CN105833383B - A kind of automatic infusion robot - Google Patents
A kind of automatic infusion robot Download PDFInfo
- Publication number
- CN105833383B CN105833383B CN201610337300.8A CN201610337300A CN105833383B CN 105833383 B CN105833383 B CN 105833383B CN 201610337300 A CN201610337300 A CN 201610337300A CN 105833383 B CN105833383 B CN 105833383B
- Authority
- CN
- China
- Prior art keywords
- fixed
- hinged
- plate
- bottle
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
-
- 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
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/1407—Infusion of two or more substances
-
- 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
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
- A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
-
- 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
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- 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
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
- A61M2205/3327—Measuring
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Hematology (AREA)
- Vascular Medicine (AREA)
- Anesthesiology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Nursing (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The present invention provides a kind of automatic infusion robot, including column, upper plate, triangle reversing frame etc., and the column is set on the base, and the upper plate is fixed at the top of column；The triangle reversing frame includes central rotating shaft, connecting plate, cone-shaped hood, the first hinged-support, the second hinged-support, the connecting plate quantity is 3 and is evenly arranged on around central rotating shaft, the cone-shaped hood is used to place infusion bottle, is vertically arranged in the end of connecting plate；The present invention, as monitoring sensor, can have found whether the medical fluid in infusion bottle is finished by laser pickoff in time, will not cause danger patient is in the case where entering sleep.
Description
Technical field
The present invention relates to medical robot technical field, in particular to a kind of automatic infusion robot.
Background technique
Infusion (intravenous drip) is one of common treatment means of modern medicine, with the continuous increasing for number of being infused in hospital
Adding, the workload of doctor is also increasing, as soon as the secondary defeated 2-3 bottles of liquid medicine of most of patient, is often finished one bottle and needs doctor more
It changes once, i.e., syringe needle from extracting and being inserted into a new bottle in the empty bottle being finished, this movement is simultaneously uncomplicated, but is the need for
People's real-time monitoring will generate the unsafe conditions such as blood back if especially nobody looks after in the case where patient is sleeping.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of automatic infusion robot, passed by laser pickoff as monitoring
Sensor, can find whether the medical fluid in infusion bottle is finished in time, will not occur patient is in the case where entering sleep
It is dangerous.
Technical solution used in the present invention is: a kind of automatic infusion robot, including pedestal, column, upper plate, three angular convolutions
Pivoted frame, servo motor, driving gear, driven gear, spring, adjustable shelf, infusion bottle, pull rod, handle, syringe needle, parallel air gripper, cunning
Block, laser emitter, electric cylinders, the first fixed plate, guide rail, sensor stand, vertical plate, the second fixed plate, laser pickoff, it is special
Sign is: the column is set on the base, and the upper plate is fixed at the top of column；During the triangle reversing frame includes
Heart shaft, connecting plate, cone-shaped hood, the first hinged-support, the second hinged-support, the connecting plate quantity are 3 and are evenly arranged on center
Around shaft, the cone-shaped hood is used to place infusion bottle, is vertically arranged in the end of connecting plate, first hinged-support
Cone-shaped hood two sides are symmetricly set on the second hinged-support, the central rotating shaft is rotatably installed in upper plate medium position, described
Driven gear is fixed on central rotating shaft lower part；The servo motor is vertically fixed on upper plate lower part, and the driving gear is solid
It is scheduled on the motor shaft of servo motor, the driving gear intermeshes with driven gear；
The adjustable shelf includes pin shaft, support frame, spring spool, fixed frame, hook, and the pin shaft setting is supporting
On the left of frame, the spring spool setting in support frame top center position, the fixed mount setting on spring spool top,
The hook is arranged on the right side of support frame, and the adjustable shelf is mounted in the first hinged-support by pin shaft, on the handle
End is hinged on the second hinged-support, and the pull rod lower end is hinged on the middle of the handle position, and upper end is hung on hook, passes through handle
The connection between pull rod and hook can be released；The spring slide is mounted in spring spool, and the top of spring is fixed on
Fixed frame lower part, the spring are used to compress infusion bottle；
The vertical plate is vertically arranged in front edge of board, guide rail is arranged in vertical plate side vertical, the sliding block slides peace
On guide rail, in vertical plate lower part, the cylinder body of the electric cylinders is fixed on the first fixing plate for the first fixed plate setting,
The end of the telescopic rod of the electric cylinders is connect with sliding block, and parallel air gripper is arranged in the sliding block side horizontal, and described is parallel
Two fingers of pneumatic clamper are used to clamp the syringe needle of perfusion tube；
The sensor stand is connected to vertical plate side by the second fixed plate, and the laser emitter and laser connect
It receives device and is separately positioned on sensor stand two sides, the laser beam that laser emitter issues is irradiated to laser pick-off after perfusion tube
On device.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that
1. the present invention, as monitoring sensor, can have found whether the medical fluid in infusion bottle is defeated by laser pickoff in time
It is complete, it will not cause danger patient is in the case where entering sleep.
2. reliable and stable using the parallel air gripper clamping syringe needle that can be gone up and down.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2, Fig. 5 are superstructure schematic diagram of the invention.
Fig. 3 is adjustable shelf structural schematic diagram of the invention.
Fig. 4 is laser emitter scheme of installation of the invention.
Fig. 6 is triangle reversing frame structural schematic diagram of the invention.
Drawing reference numeral: 1- pedestal；2- column；3- upper plate；4- triangle reversing frame；5- servo motor；6- driving gear；7- from
Moving gear；8- spring；9- adjustable shelf；10- infusion bottle；11- pull rod；12- handle；13- syringe needle；14- parallel air gripper；15- sliding block；
16- laser emitter；17- electric cylinders；The first fixed plate of 18-；19 guide rails；20- sensor stand；21- vertical plate；22- second is fixed
Plate；23- laser pickoff；401- central rotating shaft；402- connecting plate；403- cone-shaped hood；The first hinged-support of 404-；405- second is cut with scissors
Support；901- pin shaft；902- support frame；903- spring spool；904- fixed frame；905- hook.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of automatic infusion robot, including pedestal 1, column 2, upper plate
3, triangle reversing frame 4, servo motor 5, driving gear 6, driven gear 7, spring 8, adjustable shelf 9, infusion bottle 10, pull rod 11,
Hand 12, syringe needle 13, parallel air gripper 14, sliding block 15, laser emitter 16, electric cylinders 17, the first fixed plate 18, guide rail 19, sensor
Bracket 20, vertical plate 21, the second fixed plate 22, laser pickoff 23, it is characterised in that: the column 2 is arranged on pedestal 1,
The upper plate 3 is fixed on 2 top of column；The triangle reversing frame 4 includes central rotating shaft 401, connecting plate 402, cone-shaped hood
403, the first hinged-support 404, the second hinged-support 405,402 quantity of connecting plate are 3 and are evenly arranged on central rotating shaft 401 weeks
It encloses, the cone-shaped hood 403 is used to place infusion bottle 10, is vertically arranged in the end of connecting plate 402, described first is hinged
Seat 404 and the second hinged-support 405 are symmetricly set on 403 two sides of cone-shaped hood, and the central rotating shaft 401 is rotatably installed in upper plate 3
Medium position, the driven gear 7 are fixed on 401 lower part of central rotating shaft；The servo motor 5 is vertically fixed on upper plate 3
Lower part, the driving gear 6 are fixed on the motor shaft of servo motor 5, and the driving gear 6 and driven gear 7 are mutual
Engagement；
The adjustable shelf 9 includes pin shaft 901, support frame 902, spring spool 903, fixed frame 904, hook 905, described
The setting of pin shaft 901 in the left side of support frame 902, the spring spool 903 is arranged in 902 top center position of support frame, institute
The setting of fixed frame 904 stated is on 903 top of spring spool, and the setting of hook 905 is in 902 right side of support frame, the work
Moving frame 9 is mounted in the first hinged-support 404 by pin shaft 901, and 12 upper end of handle is hinged on the second hinged-support 405, institute
11 lower end of pull rod stated is hinged on 12 medium position of handle, and upper end is hung on hook 905, can release pull rod 11 by handle 12
With the connection between hook 905；The spring 8 is slidably mounted in spring spool 903, and the top of spring 8 is fixed on fixation
904 lower part of frame, the spring 8 are used to compress infusion bottle 10；
The vertical plate 21 is vertically arranged in 3 front end of upper plate, and guide rail 19, the sliding block is arranged in 21 side vertical of vertical plate
15 are slidably installed on rails 19, and in 21 lower part of vertical plate, the cylinder body of the electric cylinders 17 is solid for the first fixed plate 18 setting
It is scheduled in the first fixed plate 18, the end of the telescopic rod of the electric cylinders 17 is connect with sliding block 15, the 15 side water of sliding block
Flat setting parallel air gripper 14, two fingers of the parallel air gripper 14 are used to clamp the syringe needle 13 of perfusion tube；
The sensor stand 20 is connected to 21 side of vertical plate, the laser emitter 16 by the second fixed plate 22
20 two sides of sensor stand are separately positioned on laser pickoff 23, the laser beam that laser emitter 16 issues is after perfusion tube
It is irradiated on laser pickoff 23.
Working principle of the present invention: the present invention when in use puts the infusion bottle 10 for having matched liquid medicine inversion in cone-shaped hood 403 into,
Pull rod 11 is hung on hook 905 in next step and is locked with handle 12, spring 8 is natural after handle 12 is locked presses infusion bottle 10
Tightly；Syringe needle 13 is first inserted into first infusion bottle 10 by next step doctor, and then infusion starts to carry out, after first bottle is finished,
Medical fluid liquid level in perfusion tube is begun to decline, after liquid level drops to below laser emitter 16, laser emitter 16
Scattering variation occurs after perfusion tube for the light beam of sending, while the signal that laser pickoff 23 receives also generates a step change
Change, using this signal as the mark for changing bottle, parallel air gripper 14 is used to clamp syringe needle 13 when changing bottle first, then the receipts of electric cylinders 17
Contracting, band movable slider 15 decline, and syringe needle 13 is unplugged, and next step servo motor 5 drives triangle reversing frame 4 to revolve by gear mechanism
Turn 120 °, electric cylinders 17 are stretched out after revolution in place, and parallel air gripper 14 drives 13 uplink of syringe needle, until syringe needle 13 is inserted into infusion bottle 10
In rubber stopper, once changes bottle work and complete, next bottle changes bottle work and equally follows above-mentioned process.
Claims (1)
1. a kind of automatic infusion robot, including pedestal (1), column (2), upper plate (3), triangle reversing frame (4), servo motor
(5), driving gear (6), driven gear (7), spring (8), adjustable shelf (9), infusion bottle (10), pull rod (11), handle (12), needle
Head (13), parallel air gripper (14), sliding block (15), laser emitter (16), electric cylinders (17), the first fixed plate (18), guide rail (19),
Sensor stand (20), vertical plate (21), the second fixed plate (22), laser pickoff (23), it is characterised in that: the column
(2) it is arranged on pedestal (1), the upper plate (3) is fixed at the top of column (2)；The triangle reversing frame (4) includes center
Shaft (401), connecting plate (402), cone-shaped hood (403), the first hinged-support (404), the second hinged-support (405), the connection
Plate (402) quantity is 3 and is evenly arranged on around central rotating shaft (401) that the cone-shaped hood (403) is used to place infusion bottle
(10), it is vertically arranged in the end of connecting plate (402), first hinged-support (404) and the second hinged-support (405) are symmetrical
It is arranged in cone-shaped hood (403) two sides, the central rotating shaft (401) is rotatably installed in upper plate (3) medium position, and described is driven
Gear (7) is fixed on central rotating shaft (401) lower part；The servo motor (5) is vertically fixed on upper plate (3) lower part, described
Driving gear (6) is fixed on the motor shaft of servo motor (5), and the driving gear (6) is nibbled mutually with driven gear (7)
It closes；
The adjustable shelf (9) includes pin shaft (901), support frame (902), spring spool (903), fixed frame (904), hook
(905), on the left of support frame (902), the spring spool (903) is arranged in support frame for the pin shaft (901) setting
(902) top center position, the fixed frame (904) are arranged on spring spool (903) top, and the hook (905) is set
It sets on the right side of support frame (902), the adjustable shelf (9) is mounted in the first hinged-support (404) by pin shaft (901), described
Handle (12) upper end is hinged on the second hinged-support (405), and the pull rod (11) lower end is hinged on handle (12) medium position,
Upper end is hung on hook (905), can be released pull rod (11) by handle (12) and be linked up with the connection between (905)；Described
Spring (8) is slidably mounted in spring spool (903), and the top of spring (8) is fixed on fixed frame (904) lower part, the bullet
Spring (8) is used to compress infusion bottle (10)；
The vertical plate (21) is vertically arranged in upper plate (3) front end, and guide rail (19) are arranged in vertical plate (21) side vertical, described
Sliding block (15) is slidably mounted on guide rail (19), and first fixed plate (18) is arranged in vertical plate (21) lower part, the electricity
The cylinder body of cylinder (17) is fixed on the first fixed plate (18), and the end and sliding block (15) of the telescopic rod of the electric cylinders (17) are even
It connects, parallel air gripper (14) are arranged in the sliding block (15) side horizontal, and two fingers of the parallel air gripper (14) are used to press from both sides
Hold the syringe needle (13) of perfusion tube；
The sensor stand (20) is connected to vertical plate (21) side, the laser emitter by the second fixed plate (22)
(16) and laser pickoff (23) is separately positioned on sensor stand (20) two sides, the laser beam warp that laser emitter (16) issues
It is irradiated on laser pickoff (23) after crossing perfusion tube；
The infusion bottle (10) for having matched liquid medicine inversion is put into cone-shaped hood (403) when in use, in next step hangs over pull rod (11)
It links up on (905) and is locked with handle (12), spring (8) is natural after handle (12) locking compresses infusion bottle (10)；In next step
Syringe needle (13) are first inserted into first infusion bottle (10) by doctor, and then infusion starts to carry out, after first bottle is finished, perfusion tube
In medical fluid liquid level begin to decline, after liquid level drops to laser emitter (16) below, laser emitter (16) hair
Scattering variation occurs after perfusion tube for light beam out, while the signal that laser pickoff (23) receives also generates a step change
Change, using this signal as the mark for changing bottle, uses parallel air gripper (14) clamping syringe needle (13) when changing bottle first, then electric cylinders
(17) it shrinks, band movable slider (15) declines, and syringe needle (13) is unplugged, and next step servo motor (5) is driven by gear mechanism
Triangle reversing frame (4) rotates 120 °, and electric cylinders (17) are stretched out after revolution in place, and parallel air gripper (14) drives syringe needle (13) uplink, directly
Into the rubber stopper of syringe needle (13) insertion infusion bottle (10), once changes bottle work and complete, next bottle changes bottle work and equally follows
State process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610337300.8A CN105833383B (en) | 2016-05-21 | 2016-05-21 | A kind of automatic infusion robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610337300.8A CN105833383B (en) | 2016-05-21 | 2016-05-21 | A kind of automatic infusion robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105833383A CN105833383A (en) | 2016-08-10 |
| CN105833383B true CN105833383B (en) | 2018-12-25 |
Family
ID=56593866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610337300.8A Expired - Fee Related CN105833383B (en) | 2016-05-21 | 2016-05-21 | A kind of automatic infusion robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105833383B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110559508B (en) * | 2017-03-30 | 2021-06-01 | 南京溧水高新产业股权投资有限公司 | Automatic device of changing of infusion bottle |
| CN108392691B (en) * | 2018-04-21 | 2020-08-11 | 江西中聚宏新材料科技有限公司 | Medical automatic liquid-changing infusion support |
| CN108815637B (en) * | 2018-07-26 | 2020-12-01 | 刘索 | Automatic infusion robot |
| CN109011008B (en) * | 2018-08-30 | 2021-02-09 | 贾金芳 | Bottle stopper inserting device for transfusion bottle and transfusion tube |
| CN112138237B (en) * | 2020-09-09 | 2021-08-10 | 华中科技大学同济医学院附属协和医院 | Robot capable of automatically hanging liquid medicine |
| CN112675381B (en) * | 2020-12-01 | 2022-06-03 | 河南职业技术学院 | Adjustable intelligent infusion robot based on Internet of things |
| CN113616875A (en) * | 2021-09-07 | 2021-11-09 | 淄博职业学院 | Infusion self-heating and bottle changing device for nursing |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4718892A (en) * | 1986-03-10 | 1988-01-12 | Yung Ho Liu | Drip infusion system |
| CN2096374U (en) * | 1991-07-31 | 1992-02-19 | 仝明 | Automatic blood transfusion and infusion apparatus |
| CN201456001U (en) * | 2009-06-01 | 2010-05-12 | 宁波世控自动化科技有限公司 | Parallel air gripper |
| CN202724343U (en) * | 2012-07-19 | 2013-02-13 | 西南交通大学 | Transfusion device capable of automatically withdrawing needle and replacing bottle |
| CN203017485U (en) * | 2013-01-11 | 2013-06-26 | 张秋梅 | Infusion rack |
| CN204033910U (en) * | 2014-08-21 | 2014-12-24 | 宋思阳 | Exempt from nurse automatic decanting infusion set |
| CN105288771B (en) * | 2015-09-30 | 2018-12-21 | 肖鹏 | A kind of transfusion system being simplified to fix device |
-
2016
- 2016-05-21 CN CN201610337300.8A patent/CN105833383B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105833383A (en) | 2016-08-10 |
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| C10 | Entry into substantive examination | ||
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| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Dong Shengfeng Inventor after: Li Anying Inventor after: Fu Yanmei Inventor after: Zhou Baiqin Inventor after: Zhang Xiuqin Inventor after: Xu Jinlu Inventor before: The inventor has waived the right to be mentioned |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181108 Address after: 250022 Ji'nan City, Shandong Province, No. ten West Road 23976 Ji'nan children's Hospital Applicant after: Dong Shengfeng Address before: 054900 68 Yao Lou village Linxi County Xingtai city Hebei Province Applicant before: Xu Hongjun |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181225 Termination date: 20200521 |