet 4405 from exerting a large pressure on the puncture hole and affecting the blood collection needle, during the downward movement of the two spliced ​​brackets 42, the distance between the two spliced ​​brackets 42 is gradually reduced through the spatial position adjustment component, so that the tourniquet 4405 is always in a relaxed state without exerting excessive pressure on the puncture site. After the two ends of the blood collection belt move to the position under the patient's arm, the corresponding first connecting block 4306, the elastic telescopic member 4307, and the second connecting block 4308 are driven toward the tourniquet 4405 through two sets of second X-axial moving components 4302 arranged opposite to each other. At this time, the second connecting block 4308 The first clamping assembly 47 or the second clamping assembly 48 connected above also follows the second connecting block 4308 to move toward the tourniquet 4405 until the first clamping assembly 47 and the second clamping assembly 48 are in contact with the tourniquet 4405, and continue to move until the first clamping assembly 47 and the second clamping assembly 48 squeeze the two ends of the tourniquet 4405 together. At this time, the tourniquet 4405 is in a tightly squeezed state, and its internal gas can be squeezed toward one place. At this time, the entire tourniquet 4405 is wrapped around the patient's arm in an Ω shape, and the hemostatic cotton 4406 covers the puncture site of the blood collection needle. When the blood collection needle is to be pulled out, the spliced ​​bracket 42 is controlled to be in a static state, and then the slider 4301 is controlled to move upward through the second Z-axis moving assembly.And drive the second X-axis moving component 4302, the first connecting block 4306, the elastic telescopic member 4307, the second connecting block 4308, the first clamping component 47 and the second clamping component 48 to move upward together. During the upward movement, the first clamping component 47 and the second clamping component 48 can continuously squeeze the gas in the air storage chamber 4407 in the tourniquet 4405 toward the surrounding areas of the hemostatic cotton 4406, so that the hemostatic cotton 4406 area on the tourniquet 4405 expands and bulges until the first clamping component 47 and the second clamping component 48 touch the patient's arm. At this time, the hemostatic cotton 4406 area on the tourniquet 4405 can effectively cover the puncture hole for bleeding. Because the squeezed tourniquet 4405 still has There is a certain amount of deformation, which allows the first tightening plate 4701 and the second tightening plate 4801 to continue to move toward each other. At this time, the first tightening plate 4701 and the second tightening plate 4801 can be driven closer to each other through the second X-axial moving component 4302, so that the buckle 4703 and the buckle groove 4803 are limitedly connected. At this time, the entire tourniquet 4405 is firmly fixed on the patient's arm, and the puncture hole is fully pressed and hemostatic. Moreover, when the second X-axial moving component 4302 moves back, the first tightening plate 4701 and the second tightening plate 4801 will be detached from the corresponding second connecting block 4308, which can facilitate the patient to directly withdraw his arm from the arm fastener 2, greatly improving the blood collection efficiency.

[0032] It should be noted that the tourniquet 4405 is a long strip, the internal air storage chambers 4407 are not connected, and the volume of the gas in the air storage chamber 4407 accounts for about 30% to 40% of the space of the air storage chamber 4407. When not squeezed, the tourniquet 4405 is soft and deformable, and the area between the two air storage chambers 4407 is a cuttable area. When the first tightening plate 4701 and the second tightening plate 4801 are detached from the corresponding second connecting block 4308, the second X-axial moving assembly 4302 and the corresponding first connecting block 4306, the elastic telescopic member 4307, and the second connecting block 4308 are controlled by the second Z-axial moving assembly to move to the cuttable area of ​​the tourniquet 4405 wrapped around the arm. domain, and then, the first connecting block 4306, the elastic telescopic part 4307, and the second connecting block 4308 are driven by the second X-axis moving component 4302 to move toward the cuttable area of ​​the tourniquet 4405 until the two second connecting blocks 4308 clamp the cuttable area of ​​the tourniquet 4405. At this time, the movement of the two second connecting blocks 4308 is restricted, and the first connecting block 4306 continues to move and squeezes the elastic telescopic part 4307 until the two cutting pieces 4309 cut off the cuttable area of ​​the tourniquet 4405. At this time, the entire tourniquet 4405 bound to the patient's arm is completely separated from the initial overall tourniquet 4405, and the patient can directly withdraw his arm, which can greatly improve the blood collection efficiency.

[0033] Among them, the spatial position adjustment component includes a Y-axial moving component 4101 connected to the platform 1, a first X-axial moving component 4102 connected to the Y-axial moving component 4101, and a first Z-axial moving component 4103 connected to the first X-axial moving component 4102. The Y-axial moving component 4101 is used to drive the first X-axial moving component 4102 to move a set distance along the Y-axial direction, the first X-axial moving component 4102 is used to drive the first Z-axial moving component 4103 to move a set distance along the X-axial direction, and the spliced ​​bracket 42 is connected to the first Z-axial moving component 4103, and the first Z-axial moving component 4103 is used to drive the spliced ​​bracket 42 to move a set distance along the Z-axial direction.

[0034] It should be noted that, as mentioned above, when blood is collected, when the data of the venous blood vessels are obtained through the ultrasonic probe 34 and the infrared camera 35, the three-dimensional spatial data of the blood vessels is included, so that the blood collection needle can be accurately inserted into the venous blood vessels, and the position of the blood collection puncture point is also known. At this time, the hemostatic cotton 4406 on the corresponding tourniquet 4405 can be accurately covered at the blood collection puncture point through the Y-axis moving component 4101, the first X-axis moving component 4102 and the first Z-axis moving component 4103.

[0035] Among them, the second Z-axial moving assembly and the third Z-axial moving assembly 4501 are both fixedly connected to the L-shaped plate 4202 , and the pressing plate 4502 is located in the limiting groove 4204 .

[0036] It should be noted that the tourniquet 4405 passes through the two limiting grooves 4204, and the pressure plate 4502 is pushed by the third Z-axial moving component 4501 to limit and fix the two ends of the tourniquet 4405 in the limiting grooves 4204. In this way, when the tourniquet 4405 is wrapped around the arm, its two ends are controlled to remain unchanged, providing an auxiliary limiting effect for the tightening component 43 to tighten the tourniquet 4405.

[0037] It should be noted that the Y-axial moving assembly 4101, the first X-axial moving assembly 4102, the second X-axial moving assembly 4302, the first Z-axial moving assembly 4103, the second Z-axial moving assembly and the third Z-axial moving assembly 4501 can all adopt electric push rods, cylinders, hydraulic cylinders and screw rods 4305 and sliders 4301 structures.

[0038] Among them, the second Z-axial moving component is fixedly connected to the first motor 4304 on the L-shaped plate 4202, the reducer connected to the output end of the first motor 4304, the coupling connected to the output end of the reducer, the screw rod 4305 connected to one end of the coupling and the fixed block 4303 fixedly connected to the slider 4301, and the screw rod 4305 is threadedly connected to the fixed block 4303.

[0039] It should be noted that, here, the second Z-axis moving component takes the first motor 4304, the reducer, the coupling and the screw rod 4305 as an example. The screw rod 4305 is threadedly connected to the fixed block 4303 on the slider 4301, so that when the screw rod 4305 rotates, the slider 4301 can be driven to move up and down along the slide groove 4203, and the output power of the motor can be set, with the resistance value after contacting the arm as a parameter. When the resistance value of the tightening component 43 to the arm reaches the set value, the first motor 4304 stops working immediately, and a pressure sensor can be set at the corresponding position of the second connecting block 4308. The pressure sensor The tightening component 43 contacts the patient's arm synchronously with the tightening component 43, and cooperates with the control of the first motor 4304 according to the pressure value of the pressure sensor. The control system is a prior art and will not be described in detail here. The specific structure of the pressure sensor and the connection method with the second connecting block 4308 are not shown in the figure, because the specific shape of the second connecting block 4308 is not only the shape shown in the figure, the structure may be changed according to actual use, and the pressure sensor is a prior art. The specific parameters and models need to be continuously improved or selected in actual applications and experimental parameters. Therefore, the specific structure is not shown here, and the same applies to the use of cylinders and hydraulic cylinders.

[0040] Among them, the belt storage assembly includes a frame 4401, a belt storage drum 4402 fixedly connected to the frame 4401 and a second motor 4404, a belt winding rod movably connected to the inner wall of the belt storage drum 4402, and a conveying roller group 4403 movably connected to the frame 4401. The tourniquet 4405 is wound around the belt winding rod, and one end of the tourniquet 4405 passes through the belt storage drum 4402, the conveying roller group 4403, and the limiting groove 4204 in sequence and extends to the limiting groove 4204 on another L-shaped plate 4202. One of the rollers in the conveying roller group 4403 is connected to the output shaft of the second motor 4404.

[0041] It should be noted that after the tourniquet 4405 is cut off, the subsequent tourniquet 4405 can be pulled out manually or by a robot and re-clamped in the corresponding limit groove 4204, so as to be convenient for use in the next blood drawing. The conveying roller group 4403 can pull out the tourniquet 4405, so as to facilitate its passing through the limit groove 4204. When the tourniquet 4405 is cut off, one end of the subsequent tourniquet 4405, equivalent to a new head, is still clamped in the limit groove 4204. When the tourniquet 4405 is pulled out by the conveying roller, the pressure plate 4502 moves downward, and the tourniquet 4405 can pass through the limit groove 4204, so as to facilitate manual or robotic pulling of the tourniquet 4405.

[0042] Among them, the first tightening plate 4701 is connected to two first limit plugs 4702 that are symmetrically distributed in the upper and lower parts, and the second tightening plate 4801 is connected to two second limit plugs 4802 that are symmetrically distributed in the upper and lower parts. The second connecting block 4308 is provided with two slots that are symmetrically distributed in the upper and lower parts, and the first limit plug 4702 and the second limit plug 4802 are both matched with the slots; the outer surfaces of the first limit block 4702, the second limit block 4802 and the outer surfaces of the slots are provided with damping layers.

[0043] It should be noted that when the first tightening plate 4701 and the second tightening plate 4801 follow the movement of the second connecting block 4308, the first limiting plug block 4702 and the second limiting plug block 4802 can make the first tightening plate 4701 and the second tightening plate 4801 stably follow the movement, and when the first tightening plate 4701 and the second tightening plate 4801 squeeze the tourniquet 4405 and contact the patient's arm, at this time, the first connecting block 4306 is continued to be squeezed by the second X-axial moving component 4302, and the elastic telescopic member 4307 is further deformed. At this time, the cutting piece 4309 will not contact the tourniquet 4405, and the elastic force generated by the further deformation of the elastic telescopic member 4307 increases, so that the first tightening plate 4701 and the second tightening plate 4801 further compress the tourniquet 4405 until the buckle 4703 on the first tightening plate 4701 is buckled into the second tightening 4801, and the first and second tightening plates 4701 and 4801 are connected to the tourniquet 4405 in a limited manner. At this time, the two second X-axial moving components 4302 move back, and the first and second tightening plates 4701 and 4801 cannot move back with the corresponding second connecting blocks 4308, so that the first limiting plug block 4702 and the second limiting plug block 4802 gradually disengage from the corresponding slots. After disengagement, the tourniquet 4405 can be cut off. After cutting, the patient can take out the arm. When the hemostasis time is up, the patient can pull the fastener 4703 out of the buckle slot 4803, so that the first and second tightening plates 4701 and 4801 are separated, so that the tourniquet 4405 can be detached from the arm, and the first and second tightening plates 4701 and 4801 can be recycled and disinfected for continued use.

[0044] A skin soothing member 46 is provided on the L-shaped plate 4202. The skin soothing member 46 is made of silicone and is in the shape of a wedge-shaped block.

[0045] It should be noted that if the skin around the blood collection point on the patient's arm is relatively loose, in order to ensure that the squeezing effect of the tourniquet 4405 on the puncture point is in a stable state after expansion, the tourniquet 4405 can be wrapped around the patient's arm while contacting both sides of the patient's arm at the puncture point through the skin stretching member 46, and during the downward movement, the patient's loose skin can be pulled to both sides of the arm, thereby reducing skin wrinkles and improving the hemostatic effect and stability.

[0046] The present embodiment is described above, but the present embodiment is not limited to the above-mentioned specific implementation manner. The above-mentioned specific implementation manner is merely illustrative and not restrictive. Under the guidance of the present embodiment, ordinary technicians in this field can also make many forms, which are all within the protection of the present embodiment.

Claims

1. An intelligent blood sampling robot, characterized in that: The device comprises a platform (1), an arm fastener (2) arranged on the platform (1) in sequence from front to back, a hemostatic mechanism (4) and a blood collection mechanism (3); the hemostatic mechanism (4) comprises two spatial position adjustment components symmetrically connected to the platform (1), a spliced ​​bracket (42) connected to the spatial position adjustment component, a tightening component (43) and a limiting component (45) connected to the spliced ​​bracket (42), a hemostatic component (44) connected to one of the spliced ​​brackets (42), a first clamping component (47) connected to one of the clamping components (43), and a second clamping component (48) connected to the other clamping component (43); the hemostatic mechanism (4) comprises two spatial position adjustment components symmetrically connected to the platform (1), a spliced ​​bracket (42) connected to the spatial position adjustment component, a tightening component (43) and a limiting component (45) connected to the spliced ​​bracket (42), a hemostatic component (44) connected to one of the spliced ​​brackets (42), a first clamping component (47) connected to one of the clamping components (43), and a second clamping component (48) connected to the other of the clamping components (43); The assembly (44) comprises a belt storage assembly connected to the spliced ​​bracket (42) and a tourniquet (4405) arranged in the belt storage assembly, one end of the tourniquet (4405) passes through the corresponding spliced ​​bracket (42) and extends to another spliced ​​bracket (42), a plurality of hemostatic cottons (4406) are arranged on the side of the tourniquet (4405), and a plurality of air storage chambers (4407) matched with the hemostatic cottons (4406) are arranged in the tourniquet (4405); the tightening assembly (43) comprises a slider (4301) slidably connected to the spliced ​​bracket (42), a second Z-axis moving assembly connected to the spliced ​​bracket (42), and a slider (4301) connected to the slider (4301). 01), a second X-axis moving component (4302) on the spliced ​​bracket (42), a first connecting block (4306) connected to the output end of the second X-axis moving component (4302), an elastic telescopic component (4307) and a cutting component (4309) connected to the first connecting block (4306), and a second connecting block (4308) connected to the elastic telescopic component (4307), the cutting component (4309) and the tourniquet (4405) are matched and arranged, and the output end of the second Z-axis moving component is connected to the slider (4301); the limiting component (45) includes a third Z-axis moving component (4501) connected to the spliced ​​bracket (42) and a third Z-axis moving component (4502) connected to the third Z-axis moving component (4503). The pressure plate (4502) at the output end of the component (4501) is used to limit and fix the tourniquet (4405) on the spliced ​​bracket (42); the first clamping component (47) includes a first tightening plate (4701) and a buckle (4703) connected to the first tightening plate (4701); the second clamping component (48) includes a second tightening plate (4801) and a buckle groove (4803) provided on the second tightening plate (4801), the buckle (4703) and the buckle groove (4803) are matched, and the first tightening plate (4701) and the second tightening plate (4801) are both plugged into the corresponding second connecting block (4308).

2. The intelligent blood sampling robot according to claim 1, characterized in that: The spatial position adjustment component comprises a Y-axis moving component (4101) connected to the platform (1), a first X-axis moving component (4102) connected to the Y-axis moving component (4101), and a first Z-axis moving component (4103) connected to the first X-axis moving component (4102), wherein the Y-axis moving component (4101) is used to drive the first X-axis moving component (4102) to move a set distance along the Y-axis, the first X-axis moving component (4102) is used to drive the first Z-axis moving component (4103) to move a set distance along the X-axis, and the spliced ​​bracket (42) is connected to the first Z-axis moving component (4103), and the first Z-axis moving component (4103) is used to drive the spliced ​​bracket (42) to move a set distance along the Z-axis.

3. The intelligent blood sampling robot according to claim 2, characterized in that: The spliced ​​bracket (42) comprises a flat plate (4201) and an L-shaped plate (4202) connected to the flat plate (4201); the L-shaped plate (4202) is provided with a slide groove (4203) that matches the slider (4301); and the L-shaped plate (4202) is provided with a limiting groove (4204) for a tourniquet (4405) to pass through; the slide groove (4203) is located below the limiting groove (4204).

4. The intelligent blood sampling robot according to claim 3, characterized in that: The second Z-axis moving assembly and the third Z-axis moving assembly (4501) are both fixedly connected to the L-shaped plate (4202), and the pressing plate (4502) is located in the limiting groove (4204).

5. The intelligent blood sampling robot according to claim 4, characterized in that: The second Z-axis moving component is fixedly connected to a first motor (4304) on the L-shaped plate (4202), a reducer connected to the output end of the first motor (4304), a coupling connected to the output end of the reducer, a screw rod (4305) connected to one end of the coupling, and a fixed block (4303) fixedly connected to the slider (4301), wherein the screw rod (4305) is threadedly connected to the fixed block (4303).

6. The intelligent blood sampling robot according to claim 5, characterized in that: The belt storage assembly comprises a frame (4401), a belt storage drum (4402) fixedly connected to the frame (4401) and a second motor (4404), a belt winding rod movably connected to the inner wall of the belt storage drum (4402), and a conveying roller group (4403) movably connected to the frame (4401); the tourniquet (4405) is wound around the belt winding rod, and one end of the tourniquet (4405) passes through the belt storage drum (4402), the conveying roller group (4403), and the limiting groove (4204) in sequence and extends to the limiting groove (4204) on another L-shaped plate (4202); and one of the roller bodies in the conveying roller group (4403) is connected to the output shaft of the second motor (4404).

7. The intelligent blood sampling robot according to claim 6, characterized in that: The first tightening plate (4701) is connected to two first limiting plugs (4702) which are symmetrically distributed in upper and lower parts, and the second tightening plate (4801) is connected to two second limiting plugs (4802) which are symmetrically distributed in upper and lower parts. The second connecting block (4308) is provided with two slots which are symmetrically distributed in upper and lower parts, and the first limiting plugs (4702) and the second limiting plugs (4802) are both matched with the slots.

8. The intelligent blood sampling robot according to claim 7, characterized in that: A damping layer is provided on the outer surface of the first limiting plug block (4702), the outer surface of the second limiting plug block (4802) and the outer surface of the slot.

9. The intelligent blood sampling robot according to claim 8, characterized in that: The distance between the blade portion of the cutting piece (4309) and an end surface of the second connecting block (4308) away from the elastic elastic piece (4307) is smaller than the compression deformation of the elastic elastic piece (4307), and the width of the cutting piece (4309) is larger than the width of the tourniquet (4405).

10. The intelligent blood sampling robot according to claim 9, characterized in that: The L-shaped plate (4202) is provided with a skin soothing member (46), the skin soothing member (46) is made of silicone material, and the skin soothing member (46) is in the shape of a wedge-shaped block.

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