Disinfection mechanism of infusion injection auxiliary robot

Abstract

The utility model relates to the technical field of medical auxiliary equipment, in particular to a disinfection mechanism of an infusion injection auxiliary robot, which comprises a cotton swab disinfection execution assembly comprising at least one gripper for gripping cotton swabs and a driving source for driving the gripper to switch stations; the cotton swab feeding assembly is located at the feeding station and used for driving the cotton swabs located above the cotton swab feeding assembly to rotate and ascend on a gripper; the disinfection assembly is used for disinfecting the cotton swabs located on the feeding station. The automatic infusion device has the advantage that the disinfection problem of the automatic infusion device can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical auxiliary equipment, and in particular relates to a disinfection mechanism of an infusion injection auxiliary robot. BACKGROUND

[0002] With the continuous development of medical technology, infusion therapy as a common and effective treatment method in clinical practice is widely used in the treatment of various diseases. However, the traditional infusion method mainly relies on manual operation, and there are certain limitations in the operation process.

[0003] In order to solve this problem, some automatic infusion devices have appeared in recent years. These devices can automatically fix the puncture port of the infusion container after hanging the infusion container, and automatically insert and pull the puncture needle. When the infusion container needs to be replaced, the switching is realized through a turntable or a conveying belt and the like. Although these automatic infusion devices improve the infusion efficiency to a certain extent and reduce the occupation of human resources, they still have certain limitations.

[0004] For example, the situation of repeatedly flushing the pipe with the same bag of liquid is also relatively common. If the sterile protective cover of the bottle opening is opened and cannot be used immediately, it needs to be disinfected when used again. At the same time, when automatic infusion is performed, two or more infusion containers will be placed in the automatic liquid changing device in advance, and the sterile protective cover of the bottle opening will be opened in advance when being placed, which makes the waiting time of the second bag and subsequent infusion containers far exceed ten minutes. Therefore, it is very important to solve the disinfection problem of the automatic infusion device. CONTENT OF THE INVENTION

[0005] In order to solve the disinfection problem of the automatic infusion device, the present application provides an infusion injection auxiliary robot and a disinfection mechanism.

[0006] In a first aspect, the present application provides a disinfection mechanism of an infusion injection auxiliary robot, which adopts the following technical scheme:

[0007] An infusion injection auxiliary robot and a disinfection mechanism, comprising:

[0008] A cotton swab disinfection execution assembly, comprising at least one gripper for grabbing a cotton swab and a driving source for driving the gripper to switch the workstations;

[0009] A cotton swab feeding assembly located at the feeding workstation, for driving the cotton swab located above to rotate and rise on the gripper;

[0010] A disinfection assembly for disinfecting the cotton swab located at the feeding workstation.

[0011] In this way, the cotton swab is placed on the gripper, and then conveyed to the feeding station by the cotton swab conveying assembly. In the feeding station, the cotton swab is driven to rotate and ascend by the cotton swab feeding assembly. In this process, the disinfection assembly disinfects the cotton swab and the area where the puncture port is located. After the cotton swab moves to a certain height, the cotton swab contacts the puncture port and rotates to wipe and disinfect the puncture port under the driving of the cotton swab feeding assembly.

[0012] In one of the embodiments, the gripper is provided with a socket for inserting the cotton swab.

[0013] In one of the embodiments, the disinfection mechanism further comprises a cotton swab conveying assembly for conveying the cotton swab to the feeding station, and the discharge end of the cotton swab conveying assembly is located at the feeding station.

[0014] In this way, the cotton swab is automatically conveyed by the cotton swab conveying assembly, and manual placement is not required.

[0015] In one of the embodiments, the gripper is provided with a C-shaped socket for clamping the cotton swab, and the C-shaped socket is gap-fitted with the cotton swab.

[0016] In one of the embodiments, one side of the discharge end of the cotton swab conveying assembly is provided with an opening. When the gripper moves to the feeding station, the cotton swab is gripped, and when the gripper moves out of the feeding station, the cotton swab is taken out from the opening.

[0017] In this way, the cotton swab disinfection execution assembly has a simple structure, and the discharge end of the cotton swab conveying assembly does not need to be additionally provided with an auxiliary structure to cooperate with the gripper to grip the cotton swab. Only one gripper is required, and the cotton swab can be gripped by controlling the gripper to swing back and forth.

[0018] In one of the embodiments, the disinfection mechanism further comprises a cotton swab unloading assembly for unloading the cotton swab on the gripper, and the cotton swab unloading assembly is located at the unloading station.

[0019] In one of the embodiments, the cotton swab unloading assembly comprises a storage box and an unloading piece located above the storage box. When the gripper moves to the unloading station, the cotton swab on the gripper is limited after contacting the unloading piece, and the gripper continues to move and separates from the cotton swab.

[0020] In this way, the structure is simple. By cooperating with the action of rotating the gripper, the cotton swab is blocked by the unloading piece without blocking the gripper, so that the gripper separates from the cotton swab after passing through the unloading piece.

[0021] In one of the embodiments, the cotton swab feeding assembly comprises a rotating and lifting motor and a cotton swab fixing cylinder mounted on the output shaft of the rotating and lifting motor, and the cotton swab fixing cylinder is provided with an inner hole in interference fit with the cotton swab.

[0022] In one of the embodiments, the opening of the inner hole is in a trumpet shape.

[0023] In this way, through the interference fit of the inner hole and the gap fit between the C-shaped notch and the cotton swab, the cotton swab can be driven to rotate in the C-shaped notch when the cotton swab is moved upward, so as to realize wiping and disinfection.

[0024] In one of the embodiments, the disinfection component is a spray disinfection structure or / and an ultraviolet sterilization lamp for irradiating the puncture port, the spray disinfection structure comprises a disinfection bottle and a driving member for controlling the spray of the disinfection bottle, and the nozzle of the disinfection bottle is directed upward above the feeding station for spraying disinfectant on the cotton swab after rotation and rising.

[0025] In a second aspect, the application provides a transfusion injection auxiliary robot, which adopts the following technical scheme:

[0026] A transfusion injection auxiliary robot comprises:

[0027] The disinfection mechanism is located at the disinfection station.

[0028] The automatic puncture mechanism is located at the puncture station and is used for controlling the lifting of the puncture needle.

[0029] The transfer mechanism comprises a rotating disc and a power source for driving the rotating disc to switch the transfusion container and make the transfusion container pass through the disinfection station and the puncture station in sequence.

[0030] In this way, the transfer mechanism drives the transfusion container to rotate at each station, when entering the disinfection station, the disinfection mechanism disinfects the puncture port, after disinfection, the transfusion container is rotated to the puncture station, and the automatic puncture mechanism drives the puncture needle to rise to complete puncture.

[0031] In one of the embodiments, the robot further comprises a cap removal mechanism for removing the cap type sterile protective cover, the cap removal mechanism comprises a cutter type pincer, and the cutter type pincer is located in front of the puncture station.

[0032] In this way, when the transfusion container is moving from the disinfection station to the puncture station, if the cap type sterile protective cover has not been removed, the cap type sterile protective cover will be in contact with the cutter type pincer and be removed during the movement of the transfusion container.

[0033] In one of the embodiments, the cap removal mechanism further comprises a cutter motor for driving the cutter type pincer to rotate for auxiliary cutting, and the rotating direction of the cutter motor driving the cutter type pincer is opposite to the rotating direction of the rotating disc.

[0034] In this way, the cutter motor can drive the cutter-shaped pincer to rotate, which can control the cutter-shaped pincer to rotate to avoid the protective cover, so that the protective cover cannot be removed. When the protective cover needs to be removed, the cutter-shaped pincer is controlled to cut the cap-shaped sterile protective cover in a direction opposite to the movement direction of the infusion container, and during the rotation, different angles of cutting force are formed, so that the cap-shaped sterile protective cover can be easily and quickly removed.

[0035] In one of the embodiments, the robot further comprises a hook device for removing the ring-shaped sterile protective cover, the hook device is located in front of the puncture station, and the hook device comprises a pull ring limiting piece, a hook in which the ring-shaped sterile protective cover can be inserted, and an unloading spring for pushing the ring-shaped sterile protective cover out of the hook. The hook is arranged on the pull ring limiting piece, and the unloading spring is sleeved on the hook.

[0036] In this way, by using the rotating disc to drive the infusion container to rotate, the ring-shaped sterile protective cover on the puncture port is inserted into the hook during the movement, and then the infusion container is separated from the ring-shaped sterile protective cover during the continuous rotation. During the separation, the ring-shaped sterile protective cover compresses the unloading spring, so that after the separation, the ring-shaped sterile protective cover can be pushed out of the hook by the unloading spring, thereby achieving automatic unloading.

[0037] In one of the embodiments, the pull ring limiting piece is installed in a vertical direction, the hook device further comprises a restoring piece for providing an upward tendency force of the pull ring limiting piece, and the robot further comprises an obstacle avoidance device for pushing the pull ring limiting piece downward, the obstacle avoidance device comprises an obstacle avoidance driving piece installed on the rotating disc and an obstacle avoidance rod controlled to be lifted by the obstacle avoidance driving piece.

[0038] In this way, when the puncture port is relatively long and interferes with the hook device, or the ring-shaped sterile protective cover does not need to be removed temporarily, the obstacle avoidance device can be pushed downward to move downward, so as to avoid interference or remove the ring-shaped sterile protective cover in advance.

[0039] In one of the embodiments, a plurality of multifunctional fixtures are installed on the rotating disc in a rotating manner, the multifunctional fixture comprises a circular fixture body, the fixture body is provided with an installation slot for installing the puncture port, and an opening is formed in the side wall of the fixture body; and the side wall of the rotating disc is provided with an avoidance port for allowing the puncture port to be installed in the multifunctional fixture.

[0040] The fixture body is provided with an elastic pushing assembly for providing a tendency force to the puncture port of the infusion container to move outward of the opening;

[0041] The plug limiting block is detachably mounted on the fixture body and is used to compensate the size of the puncture port.

[0042] In this way, the puncture port of the infusion container can be locked by rotating the multifunctional fixture after being mounted on the multifunctional fixture. The elastic pushing assembly and the detachable plug limiting block can be used to position various puncture ports and ensure that the puncture port is well positioned at the center of the multifunctional fixture, thereby ensuring accurate positioning during disinfection, puncture and cap removal.

[0043] In one embodiment, the auxiliary robot further comprises a scanning head for scanning the label on the infusion container and a rotation source for driving the scanning head to rotate.

[0044] In this way, the scanning head is used to scan the label on the infusion container to read the information thereon, so as to confirm whether the data of the infusion container is correct and avoid infusion errors. The rotation source can control the scanning head to swing and expand the scanning range of the scanning head, so that the infusion container can be scanned even if the label position deviates. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is a schematic view of the overall structure of the embodiment

[0046] Figure 2 is a schematic view of the structure of the main components in the embodiment

[0047] Figure 3 is a schematic view of the structure of the turntable in the embodiment Figure 1 ;

[0048] Figure 4 is a schematic view of the structure of the turntable in the embodiment Figure 2 ;

[0049] Figure 5 is a schematic view of the structure of the multifunctional fixture in the embodiment Figure 1 ;

[0050] Figure 6 is a schematic view of the structure of the multifunctional fixture in the embodiment Figure 2 ;

[0051] Figure 7 is a schematic view of the structure of the multifunctional fixture in the embodiment Figure 3 ;

[0052] Figure 8 is a schematic view of the structure of the multifunctional fixture in the embodiment Figure 4 ;

[0053] Figure 9 is a structure diagram of the disinfecting mechanism in the embodiment Figure 1 ;

[0054] Figure 10 is a structure diagram of the disinfecting mechanism in the embodiment Figure 2 ;

[0055] Figure 11 is a structure diagram of the cap removing mechanism in the embodiment Figure 1 ;

[0056] Figure 12 is a structure diagram of the cap removing mechanism in the embodiment Figure 2 .

[0057] In the figure, 10, infusion container; 100, frame; 200, transfer mechanism; 210, turntable; 211, turntable body; 2111, main body; 21111, mounting hole; 21112, avoiding opening; 2112, limiting disc; 21121, notch; 212, multifunctional clamp; 2121, clamp body; 21211, upper positioning groove; 21212, limiting groove; 21213, lower positioning groove; 21214, limiting flange; 2122, elastic pushing assembly; 21221, U-shaped movable clamp; 21222, elastic member; 21223, sliding rod; 2123, plug type limiting block; 220, turntable motor; 300, automatic puncture mechanism; 310, puncture needle mounting seat; 320, electric push rod for puncture; 330, connecting plate; 340, guide rod; 400, disinfecting mechanism; 410, cotton swab disinfecting execution assembly; 411, gripper; 412, driving source; 420, cotton swab conveying assembly; 430, cotton swab feeding assembly; 431, rotary lifting motor; 432, cotton swab fixing cylinder; 440, cotton swab unloading assembly; 441, unloading member; 442, storage box; 450, disinfecting assembly; 451, disinfecting bottle; 452, driving member; 453, mounting sheet; 454, adjusting bolt; 455, ultraviolet sterilization lamp; 500, drop monitoring module; 600, scanning mechanism; 610, scanning head; 620, rotary source; 700, interactive terminal; 800, first display screen; 900, cap removing mechanism; 910, hook device; 911, pull ring limiting member; 912, hook; 913, unloading spring; 914, resetting member; 920, removing device; 921, cutter type pincers; 922, cutter motor; 930, obstacle avoiding device. DETAILED DESCRIPTION

[0058] The application will be further described in detail below with reference to the accompanying drawings.

[0059] In the description of this application, it should be understood that the terms "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0060] An infusion and injection assistive robot, such as Figure 1 As shown, it includes a frame 100, a transfer mechanism 200 for switching infusion containers 10, an automatic puncture mechanism 300 for controlling the puncture needle, a disinfection mechanism 400 for disinfecting the puncture site of the infusion container 10, a drip monitoring module 500 for detecting the dripping status, a scanning mechanism 600 for scanning data of the infusion container 10, a cap removal mechanism 900 for removing the protective cap, and an interactive terminal 700.

[0061] like Figure 2 As shown, the transfer mechanism 200 includes a turntable 210 and a power source for driving the turntable 210. In this embodiment, the power source is a turntable motor 220, which is mounted on the frame 100. The rotating shaft of the turntable motor 220 is connected to the turntable 210. An auxiliary positioning bracket is provided on the turntable 210 for hanging the infusion container 10. The structure of the auxiliary positioning bracket is not limited, and no specific structure is shown in this embodiment, as long as it has hooks for hanging.

[0062] See attached document Figure 3 The turntable 210 includes the turntable body 211 and the multi-functional card holder 212.

[0063] like Figure 5 As shown, the multi-functional clamp 212 includes a circular clamp body 2121. The clamp body 2121 is provided with an installation groove for installing the puncture site. The installation groove includes an upper positioning groove 21211, a limiting groove 21212, and a lower positioning groove 21213 that are sequentially connected along the axis. The upper positioning groove 21211, the limiting groove 21212, and the lower positioning groove 21213 form openings on the side wall of the clamp body 2121, and the ends away from the openings are all designed with arcs, so that the upper positioning groove 21211, the limiting groove 21212, and the lower positioning groove 21213 are U-shaped in general. The arc design can better fit the puncture site.

[0064] The upper positioning groove 21211 and the lower positioning groove 21213 penetrate the upper and lower end faces of the fixture body 2121, respectively. The width of the upper positioning groove 21211 is smaller than that of the lower positioning groove 21213, and the width of the lower positioning groove 21213 is smaller than that of the limiting groove 21212.

[0065] A limiting flange 21214 is formed on the outer wall of the fixture body 2121. The limiting flange 21214 is arranged to enable axial positioning of the multifunctional fixture 212 after being rotatably mounted on the rotating disc 210.

[0066] The limiting grooves 21212 are used to allow the circular steps at the lower part of the puncture openings of the single-head and double-head infusion containers 10 to be clamped, and are used to limit the up-and-down position of the infusion containers 10. The width of the upper limiting groove 21211 is designed to be smaller than that of the lower limiting groove 21213, so that the width of the lower limiting groove 21213 can be suitable for large-diameter single-heads. The upper and lower limiting grooves 21211 and 21213 are used to clamp the puncture openings at the upper and lower circular steps. After the puncture openings are clamped, the multifunctional fixture 212 is rotated, and the opening is closed by the inner wall of the rotating disc 210 for mounting the multifunctional fixture 212, so that the puncture openings can be fixed.

[0067] As shown in Figure 6 , the fixture body 2121 is provided with an elastic pushing assembly 2122 for providing a tendency force to the puncture openings of the infusion containers 10 to move outward from the opening.

[0068] The elastic pushing assembly 2122 includes a U-shaped movable clamp 21221 slidably mounted on the fixture body 2121, and an elastic member 21222 for providing a sliding tendency force. The U-shaped opening of the U-shaped movable clamp 21221 faces the opening. In this embodiment, a sliding rod 21223 is arranged at the bottom of the fixture body 2121, and the U-shaped movable clamp 21221 is slidably mounted on the sliding rod 21223. The elastic member 21222 is a spring and is sleeved on the sliding rod 21223.

[0069] With the above arrangement, after the puncture openings are clamped in the fixture body, the elastic pushing member will normally push the puncture openings out of the fixture body 2121. Therefore, after the installation of the puncture openings is completed, the multifunctional fixture 212 is rotated as a whole, and at this time the puncture openings will be pushed by the elastic pushing member to the inner wall of the rotating disc 210 to form positioning. In this way, better positioning can be achieved by the tendency force provided by the elastic pushing assembly 2122. Therefore, the puncture openings that cannot be fixed due to the existence of a gap after installation can also achieve good fixing effect.

[0070] As shown in Figure 7 and Figure 8 , a plug limiting block 2123 for compensating the size of the puncture openings is detachably mounted on the fixture body 2121. The plug limiting block 2123 is slidably mounted on at least one of the upper limiting groove 21211, the limiting groove 21212 and the lower limiting groove 21213. In this embodiment, the plug limiting block 2123 is slidably mounted on the lower limiting groove 21213. In use, the plug limiting block 2123 and the elastic pushing assembly 2122 are located on both sides of the puncture openings.

[0071] The setting of the plug type limiting block 2123 makes it possible to form compensation when positioning the puncture port of the cross-shaped tube port with the smallest caliber, that is, the plug type limiting block 2123 is abutted against the inner wall of the rotating disc 210 under the action of the elastic pushing assembly 2122, so that the puncture port can be located at the central position of the multifunctional fixture 212, that is, the puncture port is ensured to be aligned with the puncture needle, and the puncture port is prevented from deviating too much to deviate out of the puncture path of the puncture needle.

[0072] As shown in Figure 3 and Figure 4 , the rotating disc body 211 includes a main body 2111 and a limiting disc 2112, the main body 2111 is provided with mounting holes 21111 for the one-way insertion of the multifunctional fixture 212, in the embodiment, the multifunctional fixture 212 is provided with four, and correspondingly, the mounting holes 21111 are also provided with four, and the four mounting holes 21111 are uniformly and equidistantly distributed around the center of the main body 2111.

[0073] The mounting holes 21111 are formed with avoiding ports 21112 on the side wall of the main body 2111 for the installation of the puncture port, and the limiting disc 2112 is installed on the main body 2111 for the axial positioning of the multifunctional fixture 212.

[0074] In addition, since the outer diameters of the parts on the puncture port are different, the avoiding port 21112 needs to have multiple opening sizes, therefore, the main body 2111 is preferably formed in a structure of at least two stacked discs, that is, the heights of the three grooves, the upper positioning groove 21211, the limiting groove 21212 and the lower positioning groove 21213, adopt discs with different outer diameters, so that the avoiding port 21112 with multiple opening sizes can be directly formed.

[0075] The limiting disc 2112 is provided with a plurality of slot openings 21121 corresponding to the mounting holes 21111 one by one, and the slot openings 21121 and the mounting holes 21111 are partially overlapped. During installation, the multifunctional fixture 212 is inserted into the mounting holes 21111 from bottom to top, and then the limiting disc 2112 is installed at the bottom of the main body 2111, the multifunctional fixture 212 is axially positioned by the limiting disc 2112, so that the multifunctional fixture 212 can be rotatably installed on the rotating disc body 211.

[0076] As shown in Figure 1 and Figure 2 , the scanning mechanism 600 includes a scanning head 610 for scanning the label on the infusion container 10, and a rotating source 620 for driving the scanning head 610 to rotate, the rotating source 620 is a motor installed on the frame 100. The scanning head 610 is connected to the rotating shaft of the rotating source 620 through a rotating arm.

[0077] A first display screen 800 is also installed on the frame 100, the first display screen 800 is internally provided with a processing module and a communication module, the scanning head 610 is in communication connection with the first display screen 800, the communication mode can be wired communication or wireless communication, the scanning head 610 scans information and displays infusion information, patient information, order information and the like through the first display screen 800, wherein the order information refers to the infusion order, which is manually input by an operator or obtained from a terminal, and the information of the terminal can be input by a doctor, a nurse or the like.

[0078] As shown in Figure 2 The automatic puncture mechanism 300 corresponds to the puncture station of the transfer mechanism 200 and is used for controlling the lifting of the puncture needle. It includes a puncture needle mounting seat 310 for detachably mounting the puncture needle and a puncture electric push rod 320 for controlling the action of the puncture needle mounting seat 310.

[0079] The puncture electric push rod 320 is installed on the frame 100, the extension rod of the puncture electric push rod 320 is connected with a connecting plate 330, the connecting plate 330 is connected with the puncture needle mounting seat 310. A guide rod 340 is also slidably installed on the frame 100, the guide rod 340 is arranged in parallel with the extension rod of the puncture electric push rod 320, one end of the guide rod 340 is connected with the connecting plate 330. The puncture needle mounting seat 310 is provided with a mounting groove for clamping the puncture needle after embedding, wherein a micro switch is preferably arranged in the mounting groove of the puncture needle mounting seat 310, when the puncture needle is clamped in the mounting groove, the micro switch can be pressed, correspondingly, the micro switch can be matched through cooperation with an indicator light, an alarm or linkage display with the first display screen 800 and / or the second display screen, so that the clamping condition of the puncture needle becomes visualized.

[0080] The drip monitoring module 500 is arranged below the automatic puncture mechanism 300, and is provided with a groove for embedding a burette. In addition, a turbidity sensor and a chroma sensor can also be arranged on the frame 100, the turbidity sensor monitors the turbidity of the drip on the infusion tube or the infusion container 10, and outputs an abnormal condition by detecting the turbidity and the chroma.

[0081] As shown in Figure 9 and Figure 10 The disinfection mechanism 400 is located at a disinfection station, which includes a cotton swab disinfection execution assembly 410, a cotton swab conveying assembly 420, a cotton swab feeding assembly 430, a cotton swab unloading assembly 440 and a disinfection assembly 450 installed on the frame 100. Among them, if the cotton swab is placed manually, the cotton swab conveying assembly 420 and the cotton swab unloading assembly 440 can also not be arranged.

[0082] The cotton swab disinfection execution assembly 410 comprises at least one gripper 411 for grabbing the cotton swab, and a driving source 412 for driving the gripper 411 to move on the material taking station, the material loading station and the material unloading station. In the embodiment, the gripper 411 is provided as one, and the gripper 411 is provided with a C-shaped socket for the cotton swab to be clamped into. The C-shaped socket is matched with the cotton swab in a gap, and in use, the cotton swab needs a certain force to be clamped into the C-shaped socket, but after entering, it can freely slide up and down in the C-shaped socket.

[0083] It should be noted that, in addition to the above structure, when the gripper 411 is provided as multiple, it can be provided as one-way rotation, instead of the above reset design. That is, the multiple grippers 411 form a linear or cross-shaped structure. In addition, if the cotton swab is placed manually, the gripper 411 can be provided with only a jack or other structure that can place the cotton swab and does not affect its up and down movement, and does not necessarily adopt the C-shaped socket design. When the structure is placed manually, the cotton ball can also be used to replace the cotton swab, and the cotton ball only needs to be stably placed in the jack.

[0084] The cotton swab conveying assembly 420 is located at the material taking station, and only needs to be able to automatically convey the cotton swab to the discharge end. Different structures can be adopted according to different automation, and in the embodiment, a spring pushing structure is adopted, which adopts a storage shell structure, and an arc-shaped channel is arranged in the storage shell for placing the cotton swab. One end of the channel is provided with a spring to provide a pushing force to the cotton swab in the channel, so that the cotton swab is automatically moved to the discharge end.

[0085] One side of the discharge end of the cotton swab conveying assembly 420 is provided as an opening, and the gripper 411 takes the cotton swab when moving to the material taking station, and takes the cotton swab from the opening when moving out of the material taking station.

[0086] The cotton swab loading assembly 430 is located at the material loading station and is used to drive the cotton swab above it to rotate and rise on the gripper 411. It comprises a rotary lifting motor 431 and a cotton swab fixing cylinder 432 mounted on the output shaft of the rotary lifting motor 431. The cotton swab fixing cylinder 432 is provided with an inner hole matched with the cotton swab in an interference fit, and the opening of the inner hole is provided as a horn shape.

[0087] In addition, the cotton swab loading assembly 430 can also be replaced by other components to replace the rotary lifting motor 431, as long as it can realize the lifting and rotation at the same time, such as the combination structure of the lifter and the rotary motor.

[0088] The cotton swab unloading assembly 440 is located at the unloading station and is used to unload the cotton swab on the gripper 411. It comprises a receiving box 442 and an unloading piece 441 located above the receiving box 442, both of which are installed on the frame 100, and the unloading piece 441 is composed of two parallel blocking pieces, and the gripper 411 can pass between the two blocking pieces. When the gripper 411 moves to the unloading station, the cotton swab on the gripper 411 is limited after contacting the unloading piece 441, and the gripper 411 continues to move and separates from the cotton swab.

[0089] The disinfection assembly 450 is used to disinfect the cotton swab located at the feeding station. It comprises a disinfection bottle 451 and a driving piece 452 for controlling the spraying of the disinfection bottle 451, and the driving piece 452 is installed on the frame 100. The driving piece 452 is an electromagnetic push rod, and an installation piece 453 is installed on the movable rod of the electromagnetic push rod. The disinfection bottle 451 is installed on the installation piece 453 by clamping, and the nozzle of the disinfection bottle 451 faces upward above the feeding station.

[0090] The disinfection bottle 451 adopts a pressing structure, and the pressing head at the upper end of the disinfection bottle 451 abuts against an adjusting bolt 454 on the frame 100. During the movement of the installation piece 453 driven by the electromagnetic push rod, the disinfection bottle 451 is moved. During the movement of the disinfection bottle 451, the pressing head of the disinfection bottle 451 is limited to form a pressing effect, so that the disinfection bottle 451 forms a spraying disinfection.

[0091] In addition, the disinfection assembly 450 can also be an ultraviolet sterilization lamp 455, or a combination of the above-mentioned spraying disinfection structure and the ultraviolet sterilization lamp 455. In this embodiment, the combination is adopted, and disinfection is performed by two ways to achieve better effect.

[0092] As shown in FIGS. Figure 11 and Figure 12 The cap removal mechanism 900 comprises a removal device 920 for removing the cap type sterile protective cover, a hook device 910 for removing the ring type sterile protective cover, and an obstacle avoidance device 930.

[0093] The removal device 920 comprises a cutter type pincer 921 and a cutter motor 922 for driving the cutter type pincer 921 to rotate for auxiliary cutting. The cutter motor 922 is installed on the frame 100, and the rotation direction of the cutter type pincer 921 driven by the cutter motor 922 is opposite to the rotation direction of the turntable 210. The cutter type pincer 921 is located in front of the puncture station.

[0094] When the transfer mechanism 200 drives the infusion container 10 to move from the disinfection station to the puncture station, if there is a cap type sterile protective cover that has not been removed on the puncture container, the cap type sterile protective cover will contact the cutter type pincer 921 and be removed during the movement of the infusion container 10.

[0095] The pull hook device 910 is located in front of the puncture station, and the pull hook device 910 comprises a pull ring limiting piece 911, a pull hook 912 for inserting the ring type sterile protective cover, and a discharging spring 913 for pushing the ring type sterile protective cover out of the pull hook 912.

[0096] The pull ring limiting piece 911 is installed on the frame 100 in a sliding manner along the vertical direction, and the pull hook device 910 further comprises a reset piece 914 for providing an upward tendency force of the pull ring limiting piece 911. The pull hook 912 is arranged on the pull ring limiting piece 911, and an integrated design is adopted in the embodiment, and the discharging spring 913 is sleeved on the pull hook 912.

[0097] The obstacle avoidance device 930 is used for pushing the pull ring limiting piece 911 downward, and the obstacle avoidance device 930 comprises an obstacle avoidance driving piece installed on the turntable 210 and an obstacle avoidance rod lifted under the control of the obstacle avoidance driving piece. The obstacle avoidance driving piece can be a pneumatic cylinder, an electromagnetic push rod or the like, and the end of the obstacle avoidance rod is in the shape of a hammer body, and the lower end has a round corner or a chamfer.

[0098] As shown in Figure 1 The interactive terminal 700 is used for checking the information of the patient or the nurse. The patient information can be checked by one or more of the following modes: scanning a code, pressing a button and voice interaction. Preferably, a second display screen is arranged thereon to form a better interactive effect.

[0099] Preferably, the interactive terminal 700 is detachably installed on the frame 100. Thus, the interactive terminal 700 can be conveniently taken down for operation when scanning is needed. The interactive terminal 700 can be a separately designed terminal device, or a mobile device such as a mobile phone or a tablet computer.

[0100] In use, the interactive terminal 700 obtains the patient information by scanning a code, pressing a button and voice interaction, and checks the information of the infusion container 10 identified by the scanning mechanism 600 and the patient information. After verification and matching, the transfer mechanism 200 transfers the infusion container 10 to the puncture station in sequence according to the order information in the patient information.

[0101] Specifically, the infusion injection assisting method comprises the following steps:

[0102] S1, obtaining patient information through the interactive terminal 700, the patient information comprising a name, infusion information and order information, wherein the infusion information comprises an infusion model, an infusion amount, an infusion time and an infusion speed.

[0103] The patient information can be directly obtained from the system of the hospital. Thus, in addition to the above information, the patient's allergy information and past infusion problem information can also be obtained.

[0104] S2, the first display screen 800 acquires the patient information sent by the interactive terminal 700, and controls the rotation of the transfer mechanism 200 to acquire the infusion container 10 information.

[0105] The acquired patient information can be directly displayed on the first display screen 800 for the nurse and the patient to check and verify. In addition, it should be noted that the acquisition can also be achieved by controlling the rotation of the scanning head 610.

[0106] S3, the first display screen 800 checks whether the infusion container 10 information and the infusion information match.

[0107] If the verification matches, the first display screen 800 controls the rotation of the transfer mechanism 200 based on the order information to rotate the first order corresponding infusion container 10 to the puncture station;

[0108] If the verification does not match, a matching error warning is sent.

[0109] In this step, during the checking process, the first display screen 800 can be directly displayed, such as checking the correct check mark or green font, and checking the error, such as cross or red font, so that the nurse and the patient can directly check the matching condition and correct the error through the first display screen 800.

[0110] S4, the first display screen 800 receives the drip information acquired by the drip monitoring module 500, and the drip information includes the drip speed, the drip time and the drip amount.

[0111] The drip information can be displayed on the first display screen 800 and / or the second display screen.

[0112] S5, the first display screen 800 judges whether the drip speed is within the preset range of the infusion speed, if not, the adjustment information is sent; if yes, the drip signal is sent when the infusion amount or / and the infusion time is reached based on the drip information.

[0113] In this step, the preset infusion speed in the patient information is usually a range value, and the control of the drip is divided into manual and automatic according to the controller. The manual control is to use the controller on the drip tube, and the automatic control is to set an electric controller on the auxiliary device. However, since the infusion container 10 needs to be taken off when going to the toilet, walking and other situations, the cost of the electric controller will be relatively high, so in most cases, manual control is used. The accuracy of manual control is low, and some patients also adjust it themselves, so monitoring the drip speed can provide a reference for such patients to avoid some accidents.

[0114] S6, after the first display screen 800 acquires the stop dripping signal, a check signal is sent to the interactive terminal 700, and the interactive terminal 700 reacquires the patient information and sends it to the first display screen 800 after receiving the check signal.

[0115] S7, the first display screen 800 compares the newly acquired patient information with the previous patient information, if not, a matching error warning is sent; if yes, the automatic puncture mechanism 300 is controlled to start, the puncture needle is pulled out downward, the transport mechanism 200 is controlled to rotate based on the order information to transfer the next order corresponding infusion container 10 to the puncture station, and the automatic puncture mechanism 300 is controlled to start, and steps S4-S7 are repeated.

[0116] Information checking is performed before each infusion to avoid the situation that multiple people take down the infusion container 10 and hang them incorrectly, which can be discovered and adjusted in time to avoid medical accidents.

[0117] S8, during the process of steps S4-S5, the interactive terminal 700 sends abnormal checking information and receives feedback information in a timely manner, wherein the abnormal checking information includes infusion comfort and allergy information;

[0118] If the feedback information is abnormal infusion comfort, the drip speed down information is sent;

[0119] If the feedback information is allergy information, a danger warning and a stop dripping signal are sent.

[0120] S9, during the process of steps S4-S5, when the interactive terminal 700 or / and the first display screen 800 acquires the liquid change information, the automatic puncture mechanism 300 is controlled to start, the puncture needle is pulled out downward, the transport mechanism 200 is controlled to rotate based on the order information to transfer the next order corresponding infusion container 10 to the puncture station, and the automatic puncture mechanism 300 is controlled to start, and steps S4-S7 are repeated.

[0121] The liquid change information can be acquired by scanning through the nurse or patient interactive terminal 700, or acquired by inputting or button triggering through the interactive terminal 700 and the first display screen 800, or acquired by setting a separate button on the device.

[0122] S10, before the order information corresponding infusion container 10 is transferred to the puncture station in steps S3, S7 and S9, the cap removal information is acquired, if the cap needs to be removed, the barrier avoidance device 930 is controlled to start to make the hook device 910 rise, and the cutter motor 922 is controlled to start to remove the bottle cap.

[0123] In the embodiment, the obstacle avoidance device is in the extended state by default, i.e., it is retracted after starting. Alternatively, the obstacle avoidance device can be set to be in the retracted state by default, so that it is started when the obtained uncapping information indicates that uncapping is needed. When the cutter motor 922 is not started, the cutter-shaped pincer 921 does not cut the bottle cap, thereby avoiding the bottle cap.

[0124] The uncapping information is obtained by a sensor arranged on the frame 100. The sensor can be an infrared sensor. When the distance is less than a preset distance, it indicates that uncapping is needed.

[0125] In this step, the automatic dripping process is monitored in real time. For example, the state of the customer can be collected by displaying text on the second display screen or by the voice interaction module to issue a voice query at regular intervals. When the collected feedback information indicates that the dripping speed is too fast and causes discomfort, the dripping speed can be reduced. If some symptoms such as fever, skin rash, hemolysis, and shock occur, the dripping can be stopped in time.

[0126] The embodiments of the specific implementation are preferred embodiments of the present application, and do not limit the protection scope of the present application. Therefore, equivalent changes made on the basis of the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A disinfection mechanism for an infusion injection assistive robot, characterized in that, include: The swab disinfection execution component (410) includes at least one gripper (411) for gripping swabs and a drive source (412) for driving the gripper (411) to switch stations. The cotton swab feeding assembly (430) is located at the feeding station and is used to drive the cotton swabs located above it to rotate and rise on the gripper (411); Disinfection component (450) is used to disinfect cotton swabs located at the loading station.

2. The disinfection mechanism of the infusion injection assistive robot according to claim 1, characterized in that: The gripper (411) is provided with an insertion hole for inserting a cotton swab.

3. The disinfection mechanism of the infusion injection assistive robot according to claim 1, characterized in that: The disinfection mechanism also includes a swab delivery component (420) for conveying swabs to the picking station, the discharge end of which is located at the picking station.

4. The disinfection mechanism of the infusion injection assistive robot according to claim 1 or 3, characterized in that: The gripper (411) is provided with a C-shaped slot for inserting cotton swabs, and the C-shaped slot is fitted with the cotton swab with a gap.

5. The disinfection mechanism of the infusion injection assistive robot according to claim 3, characterized in that: The cotton swab transport component (420) has an opening on one side of its discharge end. When the gripper (411) moves to the picking station, it picks up the cotton swab, and when it moves out of the picking station, it removes the cotton swab from the opening.

6. The disinfection mechanism of the infusion injection assistive robot according to claim 1, characterized in that: The disinfection mechanism also includes a cotton swab unloading assembly (440) for removing cotton swabs from the gripper (411), the cotton swab unloading assembly (440) being located at the unloading station.

7. The disinfection mechanism of the infusion injection assistive robot according to claim 6, characterized in that: The cotton swab unloading assembly (440) includes a storage box (442) and an unloading component (441) located above the storage box (442). When the gripper (411) moves to the unloading station, the cotton swab on the gripper (411) is restricted after contacting the unloading component (441), and the gripper (411) continues to move and separates from the cotton swab.

8. The disinfection mechanism of the infusion injection assistive robot according to claim 4, characterized in that: The cotton swab feeding assembly (430) includes a rotary lifting motor (431) and a cotton swab fixing cylinder (432) mounted on the output shaft of the rotary lifting motor (431). The cotton swab fixing cylinder (432) has an inner hole that is interference-fitted with the cotton swab.

9. The disinfection mechanism of the infusion injection assistive robot according to claim 8, characterized in that: The opening of the inner hole is funnel-shaped.

10. The disinfection mechanism of the infusion injection assistive robot according to claim 1, characterized in that: The disinfection component (450) is a spray disinfection structure and / or an ultraviolet germicidal lamp (455) for irradiating the puncture site. The spray disinfection structure includes a disinfection bottle (451) and a drive (452) for controlling the spray of the disinfection bottle (451). The nozzle of the disinfection bottle (451) faces upward to the loading station and is used to spray disinfectant on the cotton swabs after they are rotated and raised.

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