CN111529911B - Automatic change robot of injecing - Google Patents
Automatic change robot of injecing Download PDFInfo
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- CN111529911B CN111529911B CN202010409516.7A CN202010409516A CN111529911B CN 111529911 B CN111529911 B CN 111529911B CN 202010409516 A CN202010409516 A CN 202010409516A CN 111529911 B CN111529911 B CN 111529911B
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- stepping motor
- fixedly arranged
- gear
- support
- electric push
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M35/00—Devices for applying media, e.g. remedies, on the human body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/52—Arm-rests
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2210/00—Anatomical parts of the body
- A61M2210/04—Skin
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Anesthesiology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Vascular Medicine (AREA)
- Apparatus For Disinfection Or Sterilisation (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
An automatic injection robot comprises a base supporting part, an injection part, a disinfection part, a containing part, a transportation part and a fixed arm part, wherein an annular rack is fixedly arranged on a disc, a fourth slider is slidably arranged in an annular groove on the disc, a fourth stepping motor is arranged on the fourth slider to fixedly connect a motor shaft with a fourth gear, a first support is fixedly arranged on the fourth slider, a second rotating shaft is rotatably arranged in a circular hole of the first support, the fourth stepping motor is fixedly arranged on the first support to fixedly connect the motor shaft with the second rotating shaft, a first positioning block is fixedly arranged on the second rotating shaft, the bottom of a cylinder body of a second electric push rod is fixedly arranged on a second baffle, a telescopic rod of a hydraulic cylinder is fixedly connected with the first baffle, and the fixed injector part can do annular motion in the annular groove, under the drive of the fifth stepping motor, the fixed injector part can rotate, and multi-direction injection on a patient is realized.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an automatic injection robot.
Background
At present nurse's in-process of injecing for the patient, generally need disinfect to the patient with medical cotton swab, and handheld syringe disinfects for patient, under the many circumstances of patient, the injection task can not be accomplished to the efficient, the hoop motion that this device can realize the syringe accomplishes the injection to the patient, accomplish multi-direction injection through the hoop motion, it is more accurate more stable to make the injection, the injection quality has been improved, pick up the syringe through the device is automatic, make the machine realize full automatization work, the work efficiency is improved, the time is saved, the cost is reduced, lighten work for medical personnel.
Disclosure of Invention
Aiming at the problems, the invention provides an automatic injection robot, wherein an injector is placed on a support of a containing part, and a disinfection cotton swab is placed in a medical packing tray of the containing part, so that the device can be used for injecting and disinfecting patients, the injection and the disinfection are integrated, and the functions of the device are enriched.
The technical scheme adopted by the invention is as follows: an automatic injection robot comprises a base supporting part, an injection part, a disinfection part, a containing part, a transportation part and a fixed arm part, wherein a second supporting plate of the injection part is installed on a first supporting plate of the base supporting part, a fourth supporting plate of the disinfection part is fixedly installed on the other surface of the first supporting plate of the base supporting part, a telescopic cylinder of the transportation part is fixedly installed on a second sliding block of the base supporting part, a fixed arm part is fixedly installed on a seventh supporting plate of the transportation part, and a sixth supporting plate of the containing part is fixedly connected with a telescopic rod of a first electric push rod of the base supporting part.
Further, the base supporting part comprises a first supporting rod, a first rack, a first gear, a first supporting plate, a first sliding block, a first stepping motor, a first dovetail groove, a base supporting part bottom plate, a first electric push rod, a second gear, a second stepping motor, a second rack, a second dovetail groove and a second sliding block, the first supporting rod is fixedly arranged on the base supporting part bottom plate, the first rack is arranged on the first supporting rod, the first sliding block is slidably arranged in the first dovetail groove, the first stepping motor is arranged on the first sliding block, a motor shaft of the first stepping motor is fixedly connected with the first gear, the first gear is mutually meshed with the first rack, the first supporting plate is fixedly arranged on the first sliding block, the second rack is fixedly arranged on the base supporting part bottom plate, the second sliding block is slidably arranged in the second dovetail groove, the second stepping motor is arranged on the second sliding block, a motor shaft of the second stepping motor is fixedly connected with a second gear, so that the second gear is meshed with the second rack, and the bottom of the cylinder body of the first electric push rod is fixedly arranged on the bottom plate of the supporting part of the base.
Further, the injection part comprises a second support plate, a second support rod, a third dovetail groove, a third rack, a third slide block, a third stepping motor, a third gear, a third support rod, a first rotating shaft, a disk, an annular groove, an annular rack, a fourth stepping motor, a first support, a first positioning block, a fourth gear, a fourth slide block, a second rotating shaft, a third rotating shaft, a second positioning block, a second support, a first rotating device, a fifth stepping motor, a first baffle, a second electric push rod, a second baffle, a third support plate, a third baffle, a third electric push rod and a sixth stepping motor, wherein the second support plate is fixedly arranged on the second support plate, the third rack is fixedly arranged on the second support plate, the third slide block is slidably arranged in the third dovetail groove on the second support plate, the third slide block is arranged on the stepping motor, and a motor shaft is fixedly connected with the third gear, a third gear is meshed with a third rack, a third stepping motor is fixedly arranged on a third sliding block, a motor shaft is fixedly connected with a shaft at one end of a third supporting rod, a first rotating shaft at the other end of the third supporting rod is rotatably arranged in a circular hole of a disc, an annular rack is fixedly arranged on the disc, a fourth sliding block is slidably arranged in an annular groove on the disc, a fourth stepping motor is arranged on the fourth sliding block, the motor shaft is fixedly connected with a fourth gear, a first support is fixedly arranged on the fourth sliding block, a second rotating shaft is rotatably arranged in the circular hole of the first support, the fourth stepping motor is fixedly arranged on the first support, the motor shaft is fixedly connected with a second rotating shaft, a first positioning block is fixedly arranged on the second rotating shaft, the second support is fixedly arranged on the first positioning block, and the third rotating shaft is rotatably arranged in the circular hole of the second support, a sixth stepping motor is fixedly arranged on the second support to fixedly connect the motor shaft with the third rotating shaft, a second positioning block is fixedly arranged on the third rotating shaft, the first rotating device is fixedly arranged on the second sliding block, a fifth stepping motor is fixedly arranged on the first rotating device, a motor shaft of the hydraulic cylinder is fixedly connected with a gear, the gear is arranged in the first rotating device, the gear in the first rotating device is meshed with the gear of the fifth stepping motor, the third supporting plate is fixedly arranged on the first rotating device, the second baffle is fixedly arranged on two sides of the third supporting plate, the bottom of a cylinder body of the second electric push rod is fixedly arranged on the second baffle, a telescopic rod of the hydraulic cylinder is fixedly connected with the first baffle, the baffle of the hydraulic cylinder is fixedly arranged on the third baffle, the bottom of the cylinder body of the third electric push rod is fixedly arranged on the baffle of the hydraulic cylinder, and the telescopic rod is fixedly connected with the third baffle.
Further, the disinfection part comprises a fourth dovetail groove, a fourth rack, a fourth support plate, a fifth gear, a seventh stepping motor, a fifth slider, an eighth stepping motor, a second rotating device, a third support, a fourth rotating shaft, a third positioning block, a ninth stepping motor, a fifth rotating shaft, a ninth electric push rod, a fourth positioning block, a third rotating device, a tenth stepping motor, a fifth positioning block, an eleventh stepping motor, a fourth support, a fourth rotating device, a fourth electric push rod and a twelfth stepping motor, wherein the fourth rack is fixedly arranged on the fourth support plate, the fifth slider is slidably arranged in the fourth dovetail groove on the fourth support plate, the fifth slider is provided with the seventh stepping motor, a motor shaft is fixedly connected with the fifth gear so that the fifth gear is meshed with the fourth rack, the second rotating device is fixedly arranged on the fifth slider, an eighth stepping motor is fixedly arranged on a second rotating device, a motor shaft is fixedly connected with a gear, the second rotating device is internally provided with the gear, the gear is meshed with the gear of the eighth stepping motor, a third support is fixedly arranged on the second rotating device, a fourth rotating shaft is rotatably arranged in a circular hole of the third support, a twelfth stepping motor is fixedly arranged on the third support, the motor shaft is fixedly connected with the fourth rotating shaft, a third positioning block is fixedly arranged on the fourth rotating shaft, the bottom of a cylinder body of a fourth electric push rod is fixedly arranged on the third positioning block, a telescopic rod of the fourth electric push rod is fixedly connected with the fourth rotating device, the fourth rotating device is provided with the gear, a ninth stepping motor is fixedly arranged on the fourth rotating shaft device, the motor shaft of the ninth stepping motor is fixedly connected with the gear, the gear of the fourth rotating device is meshed with the gear of the ninth stepping motor, the fourth support is fixedly arranged on the fourth rotating device, the fifth rotating shaft is rotatably installed in a circular hole of the fourth support, the eleventh stepping motor is fixedly installed on the fourth support, so that a motor shaft is fixedly connected with the fifth rotating shaft, the fifth positioning block is fixedly installed on the fifth rotating shaft, the bottom of a cylinder body of the ninth electric push rod is fixedly installed on the fifth sliding block, a telescopic rod of the ninth electric push rod is fixedly connected with the third rotating device, a gear is arranged in the third rotating device, the tenth stepping motor is fixedly installed on the third rotating device, the motor shaft of the tenth stepping motor is fixedly connected with the gear, so that the gear in the point rotating device is meshed with the gear of the tenth emergency motor, the fourth positioning block is fixedly installed on the third rotating device, the sterilizing cylinder is fixedly installed on the fourth positioning block, the bottom of the cylinder body of the fifth electric push rod is fixedly installed on the inner wall of the sterilizing cylinder, and the telescopic rod is fixedly connected with the sixth positioning block.
Further, the containing part comprises an injector containing disc, a seventh positioning block, a fifth supporting plate, a sixth electric push rod, a sixth sliding block, a thirteenth stepping motor, a sixth gear, a bracket, a sixth supporting plate, a fifth dovetail groove and a fifth rack, the fifth rack is fixedly arranged on the sixth supporting plate, the sixth sliding block is slidably arranged in the fifth dovetail groove on the sixth supporting plate, a thirteenth stepping motor is arranged on the sixth sliding block, so that a motor shaft is fixedly connected with a sixth gear, the sixth gear is meshed with a fifth rack, the bottom of a cylinder body of a sixth electric push rod is fixedly arranged on the sixth sliding block, the telescopic rod is fixedly connected with the seventh positioning block, the fifth supporting plate is fixedly arranged on the seventh sliding block, a supporting rod is arranged on the fifth supporting plate, the injector containing disc is fixedly arranged on the supporting rod on the fifth supporting plate, and the bracket is fixedly arranged on the fifth supporting plate.
Further, the transportation part comprises a seventh supporting plate, a seventh electric push rod, an eighth supporting plate, an eighth positioning block, a ninth positioning block, a telescopic rod, a telescopic cylinder, an eighth electric push rod, a hydraulic cylinder baffle, a ninth supporting plate, a fourteenth stepping motor, a seventh gear, a sixth rotating shaft, a sixth rack and a tenth positioning block, wherein the hydraulic cylinder baffle is fixedly arranged on the telescopic cylinder, the bottom of a cylinder body of the eighth electric push rod is fixedly arranged on the hydraulic cylinder baffle, the telescopic rod is fixedly connected with the ninth positioning block, the telescopic rod is slidably arranged in the telescopic cylinder, the telescopic rod is provided with the eighth positioning block, the eighth positioning block is fixedly connected with the ninth positioning block, the telescopic rod is fixedly connected with the eighth supporting plate, the tenth positioning block is fixedly arranged on the eighth supporting plate, the tenth positioning block is provided with a circular hole, and the sixth rotating shaft is rotatably arranged in the circular hole of the tenth positioning block, the ninth supporting plate is fixedly arranged on the sixth rotating shaft, a fourteenth stepping motor is arranged on the ninth supporting plate, a motor shaft of the fourteenth stepping motor is fixedly connected with the seventh gear, so that the seventh gear is meshed with the sixth rack on the eighth supporting plate, the bottom of the cylinder body of the seventh electric push rod is fixedly arranged on the eighth supporting plate, and the telescopic rod of the seventh electric push rod is fixedly connected with the seventh supporting plate.
The invention has the beneficial effects that:
1. through placing the syringe on the support of splendid attire part, the disinfection cotton swab is placed in the medical one-tenth sabot of splendid attire part, and the device not only can inject and can also disinfect to the patient, makes injection and disinfection combine as an organic whole, richenes the function of device.
2. The third stepping motor and the fourth stepping motor of the injection part start to work, so that the injection part reaches a proper injection position, the fifth stepping motor and the sixth stepping motor start to operate, the injector performs annular motion to complete injection on a patient, multi-directional injection is completed through the annular motion, the injection is more accurate and stable, and the injection quality is improved.
3. The automatic syringe picking device has the advantages that the automatic syringe picking device can automatically pick up syringes, so that the full-automatic work of the machine is realized, the work efficiency is improved, the time is saved, the cost is reduced, and the workload of medical staff is reduced.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the base support portion of the present invention.
Fig. 3, 4 and 5 are schematic structural views of the injection part of the present invention.
Fig. 6 and 7 are schematic structural views of a sterilizing part of the present invention.
Fig. 8 is a schematic structural view of the container portion of the present invention.
Fig. 9 is a schematic view of the structure of the transport section of the present invention.
Figure 10 is a schematic representation of the results of securing a hand arm portion of the present invention.
Reference numerals: 1-base support part, 2-injection part, 3-disinfection part, 4-containing part, 5-transportation part, 6-fixed arm part, 101-first support rod, 102-first rack, 103-first gear, 104-first support plate, 105-first slide block, 106-first stepping motor, 107-first dovetail groove, 108-base support part bottom plate, 109-first electric push rod, 110-second gear, 111-second stepping motor, 112-second rack, 113-second dovetail groove, 114-second slide block, 201-second support plate, 202-second support rod, 203-third dovetail groove, 204-third rack, 205-third slide block, 206-third stepping motor, 207-third gear, 208-third support rod, 209-first rotating shaft, 210-disc, 211-annular groove, 212-annular rack, 213-fourth stepping motor, 214-first support, 215-first positioning block, 216-fourth gear, 217-fourth slider, 218-second rotating shaft, 219-third rotating shaft, 220-second positioning block, 221-second support, 222-first rotating device, 223-fifth stepping motor, 224-first baffle, 225-second electric push rod, 226-second baffle, 227-third support plate, 228-third baffle, 229-third electric push rod, 230-sixth stepping motor, 301-fourth dovetail groove, 302-fourth rack, 303-fourth support plate, etc, 304-fifth gear, 305-seventh stepping motor, 306-fifth slider, 307-eighth stepping motor, 308-second rotating device, 309-third support, 310-fourth rotating shaft, 311-third positioning block, 312-ninth stepping motor, 313-fifth rotating shaft, 314-ninth electric push rod, 315-fourth positioning block, 316-third rotating device, 317-tenth stepping motor, 318-fifth positioning block, 319-eleventh stepping motor, 320-fourth support, 321-fourth rotating device, 322-fourth electric push rod, 323-twelfth stepping motor, 324-disinfection cylinder, 325-sixth positioning block, 326-fifth electric push rod, 401-syringe containing disc, 402-seventh positioning block, 402-eighth positioning block, 403-a fifth support plate, 404-a sixth electric push rod, 405-a sixth sliding block, 406-a thirteenth stepping motor, 407-a sixth gear, 408-a support, 409-a sixth support plate, 410-a fifth dovetail groove, 411-a fifth rack, 501-a seventh support plate, 502-a seventh electric push rod, 503-an eighth support plate, 504-an eighth positioning block, 505-a ninth positioning block, 506-an expansion rod, 507-an expansion cylinder, 508-an eighth electric push rod, 509-a hydraulic cylinder baffle, 510-a ninth support plate, 511-a fourteenth stepping motor, 512-a seventh gear, 513-a sixth rotating shaft, 514-a sixth rack, 515-a tenth positioning block, 601-a fourth baffle, 602-a tenth support plate, 603-a fifth baffle, 604-ninth hydraulic cylinder, 605-eleventh support plate.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Embodiments as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, an automatic injection robot includes a base support part 1, an injection part 2, a sterilization part 3, a containing part 4, a transportation part 5, and a fixed arm part 6, wherein a second support plate 201 of the injection part 2 is mounted on a first support plate 104 of the base support part 1, a fourth support plate 303 of the sterilization part 3 is fixedly mounted on the other side of the first support plate 104 of the base support part 1, a telescopic cylinder 507 of the transportation part 5 is fixedly mounted on a second slider 114 of the base support part 1, the fixed arm part 6 is fixedly mounted on a seventh support plate 501 of the transportation part 5, and a sixth support plate 409 of the containing part 4 is fixedly connected with a telescopic rod of a first electric push rod 109 of the base support part 1.
In an alternative implementation of the embodiment of the present invention, the base supporting portion 1 includes: a base support part bottom plate 108, a support mechanism, a first electric push rod 109 and a sliding mechanism; the support mechanism includes: a first support rod 101, a first rack 102, a first gear 103, a first support plate 104, a first slider 105, a first stepping motor 106, and a first dovetail groove 107; the slide mechanism includes: a second gear 110, a second stepping motor 111, a second rack 112, a second dovetail groove 113 and a second slider 114, wherein the first supporting rod 101 is fixedly arranged on a base supporting part bottom plate 108, the first rack 102 is arranged on the first supporting rod 101, the first slider 105 is slidably arranged in the first dovetail groove 107, the first stepping motor 106 is arranged on the first slider 105, a motor shaft of the first stepping motor 106 is fixedly connected with the first gear 103, the first gear 103 is mutually engaged with the first rack 102, the first supporting plate 104 is fixedly arranged on the first slider 105, the second rack 112 is fixedly arranged on the base supporting part bottom plate 108, the second slider 114 is slidably arranged in the second dovetail groove 113, the second stepping motor 111 is arranged on the second slider 114, the motor shaft of the second stepping motor 111 is fixedly connected with the second gear 110, so that the second gear 110 is mutually engaged with the second rack 112, the bottom of the cylinder body of the first electric push rod 109 is fixedly arranged on the base support part bottom plate 108; the second slide block 114 is driven by the second stepping motor 111 to drive the transportation part 5 to move; the first support plate 104 is moved by the first stepping motor 106 to move the injection part 2 and the sterilization part 3.
In an alternative implementation of the embodiment of the present invention, the injection part 2 includes: a second support plate (201) and a movable injection mechanism; the movable injection mechanism comprises: a second support rod 202, a third dovetail groove 203, a third rack 204, a third slider 205, a third stepping motor 206, a third gear 207, a third support rod 208, a first rotating shaft 209, a disk 210, an annular groove 211, an annular rack 212, a fourth stepping motor 213, a first support 214, a first positioning block 215, a fourth gear 216, a fourth slider 217, a second rotating shaft 218, a third rotating shaft 219, a second positioning block 220, a second support 221, a first rotating device 222, a fifth stepping motor 223, a first baffle 224, a second electric push rod 225, a second baffle 226, a third support plate 227, a third baffle 228, a third electric push rod 229 and a sixth stepping motor 230; the second supporting rod 202 is fixedly arranged on the second supporting plate 201, the third rack 204 is fixedly arranged on the second supporting rod 202, the third slider 205 is slidably arranged in the third dovetail groove 203 on the second supporting rod 202, the third slider 205 is provided with a stepping motor, a motor shaft is fixedly connected with the third gear 207, so that the third gear 207 is meshed with the third rack 204, the third stepping motor 206 is fixedly arranged on the third slider 205, so that the motor shaft is fixedly connected with a shaft at one end of the third supporting rod 208, a first rotating shaft 209 at the other end of the third supporting rod 208 is rotatably arranged in a circular hole of the disc 210, the annular rack 212 is fixedly arranged on the disc 210, the fourth slider 217 is slidably arranged in an annular groove 211 on the disc 210, the fourth slider 217 is provided with a fourth stepping motor 213, so that the motor shaft is fixedly connected with the fourth gear 216, and the first support 214 is fixedly arranged on the fourth slider 217, a second rotating shaft 218 is rotatably installed in the circular hole of the first support 214, a fourth stepping motor 213 is fixedly installed on the first support 214, so that the motor shaft is fixedly connected with the second rotating shaft 218, a first positioning block 215 is fixedly installed on the second rotating shaft 218, a second support 221 is fixedly installed on the first positioning block 215, a third rotating shaft 219 is rotatably installed in the circular hole of the second support 221, a sixth stepping motor 230 is fixedly installed on the second support 221, so that the motor shaft is fixedly connected with the third rotating shaft 219, a second positioning block 220 is fixedly installed on the third rotating shaft 219, a first rotating device 222 is fixedly installed on the second positioning block 220, a fifth stepping motor 223 is fixedly installed on the first rotating device 222, the motor shaft thereof is fixedly connected with the gear, a gear is arranged in the first rotating device 222, so that the gear in the first rotating device 222 is engaged with the gear of the fifth stepping motor 223, a third supporting plate 227 is fixedly arranged on the first rotating device 222, second baffle plates 226 are fixedly arranged on two sides of the third supporting plate 227, the bottom of a cylinder body of a second electric push rod 225 is fixedly arranged on the second baffle plates 226, an expansion rod of a hydraulic cylinder is fixedly connected with the first baffle plates 224, the baffle plates of the hydraulic cylinder are fixedly arranged on third baffle plates 228, the bottom of the cylinder body of a third electric push rod 229 is fixedly arranged on the baffle plates of the hydraulic cylinder, and the expansion rod of the third electric push rod is fixedly connected with the third baffle plates 228; the injection is performed by the third, fourth, fifth, second, third and sixth stepping motors 206, 213, 223, 225, 229 and 230.
In an alternative embodiment of the present invention, the sterilizing part 3 includes: a fourth dovetail groove 301, a fourth rack 302, a fourth support plate 303, and a sterilizing mechanism; disinfection mechanism includes: a fifth gear 304, a seventh stepping motor 305, a fifth slider 306, an eighth stepping motor 307, a second rotating device 308, a third support 309, a fourth rotating shaft 310, a third positioning block 311, a ninth stepping motor 312, a fifth rotating shaft 313, a ninth electric push rod 314, a fourth positioning block 315, a third rotating device 316, a tenth stepping motor 317, a fifth positioning block 318, an eleventh stepping motor 319, a fourth support 320, a fourth rotating device 321, a fourth electric push rod 322, a twelfth stepping motor 323, a sterilizing barrel 324, a sixth positioning block 325, and a fifth electric push rod 326; the fourth rack 302 is fixedly arranged on the fourth supporting plate 303, the fifth slider 306 is slidably arranged in the fourth dovetail groove 301 on the fourth supporting plate 303, the fifth slider 306 is arranged on the seventh stepping motor 305, the motor shaft is fixedly connected with the fifth gear 304, so that the fifth gear 304 is meshed with the fourth rack 302, the second rotating device 308 is fixedly arranged on the fifth slider 306, the eighth stepping motor 307 is fixedly arranged on the second rotating device 308, so that the motor shaft is fixedly connected with the gear, a gear is arranged in the second rotating device 308, so that the gear is meshed with the gear of the eighth stepping motor 307, the third support 309 is fixedly arranged on the second rotating device 308, the fourth rotating shaft 310 is rotatably arranged in a circular hole of the third support 309, the twelfth stepping motor 323 is fixedly arranged on the third support 309, so that the motor shaft is fixedly connected with the fourth rotating shaft 310, the third positioning block 311 is fixedly arranged on the fourth rotating shaft 310, the bottom of the cylinder body of the fourth electric push rod 322 is fixedly arranged on the third positioning block 311, the telescopic rod thereof is fixedly connected with the fourth rotating device 321, a gear is arranged in the fourth rotating device 321, the ninth stepping motor 312 is fixedly arranged on the fourth rotating device 321, the motor shaft thereof is fixedly connected with the gear, the gear in the fourth rotating device 321 is meshed with the gear of the ninth stepping motor 312, the fourth support 320 is fixedly arranged on the fourth rotating device 321, the fifth rotating shaft 313 is rotatably arranged in the circular hole of the fourth support 320, the eleventh stepping motor 319 is fixedly arranged on the fourth support 320, so that the motor shaft is fixedly connected with the fifth rotating shaft 313, the fifth positioning block 318 is fixedly arranged on the fifth rotating shaft 313, the bottom of the cylinder body of the ninth electric push rod 314 is fixedly arranged on the fifth slide block 306, the telescopic rod thereof is fixedly connected with the third rotating device 316, and the gear is arranged in the third rotating device 316, a tenth stepping motor 317 is fixedly arranged on the third rotating device 316, a motor shaft of the tenth stepping motor 317 is fixedly connected with a gear, so that the gear in the third rotating device 316 is meshed with the gear of the tenth stepping motor 317, a fourth positioning block 315 is fixedly arranged on the third rotating device 316, a disinfection cylinder 324 is fixedly arranged on the fourth positioning block 315, the bottom of a cylinder body of a fifth electric push rod 326 is fixedly arranged on the inner wall of the disinfection cylinder 324, a telescopic rod of the fifth electric push rod is fixedly connected with a sixth positioning block 325, and a disinfection spraying device is arranged inside the disinfection cylinder 324; the sterilizing spray device on the sterilizing cylinder 324 is driven to sterilize through the coordinated operation of the whole sterilizing part 3.
In an optional implementation manner of the embodiment of the present invention, the containing part 4 includes: a sixth supporting plate 409, a fifth dovetail groove 410, a fifth rack 411 and an injector storage mechanism; the syringe storage mechanism includes: a syringe containing disc 401, a seventh positioning block 402, a fifth supporting plate 403, a sixth electric push rod 404, a sixth slide block 405, a thirteenth stepping motor 406, a sixth gear 407 and a bracket 408, the fifth rack 411 is fixedly installed on the sixth supporting plate 409, the sixth slider 405 is slidably installed in the fifth dovetail groove 410 of the sixth supporting plate 409, a thirteenth stepping motor 406 is arranged on the sixth sliding block 405, so that the motor shaft is fixedly connected with a sixth gear 407, the sixth gear 407 is meshed with a fifth rack 411, the bottom of the cylinder body of the sixth electric push rod 404 is fixedly arranged on the sixth sliding block 405, the telescopic rod is fixedly connected with the seventh positioning block 402, the fifth supporting plate 403 is fixedly arranged on the seventh positioning block 402, a supporting rod is arranged on the fifth supporting plate 403, the injector containing plate 401 is fixedly arranged on the supporting rod on the fifth supporting plate 403, and the bracket 408 is fixedly arranged on the fifth supporting plate 403; the sterile cotton swab and syringe are placed in the syringe holding tray 401 and rack 408 of the holding section 4 and brought into position by the sixth motorized push rod 404 and the thirteenth stepper motor 406.
In an optional implementation manner of the embodiment of the present invention, the transportation portion 5 includes: a seat portion and a telescoping portion; the seat portion includes: a seventh supporting plate 501, a seventh electric putter 502, an eighth supporting plate 503, a ninth supporting plate 510, a fourteenth stepping motor 511, a seventh gear 512, a sixth rotating shaft 513, a sixth rack 514, and a tenth positioning block 515; the telescopic part includes: an eighth positioning block 504, a ninth positioning block 505, a telescopic rod 506, a telescopic cylinder 507, an eighth electric push rod 508 and a hydraulic cylinder baffle 509; the hydraulic cylinder baffle 509 is fixedly arranged on the telescopic cylinder 507, the bottom of the cylinder body of the eighth electric push rod 508 is fixedly arranged on the hydraulic cylinder baffle 509, the telescopic rod 506 is fixedly connected with the ninth positioning block 505, the telescopic rod 506 is slidably arranged in the telescopic cylinder 507, the telescopic rod 506 is provided with the eighth positioning block 504, so that the eighth positioning block 504 is fixedly connected with the ninth positioning block 505, the telescopic rod 506 is fixedly connected with the eighth supporting plate 503, the tenth positioning block 515 is fixedly arranged on the eighth supporting plate 503, the tenth positioning block 515 is provided with a circular hole, the sixth rotating shaft 513 is rotatably arranged in the circular hole of the tenth positioning block 515, the ninth supporting plate 510 is fixedly arranged on the sixth rotating shaft 513, the ninth supporting plate 510 is provided with a fourteenth stepping motor 511, a motor shaft of the fourteenth stepping motor is fixedly connected with the seventh gear 512, so that the seventh gear 512 is mutually meshed with the sixth rack 514 on the eighth supporting plate 503, the bottom of the cylinder body of the seventh electric push rod 502 is fixedly arranged on the eighth supporting plate 503, and the telescopic rod of the seventh electric push rod is fixedly connected with the seventh supporting plate 501; the patient sits on the eighth supporting plate 503, and the position of the patient is adjusted through the eighth electric push rod 508, the seventh electric push rod 502 and the fourteenth stepping motor to facilitate the injection.
In an alternative embodiment of the present invention, the fixed arm part 6 comprises: an eleventh support plate 605 and a fixing mechanism; the fixing mechanism includes: the hydraulic cylinder comprises a fourth baffle 601, a tenth supporting plate 602, a fifth baffle 603 and a ninth hydraulic cylinder 604, wherein the tenth supporting plate 602 is fixedly arranged at two ends of an eleventh supporting plate 605, the fourth baffle 601 is fixedly arranged at two ends of the tenth supporting plate 602, the bottom of a cylinder body of the ninth hydraulic cylinder 604 is fixedly arranged on the fourth baffle 601, and an expansion rod of the ninth hydraulic cylinder is fixedly connected with the fifth baffle 603.
The invention at least comprises the following advantages:
when the medical care personnel uses the invention, firstly, the medical care personnel places the sterilized cotton swabs and the syringe in the syringe containing tray 401 and the bracket 408 of the containing part 4, the patient sits on the eighth supporting plate 503 of the transportation part 5, the left arm is placed on the eleventh supporting plate 605 of the arm fixing part 6, the ninth hydraulic cylinder 604 starts to work to fix the arm of the patient by the fifth baffle 603, the second stepping motor 111 of the base supporting part 1 starts to operate to drive the patient to reach the proper injection position, the eighth stepping motor 307, the ninth stepping motor 312 and the tenth stepping motor 317 of the sterilizing part 3 start to operate to drive the sterilizing part 3 to reach the position of the syringe containing tray 401, the fifth electric push rod 326 starts to work to enable the sixth positioning block 325 to clamp the sterilized cotton swabs and move the sterilized swabs to the hands of the patient to sterilize the patient, and simultaneously the third stepping motor 206, the fifth stepping motor 317 and the sixth stepping motor of the injection part 2 start to sterilize the patient, The fourth stepping motor 213 starts to operate to make the injection part reach the bracket 408 of the containing part 4, and the second electric push rod 225 and the third electric push rod 229 start to work, so that the first baffle 224 picks up the injector and moves the injector to the hand of the patient to inject the medicine to the patient.
Claims (1)
1. An automatic injection robot comprises a base supporting part (1), an injection part (2) and a disinfection part (3), the injection part comprises a containing part (4), a transporting part (5) and a fixed arm part (6), wherein a second supporting plate (201) of the injection part (2) is installed on a first supporting plate (104) of a base supporting part (1), a fourth supporting plate (303) of the disinfection part (3) is fixedly installed on the other surface of the first supporting plate (104) of the base supporting part (1), a telescopic cylinder (507) of the transporting part (5) is fixedly installed on a second sliding block (114) of the base supporting part (1), the fixed arm part (6) is fixedly installed on a seventh supporting plate (501) of the transporting part (5), and a sixth supporting plate (409) of the containing part (4) is fixedly connected with a telescopic rod of a first electric push rod (109) of the base supporting part (1);
the base support portion (1) comprises: a base support part bottom plate (108), a support mechanism, a first electric push rod (109) and a sliding mechanism; the support mechanism includes: the device comprises a first supporting rod (101), a first rack (102), a first gear (103), a first supporting plate (104), a first sliding block (105), a first stepping motor (106) and a first dovetail groove (107); the slide mechanism includes: a second gear (110), a second stepping motor (111), a second rack (112), a second dovetail groove (113) and a second sliding block (114), wherein the first supporting rod (101) is fixedly arranged on a base supporting part bottom plate (108), the first rack (102) is arranged on the first supporting rod (101), the first sliding block (105) is slidably arranged in the first dovetail groove (107), the first stepping motor (106) is arranged on the first sliding block (105), a motor shaft of the first stepping motor (106) is fixedly connected with the first gear (103), the first gear (103) is meshed with the first rack (102), the first supporting plate (104) is fixedly arranged on the first sliding block (105), the second rack (112) is fixedly arranged on the base supporting part bottom plate (108), the second sliding block (114) is slidably arranged in the second dovetail groove (113), and the second stepping motor (111) is arranged on the second sliding block (114), a motor shaft of a second stepping motor (111) is fixedly connected with a second gear (110) to enable the second gear (110) to be meshed with a second rack (112), and the bottom of a cylinder body of a first electric push rod (109) is fixedly arranged on a base support part bottom plate (108); the second stepping motor (111) drives the second sliding block (114) to further drive the transportation part (5) to move; the first support plate (104) is driven by the first stepping motor (106) to drive the injection part (2) and the disinfection part (3) to move;
the injection part (2) comprises: a second support plate ((201)) and a movable injection mechanism; the movable injection mechanism comprises: a second support rod (202), a third dovetail groove (203), a third rack (204), a third slider (205), a third stepping motor (206), a third gear (207), a third support rod (208), a first rotating shaft (209), a disk (210), an annular groove (211), an annular rack (212), a fourth stepping motor (213), a first support (214), a first positioning block (215), a fourth gear (216), a fourth slider (217), a second rotating shaft (218), a third rotating shaft (219), a second positioning block (220), a second support (221), a first rotating device (222), a fifth stepping motor (223), a first baffle (224), a second electric push rod (225), a second baffle (226), a third support plate (227), a third baffle (228), a third electric push rod (229) and a sixth stepping motor (230); the second supporting rod (202) is fixedly arranged on the second supporting plate (201), a third rack (204) is fixedly arranged on the second supporting rod (202), a third slider (205) is slidably arranged in a third dovetail groove (203) on the second supporting rod (202), a stepping motor is arranged on the third slider (205), a motor shaft is fixedly connected with a third gear (207) to enable the third gear (207) and the third rack (204) to be meshed with each other, the third stepping motor (206) is fixedly arranged on the third slider (205) to enable the motor shaft to be fixedly connected with a shaft at one end of the third supporting rod (208), a first rotating shaft (209) at the other end of the third supporting rod (208) is rotatably arranged in a circular hole of the disc (210), an annular rack (212) is fixedly arranged on the disc (210), and a fourth slider (217) is slidably arranged in an annular groove (211) on the disc (210), a fourth stepping motor (213) is arranged on a fourth sliding block (217), a motor shaft is fixedly connected with a fourth gear (216), a first support (214) is fixedly arranged on the fourth sliding block (217), a second rotating shaft (218) is rotatably arranged in a circular hole of the first support (214), the fourth stepping motor (213) is fixedly arranged on the first support (214), the motor shaft is fixedly connected with a second rotating shaft (218), a first positioning block (215) is fixedly arranged on the second rotating shaft (218), a second support (221) is fixedly arranged on the first positioning block (215), a third rotating shaft (219) is rotatably arranged in a circular hole of the second support (221), a sixth stepping motor (230) is fixedly arranged on the second support (221), the motor shaft is fixedly connected with the third rotating shaft (219), and a second positioning block (220) is fixedly arranged on the third rotating shaft (219), a first rotating device (222) is fixedly arranged on the second positioning block (220), a fifth stepping motor (223) is fixedly arranged on the first rotating device (222), a motor shaft of the hydraulic cylinder is fixedly connected with a gear, the gear is arranged in a first rotating device (222), the gear in the first rotating device (222) is meshed with the gear of a fifth stepping motor (223), a third supporting plate (227) is fixedly arranged on the first rotating device (222), second baffle plates (226) are fixedly arranged on two sides of the third supporting plate (227), the bottom of a cylinder body of a second electric push rod (225) is fixedly arranged on the second baffle plate (226), an expansion rod of the hydraulic cylinder is fixedly connected with a first baffle plate (224), the baffle plate of the hydraulic cylinder is fixedly arranged on the third baffle plate (228), the bottom of the cylinder body of a third electric push rod (229) is fixedly arranged on the baffle plate of the hydraulic cylinder, and the expansion rod of the third electric push rod is fixedly connected with the third baffle plate (228); the injection is realized through a third stepping motor (206), a fourth stepping motor (213), a fifth stepping motor (223), a second electric push rod (225), a third electric push rod (229) and a sixth stepping motor (230);
the sterilizing part (3) comprises: a fourth dovetail groove (301), a fourth rack (302), a fourth support plate (303) and a disinfection mechanism; disinfection mechanism includes: a fifth gear (304), a seventh stepping motor (305), a fifth slider (306), an eighth stepping motor (307), a second rotating device (308), a third support (309), a fourth rotating shaft (310), a third positioning block (311), a ninth stepping motor (312), a fifth rotating shaft (313), a ninth electric push rod (314), a fourth positioning block (315), a third rotating device (316), a tenth stepping motor (317), a fifth positioning block (318), an eleventh stepping motor (319), a fourth support (320), a fourth rotating device (321), a fourth electric push rod (322), a twelfth stepping motor (323), a sterilizing barrel (324), a sixth positioning block (325) and a fifth electric push rod (326); the fourth rack (302) is fixedly arranged on the fourth supporting plate (303), a fifth slider (306) is slidably arranged in a fourth dovetail groove (301) on the fourth supporting plate (303), a seventh stepping motor (305) is arranged on the fifth slider (306), a motor shaft is fixedly connected with a fifth gear (304) to enable the fifth gear (304) and the fourth rack (302) to be meshed with each other, a second rotating device (308) is fixedly arranged on the fifth slider (306), an eighth stepping motor (307) is fixedly arranged on the second rotating device (308) to enable the motor shaft to be fixedly connected with the gear, the second rotating device (308) is internally provided with the gear to enable the gear to be meshed with the gear of the eighth stepping motor (307), a third support (309) is fixedly arranged on the second rotating device (308), a fourth rotating shaft (310) is rotatably arranged in a circular hole of the third support (309), a twelfth stepping motor (323) is fixedly arranged on a third support (309) to fixedly connect a motor shaft with a fourth rotating shaft (310), a third positioning block (311) is fixedly arranged on the fourth rotating shaft (310), the bottom of a cylinder body of a fourth electric push rod (322) is fixedly arranged on the third positioning block (311), an expansion link of the twelfth stepping motor is fixedly connected with a fourth rotating device (321), a gear is arranged in the fourth rotating device (321), a ninth stepping motor (312) is fixedly arranged on the fourth rotating device (321), the motor shaft of the ninth stepping motor is fixedly connected with the gear, the gear in the fourth rotating device (321) is mutually meshed with the gear of the ninth stepping motor (312), the fourth support (320) is fixedly arranged on the fourth rotating device (321), a fifth rotating shaft (313) is rotatably arranged in a circular hole of the fourth support (320), and an eleventh stepping motor (319) is fixedly arranged on the fourth support (320), a motor shaft is fixedly connected with a fifth rotating shaft (313), a fifth positioning block (318) is fixedly arranged on the fifth rotating shaft (313), the bottom of a cylinder body of a ninth electric push rod (314) is fixedly arranged on a fifth sliding block (306), an expansion link of the ninth electric push rod is fixedly connected with a third rotating device (316), a gear is arranged in the third rotating device (316), a tenth stepping motor (317) is fixedly arranged on the third rotating device (316), the motor shaft of the tenth stepping motor is fixedly connected with the gear, the gear in the third rotating device (316) is meshed with the gear of the tenth stepping motor (317), a fourth positioning block (315) is fixedly arranged on the third rotating device (316), a sterilizing cylinder (324) is fixedly arranged on the fourth positioning block (315), the bottom of the cylinder body of the fifth electric push rod (326) is fixedly arranged on the inner wall of the sterilizing cylinder (324), and the expansion link of the fifth electric push rod is fixedly connected with a sixth positioning block (325), a disinfection spraying device is arranged inside the disinfection cylinder (324); the disinfection spraying device on the disinfection cylinder (324) is driven to disinfect through the integral coordination work of the disinfection part (3);
the containing part (4) comprises: a sixth supporting plate (409), a fifth dovetail groove (410), a fifth rack (411) and an injector storage mechanism; the syringe storage mechanism includes: a syringe containing disc (401), a seventh positioning block (402), a fifth supporting plate (403), a sixth electric push rod (404), a sixth slider (405), a thirteenth stepping motor (406), a sixth gear (407) and a bracket (408), wherein the fifth rack (411) is fixedly arranged on the sixth supporting plate (409), the sixth slider (405) is slidably arranged in a fifth dovetail groove (410) on the sixth supporting plate (409), the sixth slider (405) is provided with the thirteenth stepping motor (406) to fixedly connect a motor shaft with the sixth gear (407), the sixth gear (407) is meshed with the fifth rack (411), the bottom of a cylinder body of the sixth electric push rod (404) is fixedly arranged on the sixth slider (405), the cylinder body is fixedly connected with the seventh positioning block (402), the fifth supporting plate (403) is fixedly arranged on the seventh positioning block (402), and a supporting rod is arranged on the fifth supporting plate (403), fixedly mounting the injector containing disc (401) on a support rod on a fifth support plate (403), and fixedly mounting the bracket (408) on the fifth support plate (403); placing the sterilized cotton swab and the syringe in a syringe containing disc (401) and a bracket (408) of a containing part (4), and bringing the sterilized cotton swab and the syringe to proper positions through a sixth electric push rod (404) and a thirteenth stepping motor (406);
the transport section (5) comprises: a seat portion and a telescoping portion; the seat portion includes: a seventh supporting plate (501), a seventh electric push rod (502), an eighth supporting plate (503), a ninth supporting plate (510), a fourteenth stepping motor (511), a seventh gear (512), a sixth rotating shaft (513), a sixth rack (514) and a tenth positioning block (515); the telescopic part includes: an eighth positioning block (504), a ninth positioning block (505), a telescopic rod (506), a telescopic cylinder (507), an eighth electric push rod (508) and a hydraulic cylinder baffle (509); the hydraulic cylinder baffle (509) is fixedly arranged on the telescopic cylinder (507), the bottom of a cylinder body of the eighth electric push rod (508) is fixedly arranged on the hydraulic cylinder baffle (509), a telescopic rod (506) of the hydraulic cylinder baffle is fixedly connected with a ninth positioning block (505), the telescopic rod (506) is slidably arranged in the telescopic cylinder (507), the telescopic rod (506) is provided with the eighth positioning block (504), the eighth positioning block (504) is fixedly connected with the ninth positioning block (505), the telescopic rod (506) is fixedly connected with an eighth supporting plate (503), the tenth positioning block (515) is fixedly arranged on the eighth supporting plate (503), a circular hole is formed in the tenth positioning block (515), a sixth rotating shaft (513) is rotatably arranged in the circular hole of the tenth positioning block (515), the ninth supporting plate (510) is fixedly arranged on the sixth rotating shaft (513), the fourteenth stepping motor (511) is arranged on the ninth supporting plate (510), a motor shaft of the seventh electric push rod (502) is fixedly connected with a seventh gear (512) to enable the seventh gear (512) to be meshed with a sixth rack (514) on an eighth supporting plate (503), the bottom of a cylinder body of the seventh electric push rod (502) is fixedly arranged on the eighth supporting plate (503), and an expansion rod of the seventh electric push rod is fixedly connected with the seventh supporting plate (501); the patient sits on the eighth supporting plate (503), and the position of the patient is adjusted through the eighth electric push rod (508), the seventh electric push rod (502) and the fourteenth stepping motor to facilitate injection;
said fixed arm part (6) comprising: an eleventh support plate (605) and a fixing mechanism; the fixing mechanism includes: the hydraulic support comprises a fourth baffle (601), a tenth support plate (602), a fifth baffle (603) and a ninth hydraulic cylinder (604), wherein the tenth support plate (602) is fixedly arranged at two ends of an eleventh support plate (605), the fourth baffle (601) is fixedly arranged at two ends of the tenth support plate (602), the bottom of a cylinder body of the ninth hydraulic cylinder (604) is fixedly arranged on the fourth baffle (601), and an expansion rod of the ninth hydraulic cylinder is fixedly connected with the fifth baffle (603).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010409516.7A CN111529911B (en) | 2020-05-14 | 2020-05-14 | Automatic change robot of injecing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010409516.7A CN111529911B (en) | 2020-05-14 | 2020-05-14 | Automatic change robot of injecing |
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| CN111529911B true CN111529911B (en) | 2022-03-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112426592B (en) * | 2020-12-01 | 2021-07-02 | 青岛大学附属医院 | Ankle gout processor for internal medicine clinical use and use method thereof |
| CN114796734B (en) * | 2021-08-06 | 2024-01-30 | 深圳橄榄健康信息有限公司 | Automatic vaccination platform |
| CN115192880B (en) * | 2022-07-26 | 2024-01-30 | 湖州学院 | Automatic intelligent degassing unit of injection |
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| FI126653B (en) * | 2013-11-08 | 2017-03-31 | Newlcon Oy | Method and apparatus for operating a syringe and for dissolving a drug in a liquid |
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| KR101365269B1 (en) * | 2012-10-25 | 2014-03-13 | 배원규 | Apparatus for dispensing radio-pharmaceuticals and measuring radiation dosage of it |
| CN105056347A (en) * | 2015-07-21 | 2015-11-18 | 于正鹏 | Automatic drug injector |
| CN107019828A (en) * | 2017-04-19 | 2017-08-08 | 周佰利 | A kind of sodium hyaluronate injects beautifying machine people |
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| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xue Mei Inventor after: Wang Yue Inventor after: Zhao Xiao Inventor after: Li Jun Inventor before: Li Jun |
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Effective date of registration: 20220218 Address after: 266000 No. 1 Jiaozhou Road, North District, Qingdao City, Shandong Province Applicant after: QINGDAO MUNICIPAL Hospital Address before: 075000 2103, unit 3, building 8, fujingyuan community, Qiaodong District, Zhangjiakou City, Hebei Province Applicant before: Li Jun |
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