Medical consumable storage, delivery and cleaning robot

Abstract

The utility model discloses a medical consumable storage, delivery and cleaning robot. The robot is provided with a storage bin, a mechanical gripper, a visual recognition assembly and a man-machine interaction assembly. The storage bin is used for storing consumables, and the man-machine interaction assembly is used for man-machine interaction and code The robot is provided with a cleaning device support, a guide wire storage box is arranged in the cleaning device support, the guide wire storage box is connected with a guide wire cleaning device, and a cleaning box is installed on the cleaning device support. The robot is provided with a water pump assembly for supplying water and water tanks, and the water tanks comprise a clear water tank and a sewage tank. The cleaning box is used for automatically cleaning a catheter and a catheter sheath, the guide wire cleaning device is used for automatically cleaning a guide wire, and the guide wire storage box is used for winding the cleaned guide wire; the mechanical gripper is used for carrying and storing or taking out the cleaning box and the guide wire storage box; the medical consumables are efficiently and automatically cleaned, the cleaned medical consumables are stored, and the cleaning burden and the management burden of workers are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of medical consumable management equipment, in particular to a medical consumable storage, delivery and cleaning robot. Background Art

[0002] To improve the reuse rate of medical consumables, some reusable consumables will be cleaned and recycled after surgery. Among them, the current cleaning and recycling of consumables are mostly manual, and the cleaning efficiency and effect depend on the proficiency of the staff. After the consumables are cleaned and sorted, the staff also need to pack and store the consumables for the next use.

[0003] In vascular intervention surgery, guide wires, catheters and catheter sheaths are two common medical consumables, and these consumables need to be carefully cleaned before they can be recycled.

[0004] The existing cleaning methods include: 1. Machine washing, placing the consumables to be cleaned into the cleaning chamber of the cleaning equipment, setting the cleaning parameters, and then waiting for the cleaning to be completed before recycling; 2. Hand washing, where medical staff perform the cleaning and recycling manually. The cleaning time of the existing cleaning equipment is relatively long, and some still rely on manual assistance for cleaning.

[0005] The sorting, storage and warehousing of consumables rely on the marking and checking by the staff, and the processing efficiency is relatively low.

[0006] Therefore, there is an urgent need for a medical consumable storage, delivery and cleaning robot that can solve one or more of the above problems. Summary of the Utility Model

[0007] To solve one or more problems existing in the prior art, the utility model provides a medical consumable storage, delivery and cleaning robot. The technical solution adopted by the utility model to solve the above problems is: a medical consumable storage, delivery and cleaning robot, which includes: the robot is provided with a storage bin, a mechanical gripper, a visual recognition component and a human-machine interaction component;

[0008] The storage bin is used for storing consumables, the mechanical gripper is used for handling materials, the human-machine interaction component includes a display screen, and the human-machine interaction component is used for human-machine interaction and scanning codes;

[0009] The robot is provided with a cleaning device support, and a guide wire storage box is arranged inside the cleaning device support, and the guide wire storage box is connected to a guide wire cleaning device;

[0010] The cleaning device bracket is provided with a first water return joint. The cleaning device bracket is provided with two first water inlet joints. The pipelines of the two first water inlet joints are both connected to a control valve. The control valve is connected to a water inlet pipeline. The water inlet pipeline is connected to a water pump assembly. The first water return joint is connected to a water return pipeline. The wire cleaning device is connected to the water inlet pipeline and the water return pipeline;

[0011] A cleaning box is installed on the cleaning device bracket. The cleaning box is provided with two second water inlet joints. One second water inlet joint is connected to a catheter placement groove, and the other second water inlet joint is connected to a catheter sheath placement groove. The catheter placement groove and the catheter sheath placement groove are connected to a water return groove. The visual recognition component is used to perform visual recognition on the catheter placement groove and the catheter sheath placement groove;

[0012] After the cleaning box is installed, the two second water inlet joints are respectively docked with the two first water inlet joints, and the water return groove is connected to the first water return joint.

[0013] In some embodiments, the water return groove is arranged between the catheter placement groove and the catheter sheath placement groove;

[0014] The water return groove is in a disc shape. The water return groove is provided with a plurality of protrusions, and the protrusions are used for limiting the catheter.

[0015] In some embodiments, the wire cleaning device includes: an isolation drive module and a cleaning module. The cleaning module is installed in the isolation drive module. The wire cleaning box of the cleaning module is provided with a primary washing water tray and a fine washing water tray. The primary washing water tray and the fine washing water tray are connected to the water return pipeline. The primary washing water tray is installed with primary washing nozzles, and the fine washing water tray is installed with fine washing nozzles. The fine washing nozzles and the primary washing nozzles are respectively connected to the water inlet pipeline. The outlet end of the primary washing nozzle is connected to a first guiding tube. The outlet end of the first guiding tube is provided with a tensioning mechanism and a wire feeding mechanism;

[0016] The isolation drive module respectively drives the tensioning mechanism and the wire feeding mechanism to work. The tensioning mechanism and the wire feeding mechanism are used for clamping and conveying the wire.

[0017] Furthermore, a linear drive mechanism and a rotary drive mechanism are installed in the drive box of the isolation drive module. The rotary drive mechanism includes: a drive motor and an external magnetic wheel assembly. The drive motor drives the external magnetic wheel in the external magnetic wheel assembly to rotate.

[0018] Furthermore, the wire feeding mechanism includes: an internal magnetic wheel assembly and a driven wire feeding wheel. The external magnetic wheel drives the internal magnetic wheel in the internal magnetic wheel assembly to rotate, and the internal magnetic wheel assembly drives the driven wire feeding wheel to rotate;

[0019] The tensioning mechanism includes: a tensioning bracket and a guide rod, both ends of the guide rod are respectively fixed on the guide wire cleaning box, the linear drive mechanism pushes the tensioning bracket to slide on the guide rod, and the tensioning bracket is provided with a wire feeding pressure wheel, and the guide wire is transported by the wire feeding pressure wheel and the driven wire feeding wheel.

[0020] Furthermore, the aperture detection component is also installed in the driving box, and the aperture detection component is used to detect the diameter of the guide wire;

[0021] The fine washing nozzle is connected to a second guide tube, the second guide tube is installed on the fine washing water tray, and the tensioning mechanism cooperates with the guide wire output by the wire feeding mechanism to enter the second guide tube;

[0022] The second guide tube is provided with an aperture detection section, and the aperture detection section is located at the detection position of the aperture detection component.

[0023] In some embodiments, a bacteria-isolating sleeve is provided between the cleaning box and the cleaning device bracket; and the second water inlet joint is provided with an outer wall cleaning interface and an inner wall cleaning interface.

[0024] In some embodiments, the guide wire storage box is provided with a shell, a winding disk and an upper magnetic wheel are installed in the shell, the winding disk is connected to the upper magnetic wheel, the shell is provided with a through hole, the through hole is connected to the guide wire cleaning device, and the through hole is used for the passage of the guide wire;

[0025] The guide wire storage box is provided with a driving motor, and the driving motor drives the lower magnetic wheel to rotate through a synchronous belt assembly, and the lower magnetic wheel drives the upper magnetic wheel to rotate in the air, and the upper magnetic wheel drives the winding disk to rotate;

[0026] The driving motor, the synchronous belt assembly and the lower magnetic wheel are all arranged on the outside of the shell.

[0027] Furthermore, the housing comprises: an upper cover and a base, the base is provided with a mounting groove, the winding disk is placed in the mounting groove, and the upper magnetic wheel is fixedly mounted on the lower side of the winding disk.

[0028] Furthermore, a plurality of protrusions are provided on the surface of the winding disk, and the protrusions are used for winding the guide wire, and the plurality of protrusions are arranged along a spiral line.

[0029] The technical effects achieved by the present utility model are as follows: The wire cleaning device and the cleaning device respectively perform automatic cleaning on the guide wire, catheter, and catheter sheath. The guide wire storage box stores the cleaned guide wire. Then, the mechanical gripper grabs and transports the cleaning box loaded with the catheter and catheter sheath and the guide wire storage box loaded with the guide wire and stores them in the storage bin. When in need of use, the mechanical gripper takes out the materials again. Among them, before cleaning or when taking out the materials, the user can perform operation control and scanning code recording through the human-machine interaction component to ensure a complete record of the entire cleaning and material taking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the present utility model;

[0031] Figure 2 is a top view of the present utility model;

[0032] Figure 3 is a combined schematic diagram of the cleaning box, water pump assembly, and guide wire storage box of the present utility model;

[0033] Figure 4 is a top view of the cleaning box of the present utility model;

[0034] Figure 5 is a separation schematic diagram of the cleaning box and the cleaning device bracket of the present utility model;

[0035] Figure 6 is a partial schematic diagram of the cleaning device bracket of the present utility model;

[0036] Figure 7 is an exploded schematic diagram of the cleaning device bracket of the present utility model;

[0037] Figure 8 is an exploded schematic diagram of the cleaning box of the present utility model;

[0038] Figure 9 is an exploded schematic diagram of the second water inlet joint of the present utility model;

[0039] Figure 10 is a connection schematic diagram of the guide wire cleaning device and the water pump assembly of the present utility model;

[0040] Figure 11 is an exploded schematic diagram of the guide wire cleaning device of the present utility model;

[0041] Figure 12 is a driving schematic diagram of the cleaning module of the present utility model;

[0042] Figure 13 is a schematic diagram of the rotary drive mechanism of the present utility model;

[0043] Figure 14Schematic diagram of the guide wire cleaning box of the present utility model;

[0044] Figure 15 Internal schematic diagram of the cleaning module of the present utility model;

[0045] Figure 16 Schematic diagram of the wire feeding mechanism and the tensioning mechanism of the present utility model;

[0046] Figure 17 Schematic diagram of the fine cleaning nozzle and the second guide tube of the present utility model;

[0047] Figure 18 Connection schematic diagram of the guide wire storage box and the guide wire cleaning device of the present utility model;

[0048] Figure 19 Top view of the guide wire storage box of the present utility model;

[0049] Figure 20 Exploded schematic diagram of the guide wire storage box of the present utility model;

[0050] Figure 21 Internal schematic diagram of the guide wire storage box of the present utility model.

[0051]

Reference Signs

[0052] Figures 1 - 9 : 1. Cleaning device bracket 10. Docking position 11. First return water joint 12. First water inlet joint 120. Insertion pin 13. Control valve 2. Cleaning box 20. Second water inlet joint 201. Joint body 202. Rubber gasket 203. End cover 204. Outer wall cleaning interface 205. Inner wall cleaning interface 21. Duct placement groove 22. Water return groove 220. Protrusion 23. Duct sheath placement groove 3. Water pump assembly 4. Water inlet pipeline 40. Water return pipeline 5. Guide wire cleaning device 6. Duct sheath 7. Duct 8. Guide wire storage box 9. Robot 90. Storage bin 91. Mechanical gripper 92. Visual recognition component 93. Human-machine interaction component 94. Water tank;

[0053] Figures 10 - 17: 3. Water pump assembly 4. Water inlet pipeline 40. Return water pipeline 5. Guide wire cleaning device 51. Isolation drive module 510. Drive box 511. Isolation sleeve 512. Linear drive mechanism 513. Aperture detection component 514. Rotary drive mechanism 5140. Drive motor 5141. Outer magnetic wheel assembly 5142. Transmission component 5143. Outer magnetic wheel 515. Upper cover 516. Lower cover 52. Cleaning module 520. Guide wire cleaning box 521. Primary washing water tray 522. Fine washing water tray 53. Primary washing nozzle 530. Brush 54. First guide tube 55. Tensioning mechanism 550. Tensioning bracket 551. Drive plate 552. Wire feeding pressure wheel 553. Guide rod 554. Buffer spring 56. Fine washing nozzle 57. Second guide tube 570. Aperture detection section 58. Wire feeding mechanism 580. Inner magnetic wheel assembly 581. First gear 582. Inner magnetic wheel 583. Driven wire feeding wheel 584. Second gear;

[0054] Figures 18 - 21 : 8. Guide wire storage box 80. Upper cover 81. Winding disc 810. Protrusion 82. Base 820. Installation groove 821. Through hole 83. Drive motor 830. First synchronous pulley 831. Synchronous belt 832. Second synchronous pulley 84. Connecting shaft 85. Mounting seat 86. Bearing 87. Lower magnetic wheel 88. Upper magnetic wheel 89. Support seat 890. Steel ball roller. Detailed implementation manners

[0055] To make the above objects, features and advantages of the present utility model more comprehensible, the following will describe the detailed implementation manners of the present utility model with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present utility model. However, the present utility model can be implemented in many other ways different from this description. Those skilled in the art can make similar improvements without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0056] As Figures 1 - 3 shown, the present utility model discloses a medical consumable storage, delivery and cleaning robot. The robot 9 is provided with a storage bin 90, a mechanical gripper 91, a vision recognition component 92 and a human-machine interaction component 93;

[0057] The storage bin 90 is used for storing consumables, and the mechanical gripper 91 is used for handling materials; the human-machine interaction component 93 includes a display screen, a barcode scanner, etc. The human-machine interaction component 93 is used for human-machine interaction and barcode scanning, such as: barcode scanning of the material packaging bag before cleaning and barcode scanning after the material is taken out, as well as voice control and implementation of sound and light alarms, voice reminders, etc.;

[0058] The robot 9 is provided with a cleaning device bracket 1. A wire guide storage box 8 is arranged inside the cleaning device bracket 1. The wire guide storage box 8 is connected to a wire guide cleaning device 5. A cleaning box 2 is installed on the cleaning device bracket 1;

[0059] The cleaning box 2 is used for cleaning the catheter and the catheter sheath. Its specific implementation is as follows: Figures 3 - 7 As shown, the cleaning device bracket 1 is provided with a first water return joint 11. The cleaning device bracket 1 is provided with two first water inlet joints 12. The pipelines of the two first water inlet joints 12 are both connected to a control valve 13. The control valve 13 is connected to a water inlet pipeline 4. The water inlet pipeline 4 is connected to a water pump assembly 3. The first water return joint 11 is connected to a water return pipeline 40. Among them, two control valves 13 are provided, and the two control valves 13 respectively control the on-off of the pipelines of the two first water inlet joints 12;

[0060] As shown in Figure 5 、 Figure 8 shown, the cleaning box 2 is provided with two second water inlet joints 20. One second water inlet joint 20 is connected to a catheter placement groove 21, and the other second water inlet joint 20 is connected to a catheter sheath placement groove 23. The catheter placement groove 21 and the catheter sheath placement groove 23 are connected to a water return groove 22. Among them, after the cleaning box 2 is installed, the two second water inlet joints 20 are respectively docked with the two first water inlet joints 12, and the water return groove 22 is connected to the first water return joint 11;

[0061] The visual recognition component 92 is used to perform visual recognition on the catheter placement groove 21 and the catheter sheath placement groove 23. The visual recognition component 92 is a conventional optical recognition device; the robot 9 detects whether the catheter and the catheter sheath are placed in place and the types of the catheter and the catheter sheath through the visual recognition component 92, and then determines the corresponding cleaning mode, ultimately improving the cleaning efficiency.

[0062] The main control of the robot 9 is electrically connected to the control valve 13, the water pump assembly 3, the visual recognition component 92, the wire guide cleaning device 5, the wire guide storage box 8 and other electronic devices to achieve automatic control; the control valve 13 can be an electric throttle valve.

[0063] Specifically, as shown in Figures 1 - 4 shown, the robot 9 is provided with a water tank 94. The water tank 94 includes a fresh water tank and a sewage tank. The pipeline of the water pump assembly 3 is connected to the water tank 94. The cleaning box 2 and the wire guide cleaning device 5 can share one water pump assembly 3. Moreover, corresponding control valves can also be arranged in the water tank 94. The cleaning box 2 is provided with a matching sealing cover.

[0064] Specifically, as shown inFigure 5 As shown, the cleaning device bracket 1 is provided with a docking position 10. The cleaning box 2 is placed in the docking position 10 and is limited by the docking position 10. The docking position 10 can be a circular flange. A bacteria isolation sleeve (not shown in the figure) is provided between the cleaning box 2 and the cleaning device bracket 1 to achieve physical isolation during the cleaning process, so that the cleaning box 2 can be directly stored after cleaning without taking out the consumables placed inside for separate storage. Moreover, the cleaning directions of the two second water inlet connectors 20 both face the water return groove 22. The port where the water return groove 22 is connected to the first water return joint 11 is generally set at the central position.

[0065] Specifically, in combination with Figure 9 As shown, the second water inlet connector 20 is provided with an outer wall cleaning interface 204 and an inner wall cleaning interface 205. Among them, the inner wall cleaning interface 205 is arranged between the two outer wall cleaning interfaces 204 to facilitate the internal and external cleaning of the catheter 6 and the catheter sheath 7.

[0066] Moreover, the second water inlet connector 20 includes: a connector body 201, a rubber pad 202, and an end cover 203. The end cover 203 is installed on the connector body 201. The rubber pad 202 is arranged between the connector body 201 and the end cover 203. A sealing ring is provided at the connection between the second water inlet connector 20 and the cleaning box 2. And the first water inlet connector 12 is provided with a needle 120. During use, the needle 120 is inserted into the second water inlet connector 20 and sealed for connection. The needle 120 is used to transmit the cleaning liquid, and the needle 120 is designed to facilitate the quick insertion and removal of the cleaning box 2.

[0067] Specifically, in combination with Figure 5 、 Figure 8 As shown, the water return groove 22 is arranged between the catheter placement groove 21 and the catheter sheath placement groove 23. The water return groove 22 is in a disc shape. The water return groove 22 is provided with a plurality of protrusions 220. The protrusions 220 are used for the limitation of the catheter 7. The catheter 7 with a longer length can be wound and limited on the protrusions 220. In particular, the outer wall cleaning interface 204 is connected with a corresponding cleaning pipeline extending to the periphery of the water return groove 22 to facilitate the cleaning of the winding position of the catheter 7.

[0068] During use, place the cleaning box 2 containing the catheter 7 and / or the catheter sheath 6 on the cleaning device bracket 1. The robot 9 will determine whether it is placed and whether it is a single catheter or a single catheter sheath or both a catheter and a catheter sheath through the vision component 92. The robot 9 detects the diameter of the consumables through the vision recognition component 92 to determine the specific type and specification of the consumables, record them, and can choose to label them after recording. The robot 9 selects a suitable mode from the preset cleaning modes according to the type and specification of the placed consumables, and then performs automatic cleaning according to the selected mode. After cleaning, the mechanical gripper 91 transports the cleaning box 2 into the storage bin 90 to complete a single cleaning process. When removing the consumables, the mechanical gripper 91 transports the cleaning box 2, reducing the burden on the staff and the possibility of secondary contamination.

[0069] The guide wire cleaning device 5 is used for cleaning the guide wire. As shown in Figures 10 - 14 its specific implementation is as follows: It includes an isolation drive module 51. A linear drive mechanism 512 and a rotary drive mechanism 514 are installed in the drive box 510 of the isolation drive module 51. The rotary drive mechanism 514 includes a drive motor 5140 and an external magnetic wheel assembly 5141. The drive motor 5140 drives the external magnetic wheel 5143 in the external magnetic wheel assembly 5141 to rotate.

[0070] As shown in Figure 11 a cleaning module 52 is installed into the isolation drive module 51.

[0071] As shown in Figure 14 the guide wire cleaning box 520 of the cleaning module 52 is provided with a primary washing water tray 521 and a fine washing water tray 522. The primary washing water tray 521 and the fine washing water tray 522 are connected to the return water pipeline 40. The primary washing water tray 521 is equipped with primary washing nozzles 53, and the fine washing water tray 522 is equipped with fine washing nozzles 56. The fine washing nozzles 56 and the primary washing nozzles 53 are respectively connected to the water inlet pipeline 4.

[0072] As shown in Figure 10 , Figure 14 a relatively sealed cleaning space is formed between the primary washing water basin 521 and the primary washing nozzles 53, and a relatively sealed cleaning space is also formed between the fine washing water basin 522 and the fine washing nozzles 56. Among them, the primary washing nozzles 53 can be configured with brushes 530, and the fine washing nozzles 56 can also be provided with brushes.

[0073] As shown in Figure 15 the outlet end of the primary washing nozzle 53 is connected to a first guide tube 54, and a tensioning mechanism 55 and a wire feeding mechanism 58 are provided at the outlet end of the first guide tube 54.

[0074] Combined Figure 15 、 Figure 16 As shown, the wire feeding mechanism 58 includes an inner magnetic wheel assembly 580 and a driven wire feeding wheel 583. The outer magnetic wheel 5143 drives the inner magnetic wheel 582 of the inner magnetic wheel assembly 580 to rotate, and the inner magnetic wheel assembly 580 drives the driven wire feeding wheel 583 to rotate;

[0075] The tensioning mechanism 55 includes a tensioning bracket 550 and a guide rod 553. Both ends of the guide rod 553 are respectively fixed on the wire guiding and cleaning box 520. The linear driving mechanism 512 pushes the tensioning bracket 550 to slide on the guide rod 553. The tensioning bracket 550 is provided with a wire feeding pressure wheel 552, and the wire guiding is carried out through the wire feeding pressure wheel 552 and the driven wire feeding wheel 583.

[0076] Combined Figure 13 As shown, the driving motor 5140 drives the outer magnetic wheel 5143 to rotate through a transmission assembly 5142. The transmission assembly 5142 can be a synchronous belt. The outer magnetic wheel assembly 5141 includes: the outer magnetic wheel 5143, bearings, a support, and a connecting shaft. The bearings are installed on the support, the outer magnetic wheel is installed on the bearings, the connecting shaft is fixedly connected to the outer magnetic wheel 5143, the connecting shaft is connected to the synchronous belt through a pulley, and the rotating shaft of the driving motor 5140 is also connected to the synchronous belt through a pulley.

[0077] The driving box 510 is provided with an installation opening, and the cleaning module 52 is installed into this installation opening. The upper side of the driving box 510 is provided with the aperture detection component 513 and the linear driving mechanism 512. The aperture detection component 513 is used to detect the diameter of the wire. The lower side of the driving box 510 is provided with the rotary driving mechanism 514. The upper and lower sides of the driving box 510 are sealed by an upper cover 515 and a lower cover 516. Combined Figure 11 As shown, to further improve the isolation effect, the driving box 510 can be sleeved with an isolation sleeve 511.

[0078] Specifically, as Figure 15 、 Figure 17 As shown, the fine cleaning nozzle 56 is connected to the second guide tube 57. The second guide tube 57 is installed on the fine cleaning water tray 522. The tensioning mechanism 55 cooperates with the wire output by the wire feeding mechanism 58 to enter the second guide tube 57;

[0079] The second guide tube 57 is provided with an aperture detection section 570. The aperture detection section 570 is located at the detection position of the aperture detection component 513. The aperture detection component 513 can be a laser ranging sensor.

[0080] It should be noted that the initial washing water tray 521 is provided with a wire guiding inlet, the second guiding tube 57 guides the wire into the wire storage box 8, and an opening is provided on the tube wall of the aperture detection section 570. The laser distance measuring sensor detects the diameter of the wire through this opening.

[0081] After the robot 9 obtains the diameter parameter of the wire through the laser distance measuring sensor, it can judge the specification type of the wire, and then adjust the storage method of the wire and judge whether the storage box corresponds. Furthermore, the robot 9 can call back the working parameters of the initial washing nozzle 53 and the fine washing nozzle 56, such as: orientation, water pressure, working time, heating temperature (if a heating module is provided), etc., and adjust the tension of the tensioning mechanism 55 and the rotation speed of the wire feeding mechanism 58 to improve the subsequent cleaning efficiency and effect and achieve targeted cleaning.

[0082] Furthermore, the end faces of the driven wire feeding wheel 583 and the wire feeding pressure wheel 552 in contact with the wire are wrapped with silica gel parts to improve the extrusion effect on the wire. Among them, the initial washing nozzle 53 or the fine washing nozzle 56 can wash the silica gel parts to remove the attached stains.

[0083] During use, the wire is inserted into the cleaning module 52. The robot 9 learns of the insertion of the wire through the sensor or the console, and then the robot 9 drives the wire feeding mechanism 58 and the tensioning mechanism 55 to clamp the wire (due to the configuration of the above silica gel parts, the initial strong clamping will not damage the wire). After clamping, the initial washing nozzle 53 washes the front section of the wire. After a preset washing time, the wire feeding mechanism 58 cooperates with the tensioning mechanism 55 to feed the wire inward. At this time, the fine washing nozzle 56 washes the front section of the wire. To avoid incomplete cleaning of the front end of the wire during clamping, the washing mode for this time can be double fine washing. Subsequently, each section of the wire is sequentially conveyed to the fine washing nozzle 56 for washing. The washed wire is conveyed to the wire storage box 8 through the second guiding tube 57, and the wire storage box 8 cooperates with the wire feeding mechanism 58 and the tensioning mechanism 55 to perform the winding of the wire.

[0084] Specifically, as shown in Figure 16 a buffer spring 554 is sleeved on the guide rod 553. When the tensioning bracket 550 slides along the guide rod 553, the buffer spring 554 will be compressed or loosened; the tensioning bracket 550 is provided with a driving plate 551, the driving plate 551 extends out of the wire cleaning box 520 and is driven by the linear driving mechanism 512, and the driving plate 551 is T-shaped.

[0085] Furthermore, the inner magnetic wheel assembly 580 is provided with a first gear 581, and the driven wire feeding wheel 583 is provided with a second gear 584, and the first gear 581 is meshed with the second gear 584; the outer magnetic wheel 5143 drives the inner magnetic wheel 582 to rotate in the air, and the inner magnetic wheel 582 drives the first gear 581 to rotate, and the first gear 581 drives the second gear 584 to rotate, and the second gear 584 drives the driven wire feeding wheel 583 to rotate; the driven wire feeding wheel 583 and the wire feeding pressure wheel 552 can form a limiting groove for limiting the upward and downward movement of the guide wire.

[0086] It should be pointed out that, under the action of the first and second guide tubes, the cleaning water columns or splashing water droplets of the primary cleaning nozzle 53 and the fine cleaning nozzle 56 will be blocked, thereby preventing the wire feeding mechanism 58 and the tensioning mechanism 55 from being stained with water, and preventing water from accumulating in the guide wire cleaning box 520; in particular, the return water pump connected to the return water pipeline 40 can form a negative pressure to absorb water, so as to improve the return water efficiency and further avoid splashing water droplets.

[0087] The robot 9 controls the guide wire storage box 8 to perform guide wire winding. Figures 18 - 21 As shown, the specific implementation scheme is: the guide wire storage box 8 is provided with a shell, a winding disk 81 and an upper magnetic wheel 88 are installed in the shell, the winding disk 81 is connected to the upper magnetic wheel 88, the shell is provided with a through hole 821, the through hole 821 is connected to the guide wire cleaning device 5, and the through hole 821 is used for the passage of the guide wire;

[0088] The guide wire storage box 8 is provided with a driving motor 83, and the driving motor 83 drives the lower magnetic wheel 87 to rotate through a synchronous belt assembly, and the lower magnetic wheel 87 drives the upper magnetic wheel 88 to rotate in the air, and the upper magnetic wheel 88 drives the winding disk 81 to rotate;

[0089] The driving motor 83 , the synchronous belt assembly and the lower magnetic wheel 87 are all arranged in the robot 9 , and the winding disk 81 is driven remotely to reel in the guide wire, which can not only avoid contamination but also facilitate the mechanical gripper 91 to take out the guide wire storage box 8 .

[0090] Specifically, combined Figure 20 As shown, the housing includes: an upper cover 80 and a base 82, the base 82 is provided with a mounting groove 820, the winding disk 81 is placed in the mounting groove 820, the upper magnetic wheel 88 is fixedly mounted on the lower side of the rotating shaft of the winding disk 81, and the through hole 821 is provided on the base 82;

[0091] The upper magnetic wheel 88 is placed in the sealed chamber formed by the upper cover 80 and the base 82. The sealed chamber is connected to the guide wire cleaning device 5 through the through hole 821. The upper and lower magnetic wheels realize air transmission while taking into account physical isolation to ensure that the stored guide wire is not contaminated by the outside world. In addition, the lower side of the base 82 can also be covered with a bacteria isolation cover. The drive motor 83, the synchronous belt assembly and the lower magnetic wheel 87 are all arranged on the lower side of the bacteria isolation cover to further prevent the base 82 from being contaminated;

[0092] Furthermore, the synchronous belt assembly includes: a first synchronous wheel 830, a second synchronous wheel 832, a synchronous belt 831, and a connecting shaft 84, wherein the first synchronous wheel 830 is connected to the rotating shaft of the driving motor 83, the second synchronous wheel 832 is connected to the connecting shaft 84, the synchronous belt 831 is connected to the first synchronous wheel 830 and the second synchronous wheel 832, and the connecting shaft 84 drives the lower magnetic wheel 87 to rotate, the first synchronous wheel 830 is a small wheel, and the second synchronous wheel 832 is a large wheel;

[0093] In order to improve the stability and smoothness of transmission, the synchronous belt assembly may also be provided with: a mounting seat 85, a bearing 86 is installed in the mounting seat 85, the lower magnetic wheel 87 is installed on the bearing 86, and the connecting shaft 84 passes through the bearing 86 and is connected to the lower magnetic wheel 87.

[0094] Combination Figure 19 As shown, the surface of the winding disk 81 is provided with a plurality of protrusions 810, and the protrusions 810 are used for winding the guide wire. The plurality of protrusions 810 are arranged along a spiral line, thereby achieving better winding and retracting of the guide wire, and the head end of the guide wire does not need to be manually fixed in the winding disk 81.

[0095] When the guide wire cleaning device 5 conveys the guide wire, the winding disk 81 is also driven to rotate. At this time, in order to achieve better guiding and winding effects for the guide wire, the plurality of protrusions 810 are arranged along a spiral array.

[0096] Combination Figure 21 As shown, a support seat 89 is provided on the side of the base 82 facing the upper cover 80, and the support seat 89 is in a circular ring shape. A plurality of steel ball rollers 890 are provided on the support seat 89, and the active surfaces of the steel ball rollers 890 face the bottom surface of the winding disk 81. The winding disk 81 is placed on the support seat 89 and connected to the steel ball rollers 890 to improve the smoothness of the winding disk 81 during rotation.

[0097] In summary, the guide wire cleaning device and the cleaning device respectively perform automatic cleaning on the guide wire, catheter, and catheter sheath. The guide wire storage box stores the cleaned guide wire. Then, the mechanical gripper grabs and transports the cleaning box loaded with the catheter and catheter sheath and the guide wire storage box loaded with the guide wire and stores them in the storage bin. When in need of use, the mechanical gripper takes out the materials again. Among them, before cleaning or when taking out the materials, the user can operate and control through the human-machine interaction component and scan the code for recording to ensure a complete record of the entire cleaning and material-taking process.

[0098] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0099] The above-described embodiments only represent one or more implementation manners of the present utility model, and the description is relatively specific and detailed, but it should not be construed as a limitation on the patent of the present utility model. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present utility model, several deformations and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the appended claims.

Claims

1. Medical supplies storage, delivery and cleaning robot, characterized by: The robot is provided with a storage bin, a mechanical gripper, a visual recognition component and a human-machine interaction component; The storage bin is used to store consumables, the mechanical gripper is used to carry materials, the human-computer interaction component includes a display screen, and the human-computer interaction component is used for human-computer interaction and code scanning; The robot is provided with a cleaning device bracket, a guide wire storage box is provided in the cleaning device bracket, and the guide wire storage box is connected to the guide wire cleaning device; The cleaning device bracket is provided with a first water return joint, the cleaning device bracket is provided with two first water inlet joints, the pipelines of the two first water inlet joints are connected to the control valve, the control valve is connected to the water inlet pipeline, the water inlet pipeline is connected to the water pump assembly, the first water return joint is connected to the water return pipeline, and the guide wire cleaning device is connected to the water inlet pipeline and the water return pipeline; A cleaning box is installed on the cleaning device bracket, and the cleaning box is provided with two second water inlet joints, one of the second water inlet joints is connected to the catheter placement slot, and the other second water inlet joint is connected to the catheter sheath placement slot, the catheter placement slot and the catheter sheath placement slot are connected to the return water slot, and the visual recognition component is used to perform visual recognition on the catheter placement slot and the catheter sheath placement slot; After the cleaning box is installed, the two second water inlet joints are connected to the two first water inlet joints respectively, and the return water tank is connected to the first return water joints.

2. The medical consumables storage, delivery and cleaning robot according to claim 1, characterized in that: The water return groove is arranged between the catheter placement groove and the catheter sheath placement groove; The water return groove is in a disc shape and is provided with a plurality of protrusions, and the protrusions are used for limiting the position of the conduit.

3. The medical consumables storage, delivery and cleaning robot according to claim 1, characterized in that: The guide wire cleaning device comprises: an isolation drive module and a cleaning module, the cleaning module is installed in the isolation drive module, the guide wire cleaning box of the cleaning module is provided with a primary wash water tray and a fine wash water tray, the primary wash water tray and the fine wash water tray are connected to the return water pipeline, the primary wash water tray is equipped with a primary wash nozzle, the fine wash water tray is equipped with a fine wash nozzle, the fine wash nozzle and the primary wash nozzle are respectively connected to the water inlet pipeline, the outlet end of the primary wash nozzle is connected to the first guide pipe, and the outlet end of the first guide pipe is provided with a tensioning mechanism and a wire feeding mechanism; The isolation drive module drives the tensioning mechanism and the wire feeding mechanism to work respectively, and the tensioning mechanism and the wire feeding mechanism are used to clamp and transport the guide wire.

4. The medical consumables storage, delivery and cleaning robot according to claim 3, characterized in that: A linear drive mechanism and a rotation drive mechanism are installed in the drive box of the isolation drive module. The rotation drive mechanism includes: a drive motor and an external magnetic wheel assembly. The drive motor drives the external magnetic wheel in the external magnetic wheel assembly to rotate.

5. The medical consumables storage, delivery and cleaning robot according to claim 4, characterized in that: The wire feeding mechanism comprises: an inner magnetic wheel assembly and a driven wire feeding wheel, wherein the outer magnetic wheel drives the inner magnetic wheel of the inner magnetic wheel assembly to rotate, and the inner magnetic wheel assembly drives the driven wire feeding wheel to rotate; The tensioning mechanism includes: a tensioning bracket and a guide rod, both ends of the guide rod are respectively fixed on the guide wire cleaning box, the linear drive mechanism pushes the tensioning bracket to slide on the guide rod, and the tensioning bracket is provided with a wire feeding pressure wheel, and the guide wire is transported by the wire feeding pressure wheel and the driven wire feeding wheel.

6. The medical consumables storage, delivery and cleaning robot according to claim 4, characterized in that: An aperture detection component is also installed in the driving box, and the aperture detection component is used to detect the diameter of the guide wire; The fine washing nozzle is connected to a second guide tube, the second guide tube is installed on the fine washing water tray, and the tensioning mechanism cooperates with the guide wire output by the wire feeding mechanism to enter the second guide tube; The second guide tube is provided with an aperture detection section, and the aperture detection section is located at the detection position of the aperture detection component.

7. The medical consumables storage, delivery and cleaning robot according to claim 1, characterized in that: A bacteria-isolating sleeve is arranged between the cleaning box and the cleaning device bracket; and the second water inlet joint is provided with an outer wall cleaning interface and an inner wall cleaning interface.

8. The medical consumables storage, delivery and cleaning robot according to claim 1, characterized in that: The guide wire storage box is provided with a shell, a winding disk and an upper magnetic wheel are installed in the shell, the winding disk is connected to the upper magnetic wheel, the shell is provided with a through hole, the through hole is connected to the guide wire cleaning device, and the through hole is used for the guide wire to pass through; The guide wire storage box is provided with a driving motor, and the driving motor drives the lower magnetic wheel to rotate through a synchronous belt assembly, and the lower magnetic wheel drives the upper magnetic wheel to rotate in the air, and the upper magnetic wheel drives the winding disk to rotate; The driving motor, the synchronous belt assembly and the lower magnetic wheel are all arranged on the outside of the shell.

9. The medical consumables storage, delivery and cleaning robot according to claim 8, characterized in that: The housing comprises an upper cover and a base, wherein the base is provided with a mounting groove, the winding disc is placed in the mounting groove, and the upper magnetic wheel is fixedly mounted on the lower side of the winding disc.

10. The medical consumables storage, delivery and cleaning robot according to claim 8, characterized in that: The surface of the winding disk is provided with a plurality of protrusions, and the protrusions are used for winding the guide wire, and the plurality of protrusions are arranged along a spiral line.

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