CN108815637B

CN108815637B - Automatic infusion robot

Info

Publication number: CN108815637B
Application number: CN201810836632.XA
Authority: CN
Inventors: 刘索; 朱昭; 冯伟; 夏明爱
Original assignee: Individual
Current assignee: Liu Suo
Priority date: 2018-07-26
Filing date: 2018-07-26
Publication date: 2020-12-01
Anticipated expiration: 2038-07-26
Also published as: CN108815637A

Abstract

The invention provides an automatic transfusion robot, comprising a knob, a spring, a slide bar, a sliding baffle, a turntable and the like, wherein a driving motor is excited by an electric signal of a monitoring mechanism to drive two series mechanisms with a phase difference of 90 degrees to move, and finally the actions of ascending, rotating and descending of the turntable are achieved through the combined action of a fixed shaft gear train, an overrunning clutch, a gear and a grooved pulley, and the actions of pulling out a needle head, replacing a medicine bottle and inserting the needle head are respectively corresponding to the fixed needle head. The invention can find whether the liquid medicine in the infusion bottle is infused completely in time by taking the camera as the monitoring sensor, the laser sensor provides double insurance, the pipeline can be pinched to stop infusion in time under the condition of working error of the camera, and no danger can occur even if a patient is in sleep.

Description

Automatic infusion robot

Technical Field

The invention relates to the technical field of medical robots, in particular to an automatic infusion robot.

Background

Infusion (intravenous drip) is one of the common treatment means in modern medicine, the workload of doctors is getting bigger and bigger with the increasing number of infusion people in hospitals, most patients need to infuse 2-3 bottles of liquid medicine once, and in order to prevent the medicine interaction, normal saline in a pipe can be added between every two medicines, which is equivalent to infusing 3-5 bottles of liquid medicine. The needle needs to be replaced once every time a bottle is transfused, namely the needle is pulled out of the transfused empty bottle and inserted into a new bottle, the action is not complicated, but real-time supervision is needed, and particularly dangerous conditions such as air entering the body and the like can be caused if a patient is unattended under the condition that the patient falls asleep. For example, the invention provides an automatic infusion robot with the application number of CN201610337300.8, which comprises an upright post, an upper plate, a triangular rotary frame and the like, the automatic infusion robot has two independent inputs, one input controls the medicine changing bottle and the other input controls the needle pulling head, and has the advantages of simple mechanism and complex control.

Disclosure of Invention

Aiming at the problems, the invention provides an automatic transfusion robot, which has one input and two outputs as a transmission mechanism, reliable movement and good continuity. Monitoring devices passes through the camera as main monitor, laser sensor as supplementary monitor, can in time discover whether the liquid medicine in the infusion bottle is lost, through laser sensor, provides the dual fail-safe, under the camera work fault condition, can in time pinch the pipeline and stop the infusion, even the patient can not take place danger under the condition that gets into the sleep yet.

The technical scheme adopted by the invention is as follows: the utility model provides an automatic infusion robot, includes knob, spring, slide bar, sliding baffle, carousel, infusion bottle holder, camera, first support, second support, mirror, laser sensor, third support, takes foot support, pipe clamp, top, electric putter, servo motor, first screw, transmission case, its characterized in that: the knob, the spring, the sliding rod and the sliding baffle form a set of components which are uniformly distributed on the turntable; the knob is screwed at one end of the sliding rod; the sliding rod is inserted into the support on the turntable, and the other end of the sliding rod is fixed on the support of the sliding baffle; the spring is sleeved on the sliding rod, and two sides of the spring are limited on the end surface of the support; the sliding baffle is inserted into the track groove on the turntable; five infusion bottle racks are uniformly distributed on the rotary table; the rotary table is fixed on an output shaft of the transmission case; the transmission case is fixed on the bracket with the foot; the extending beam of the first bracket is fixed on the bracket with the foot, and the working part is provided with a cross groove for placing a needle head; the camera is hinged on the first bracket; the second bracket is fixed on the first bracket; the mirror and the laser sensor are respectively fixed on two sides of the second bracket; the third bracket is fixed on the first bracket; the centre and the electric push rod are respectively fixed on two sides of the third bracket; the two pipe clamps are respectively fixed on the upper side and the lower side of the tip of the third bracket and used for fixing the infusion pipe; the servo motor is fixed on an input shaft of the transmission case through a first screw;

the transmission case comprises a case body, a base, a crankshaft, a second screw, a half shaft sleeve, a connecting rod, a sliding rod with a frame, a cylindrical beam, a sliding block, an incomplete gear shaft, an incomplete gear, a first support, a limiting pin, a first gear, a stepped shaft, a second gear, a third gear, a fourth gear, a drive plate, a grooved wheel, a sliding shaft, a sliding key, a screw rod with a support, a fifth gear, a second support, a hinge, an outer ring, a steel ball, a ratchet wheel and a hollow shaft, wherein the case body is fixed on the base; the crankshaft is fixed on an output shaft of the servo motor and is a two-section shaft, and the phase difference between the two cranks is 90 degrees and is an input shaft of the whole transmission mechanism; the half shaft sleeve, the connecting rod and the slide rod with the frame are respectively provided with two, and respectively form two centering slider-crank mechanisms with a crankshaft; the number of the sliding blocks and the number of the cylindrical beams are two, the cylindrical beams are fixed in frame holes with frame sliding rods, the holes in the sliding blocks are matched with the cylindrical beams and can slide along the cylindrical beams, and the bottom ends of the sliding blocks are respectively hinged to the incomplete gear and the outer ring to form two tangent mechanisms; the incomplete gear is matched with an incomplete gear shaft, and the incomplete gear shaft is fixed on the base; the first support is fixed on the base, and a limit pin, a fifth gear and a hollow shaft are respectively fixed on three through holes on the first support; the stepped shaft is fixed on the base, the first gear and the second gear are respectively matched with different shaft sections of the stepped shaft, the first gear and the incomplete gear form a gear pair, and the second gear and the fifth gear form a gear pair; the fourth gear is fixed at the lower end of the drive plate; the shaft section on the driving plate is matched with a corresponding hole on the box body; the ratchet wheel is fixed at the lower part of the third gear and is matched with the hollow shaft together with the third gear; the outer ring is matched with the outer ring of the ratchet wheel; the number of the steel balls is four, the steel balls are uniformly distributed between the ratchet wheel and the outer ring, and the ratchet wheel, the steel balls and the outer ring form an overrunning clutch; the screw part of the screw rod with the bracket is matched with the internal thread of the central through hole of the fifth gear, and the hole on the bracket is inserted into the limit pin to ensure that the moving direction of the screw pair is fixed; one end of the sliding shaft is provided with a hole, penetrates through the through hole of the first support and reaches the upper end of the screw rod with the support, and the other end of the sliding shaft is fixed with a sliding key, penetrates through the inner hole of the hollow shaft and is matched with the central hole of the grooved pulley to serve as an output shaft of the transmission case, so that the grooved pulley is driven to rotate, the sliding shaft moves up and down along with the screw rod with the support, the turntable is driven to move up and down, and finally the effects that the infusion bottle.

Due to the adoption of the technical scheme, the invention has the following advantages:

1. the invention can find whether the liquid medicine in the infusion bottle is infused completely in time by taking the camera as the monitor and the laser sensor as the auxiliary monitor, and the patient can not have danger even if the patient goes to sleep.

2. Simple structure, mechanism operation links up reliably, and economical and practical nature is high.

Drawings

Fig. 1 and 2 are schematic overall structural diagrams of the present invention.

Fig. 3 is a partial schematic view of the overall structure of the present invention.

Fig. 4, 5, 6 and 7 are schematic views of the internal structure of the transmission case of the invention.

Fig. 8 is a schematic view of a sliding axle assembly of the present invention.

Fig. 9 is a schematic view of the structure of the screw with the bracket of the invention.

Fig. 10 is a schematic view of the structure of the sliding rod with frame of the present invention.

FIG. 11 is a schematic view of a slider structure according to the present invention.

Reference numerals: 1-a knob; 2-a spring; 3-a slide bar; 4-a sliding baffle; 5, rotating a disc; 6-transfusion bottle rack; 7-a camera; 8-a first scaffold; 9-a second support; 10-a mirror; 11-a laser sensor; 12-a third scaffold; 13-a legged stand; 14-pipe clamp; 15-top; 16-an electric push rod; 17-a servo motor; 18-a first screw; 19-a transmission case; 1901-case; 1902-a base; 1903-crankshaft; 1904-second screw; 1905-half shaft sleeve; 1906-connecting rod; 1907-framed slide bar; 1908-cylindrical beam; 1909-slide; 1910 — incomplete gear shaft; 1911-incomplete gear; 1912-a first support; 1913-a spacing pin; 1914-first gear; 1915-stepped shaft; 1916-second gear; 1917-third gear; 1918-fourth gear; 1919-dial plate; 1920-sheave; 1921-sliding shaft; 1922-a feather key; 1923-screw with bracket; 1924-fifth gear; 1925-a second support; 1926-a hinge; 1927-outer ring; 1928-steel ball; 1929-ratchet; 1930 hollow shaft.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

Examples

As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, and fig. 11, an automatic infusion robot includes a knob 1, a spring 2, a slide bar 3, a slide shutter 4, a turntable 5, an infusion bottle holder 6, a camera 7, a first holder 8, a second holder 9, a mirror 10, a laser sensor 11, a third holder 12, a support with feet 13, a pipe clamp 14, a tip 15, an electric push rod 16, a servo motor 17, a first screw 18, and a transmission case 19, and is characterized in that: the knob 1, the spring 2, the sliding rod 3 and the sliding baffle 4 form a set of components which are uniformly distributed on the turntable 5; the knob 1 is screwed at one end of the sliding rod 3; the slide bar 3 is inserted into a support on the rotary table 5, and the other end of the slide bar is fixed on the support of the slide baffle 4; the spring 2 is sleeved on the sliding rod 3, and two sides of the spring are limited on the end surface of the support; the sliding baffle 4 is inserted into a track groove on the turntable 5; five transfusion bottle racks 6 are uniformly distributed on the rotary table 5; the rotary disc 5 is fixed on an output shaft of the transmission case 19; the transmission case 19 is fixed on the bracket 13 with the foot; the extending beam of the first bracket 8 is fixed on the bracket 13 with feet, and the working part is provided with a cross groove for placing a needle head; the camera 7 is hinged on the first bracket 8; the second bracket 9 is fixed on the first bracket 8; the mirror 10 and the laser sensor 11 are respectively fixed at two sides of the second bracket 9; the third bracket 12 is fixed on the first bracket 8; the centre 15 and the electric push rod 16 are respectively fixed at two sides of the third bracket 12; two pipe clamps 14 are respectively fixed on the upper side and the lower side of a tip 15 of the third bracket 12 and used for fixing the infusion pipe; the servo motor 17 is fixed on an input shaft of a transmission case 19 through a first screw 18;

the transmission case 19 comprises a case 1901, a base 1902, a crankshaft 1903, a second screw 1904, a half shaft sleeve 1905, a connecting rod 1906, a framed slide rod 1907, a cylindrical beam 1908, a slider 1909, an incomplete gear shaft 1910, an incomplete gear 1911, a first support 1912, a limit pin 1913, a first gear 1914, a stepped shaft 1915, a second gear 1916, a third gear 1917, a fourth gear 1918, a dial 1919, a sheave 1920, a sliding shaft 1921, a sliding key 1922, a screw 1923 with a support, a fifth gear 1924, a second support 1925, a hinge 1926, an outer ring 1927, a steel ball 1928, a ratchet 1929 and a hollow shaft 1930, wherein the case 1901 is fixed on the base 1902; the crankshaft 1903 is fixed on the output shaft of the servo motor 17 and is a two-section shaft, the phase difference between the two cranks is 90 degrees, and the two cranks are input shafts of the whole transmission mechanism; the half shaft sleeve 1905, the connecting rod 1906 and the slide rod with frame 1907 are respectively provided with two, and respectively form two centering crank slider mechanisms with the crankshaft 1903, specifically, the half shaft sleeve 1905 is fixed on the connecting rod 1906 through two second screws 1904, the other end of the connecting rod 1906 is hinged with the slide rod with frame 1907 through a hinge 1926, the slide rod part of the slide rod with frame 1907 is inserted into a corresponding hole of the second support 1925, and the second support 1925 is fixed on the base 1902; the number of the sliding blocks 1909 and the number of the cylindrical beams 1908 are also two, the cylindrical beams 1908 are fixed in frame holes of the sliding rods 1907 with frames, the holes in the sliding blocks 1909 are matched with the cylindrical beams 1908 and can slide along the cylindrical beams 1908, and the bottom ends of the sliding blocks 1909 are respectively hinged to the incomplete gear 1911 and the outer ring 1927 to form two tangent mechanisms; the incomplete gear 1911 is matched with the incomplete gear shaft 1910, and the incomplete gear shaft 1910 is fixed on the base 1902; the first support 1912 is fixed on the base 1902, and a limit pin 1913, a fifth gear 1924 and a hollow shaft 1930 are respectively fixed on the three through holes; the stepped shaft 1915 is fixed on the base 1902, the first gear 1914 and the second gear 1916 are respectively matched with different shaft sections of the stepped shaft 1915, the first gear 1914 and the incomplete gear 1911 form a gear pair, and the second gear 1916 and the fifth gear 1924 form a gear pair; the fourth gear 1918 is fixed at the lower end of the dial 1919; the shaft section on the driving plate 1919 is matched with a corresponding hole on the box 1901; the ratchet wheel 1929 is fixed at the lower part of the third gear 1917 and is matched with the hollow shaft 1930 together with the third gear 1917; the outer ring 1927 is matched with the outer ring of the ratchet 1929; four steel balls 1928 are uniformly distributed between the ratchet 1929 and the outer ring 1927, and the ratchet 1929, the steel balls 1928 and the outer ring 1927 form an overrunning clutch; the screw part of the screw 1923 with the bracket is matched with the internal thread of the central through hole of the fifth gear 1924, and the hole on the bracket is inserted into the limit pin 1913 to ensure that the moving direction of the screw pair is fixed; one end of the sliding shaft 1921 is provided with a hole, penetrates through the through hole of the first support 1912 and reaches the upper end of the screw 1923 with the support, the other end of the sliding shaft 1921 is fixed with a sliding key 1922, penetrates through the inner hole of the hollow shaft 1930 and is matched with the central hole of the grooved pulley 1920 to serve as an output shaft of the transmission case 19, the grooved pulley 1920 is driven to rotate, the sliding shaft 1921 moves up and down along with the screw 1923 with the support, the rotating disc 5 is driven to move up and down, and finally the effects that an infusion bottle is separated.

The working principle of the invention is as follows: before the infusion device is used, an infusion needle is placed into the cross clamping groove of the first support 8, then the five sliding baffles 4 are pulled in sequence and placed into an infusion bottle, and the sliding baffles 4 can automatically seal the inlet under the action of the spring 2. After the infusion bottle is used, after a bottle of liquid is infused, an electric signal is released by a monitoring mechanism, the servo motor 17 is excited to output rotation, a crankshaft 1903 connected with the servo motor 17 rotates along with the rotation, and then two centering crank-slider mechanisms with 90-degree phase difference are driven to move, two tangent mechanisms connected with the crank-slider mechanisms in series move along with the rotation, wherein one path of incomplete gear 1911 is output to drive a fixed-axis gear train to move, the movement is finally output by a fifth gear 1924 with internal threads in a center hole serving as a screw pair nut, so that a screw 1923 with a support on the screw moves up and down, and finally a sliding shaft 1921 is pushed to move up and down, so that a rotary table 5 is driven to move up and down, and the; the other path of outer ring 1927 is output to drive the overrunning clutch to move, in one period, only half of the time is in driving the third gear 1917, the third gear 1917 further drives the fourth gear 1918 matched with the third gear 1917 to rotate, the dial 1919 rotates along with the fourth gear 1918, the grooved wheel 1920 rotates along with the dial 1919, the sliding shaft 1921 rotates along with the grooved wheel 1920, and the rotary disc 5 drives the infusion bottle to rotate along with the sliding shaft 1921, so that the purpose of changing the medicine is achieved. When the camera 7 breaks down and the laser sensor 11 continuously senses the change for five seconds, an electric signal is sent out to drive the electric push rod 16 to clamp the infusion tube and simultaneously drive the servo motor 17 to change the medicine.

Claims

1. The utility model provides an automatic infusion robot, includes knob (1), spring (2), slide bar (3), slide damper (4), carousel (5), infusion bottle rack (6), camera (7), first support (8), second support (9), mirror (10), laser sensor (11), third support (12), take foot support (13), pipe clamp (14), top (15), electric putter (16), servo motor (17), first screw (18), transmission case (19), its characterized in that: the knob (1), the spring (2), the sliding rod (3) and the sliding baffle (4) form a set of components which are uniformly distributed on the turntable (5); the knob (1) is screwed at one end of the sliding rod (3); the slide rod (3) is inserted into a support on the turntable (5), and the other end of the slide rod is fixed on the support of the slide baffle (4); the spring (2) is sleeved on the sliding rod (3), and two sides of the spring are limited on the end face of the support; the sliding baffle (4) is inserted into the track groove on the turntable (5); five transfusion bottle racks (6) are uniformly distributed on the rotary disc (5); the rotary disc (5) is fixed on an output shaft of the transmission case (19); the transmission case (19) is fixed on the bracket (13) with the foot; the extending beam of the first bracket (8) is fixed on the bracket (13) with the foot, and the working part is provided with a cross groove for placing a needle head; the camera (7) is hinged on the first bracket (8); the second bracket (9) is fixed on the first bracket (8); the mirror (10) and the laser sensor (11) are respectively fixed on two sides of the second bracket (9); the third bracket (12) is fixed on the first bracket (8); the centre (15) and the electric push rod (16) are respectively fixed on two sides of the third bracket (12); the two pipe clamps (14) are respectively fixed on the upper side and the lower side of a tip (15) of the third bracket (12) and used for fixing the infusion tube; the servo motor (17) is fixed on an input shaft of the transmission case (19) through a first screw (18);

the transmission case (19) comprises a case body (1901), a base (1902), a crankshaft (1903), a second screw (1904), a half shaft sleeve (1905), a connecting rod (1906), a sliding rod with a frame (1907), a cylindrical beam (1908), a slider (1909), an incomplete gear shaft (1910), an incomplete gear (1911), a first support (1912), a limiting pin (1913), a first gear (1914), a stepped shaft (1915), a second gear (1916), a third gear (1917), a fourth gear (1918), a dial plate (1919), a sheave (1920), a sliding shaft (1921), a sliding key (1922), a screw with a support (1923), a fifth gear (1924), a second support (1925), a hinge (1926), an outer ring (1927), a steel ball (1928), a ratchet wheel (1929) and a hollow shaft (1930), wherein the case body (1901) is fixed on the base (1902); the crankshaft (1903) is fixed on an output shaft of the servo motor (17) and is a two-section shaft, and the phase difference between the two cranks is 90 degrees and is an input shaft of the whole transmission mechanism; the half shaft sleeve (1905), the connecting rod (1906) and the slide rod with the frame (1907) are respectively provided with two, and respectively form two centering crank block mechanisms with the crankshaft (1903), the specific connection mode is that the half shaft sleeve (1905) is fixed on the connecting rod (1906) through two second screws (1904), the other end of the connecting rod (1906) is hinged with the slide rod with the frame (1907) through a hinge (1926), the slide rod part of the slide rod with the frame (1907) is inserted into a corresponding hole of a second support (1925), and the second support (1925) is fixed on the base (1902); the number of the sliding blocks (1909) and the number of the cylindrical beams (1908) are also two, the cylindrical beams (1908) are fixed in frame holes of the sliding rods (1907) with frames, the holes in the sliding blocks (1909) are matched with the cylindrical beams (1908) and can slide along the holes, and the bottom ends of the sliding blocks (1909) are respectively hinged to the incomplete gear (1911) and the outer ring (1927) to form two tangent mechanisms; the incomplete gear (1911) is matched with the incomplete gear shaft (1910), and the incomplete gear shaft (1910) is fixed on the base (1902); the first support (1912) is fixed on the base (1902), and a limit pin (1913), a fifth gear (1924) and a hollow shaft (1930) are respectively fixed on three through holes on the first support; the stepped shaft (1915) is fixed on the base (1902), the first gear (1914) and the second gear (1916) are respectively matched with different shaft sections of the stepped shaft (1915), the first gear (1914) and the incomplete gear (1911) form a gear pair, and the second gear (1916) and the fifth gear (1924) form a gear pair; the fourth gear (1918) is fixed at the lower end of the drive plate (1919); the shaft section on the driving plate (1919) is matched with a corresponding hole on the box body (1901); the ratchet wheel (1929) is fixed at the lower part of the third gear (1917) and is matched with the hollow shaft (1930) together with the third gear (1917); the outer ring (1927) is matched with the outer ring of the ratchet wheel (1929); four steel balls (1928) are uniformly distributed between the ratchet wheel (1929) and the outer ring (1927), and the ratchet wheel (1929), the steel balls (1928) and the outer ring (1927) form an overrunning clutch; the screw part of the screw rod (1923) with the bracket is matched with the internal thread of the central through hole of the fifth gear (1924), and the hole on the bracket is inserted into the limit pin (1913); one end of the sliding shaft (1921) is provided with a hole, the sliding shaft penetrates through a through hole of the first support (1912) and reaches the upper end of the screw rod (1923) with the support, a sliding key (1922) is fixed at the other end of the sliding shaft, penetrates through an inner hole of the hollow shaft (1930) and is matched with a central hole of the grooved pulley (1920), the sliding shaft serves as an output shaft of the transmission case (19), the grooved pulley (1920) is driven to rotate, the sliding shaft (1921) moves up and down along with the screw rod (1923) with the support, the rotating disc (5) is driven to move up and down, and the effects that an.