Liquid changing robot and liquid changing method thereof

Abstract

The invention discloses a liquid changing robot and a liquid changing method thereof. A liquid changing robot comprises a robot body, the robot body comprises a walking base and a mechanical arm, the mechanical arm is installed on the walking base, and a clamping mechanism used for clamping a needle head is installed at the tail end of the mechanical arm; the infusion support further comprises at least three infusion supports arranged in the first linear direction, each infusion support comprises a fixing frame, and at least two infusion container fixing bases arranged in the first linear direction are installed on each fixing frame. The robot body moves to one sides of different infusion supports through the walking base, different infusion containers located on the infusion supports are switched through the action of the mechanical arm to insert and pull out needles, and then the needles are switched to be inserted to change liquid.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, in particular to a liquid exchange robot. Background Art

[0002] Infusion is one of the commonly used treatment methods.

[0003] During the infusion process, nurses are required to manually replace the infusion bottle. When there are many patients, especially when multiple patients are receiving infusions at a high frequency, the nurses' workload increases exponentially. Due to the large number of patients requiring infusion changes, nurses can only respond based on the patients' calls. However, some patients may be negligent and fail to call the nurses in time when they need to replace their infusion bottles. The nurses may be busy caring for other patients, resulting in the infusion bottles of some patients not being replaced in time.

[0004] Currently, there is a lack of a fluid exchange robot that can assist nurses in fluid exchange.

[0005] Chinese patent publication number CN106955393A discloses an automatic fluid exchange control method and device, and an automatic infusion robot. The patent discloses an automatic infusion robot. However, the device requires a manipulator to grab and transport the infusion bottle from the storage table, a clamping part to switch between clamping and releasing the infusion bottle, and a parallel air gripper to perform the needle insertion action. The device needs to transport the infusion bottle, and the action is relatively cumbersome, which can easily cause the infusion bottle to not move into place, resulting in the parallel air gripper being unable to smoothly perform the needle insertion action.

[0006] Currently, there is a lack of a fluid exchange robot that has a simple structure and does not require the transportation of infusion bottles. Summary of the Invention

[0007] In response to the problems existing in the prior art, the present invention provides a fluid exchange robot and a fluid exchange method thereof to solve at least one of the above technical problems.

[0008] To achieve the above-mentioned object, the present invention provides a fluid exchange robot, characterized in that it includes a robot body, the robot body includes a walking base and a robotic arm, the walking base is mounted with the robotic arm, and the end of the robotic arm is mounted with a clamping mechanism for clamping a needle, the clamping mechanism includes two clamping parts that are clamped together and opened away from each other along a first straight line direction;

[0009] Also included are at least three infusion stands arranged along a first straight line direction, the infusion stands including a fixing frame, on which are mounted at least two infusion container fixing seats arranged along the first straight line direction;

[0010] The robot body moves to one side of a different infusion stand through the walking base, and switches to different infusion containers on the infusion stand through the action of the robotic arm to insert and remove the needle, and then switches to insert the needle to change the liquid.

[0011] Further preferably, the robotic arm includes a first linear slide mechanism movable along a first linear direction, a second linear slide mechanism movable along a second linear direction, and a third linear slide mechanism movable along a third linear direction;

[0012] The first straight line direction, the second straight line direction and the third straight line direction are perpendicular to each other;

[0013] The clamping mechanism is installed on the slide in the third linear direction.

[0014] Further preferably, the robot body further includes a walking control system, and the walking control system is connected to a wireless transceiver module;

[0015] The infusion stand includes a wireless fluid exchange call device, which is wirelessly connected to the robot body;

[0016] The wireless fluid exchange call device is provided with a fluid exchange trigger button. Once the fluid exchange trigger button is pressed, the wireless fluid exchange call device sends fluid exchange trigger instruction information and the location information of the infusion stand to be exchanged to the robot body. The location information of the infusion stand to be exchanged is (a, b, c), where a is the infusion stand code, b is the container code of the current infusion container on the infusion stand, and c is the number of infusion containers on the infusion stand;

[0017] When b is less than c, the robot body obtains walking movement information based on the received position information of the infusion stand to be exchanged, and the walking base of the robot body moves to the robot parking position next to the infusion stand that triggered the fluid exchange trigger instruction information according to the walking movement information; the robot body's mechanical arm performs the fluid exchange action, removes the needle of the current infusion container on the infusion stand, and moves and inserts it into the infusion container with code b+1;

[0018] When b=c, the robot body and the liquid change trigger button both send manual service information to the service desk.

[0019] Further preferably, the robot body stores position information of the robot's resting position, and each infusion stand corresponds to position information of a robot's resting position;

[0020] The robot body moves to the robot stop position to perform liquid replacement operation.

[0021] Further preferably, the distance between adjacent infusion container fixing seats is d;

[0022] When the robot body moves to the robot stop position, the first linear slide mechanism, the second linear slide mechanism and the third linear slide mechanism are all in an initial state;

[0023] In the initial state, the first linear slide mechanism is located at the 0-point position, the second linear slide mechanism is located at the lower limit position, and the third limit slide mechanism is located at the first lateral linear position;

[0024] The motion trajectory of the third limit slide mechanism is switching between approaching the infusion container and moving away from the infusion container, and when approaching the infusion container, it moves from the first transverse linear position to the second transverse linear position;

[0025] The motion trajectory of the second limit slide mechanism is a reciprocating motion between an upper limit position and a lower limit position;

[0026] The fluid replacement action includes the first linear slide mechanism moving from the 0 position to a distance of (b+1)*d, the second linear slide mechanism moving upward to the upper limit position, the clamping portion opening, the third linear slide mechanism moving toward the infusion container to the second lateral limit position, the clamping portion closing, and clamping the needle;

[0027] The second linear slide mechanism moves downward to the lower limit position, and the infusion container is pulled away from the needle;

[0028] The first linear slide mechanism moves a distance d to the position directly below the next infusion container, and the second linear slide mechanism moves upward to the upper limit position, inserting the needle into the next infusion container, and the clamping portion opens;

[0029] The first linear slide mechanism, the second linear slide mechanism and the third linear slide mechanism move to initial positions.

[0030] Further preferably, an infrared receiving device is installed on the walking base;

[0031] An infrared emitting device is installed on the IV stand, and the infrared emitting device of each IV stand emits a different frequency;

[0032] Once the infusion robot moves to the infusion stand that triggers the fluid exchange trigger instruction information, the infusion robot pairs with the current infusion stand according to the frequency information received by the infrared receiving device;

[0033] Once the pairing is successful, it means the movement is in place and the fluid replacement operation is carried out;

[0034] If the pairing is unsuccessful, the infusion robot obtains its current position based on the currently received frequency information and compares it with the position of the target infusion stand to generate a motion trajectory. The infusion robot moves along the motion trajectory to the target infusion stand position.

[0035] Further preferably, the infusion container is an infusion bottle, and the infusion container fixing seat is a tube clamp for clamping the bottle body of the infusion bottle.

[0036] Alternatively, the infusion container is an infusion bag, and the infusion container fixing seat includes a hook for hanging the top of the infusion bag and a tube clamp for clamping the bag opening of the infusion bag;

[0037] The pipe clamps are fixed on the fixing frame and arranged at equal intervals from left to right. The hooks are installed on the fixing frame and connected;

[0038] The hooks correspond to the pipe clamps one by one and are arranged up and down.

[0039] Further preferably, the fixing frame is connected to the hook via a telescopic rod.

[0040] This facilitates ensuring that the bag openings of infusion bags with different longitudinal heights are at the same height.

[0041] Alternatively, a pulling rope is installed on the fixing frame, and the hook is installed on the pulling rope.

[0042] The height of the hook can be adjusted conveniently by adjusting the length of the pulling rope.

[0043] Further preferably, the clamping mechanism is a pneumatic clamp or an electric clamp.

[0044] A liquid changing method for a liquid changing robot comprises the following steps:

[0045] Step 1: The robot body receives the fluid replacement trigger instruction information and the location information of the infusion stand to be replaced;

[0046] The position information of the infusion stand to be replaced is (a, b, c), where a is the infusion stand code, b is the container code of the current infusion container on the infusion stand, and c is the number of infusion containers on the infusion stand;

[0047] Step 2: The robot body moves to the side of the fluid delivery rack according to the position information of the fluid delivery rack;

[0048] Step 3: the robot body performs a liquid replacement action;

[0049] The liquid replacement action includes moving the first linear slide mechanism from the 0-point position by a distance of (b+1)*d, with the spacing between adjacent infusion container holders being d;

[0050] The second linear slide mechanism moves upward to the upper limit position, the clamping portion opens, the third linear slide mechanism moves toward the infusion container to the second lateral limit position, the clamping portion closes, and clamps the needle;

[0051] The second linear slide mechanism moves downward to the lower limit position, and the infusion container is pulled away from the needle;

[0052] The first linear slide mechanism moves a distance d to the position directly below the next infusion container, and the second linear slide mechanism moves upward to the upper limit position, inserting the needle into the next infusion container, and the clamping portion opens;

[0053] The first linear slide mechanism, the second linear slide mechanism and the third linear slide mechanism move to initial positions.

[0054] Compared with the prior art, the present invention has the following beneficial effects:

[0055] The present invention adopts a method of pre-fixing the infusion container to perform liquid replacement, thereby improving the convenience of liquid replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 This is a structural diagram of a specific embodiment 1 of the present invention;

[0057] Figure 2 A schematic structural diagram of a robot body according to a specific embodiment 1 of the present invention;

[0058] Figure 3 This is a structural schematic diagram of an infusion stand according to a specific embodiment 2 of the present invention;

[0059] Figure 4 This is a structural schematic diagram of the cooperation between the infusion bottle and the infusion stand according to the specific embodiment 2 of the present invention.

[0060] Figure 5 This is a structural schematic diagram of an infusion stand according to a specific embodiment 3 of the present invention;

[0061] Figure 6 This is a structural diagram of the cooperation between the infusion bag and the infusion stand according to the specific embodiment 3 of the present invention;

[0062] Figure 7 This is a structural diagram of the cooperation between the infusion bag and the infusion stand according to the fourth specific embodiment of the present invention;

[0063] Figure 8 This is a schematic diagram of the partial structure of a specific embodiment 5 of the present invention;

[0064] Figure 9 This is a schematic diagram of the partial structure of specific embodiment 5 of the present invention.

[0065] In the figure, 1 is an infusion stand, 11 is an infusion container fixing seat, 12 is a hook, 13 is a telescopic rod, and 14 is a pulling rope;

[0066] 2 is the robot body, 21 is the first linear slide mechanism, 22 is the second linear slide mechanism, 23 is the third linear slide mechanism, 24 is the clamping mechanism, 25 is the walking base, 26 is the light-emitting element group, 27 is the photosensitive module, 271 is the reference module, 272 is the central positioning module, 273 is the reverse reference module, 274 is the first steering positioning module, and 275 is the second steering positioning module. DETAILED DESCRIPTION

[0067] The present invention will be further described below with reference to the accompanying drawings.

[0068] See also Figures 1 to 7 Specific embodiment 1: A fluid exchange robot includes a robot body 2, the robot body 2 including a walking base 25 and a robotic arm. The walking base 25 is equipped with a robotic arm, and the end of the robotic arm is equipped with a clamping mechanism 24 for clamping a needle. The clamping mechanism includes two clamping parts that clamp together along a first straight line and open away from each other; the robot body also includes at least three infusion stands 1 arranged along the first straight line, and the infusion stand 1 includes a fixed frame, and the fixed frame is equipped with at least two infusion container fixing seats 11 arranged along the first straight line. The robot body 2 moves to the side of different infusion stands via the walking base 25, and switches between different infusion containers on the infusion stands through the movement of the robotic arm to insert and remove needles, and then switches to insert needles for fluid exchange. The robot body moves on the patient's back.

[0069] The clamping mechanism 24 is a pneumatic clamp or an electric clamp.

[0070] The robotic arm includes a first linear slide mechanism 21 that can move along a first linear direction, a second linear slide mechanism 22 that can move along a second linear direction, and a third linear slide mechanism 23 that can move along a third linear direction; the first linear direction, the second linear direction, and the third linear direction are perpendicular to each other; a clamping mechanism 24 is installed on the slide in the third linear direction.

[0071] The robot body 2 further includes a walking control system, which is connected to a wireless transceiver module; the infusion stand 1 includes a wireless fluid exchange call device, which is wirelessly connected to the robot body 2 .

[0072] The wireless fluid exchange caller is provided with a fluid exchange trigger button. Once the fluid exchange trigger button is pressed, the wireless fluid exchange caller sends the fluid exchange trigger instruction information and the location information of the infusion stand to be exchanged to the robot body 2. The location information of the infusion stand to be exchanged is (a, b, c), where a is the infusion stand code, b is the container code of the current infusion container on infusion stand 1, and c is the number of infusion containers on infusion stand 1.

[0073] When b is less than c, the robot body 2 obtains walking movement information based on the received position information of the infusion stand to be replaced. The walking base 25 of the robot body 2 moves to the robot stop position next to the infusion stand 1 that triggered the liquid replacement trigger instruction information according to the walking movement information; the robot body 2's mechanical arm performs the liquid replacement action, removes the needle of the current infusion container on the infusion stand 1, and moves it to the infusion container with the b+1 code;

[0074] When b=c, the robot body 2 and the liquid change trigger button both send manual service information to the service desk.

[0075] The robot body 2 stores the position information of the robot's stop position, and each infusion stand 1 corresponds to the position information of one robot stop position; the robot body 2 moves to the robot's stop position to perform the liquid changing operation.

[0076] The spacing between adjacent infusion container fixing seats 11 is d; when the robot body 2 moves to the robot stop position, the first linear slide mechanism 21, the second linear slide mechanism 22 and the third linear slide mechanism 23 are all in the initial state; in the initial state, the first linear slide mechanism 21 is at the 0 point position, the second linear slide mechanism 22 is at the lower limit position, and the third limit slide mechanism is at the first horizontal linear position; the motion trajectory of the third limit slide mechanism is to switch between approaching the infusion container and moving away from the infusion container, and when approaching the infusion container, it moves from the first horizontal linear position to the second horizontal linear position; the motion trajectory of the second limit slide mechanism is to reciprocate between the upper limit position and the lower limit position; liquid exchange The action includes the first linear slide mechanism 21 moving from the 0 point position a distance of (b+1)*d, the second linear slide mechanism 22 moving up to the upper limit position, the clamping part opening, the third linear slide mechanism 23 moving toward the infusion container to the second lateral limit position, the clamping part closing, and clamping the needle; the second linear slide mechanism 22 moving down to the lower limit position to separate the infusion container and the needle; the first linear slide mechanism 21 moving a distance d and moving to the bottom of the next infusion container, the second linear slide mechanism 22 moving up to the upper limit position, inserting the needle into the next infusion container, and the clamping part opening; the first linear slide mechanism 21, the second linear slide and the third linear slide mechanism 23 moving to the initial position.

[0077] Two rangefinders are mounted on the walking base 25, arranged side by side along a first straight line. A positioning plate is mounted on the IV stand, its length aligned with the first straight line. When the distances measured by the rangefinders are equal, it indicates that the infusion robot's first linear slide mechanism is parallel to the arrangement of the IV stand's infusion container holders.

[0078] An infrared receiving device is installed on the walking base 25; an infrared emitting device is installed on the infusion stand 1, and the frequency of emission of the infrared emitting device of each infusion stand 1 is different; once the infusion robot moves to the infusion stand 1 that triggers the fluid exchange trigger instruction information, the infusion robot pairs with the current infusion stand 1 according to the frequency information received by the infrared receiving device; once the pairing is successful, it means that the movement is in place and the fluid exchange operation is performed; if the pairing is unsuccessful, the infusion robot obtains the current position based on the currently received frequency information and compares it with the position of the target infusion stand 1 to generate a motion trajectory, and the infusion robot moves along the motion trajectory to the target infusion stand 1 position.

[0079] A liquid changing method for a liquid changing robot comprises the following steps:

[0080] Step 1: The robot body receives the fluid replacement trigger instruction information and the location information of the infusion stand to be replaced;

[0081] The position information of the infusion stand to be replaced is (a, b, c), where a is the infusion stand code, b is the container code of the current infusion container on the infusion stand, and c is the number of infusion containers on the infusion stand;

[0082] Step 2: The robot body moves to the side of the fluid delivery rack according to the position information of the fluid delivery rack;

[0083] Step 3: the robot body performs a liquid replacement action;

[0084] The first linear slide mechanism 21 moves from the 0-point position to a distance of (b+1)*d, with the spacing between adjacent infusion container holders being d;

[0085] The second linear slide mechanism 22 moves upward to the upper limit position, the clamping part opens, and the third linear slide mechanism 23 moves toward the infusion container to the second lateral limit position, the clamping part closes, and clamps the needle;

[0086] The second linear slide mechanism 22 moves down to the lower limit position, and the infusion container is pulled away from the needle;

[0087] The first linear slide mechanism 21 moves a distance d to the bottom of the next infusion container, and the second linear slide mechanism 22 moves up to the upper limit position, inserts the needle into the next infusion container, and opens the clamping part;

[0088] The first linear slide mechanism 21 , the second linear slide mechanism and the third linear slide mechanism 23 move to their initial positions.

[0089] A rotating structure that rotates in the direction of the center line of the third linear slide can be installed between the third linear slide mechanism and the clamping part. The rotating structure drives the clamping direction of the clamping mechanism. When a bottle mouth sticker is applied to the mouth of the infusion container, the clamping direction of the clamping part of the clamping mechanism is longitudinal. The clamping mechanism moves to the position of the bottle mouth sticker, clamps the bottle mouth sticker, and moves downward to realize the peeling of the bottle mouth sticker. Alternatively, a voice playback module is installed on the infusion stand, and the voice module is wirelessly connected to the nurse station. In the case where a bottle mouth sticker is present, the voice prompts the user to peel off the bottle mouth sticker by himself. Once the bottle mouth sticker is peeled off, the user presses the bottle mouth sticker peeling end button and then performs the liquid change action.

[0090] See also Figure 3 as well as Figure 4 In Specific Example 2, based on Specific Example 1, the infusion container is an infusion bottle, and the infusion container holder 11 is a tube clamp for clamping the infusion bottle. A silicone pad is fixed to the inner wall of the tube clamp. The tube clamp includes two semicircular clamping bodies arranged in a front-to-rear manner, and the two semicircular clamping bodies are detachably connected by bolts.

[0091] See also Figure 5 as well as Figure 6 Specific embodiment 3, based on specific embodiment 1, the infusion container is an infusion bag, and the infusion container fixing seat 11 includes a hook 12 for hanging the top of the infusion bag and a tube clamp for clamping the bag opening of the infusion bag; the tube clamps arranged at equal intervals from left to right are fixed on the fixing frame, and the hook 12 is installed on the fixing frame for connection; the hook 12 corresponds to the tube clamp one by one and is arranged up and down. The fixing frame is connected to the hook 12 through a telescopic rod 13. It is convenient to achieve that the bag openings of infusion bags of different longitudinal heights are at the same height position. The bag opening of the infusion bag is a hard joint. It is convenient to clamp and fix. A silicone pad is fixed to the inner wall of the tube clamp. The tube clamp includes two semicircular clamps arranged front and back, and the two semicircular clamps are detachably connected by bolts.

[0092] See also Figure 7 Specific embodiment 4, based on specific embodiment 1, the infusion container is an infusion bag, and the infusion container fixing seat 11 includes a hook 12 for hanging the top of the infusion bag and a tube clamp for clamping the bag opening of the infusion bag; the tube clamps arranged at equal intervals from left to right are fixed on the fixing frame, and the hook 12 is installed on the fixing frame for connection; the hook 12 corresponds to the tube clamp one by one and is arranged up and down. A pulling rope 14 is installed on the fixing frame, and the hook 12 is installed on the pulling rope 14. It is convenient to adjust the height of the hook 12 by adjusting the length of the pulling rope 14. The bag opening of the infusion bag is a hard joint. It is convenient to clamp and fix. A silicone pad is fixed to the inner wall of the tube clamp. The tube clamp includes two semicircular clamps arranged front and back, and the two semicircular clamps are detachably connected by bolts.

[0093] See also Figure 8 as well as Figure 9Specific embodiment 5, based on specific embodiment 1, the walking base is a walking base that can rotate 360 ​​degrees in place and move forward in a straight line. The walking base can be an AGV trolley base.

[0094] The travel control system is connected to a light curtain navigation system;

[0095] The light curtain navigation system includes a navigation light curtain installed on the top of the infusion room. The navigation light curtain includes a light emitting element group 26 arranged in a serpentine shape along the arrangement direction of the infusion stand. The light emitting direction of the light emitting element group 26 is downward, and the light emitting frequency of the light emitting elements in the light emitting element group changes gradually in sequence.

[0096] The light curtain navigation system further includes a photosensitive module 27 mounted on the top of the fluid exchange robot, the photosensitive module including photosensitive sensors arranged radially outward from the center;

[0097] The navigation light curtain and the photosensitive module are arranged up and down.

[0098] The walking base facilitates movement along the arrangement direction of the light-emitting element group. Once the light sensor line sensing the light wave forms an L shape, the walking base rotates 90 degrees in place and continues forward movement. The in-place rotation of the walking base allows for circumferential positioning and calibration.

[0099] The infusion stand 1 is arranged along the arrangement direction of the light emitting element groups.

[0100] A telescopic rod is mounted in the center of the walking base, and a pivot hole for inserting the telescopic rod is installed at the bottom of the infusion chamber. The telescopic rod is located at a 90° angle to the light-emitting element group, which facilitates the stability of the walking base during rotation.

[0101] The photosensitive module includes a central positioning module located in the center and peripheral positioning modules arranged at equal intervals in the circumferential direction. A light shielding partition is provided between adjacent peripheral positioning modules.

[0102] The photosensitive module parallel to the movement direction of the first linear slide mechanism is used as the reference module 271, the central positioning module 272 and the reverse reference module 273;

[0103] The photosensitive module further includes a first steering positioning module 274 and a second steering positioning module 275. The central positioning module 272 is located between the first steering positioning module 274 and the second steering positioning module 275. The arrangement direction of the first steering positioning module 274 and the second steering positioning module 275 is perpendicular to the arrangement direction of the reference module 271.

[0104] Once the reference module 271 senses the light waves of the light-emitting element group, the walking base moves forward. Once the central positioning module 272 and the reverse reference module 273, the central positioning module 272 and the first steering positioning module 274 or the second steering positioning module 275 all sense the light waves of the light-emitting element group, the telescopic rod extends and the walking base rotates 90° on the spot. After the reference module 271 senses the light waves of the light-emitting element group, the telescopic rod shortens and the walking base moves forward along the arrangement direction of the reference module 271.

[0105] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A fluid exchange robot, characterized in that: The robot comprises a main body, the main body comprising a walking base and a mechanical arm, the mechanical arm being mounted on the walking base, the end of the mechanical arm being mounted with a clamping mechanism for clamping a needle, the clamping mechanism comprising two clamping parts that can be clamped together and opened away from each other along a first straight line direction; Also included are at least three infusion stands arranged along a first straight line direction, the infusion stands including a fixing frame, on which are mounted at least two infusion container fixing seats arranged along the first straight line direction; The robot body moves to one side of a different infusion stand through the walking base, and switches to different infusion containers on the infusion stand through the action of the robotic arm to insert and remove the needle, and then switches to insert the needle to change the liquid.

2. A fluid exchange robot according to claim 1, characterized in that: The robotic arm includes a first linear slide mechanism that can move along a first linear direction, a second linear slide mechanism that can move along a second linear direction, and a third linear slide mechanism that can move along a third linear direction; The first straight line direction, the second straight line direction and the third straight line direction are perpendicular to each other; The clamping mechanism is installed on the slide in the third linear direction.

3. The fluid exchange robot according to claim 1, characterized in that: The robot body further includes a walking control system connected to a wireless transceiver module; The infusion stand includes a wireless fluid exchange call device, which is wirelessly connected to the robot body; The wireless fluid exchange call device is provided with a fluid exchange trigger button. Once the fluid exchange trigger button is pressed, the wireless fluid exchange call device sends fluid exchange trigger instruction information and the location information of the infusion stand to be exchanged to the robot body. The location information of the infusion stand to be exchanged is (a, b, c), where a is the infusion stand code, b is the container code of the current infusion container on the infusion stand, and c is the number of infusion containers on the infusion stand; When b is less than c, the robot body obtains walking movement information based on the received position information of the infusion stand to be exchanged, and the walking base of the robot body moves to the robot parking position next to the infusion stand that triggered the fluid exchange trigger instruction information according to the walking movement information; the robot body's mechanical arm performs the fluid exchange action, removes the needle of the current infusion container on the infusion stand, and moves and inserts it into the infusion container with code b+1; When b=c, the robot body and the liquid change trigger button both send manual service information to the service desk.

4. The fluid exchange robot according to claim 2, characterized in that: The robot body stores the position information of the robot's stop position, and each infusion stand corresponds to the position information of a robot's stop position; The robot body moves to the robot stop position to perform liquid replacement operation.

5. The liquid exchange robot according to claim 4, characterized in that: The distance between adjacent infusion container holders is d; When the robot body moves to the robot stop position, the first linear slide mechanism, the second linear slide mechanism and the third linear slide mechanism are all in an initial state; In the initial state, the first linear slide mechanism is located at the 0-point position, the second linear slide mechanism is located at the lower limit position, and the third limit slide mechanism is located at the first lateral linear position; The motion trajectory of the third limit slide mechanism is switching between approaching the infusion container and moving away from the infusion container, and when approaching the infusion container, it moves from the first transverse linear position to the second transverse linear position; The motion trajectory of the second limit slide mechanism is a reciprocating motion between an upper limit position and a lower limit position; The fluid replacement action includes the first linear slide mechanism moving from the 0 position to a distance of (b+1)*d, the second linear slide mechanism moving upward to the upper limit position, the clamping portion opening, the third linear slide mechanism moving toward the infusion container to the second lateral limit position, the clamping portion closing, and clamping the needle; The second linear slide mechanism moves downward to the lower limit position, and the infusion container is pulled away from the needle; The first linear slide mechanism moves a distance d to the position directly below the next infusion container, and the second linear slide mechanism moves upward to the upper limit position, inserting the needle into the next infusion container, and the clamping portion opens; The first linear slide mechanism, the second linear slide mechanism and the third linear slide mechanism move to initial positions.

6. The fluid exchange robot according to claim 1, characterized in that: An infrared receiving device is installed on the walking base; An infrared emitting device is installed on the IV stand, and the infrared emitting device of each IV stand emits a different frequency; Once the infusion robot moves to the infusion stand that triggers the fluid exchange trigger instruction information, the infusion robot pairs with the current infusion stand according to the frequency information received by the infrared receiving device; Once the pairing is successful, it means the movement is in place and the fluid replacement operation is carried out; If the pairing is unsuccessful, the infusion robot obtains its current position based on the currently received frequency information and compares it with the position of the target infusion stand to generate a motion trajectory. The infusion robot moves along the motion trajectory to the target infusion stand position.

7. The fluid exchange robot according to claim 1, characterized in that: The infusion container is an infusion bottle, and the infusion container fixing seat is a tube clamp used for clamping the bottle body of the infusion bottle.

8. The fluid exchange robot according to claim 1, characterized in that: The infusion container is an infusion bag, and the infusion container fixing seat includes a hook for hanging the top of the infusion bag and a tube clamp for clamping the bag opening of the infusion bag; The pipe clamps are fixed on the fixing frame and arranged at equal intervals from left to right. The hooks are installed on the fixing frame and connected; The hooks correspond to the pipe clamps one by one and are arranged up and down; The fixing frame is connected to the hook via a telescopic rod.

9. The fluid exchange robot according to claim 1, characterized in that: The infusion container is an infusion bag, and the infusion container fixing seat includes a hook for hanging the top of the infusion bag and a tube clamp for clamping the bag opening of the infusion bag; The pipe clamps are fixed on the fixing frame and arranged at equal intervals from left to right. The hooks are installed on the fixing frame and connected; The hooks correspond to the pipe clamps one by one and are arranged up and down; A pulling rope is installed on the fixing frame, and the hook is installed on the pulling rope.

10. The liquid replacement method of a liquid replacement robot according to claim 2, characterized in that: The steps include: Step 1: The robot body receives the fluid replacement trigger instruction information and the location information of the infusion stand to be replaced; The position information of the infusion stand to be replaced is (a, b, c), where a is the infusion stand code, b is the container code of the current infusion container on the infusion stand, and c is the number of infusion containers on the infusion stand; Step 2: The robot body moves to the side of the fluid delivery rack according to the position information of the fluid delivery rack; Step 3: the robot body performs a liquid replacement action; The liquid replacement action includes moving the first linear slide mechanism from the 0-point position by a distance of (b+1)*d, with the spacing between adjacent infusion container holders being d; The second linear slide mechanism moves upward to the upper limit position, the clamping portion opens, the third linear slide mechanism moves toward the infusion container to the second lateral limit position, the clamping portion closes, and clamps the needle; The second linear slide mechanism moves downward to the lower limit position, and the infusion container is pulled away from the needle; The first linear slide mechanism moves a distance d to the position directly below the next infusion container, and the second linear slide mechanism moves upward to the upper limit position, inserting the needle into the next infusion container, and the clamping portion opens; The first linear slide mechanism, the second linear slide mechanism and the third linear slide mechanism move to initial positions.

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