Full-automatic endoscope cleaning and disinfecting robot

Abstract

The invention discloses a full-automatic endoscope cleaning and disinfecting robot which comprises a cabinet body, and the cabinet body is provided with at least one cleaning cabin; the cleaning cabin comprises a front cabin door and a rear cabin door; a cleaning basket joint mechanism is arranged in the cleaning cabin; the cleaning basket connector mechanism comprises a cleaning basket and a movable connector assembly. In-basket pipelines are fixedly arranged in the cleaning basket, fixing connectors are arranged on the edge of the cleaning basket, and the in-basket pipelines are correspondingly connected with the fixing connectors. The movable joint assembly comprises a linear driving device which is provided with an output end; the guide groove piece is fixedly connected with the output end of the linear driving device; a guide groove is formed in the guide groove piece; the guide groove comprises an inclined groove section; the guide wheel seat comprises a connecting end and a guide wheel end, and a guide wheel is arranged at the guide wheel end and located in the guide groove; the push plate is fixedly connected with the connecting end of the guide wheel seat; the number of the movable joints is equal to that of the fixed joints, and the movable joints are fixedly arranged on the push plate; when the output end of the linear driving device ascends and descends, the guide groove piece moves up and down, and the movable connector is inserted into or withdrawn from the corresponding fixed connector.

Description

Technical Field

[0001] This invention relates to a fully automated endoscope cleaning and disinfection robot. Background Technology

[0002] An endoscope, also known as a gastroscope, colonoscope, bronchoscope, or laparoscope, is an optical instrument that can enter the human body through natural or invasive cavities to perform diagnostic tests and collect data. During endoscopic procedures, blood, mucus, and tissue debris may remain inside the endoscopic tubing; therefore, medical staff must thoroughly clean the inside and outside of the tubing after each use of the endoscope.

[0003] In the prior art, various devices capable of automatically cleaning endoscopes have emerged. For example, Chinese Patent 202021905832.5 discloses a medical gastroenterology endoscope cleaning and disinfection device, which includes: a box body; a partition plate fixedly connected to the inner wall of the box body, dividing the box body into an upper layer and a lower layer, the upper layer being a cleaning chamber and the lower layer being an equipment chamber; a placement basket rotatably disposed within the cleaning chamber; a cleaning component disposed within the equipment chamber, with its output end extending into the cleaning chamber; a waste liquid utilization component disposed within the equipment chamber, with its output end connected to the bottom of the cleaning chamber and extending into the cleaning chamber; and a drying and sterilization component connected to the inner wall of the cleaning chamber.

[0004] Chinese Patent 202211405676.X discloses an endoscope cleaning device and an endoscope cleaning apparatus. The endoscope cleaning device includes a housing, a brush for cleaning the endoscope, a winding mechanism, and a propulsion mechanism. The winding mechanism includes a movable support and a winding reel. The brush is wound around the winding reel. The movable support is mounted on the housing and can rotate in a first direction. The winding reel is mounted on the movable support and can rotate in a second direction. The propulsion mechanism includes a conveyor belt and a pressure wheel assembly. The pressure wheel assembly has a support frame, a pressure plate, and a pressure wheel. The pressure plate is mounted on the support frame. The pressure wheel is mounted on the pressure plate and can press against the conveyor belt. When the winding reel rotates around the second direction to receive and send the brush, the brush is pressed and conveyed by the conveyor belt and the pressure wheel. At the same time, the movable support rotates around the first direction to rotate the brush.

[0005] Chinese patent application 202410639954.0 discloses a cleaning device for flexible endoscope tubing and an endoscope cleaning and disinfection machine. The cleaning device includes a brush, a winding reel, and a rotating component. The brush is wound and housed on the winding reel, which is mounted on the rotating component and can rotate relative to it. The winding reel has a connecting component with a first position separated from the rotating component and a second position engaged with it. When the connecting component is in the first position and separated from the rotating component, the brush can be conveyed forward by a propulsion mechanism while simultaneously driving the winding reel to rotate adaptively in the forward direction, thus continuously releasing the brush. When the connecting component is in the second position and engaged with the rotating component, the winding reel can be directly driven by the rotating component to rotate in the reverse direction, causing the brush to be continuously wound up.

[0006] The main disadvantages of the above technology include: the cleaning basket is fixedly installed inside the cleaning and disinfection machine and is fixedly connected to the machine's pipelines (liquid pipes and air pipes), and cannot be removed separately; in addition, the cleaning and disinfection machine has a door on only one side, and uncleaned endoscopes can contaminate the cleaned endoscopes through the air.

[0007] Therefore, providing an endoscope cleaning and disinfection machine with a cleaning basket that can be flexibly disassembled and automatically connected to the machine body pipeline, and with doors on both sides, has become a problem that the industry needs to solve. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the main objective of this invention is to provide a fully automated endoscope cleaning and disinfection robot with a cleaning chamber that has doors on both sides, and cleaning baskets that can be individually removed, flexibly disassembled and assembled, and automatically connected to the machine's piping.

[0009] To achieve the aforementioned main objectives, this invention discloses a fully automated endoscope cleaning and disinfection robot, comprising a cabinet with at least one cleaning chamber; the cleaning chamber includes front and rear doors; a cleaning basket connector mechanism is provided inside the cleaning chamber; the cleaning basket connector mechanism includes a cleaning basket and a movable connector assembly; internal tubing is fixedly installed inside the cleaning basket, and fixed connectors (fixed liquid connectors and fixed gas connectors) are correspondingly provided on the edge of the cleaning basket, with all internal tubing connected to the fixed connectors; the movable connector assembly includes:

[0010] A linear drive device having an output end;

[0011] A guide groove component is fixedly connected to the output end of a linear drive device; the guide groove component is provided with a guide groove; the guide groove includes an inclined groove section.

[0012] A guide wheel seat includes a connecting end and a guide wheel end, wherein a guide wheel is provided on the guide wheel end and the guide wheel is located within a guide groove;

[0013] The push plate is fixedly connected to the connecting end of the guide wheel seat;

[0014] The number of movable joints is equal to that of fixed joints, and they are fixedly mounted on the push plate;

[0015] When the output end of the linear drive device rises or falls, the guide groove moves up and down, and the guide wheel drives the push plate to move laterally, thereby causing the movable joint to insert into or retract from the corresponding fixed joint.

[0016] In this invention, the number of cleaning chambers is preferably 3-4, arranged in a row.

[0017] The fully automated endoscope cleaning and disinfection robot of this invention can divide the endoscope cleaning chamber into a contaminated area and a clean area using the robot itself as a partition. Each cleaning chamber includes two doors, one for the contaminated area and one for the clean area. Unwashed endoscopes are placed in through the contaminated area door, and washed endoscopes are removed through the clean area door. This contaminated area entry and clean area exit prevents unwashed endoscopes from being contaminated by air pollution during the cleaning process.

[0018] In this invention, the edge of the washing basket is provided with a fixed joint; under the drive of the linear drive device, the movable joint engages with or disengages from the fixed joint.

[0019] In this invention, the internal piping of the cleaning basket includes a liquid pipe and an air pipe. For example, there are two fixed connectors on the edge of the cleaning basket: a liquid connector and a gas connector, which connect to the liquid pipe and the air pipe inside the basket, respectively. Depending on the cleaning procedure, the liquid pipe sometimes delivers water and sometimes delivers cleaning fluid. The air pipe is used to deliver air to check for side leakage of the endoscope.

[0020] The general operation process of this invention is as follows:

[0021] 1. Place the endoscope to be cleaned into the cleaning basket;

[0022] 2. Open the contaminated area door of the cleaning chamber and push the cleaning basket into the cleaning chamber;

[0023] 3. After the cleaning basket is pushed into the cleaning chamber, the movable joint aligns with the fixed joint.

[0024] 4. Begin cleaning;

[0025] 5. Open the clean area door and take out the cleaned endoscope.

[0026] According to a specific embodiment of the present invention, guide strips are fixedly provided on the left and right sides of the cleaning basket; guide grooves are provided on the left and right sides inside the cleaning chamber; when the cleaning basket enters and exits the cleaning chamber, the guide strips move in the guide grooves; elastic protrusions are provided in the guide grooves, and positioning recesses are provided on the outer side of the guide strips.

[0027] According to a specific embodiment of the present invention, the movable joint assembly further includes a base, which is fixedly installed on the cabinet; a linear drive device is fixedly installed on the base; a horizontal guide hole is provided on the base, and a horizontal guide post is correspondingly provided on the push plate, the horizontal guide post being inserted into the horizontal guide hole; a joint guide tube is provided on the base, the joint guide tube is directly opposite the fixed joint, and the movable joint is inserted into the joint guide tube.

[0028] According to a specific embodiment of the present invention, the linear drive device is a lead screw motor, the output end is a lead screw, and a lead screw nut is sleeved on the lead screw; the guide groove is fixedly connected to the lead screw nut; a vertical slide rail is provided on the base, and a vertical slide groove is correspondingly provided on the guide groove, with the vertical slide rail passing through the vertical slide groove.

[0029] According to one specific embodiment of the present invention, the movable joints are arranged in a row horizontally on the push plate, and the fixed joints are arranged in a corresponding row horizontally; the front end of the movable joint is fitted with a sealing ring.

[0030] According to a specific embodiment of the present invention, the tubing inside the basket includes a liquid pipe and a gas pipe, and the fixed joint includes a fixed liquid joint and a fixed gas joint; correspondingly, the movable joint includes a movable liquid joint and a movable gas joint; the liquid pipe is connected to the fixed liquid joint, and the gas pipe is connected to the fixed gas joint.

[0031] According to a specific embodiment of the present invention, the guide groove includes an upper vertical groove section, a middle inclined groove section, and a lower vertical groove section that are connected.

[0032] According to a specific embodiment of the present invention, when both front and rear hatches are closed, the linear drive device drives the movable joint to insert into the fixed joint; when either hatch is opened, the linear drive device drives the movable joint to disengage from the fixed joint.

[0033] According to a specific embodiment of the present invention, a brush device is installed on the cabinet of each cleaning chamber side wall, and the brush device is located on the opposite side of the movable joint assembly; the brush device includes an upstream brush winding assembly and a downstream wire feeding assembly; the brush winding assembly includes a single-hand quick assembly and disassembly mechanism.

[0034] The single-hand quick assembly / disassembly mechanism includes: a drive shaft, a lifting plate, a rotating plate, and a winding box;

[0035] The drive shaft is a telescopic shaft; it includes a lower spline shaft, a spline bushing, and an upper stepped shaft; the spline bushing is slidably fitted onto the spline shaft; the stepped shaft includes a connecting plate at the bottom; the spline bushing is fixedly connected to the connecting plate from below; the top of the stepped shaft is provided with a horizontally arranged pin; the bottom of the stepped shaft is provided with a shaft hole, and the top of the spline shaft is inserted into the shaft hole;

[0036] The lifting plate is fitted onto the drive shaft, and its top edge is provided with several sloping grooves, one end of which is a sloping surface; the center of the lifting plate is provided with a stepped hole that is smaller at the top and larger at the bottom, and the connecting plate is located below the stepped hole.

[0037] The rotating disk is fitted onto the drive shaft and located above the lifting disk. The bottom edge of the rotating disk has the same number of inclined protrusions. The inclined protrusions are located in the corresponding inclined grooves. One end of the inclined protrusion is inclined. The inclined surface of the inclined protrusion and the inclined surface of the inclined groove face each other and fit together. The size of the inclined groove is larger than the size of the inclined protrusion. The top edge of the rotating disk has a positioning groove.

[0038] The winding box is detachably mounted on a rotating disk; it includes a winding component, a cover, a handle, and a cylindrical groove wall; the cover is fitted over the winding component, and the handle is located on the cover; the winding component is a cylindrical shape with a closed top and an open bottom, and the cylindrical groove wall is located at the top inside the winding component; the bottom end of the cylindrical groove wall is slotted to form a pin receiving groove with the opening facing downward and at least two wall sections, the bottom end of each wall section being a bevel; corresponding to the positioning groove, a positioning protrusion is provided on the outer circumference of the bottom of the winding box;

[0039] A compression spring, which is fitted onto the splined shaft and is located below the splined shaft sleeve;

[0040] The one-handed quick-release mechanism is used to insert the pin at the top of the drive shaft into the pin receiving slot of the winding box.

[0041] In this design, there are at least two pins so that the stepped shaft can drive the winding box to rotate.

[0042] In this design, the lifting plate can be raised and lowered but cannot be rotated, while the rotating plate can be rotated but is not driven by the drive shaft.

[0043] In this design, both the inclined protrusions and the inclined grooves are evenly distributed along the circumference.

[0044] In this design, after the positioning protrusion is inserted into the positioning groove, turning the handle will cause the winding box to rotate the rotating disk.

[0045] In this design, the bottom end of the compression spring is fixed, while the top end is connected to the splined bushing.

[0046] The single-handed quick assembly / disassembly mechanism of this solution integrates the components involved in assembly / disassembly longitudinally onto the drive shaft, but does not interfere with the horizontal rotation of the drive shaft. It has a compact structure, saves space, provides precise positioning, and is easy to operate.

[0047] According to one specific embodiment of the present invention, the pin receiving groove is cross-shaped; there are four wall sections.

[0048] The present invention has the following beneficial effects:

[0049] This invention relates to a fully automated endoscope cleaning and disinfection robot with a cleaning chamber featuring double-sided doors. After the cleaning basket enters the cleaning chamber and the front and rear doors are closed, the liquid and air pipes are automatically connected. When either door is opened, the connection between the liquid and air pipes is disconnected. This allows for flexible assembly and disassembly of the cleaning basket, facilitating not only the placement and removal of endoscopes and the cleaning basket, but more importantly, establishing separate contaminated and clean zones. Unwashed endoscopes are placed through the contaminated zone door, and washed endoscopes are removed through the clean zone door. This contaminated zone entry and clean zone exit prevents unwashed endoscopes from contaminating the washed endoscopes through airborne contamination.

[0050] To more clearly illustrate the purpose, technical solution, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the overall structure of the fully automated endoscope cleaning and disinfection robot of Example 1, showing the front of the whole machine;

[0052] Figure 2 This is a schematic diagram of the overall structure of the fully automated endoscope cleaning and disinfection robot of Example 1, showing the back of the entire machine;

[0053] Figure 3 This is a schematic diagram of the overall structure of the washing basket connector mechanism in Embodiment 1;

[0054] Figure 4 yes Figure 3 Exploded view;

[0055] Figure 5 This is a schematic diagram of the guide groove component in Embodiment 1;

[0056] Figure 6 This is an assembly drawing of the guide groove and guide wheel seat in Embodiment 1;

[0057] Figure 7 This is an assembly drawing of the base and components on the base in Embodiment 1;

[0058] Figure 8 This is an assembly drawing of the guide groove, push plate, and movable joint in Example 1;

[0059] Figure 9 This is a diagram showing the positional relationship between the cleaning basket and the base in Example 1;

[0060] Figure 10 This is an assembly diagram of the guide strip in Example 1;

[0061] Figure 11 This is an exploded view of the guide bar and guide groove in Embodiment 1;

[0062] Figure 12 yes Figure 11 Overall structural diagram;

[0063] Figure 13 This is a diagram showing the positional relationship between the brush device and the movable joint assembly in Embodiment 2;

[0064] Figure 14 This is a schematic diagram of the overall structure of the brush device in Embodiment 2;

[0065] Figure 15 This is a partial structural schematic diagram of the brush winding assembly in Embodiment 2;

[0066] Figure 16 This is a partial structural diagram of the single-handed quick assembly / disassembly mechanism in Embodiment 2;

[0067] Figure 17 This is a partial structural diagram of the single-handed quick assembly / disassembly mechanism in Embodiment 2;

[0068] Figure 18 This is a schematic diagram of the spline bushing structure in Example 2;

[0069] Figure 19 This is a schematic diagram of the stepped shaft in Embodiment 2;

[0070] Figure 20 This is a schematic diagram of the lifting plate structure in Embodiment 2;

[0071] Figure 21 This is a schematic diagram of the pin receiving groove in Embodiment 2;

[0072] Figure 22 This is an exploded view of the single-handed quick assembly / disassembly mechanism in Embodiment 2;

[0073] Figure 23 This is a schematic diagram of the outer casing of the lifting plate in Embodiment 2. Detailed Implementation

[0074] Many specific details are set forth in the following description in conjunction with embodiments in order to provide a full understanding of the invention. However, it should be understood that the following embodiments and detailed descriptions are for illustrative purposes only and do not limit the scope of protection of the invention.

[0075] Example 1

[0076] like Figures 1-12 As shown in the figure, this embodiment discloses a fully automatic endoscope cleaning and disinfection robot, which includes a cabinet 1, and the cabinet is provided with three cleaning chambers arranged vertically.

[0077] The cleaning chamber includes two doors, front and rear. The front door 101 is for the clean area, and the rear door 102 is for the contaminated area. A cleaning basket connector mechanism 2 is located on the right side of the cleaning chamber. This mechanism includes a cleaning basket 21 and a movable connector assembly 22. The cleaning basket 21 has fixed internal pipes 211, and fixed connectors 212 are correspondingly located on the edges of the basket. All internal pipes 211 are connected to the fixed connectors 212. The internal pipes 211 include a liquid pipe 211A and a gas pipe 211B. The fixed connectors 212 include a fixed liquid connector 212A and a fixed gas connector 212B. Correspondingly, the movable connector includes a movable liquid connector and a movable gas connector; the liquid pipe 211A connects to the fixed liquid connector 212A, and the gas pipe 211B connects to the fixed gas connector 212B.

[0078] The movable joint assembly 22 includes: a linear drive device (e.g., a lead screw motor 221), a guide groove component 222, a guide wheel seat 223, a push plate 224, a movable joint 225, and a base 226. The lead screw motor 221 includes a lead screw 221A with an output end (lead screw nut 221B). The guide groove component 222 is fixedly connected to the lead screw nut 221B. The guide groove component 222 has a guide groove, which includes an upper vertical groove section 222A, a middle inclined groove section 222B, and a lower vertical groove section 222C. The guide wheel seat 223 includes a connecting end 223A and a guide wheel end 223B. A guide wheel 223C is provided on the guide wheel end 223B and is located within the guide groove. The push plate 224 is fixedly connected to the connecting end 223B of the guide wheel seat 223. The number of movable joints 225 and fixed joints 212 is equal, each consisting of two: a movable liquid joint 225A and a movable gas joint 225B, both fixedly mounted on the push plate 224. The base 226 is fixedly mounted on the cabinet 1; the lead screw motor 221 is fixedly mounted on the base 226. The base 226 has a horizontal guide hole 226A, and the push plate 224 has a corresponding horizontal guide post 224A, which is inserted into the horizontal guide hole 226A. The base 226 also has a joint guide tube 226B, which faces the fixed joint 212, and the movable joint 225 is inserted into the joint guide tube 226B.

[0079] When the output end (screw nut 221B) of the linear drive device (screw motor 221) is fed, the guide groove 222 moves up and down, and drives the push plate 224 to move laterally through the guide wheel 223C, thereby causing the movable joint 225 to insert or withdraw from the corresponding fixed joint 212.

[0080] Guide bars 213 are fixedly provided on the left and right sides of the cleaning basket 21; guide grooves 104 are provided on the left and right sides inside the cleaning chamber; when the cleaning basket 21 enters and exits the cleaning chamber, the guide bars 213 move in the guide grooves 104; elastic protrusions (such as springs 104A and protrusions 104B) are provided in the guide grooves 104, and positioning recesses 213A are provided on the outer side of the guide bars 213.

[0081] A lead screw nut 221B is fitted onto the lead screw 221A; the guide groove 222 is fixedly connected to the lead screw nut 221B; the base 226 is provided with a motor mounting seat 226D and a vertical slide rail 226C, and the guide groove 222 is provided with a vertical slide groove 222D, through which the vertical slide rail 226C passes.

[0082] Two movable joints 225 are arranged laterally on the push plate 224, and two fixed joints 212 are arranged laterally accordingly; the movable joints 225 are equipped with sealing rings. The tail ends of the two movable joints 225 are connected to a liquid pump and an air pump respectively through pipes. The liquid pump is connected to a liquid tank through a pipe; the liquid tank has a water inlet and a cleaning fluid inlet, and according to the cleaning procedure, the liquid tank is filled with water or cleaning fluid at different stages.

[0083] When both front and rear hatches are closed, the linear drive unit moves the movable joint into the fixed joint; when either hatch is opened, the linear drive unit moves the movable joint out of the fixed joint.

[0084] Example 2

[0085] This embodiment, based on embodiment 1, further includes a brush device. A brush device is installed on the cabinet on the side wall of each cleaning chamber, such as... Figure 13 As shown, the brush device B is located on the left side of the cleaning basket, and the movable joint assembly A is on the right side of the cleaning basket. Figures 14-23 As shown, the brush device B includes an upstream brush winding assembly B1 and a downstream wire feeding assembly B2; the brush winding assembly B1 includes a single-hand quick assembly / disassembly mechanism.

[0086] The single-hand quick assembly / disassembly mechanism is used to insert the pin 105 at the top of the drive shaft 1 into the pin receiving groove 404 of the winding box 4; it includes the drive shaft 1, lifting plate 2, rotating plate 3, winding box 4, compression spring 5 and frame 6.

[0087] The drive shaft 1 is a telescopic shaft, which includes a lower spline shaft 101, a spline bushing 102, and an upper stepped shaft 103. The spline bushing 102 is slidably fitted onto the spline shaft 101. The stepped shaft 103 includes a bottom connecting plate 104. The spline bushing 102 is fixedly connected to the connecting plate 104 from below. The top of the stepped shaft 103 is provided with a horizontally arranged pin 105. The bottom of the stepped shaft 103 is provided with a shaft hole 106, into which the top of the spline shaft 101 is inserted. There are two pins 105, spaced 180° apart. The side of the spline shaft 101 is provided with two elongated grooves 107 spaced 180° apart, and the cross-section of the elongated grooves 107 is semi-circular. The center of the spline bushing 102 is provided with a circular shaft hole 108, and the edge of the circular shaft hole 108 is provided with two semi-circular protrusions 109 spaced 180° apart. The semi-circular protrusions 109 are embedded in the elongated grooves 107.

[0088] The lifting plate 2 is mounted on the drive shaft 1, and its top edge is provided with 4 inclined grooves 201, one end of which is inclined; the center of the lifting plate 2 is provided with a stepped hole 202 that is smaller at the top and larger at the bottom, and the connecting plate 104 is located below the stepped hole 202.

[0089] The rotating disk 3 is mounted on the drive shaft 1 and is located above the lifting disk 2. The bottom edge of the disk has the same number of inclined protrusions 301. The inclined protrusions 301 are located within the corresponding inclined grooves 201. One end of the inclined protrusion 301 is inclined, and the inclined surface of the inclined protrusion 301 faces and fits with the inclined surface of the inclined groove 201. The size of the inclined groove 201 is larger than the size of the inclined protrusion 301. The top edge of the rotating disk 3 has a positioning groove 302. The inclined protrusions 301 and the inclined grooves 201 are evenly distributed along the circumference.

[0090] The winding box 4 is detachably mounted on the rotating disk 3. It includes a handle 401, a cover 402, a winding component 403, and a cylindrical groove wall. The cover 402 is fitted over the winding component 403, and the handle 401 is located at the top of the cover 402. The winding component 403 is a cylindrical shape with a closed top and an open bottom. The cylindrical groove wall is located at the top inside the winding component 403. The bottom of the cylindrical groove wall is slotted to form a cross-shaped pin receiving groove 404 with the opening facing downward and four wall segments 405. The bottom of each wall segment 405 is a bevel. The pin receiving groove 404 is located at the top inside the winding component 403. The outer circumference of the bottom of the cover 402 is provided with positioning protrusions 406 that correspond one-to-one with the positioning grooves 302. There are two positioning grooves 302, spaced 180° apart. The winding component 403 is provided with a wire groove 407 for placing a brush and a wire post 408 for winding the brush.

[0091] The compression spring 5 is sleeved on the splined shaft 101 and is located below the splined shaft sleeve 102; the bottom end of the compression spring 5 is fixed and the top end is connected to the splined shaft sleeve 102.

[0092] The lifting plate 2 and the rotating plate 3 are both installed on the frame 6; the frame 6 is provided with a rotating plate pressure block 601, which is in the shape of a "7" and includes a column 602 and a cantilever block 603. The column 602 is located outside the rotating plate 3, and the cantilever block 603 is located above the rotating plate 3; after the winding box 4 is installed in place, the positioning protrusion 406 is directly opposite the rotating plate pressure block 601.

[0093] The frame 6 is provided with a lifting plate outer shell 604, which is annular; the inner wall of the outer shell 604 is provided with 4 limiting grooves 605, and the outer wall of the lifting plate 2 is provided with corresponding limiting blocks 606; the limiting blocks 606 are inserted into the limiting grooves 605, and the limiting grooves 605 and the limiting blocks 606 are evenly distributed along the circumference.

[0094] The brush winding assembly 8 further includes a drive motor (not shown in the figure), which drives the spline shaft 101 through a driving bevel gear 801 and a driven bevel gear 802; the driven bevel gear 802 is connected to the spline shaft 101 through a gear connecting shaft (not shown in the figure), and a one-way bearing (not shown in the figure) is provided on the gear connecting shaft.

[0095] Although the present invention has been described above by way of embodiments, the above embodiments are only used to exemplify possible implementations of the present invention and are not intended to limit the scope of protection of the present invention. Any equivalent substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the scope of protection defined by the claims of the present invention.

Claims

1. A full-automatic endoscope cleaning and disinfecting robot, comprising a cabinet body, wherein the cabinet body is provided with at least one cleaning cabin; characterized in that, The cleaning cabin comprises two front and rear cabin doors; a cleaning basket joint mechanism is arranged on the left side or the right side in the cleaning cabin; the cleaning basket joint mechanism comprises a cleaning basket and a movable joint assembly; an inner basket pipeline is fixedly arranged in the cleaning basket; a fixed joint is correspondingly arranged on the edge of the cleaning basket; the inner basket pipeline is connected to the fixed joint; the movable joint assembly comprises: a linear drive device having an output end; a guide groove piece fixedly connected to the output end of the linear drive device; the guide groove piece is provided with a guide groove; the guide groove comprises an inclined groove section; a guide wheel seat comprising a connecting end and a guide wheel end, the guide wheel end being provided with a guide wheel, the guide wheel being located in the guide groove; a push plate fixedly connected to the connecting end of the guide wheel seat; a movable joint equal in number to the fixed joints, the movable joint being fixedly arranged on the push plate; when the output end of the linear drive device is lifted, the guide groove piece moves up and down, the push plate is driven to move horizontally by the guide wheel, and the movable joint is inserted into or withdrawn from the corresponding fixed joint.

2. The full-automatic endoscope cleaning and disinfecting robot according to claim 1, characterized in that, guide strips are fixedly arranged on the left and right sides of the cleaning basket; guide grooves are correspondingly arranged on the left and right sides inside the cleaning cabin; when the cleaning basket enters or exits the cleaning cabin, the guide strips move in the guide grooves; elastic protrusions are arranged in the guide grooves, and the outer side of the guide strips is correspondingly provided with positioning recesses.

3. The full-automatic endoscope cleaning and disinfecting robot according to claim 1, characterized in that, The movable joint assembly further comprises a base fixedly mounted on the cabinet; the linear drive device is fixedly mounted on the base; the base is provided with a horizontal guide hole, and the push plate is correspondingly provided with a horizontal guide column, which is inserted into the horizontal guide hole; the base is provided with a joint guide pipe, which is opposite to the fixed joint, and the movable joint is inserted into the joint guide pipe.

4. The full-automatic endoscope cleaning / disinfecting robot according to claim 3, characterized in that, The linear drive device is a lead screw motor, the output end is a lead screw, and a lead screw nut is sleeved on the lead screw; the guide groove piece is fixedly connected to the lead screw nut; the base is provided with a vertical sliding rail, and the guide groove piece is correspondingly provided with a vertical sliding groove, and the vertical sliding rail penetrates through the vertical sliding groove.

5. The full-automatic endoscope cleaning and disinfecting robot according to claim 1, characterized in that, The movable joints are horizontally arranged in a row on the push plate, and the fixed joints are correspondingly horizontally arranged in a row; the movable joints are provided with sealing rings.

6. The full-automatic endoscope cleaning and disinfecting robot according to claim 1, characterized in that, The inner basket pipeline comprises a liquid pipe and a gas pipe, the fixed joint comprises a fixed liquid joint and a fixed gas joint; correspondingly, the movable joint comprises a movable liquid joint and a movable gas joint; the liquid pipe is connected to the fixed liquid joint, and the gas pipe is connected to the fixed gas joint.

7. The full-automatic endoscope cleaning and disinfecting robot according to claim 1, characterized in that, The guide groove comprises a connected upper vertical groove section, a middle inclined groove section, and a lower vertical groove section.

8. The full-automatic endoscope cleaning and disinfecting robot according to claim 1, characterized in that, When the two front and rear cabin doors are closed, the linear drive device drives the movable joint to be inserted into the fixed joint; when any of the cabin doors is opened, the linear drive device drives the movable joint to be withdrawn from the fixed joint.

9. The full-automatic endoscope cleaning and disinfecting robot according to claim 1, characterized in that, A brush device is mounted on the cabinet of each side wall of the cleaning cabin, and the brush device is arranged on the opposite side of the movable joint assembly; the brush device comprises an upstream brush winding assembly and a downstream wire feeding assembly; The brush winding assembly comprises a single-hand quick dismounting mechanism; The single-hand quick dismounting mechanism comprises a driving shaft, a lifting disc, a rotating disc and a winding box. The driving shaft is a telescopic shaft, which comprises a lower spline shaft, a spline shaft sleeve and an upper stepped shaft; the spline shaft sleeve is slidably sleeved on the spline shaft; the stepped shaft comprises a connecting disc at the bottom; the spline shaft sleeve is fixedly connected with the connecting disc from below; the top end of the stepped shaft is provided with a transversely arranged pin; the bottom of the stepped shaft is provided with a shaft hole, into which the top end of the spline shaft is inserted; The lifting disc is sleeved on the driving shaft, and the top edge thereof is provided with a plurality of inclined recesses, one end of each of which is an inclined surface; the center of the lifting disc is provided with a stepped hole with a small upper part and a large lower part, and the connecting disc is located below the stepped hole; The rotating disc is sleeved on the driving shaft and located above the lifting disc, and the bottom edge thereof is correspondingly provided with the same number of inclined convex blocks; the inclined convex blocks are located in the corresponding inclined recesses, one end of each of the inclined convex blocks is an inclined surface, the inclined surfaces of the inclined convex blocks face and cooperate with the inclined surfaces of the inclined recesses; the size of the inclined recesses is greater than that of the inclined convex blocks; the top edge of the rotating disc is provided with a positioning recess; The winding box is detachably mounted on the rotating disc, and comprises a winding part, a box cover, a handle and a cylindrical groove wall; the box cover is sleeved outside the winding part, and the handle is arranged on the box cover; the winding part is a cylinder with a closed top end and an open bottom end, and the cylindrical groove wall is arranged at the top end inside the winding part; the bottom end of the cylindrical groove wall is slotted to form a pin accommodating groove with an opening downward and at least two wall segments, and the bottom end of each wall segment is an inclined surface; corresponding to the positioning recess, the outer circumference of the bottom of the winding box is provided with a positioning convex block; A compression spring is sleeved on the spline shaft and located below the spline shaft sleeve; The single-hand quick dismounting mechanism is used for loading the pin at the top end of the driving shaft into the pin accommodating groove of the winding box.

10. The full-automatic endoscope cleaning / disinfecting robot according to claim 9, characterized in that, The pin accommodating groove is cross-shaped, and the wall segments are four. The wall segments are four.

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