CN108852375A - A kind of intelligent blood sampling machine of achievable automated needle changeover - Google Patents
A kind of intelligent blood sampling machine of achievable automated needle changeover Download PDFInfo
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- CN108852375A CN108852375A CN201810439540.8A CN201810439540A CN108852375A CN 108852375 A CN108852375 A CN 108852375A CN 201810439540 A CN201810439540 A CN 201810439540A CN 108852375 A CN108852375 A CN 108852375A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/153—Devices specially adapted for taking samples of venous or arterial blood, e.g. with syringes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150015—Source of blood
- A61B5/15003—Source of blood for venous or arterial blood
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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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Abstract
The invention discloses a kind of intelligent blood sampling machines of achievable automated needle changeover, propeller is eliminated in the knit stitch adjusting bracket of existing blood drawing robot manipulation's arm end, increase needle exchange mechanism, push-pin mechanism, blood drawing run-bake-needle fault mechanism, Feng Zhen mechanism, and special syringe is provided with for improved robot, make improved blood drawing robot that can be automatically performed needle exchange through the above structure, blood drawing, seal needle, the process of run-bake-needle fault, greatly alleviate manual labor's amount, realize the automation process of robot blood drawing, and take needle convenient, it effectively prevents people and is easier to the problem of being scratched by syringe needle when taking needle or installation, with great economy and practical value；Meanwhile being covered needle cover on syringe needle using envelope needle construction, the bacterium that can avoid in air enters in syringe blood from syringe needle hole, and the precision of subsequent blood detection, safety and sanitation also can be improved with this.
Description
Technical field
The present invention relates to a kind of medical robots, and in particular to a kind of intelligent blood sampling machine of achievable automated needle changeover.
Background technique
During artificial blood drawing, if not finding vein or syringe needle is pricked too deep, pain often is brought to patient, however
The mode manually drawn blood, the blood drawing techniques breath manner of breathing of most of experience sense of blood drawing and medical worker are mostly used in present hospital greatly
It closes；And the mode manually drawn blood its cumbersome, efficiency are lower.
So with the development of science and technology, medical instrument is more and more intelligent, occur in the market using robot generation
For the product manually drawn blood, this blood sampling robot is beaten using infrared ray and ultrasound imaging techniques design substitution nurse to patient
Needle blood drawing, although existing 83% accurate blood drawing probability at present, entire blood drawing process still needs artificial control, each needle exchange
Process, which still not can avoid, is easy the problem of being infected by syringe needle secondary injury existing for existing artificial blood drawing mode, and needle exchange is taken out
Blood process cannot achieve full-automation, and whole efficiency is still lower, exist without fundamentally solving the problems, such as manually to draw blood.
Summary of the invention
It is an object of the invention to overcome the above technical problem, a kind of intelligent blood sampling machine of achievable automated needle changeover is provided,
The blood drawing robot can be automatically performed needle exchange, blood drawing, the process for sealing needle, run-bake-needle fault, realize Unmanned operation, the degree of automation is more
Height, blood collection procedure safety, health.
The present invention is achieved through the following technical solutions：
A kind of intelligent blood sampling machine of achievable automated needle changeover, the operation arm including robot of drawing blood, at operation arm end
End be provided with knit stitch adjusting bracket, further include syringe, needle exchange mechanism, push-pin mechanism, blood drawing run-bake-needle fault mechanism, Feng Zhen mechanism, wherein：
The needle exchange mechanism includes large cylinder and small cylinder, and the circumferential side wall integrated molding of the large cylinder and small cylinder connects
It connects and central axis is parallel to each other, and large cylinder is connect by mounting rack with knit stitch adjusting bracket bottom end, is arranged in large cylinder
There are a circle major arc baffle and a minor arc baffle, large cylinder is divided into two chambers by major arc baffle and minor arc baffle, and wherein major arc is kept off
Circular passage is formed by between plate outer wall and large cylinder inner wall for syringe holding chamber, in minor arc baffle inner concave wall and major arc baffle
The chamber that wall is surrounded is drive chamber, driving motor and push rod is equipped in drive chamber, one end of the push rod passes through rotation
Axis and the output axis connection of driving motor, the other end are placed in syringe holding chamber and can be bad along the circumferential promotion syringe of large cylinder
By shaft, the end A of the hinged, other end and reset spring is connect with the intersection of large cylinder and small cylinder for one end of arc baffle, multiple
The end B of position spring is fixed with the fixes sleeve on the outside of rotation axis；The inner cavity of the small cylinder be needle exchange chamber and with syringe holding chamber
It communicates；
The push-pin mechanism includes syringe testing agency, pushing pin controls drive module, electric drive hydraulic thruster and Electrical heads, is pushed away
Needle control drive module is connect by mounting rack with knit stitch adjusting bracket bottom end, and the diameter of the Electrical heads is less than the interior of needle exchange chamber
Diameter, one end of electric drive hydraulic thruster connect with Electrical heads, the other end controls drive module and connect with pushing pin, and the Electrical heads pass through
The end of small cylinder is placed in needle exchange chamber and controls drive module by conducting wire and connect with pushing pin, and syringe testing agency, which is embedded in, to change
It controls drive module in needle cavity and by conducting wire with pushing pin and connect；
The blood drawing run-bake-needle fault mechanism includes small cylinder, and the small cylinder includes fixed plate and movable plate, fixed plate and activity
One axial cross section of plate is connected by hinge, forms run-bake-needle fault notch between another axial cross section, further includes two and control of pushing pin
The hydraulic cylinder that drive module is connected by conducting wire, one end of each hydraulic cylinder and large cylinder lateral wall fix, the other end and activity
The plate upper surface at board bottom end is fixed, and the other side of bottom plate and fixed plate are fixed by connecting column, between described two hydraulic cylinders
Vertical interval be greater than syringe axial length；
The Feng Zhen mechanism includes the first turntable, the second turntable, electric hydaulic arm, A motor, B motor, first turntable
And second between turntable by needle cover winding connection winding, the first turntable is mounted on the upper section of operation arm and its shaft and A electricity
Machine connection, the motor side of the electric hydaulic arm by cross-brace column with operate arm upper section connect, the free end of piston rod
It is connect by support plate with B motor, the output end of the B motor is connect with the shaft of the second turntable, in the upper surface of support plate
It is additionally provided with electric pushrod, the A motor, B motor, electric hydaulic arm, electric pushrod the control system with blood drawing robot respectively
System connection；
The automated needle changeover run-bake-needle fault course of work is as follows：
When push rod pushes syringe, the syringe squeezes reset spring in a state of nature by minor arc baffle, goes forward side by side
It is intracavitary to enter needle exchange；When syringe testing agency detect syringe be placed in needle exchange it is intracavitary when, the electric drive hydraulic thruster pushes syringe edge
The axial movement of needle exchange chamber and syringe needle is made to be placed in small cylinder outer end；It is described after the control syringe knit stitch of knit stitch adjusting bracket is laid flat
Hydraulic cylinder compression makes fixed plate and movable plate clamp syringe, and syringe tail end and the direction movement towards separate syringe needle is sucked in Electrical heads；
After the completion of blood drawing robot detects blood drawing, electric hydaulic arm elongation, A motor and B motor forward or reverse so that needle
The needle cover open end of lid winding least significant end is directed at syringe needle, and electric pushrod elongation pushes needle cover to be connected on syringe；The control of pushing pin
Drive module control hydraulic cylinder processed extends so that fixed plate and movable plate unclamp syringe, and electric drive hydraulic thruster is sucked by Electrical heads
Syringe is simultaneously mobile towards the direction far from syringe needle, until syringe is located between two hydraulic cylinders, pushes pin and controls drive module control electricity
Magnetic head power-off, syringe are rolled on bottom plate by run-bake-needle fault notch.
Existing robot completes blood drawing process by a series of actions of simulation people's blood drawing, requires before each blood drawing
Manually syringe needle is mounted on propeller again, is then connect again by hose with blood test tube is deposited, it includes taking out pipe that this, which deposits blood test tube,
And straight tube, the one end for taking out pipe are placed in straight tube, after syringe needle is inserted into human skin, then healthcare givers manipulates again deposits blood test tube,
That is the movement of simulation syringe blood drawing guarantees that backflow of blood enters to deposit in blood test tube so that forming negative pressure in hose and syringe needle, completes to take out
Blood operation, then manually again removes the syringe needle being mounted on propeller, and whole process does not need manually to grasp in addition to fixed point blood sampling
It other than work, the installation of syringe needle and removes and guarantees that blood flows into and deposit the process of blood test tube and require manual operation, need someone
It keeps always by robot and control is carried out to the blood drawing process of every bleeder, this still needs labor intensive.And due to
The position of propeller is lower, takes the visual field of syringe needle to be blocked by operation arm knit stitch adjusting bracket, unopen, this makes people
It is easier to be scratched by syringe needle when taking needle or installation, increases the probability of blood infection, transmission.
And at present on the market also without automated needle changeover, envelope needle, run-bake-needle fault structure, moreover it is possible to guarantee in needle exchange, envelope needle, run-bake-needle fault
In the process complete blood drawing process, so inventor carefully study it is existing medical treatment blood drawing robot on the basis of, to blood drawing machine
Device people improves：Propeller is eliminated in the knit stitch adjusting bracket of existing blood drawing robot manipulation's arm end, is increased
Needle exchange mechanism, push-pin mechanism, Feng Zhen mechanism, blood drawing run-bake-needle fault mechanism, each mechanism structure are as noted above.Needle exchange mechanism is by two
A cylinder composition, syringe holding chamber is a circular passage, and syringe can be put into from an end face of large cylinder and be mounted on syringe and put
Interior is set, the center line of each syringe is overlapped with the center line of large cylinder, and the syringe after syringe holding chamber installs circularizes
Distribution, push rod are used to be forced away from the syringe of needle exchange chamber；The present invention can design the axial length of major arc baffle to come in design
The shorter than axial length of large cylinder, such push rod can push syringe mobile against an end face of major arc baffle；Or major arc baffle
It is isometric with the axial direction of large cylinder, an arc hole slot is opened on major arc baffle, such push rod may pass through arc hole slot and around arc
Shape hole slot pushes syringe mobile.In the case where push rod does not move, the reset spring connecting with minor arc baffle is in not by deformation
State, the spacing between minor arc baffle and large cylinder and major arc baffle is relatively narrow at this time, it is ensured that in syringe holding chamber syringe without
Method enters in its natural state in needle exchange chamber；Then it is rotated using the control system control driving motor of blood drawing robot, driving
The output shaft of motor drives rotation axis that push rod is pushed, and then the last one syringe is squeezed, and successively pushes the needle in front
Cylinder, and mobile towards the direction close to needle exchange chamber in syringe holding chamber, near the syringe of needle exchange chamber be squeezed after can pair
The arcuate surface of minor arc baffle also applies an extruding force；Since one end of minor arc baffle is hinged, it is in movable state, syringe squeezes
When pressing minor arc baffle, reset spring will receive extruding force and shrink so that the spacing between minor arc baffle and large cylinder expands,
Syringe enters under gravity in needle exchange chamber, and control push rod is motionless at this time, and reset spring, which loses extruding force, can lean on itself
Elastic-restoring force rebound avoids the latter syringe from falling so that the spacing between minor arc baffle and large cylinder narrows.
After falling in needle exchange chamber under syringe, due to push pin control drive module by blood drawing robot control system controlled,
Syringe testing agency detect syringe be placed in needle exchange it is intracavitary after, push pin control drive module just control electric drive hydraulic thruster push needle
Cylinder tail end along needle exchange chamber axial movement and so that syringe needle is placed in small cylinder outer end.Right latter two hydraulic cylinder compression make fixed plate and
Movable plate clamps syringe, and large cylinder, small cylinder are all in the integrated state of tensioning at this time, and needle exchange mechanism, push-pin mechanism are logical
It crosses mounting rack to connect with knit stitch adjusting bracket bottom end, so may make by adjusting the movement of knit stitch adjusting bracket and be placed in small cylinder
The syringe needle of outer end completes knit stitch movement；After the control syringe knit stitch of knit stitch adjusting bracket is laid flat, the control system for robot of drawing blood
It controls to push pin and controls drive module work, push pin and control drive module control electric drive hydraulic thruster shortening, since syringe passes through admittedly
Fixed board and movable plate are clamped in steady status, and the piston of syringe tail end can be sucked in electric drive hydraulic thruster by magnetic head after shortening
Bar is simultaneously mobile towards the direction far from syringe needle, so that forming negative pressure in syringe, completes blood work.When blood drawing robot detects pumping
After the completion of blood, the electric hydaulic arm of Feng Zhen mechanism extends, and the relative spacing between the second turntable and the first turntable increases, so that even
The needle cover winding whereabouts connect between the first turntable and the second turntable in relaxed state is exceptionally straight, and position is when adjusting, it is ensured that
The needle cover open end of needle cover winding least significant end is directed at syringe needle, and the control system control of blood drawing robot is then recycled to be located at support
Electric pushrod elongation on plate pushes needle cover, is connected on syringe after wrapping up needle cover by syringe needle, completes to seal needle entirely with this
Process.After envelope needle is complete, electric hydaulic arm shortens, so that entire Feng Zhen mechanism up mentions, personal blood drawing knit stitch under the influence of avoiding；
After electric hydaulic arm shortens, the rotation of B motor will be disengaged from the needle cover winding item winding tightening of needle cover part.After envelope needle is complete, blood drawing
The control system of robot, which passes through to push pin again, controls drive module control hydraulic cylinder elongation so that fixed plate and movable plate unclamp needle
Syringe is sucked by Electrical heads in cylinder, electric drive hydraulic thruster, and entire syringe is mobile towards the direction far from syringe needle again, until syringe is located at
Between two hydraulic cylinders, pushes pin control drive module control Electrical heads power-off at this time, at this moment syringe is by the effect of electromagnetic attraction,
And it since entire large cylinder and fixed plate have been raised in hydraulic cylinder elongation, is lost at the hinge connection of movable plate under pressure nature
Hang down, syringe pass through under gravity run-bake-needle fault notch syringe be detached from needle exchange chamber tumble on bottom plate, medical staff can pick up into
Row detection；After next bleeder is ready to, the starting of control blood drawing robot, and repeat above-mentioned work.
Through the invention, which can be automatically performed needle exchange, blood drawing, the process for sealing needle, run-bake-needle fault, greatly mitigate
Manual labor amount, realizes the automation process of robot blood drawing, and takes needle convenient, effectively prevent people take needle or
It is easier to the problem of being scratched by syringe needle when installation, there is great economy and practical value；Meanwhile using envelope needle construction by needle cover lid
On syringe needle, the bacterium that can avoid in air enters in syringe blood from syringe needle hole, and subsequent blood detection also can be improved with this
Precision, safety and sanitation.
The syringe includes the cylinder with syringe needle, is provided on cylinder outer wall and the matched clamping salient point of needle cover, interior
Portion is provided with piston rod, and the axial length of the piston rod is greater than cylinder axial length, and piston rod is located at one end outside cylinder
For stainless steel wafer, the diameter of the stainless steel wafer is less than the outer diameter of cylinder.Further, the above are the tools of syringe of the present invention
Body structure, the structure can be freely in the intracavitary axial movements of needle exchange, and the length of the piston rod in syringe among the above is greater than syringe
Length, and piston tail end, i.e. stainless steel wafer can be convenient for being adsorbed on Electrical heads.
Preferably, it is provided with a notch in the upper section of operation arm, the tail end of the A motor passes through slot-open-section and is placed in behaviour
Make on the outside of arm, the shaft of output shaft and the first turntable is fixed, the shaft of the first turntable other end passes through cantilever lever and manipulator
Arm is fixed.A motor is directly mounted in a manner of interpolation type on operation arm, can both reduce electric hydaulic arm and operation arm
Between space, while can to A motor work when play stabilization.
The upper surface of the bottom plate is rubber pad inclined-plane, and the thickness of bottom plate is gradually reduced towards the direction far from small cylinder.Into
One step, such structure can be rolled on desktop from bottom plate convenient for syringe, so that doctor takes number；Rubber pad inclined-plane can
Buffer function is played, the vibratory forces to blood in syringe are reduced.
Preferably, the reset spring includes position-limiting drum, helical spring, A arc panel, B arc panel, and the one of the position-limiting drum
The open end that end is connect with A arc panel, the other end is oval-shaped cavity, the oval-shaped cavity phase of the helical spring and position-limiting drum
Mutually matching, one end of helical spring be placed in position-limiting drum connect with A arc panel, the other end and B arc panel connect.The above structure is
The specific structure of reset spring, the setting of position-limiting drum can reduce the probability of helical spring polarization deformation, extend making for helical spring
Use the service life.A arc panel, B arc panel mounting surface be cambered surface, inner concave that can preferably with rotation axis outer cylinder and minor arc baffle
Installation fitting.In addition, inventor, which passes through, is designed as ellipse for position-limiting drum, helical spring can be greatly increased in this way along large cylinder axis
To sectional area, further limit helical spring Impact direction, improve the stability of helical spring.
Compared with prior art, the present invention having the following advantages and benefits：
1, a kind of intelligent blood sampling machine of achievable automated needle changeover of the present invention, in existing blood drawing robot manipulation's arm end
Knit stitch adjusting bracket in eliminate propeller, increase needle exchange mechanism, push-pin mechanism, blood drawing run-bake-needle fault mechanism, Feng Zhen mechanism, and
It is provided with special syringe for improved robot, be automatically performed improved blood drawing robot can
Needle exchange, blood drawing, the process for sealing needle, run-bake-needle fault greatly alleviate manual labor's amount, realize the automation of robot blood drawing
Journey, and take needle convenient, it effectively prevents people and is easier to the problem of being scratched by syringe needle when taking needle or installation, there is greatly warp
Ji and practical value；Meanwhile being covered needle cover on syringe needle using envelope needle construction, the bacterium that can avoid in air enters from syringe needle hole
In syringe blood, the precision of subsequent blood detection, safety and sanitation also can be improved with this；
2, a kind of intelligent blood sampling machine of achievable automated needle changeover of the present invention, improves existing reset spring, has
The advantages that stability is strong, so that the service life of needle exchange mechanism greatly promotes.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is the structural schematic diagram of present invention blood drawing robot；
Fig. 2 is the enlarged diagram of needle exchange mechanism of the present invention, blood drawing run-bake-needle fault mechanism, Feng Zhen mechanism；
Fig. 3 is the diagrammatic cross-section of needle exchange mechanism of the present invention；
Fig. 4 is syringe cylinder structure schematic diagram of the present invention；
Fig. 5 is the structural schematic diagram of reset spring of the present invention.
Label and corresponding parts title in attached drawing：
1- operates arm, 2- knit stitch adjusting bracket, 3- large cylinder, 4- major arc baffle, 5- minor arc baffle, the placement of 6- syringe
Room, 7- drive chamber, 8- driving motor, 9- push rod, 10- rotation axis, 11- needle exchange chamber, 12- reset spring, 13-, which pushes pin, controls driving
Module, 14- electric drive hydraulic thruster, 15- Electrical heads, 16- fixed plate, 17- movable plate, 18- run-bake-needle fault notch, 19- bottom plate, 20- liquid
Cylinder pressure, the first turntable of 21-, the second turntable of 22-, 23- electric hydaulic arm, 24-A motor, 25-B motor, 26- needle cover winding, 27-
Cross-brace column, 28- support plate, 29- electric pushrod, 30- syringe, 121- position-limiting drum, 122- helical spring, 123-A arc panel,
124-B arc panel, 311- cylinder, 312- stainless steel wafer, 313- are clamped bulge loop.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.
Embodiment 1
As shown in figures 1-4, a kind of intelligent blood sampling machine of achievable automated needle changeover of the present invention, the behaviour including robot of drawing blood
Make arm 1, operation 1 end of arm is provided with knit stitch adjusting bracket 2, further includes syringe 30, needle exchange mechanism, push-pin mechanism, pumping
Blood run-bake-needle fault mechanism, Feng Zhen mechanism, wherein：
The needle exchange mechanism includes large cylinder 3 and small cylinder, the circumferential side wall integrated molding of the large cylinder 3 and small cylinder
It connects and central axis is parallel to each other, and large cylinder 3 is connect by mounting rack with 2 bottom end of knit stitch adjusting bracket, in large cylinder 3
It is provided with a circle major arc baffle 4 and minor arc baffle 5, large cylinder 3 is divided into two chambers by major arc baffle 4 and minor arc baffle 5,
It is syringe holding chamber 6,5 inner concave wall of minor arc baffle that circular passage is formed by between middle 4 outer wall of major arc baffle and 3 inner wall of large cylinder
The chamber surrounded with 4 inner wall of major arc baffle is drive chamber 7, and driving motor 8 and push rod 9 are equipped in drive chamber 7, described to push away
One end of bar 9 is placed in syringe holding chamber 6 with the output axis connection of driving motor 8, the other end by rotation axis 10 and can be along big
The circumferential of cylinder 3 pushes syringe, and one end of minor arc baffle 5 and the intersection of large cylinder 3 and small cylinder are hinged, another by shaft
End is connect with the end A of reset spring 12, and the end B of reset spring 12 and the fixes sleeve in 10 outside of rotation axis are fixed；The roundlet
The inner cavity of cylinder is needle exchange chamber 11 and communicates with syringe holding chamber 6；
The push-pin mechanism includes syringe testing agency, pushing pin controls drive module 13, electric drive hydraulic thruster 14 and electromagnetism
First 15, pushing pin controls drive module 13 and is connect with 2 bottom end of knit stitch adjusting bracket by mounting rack, and the diameter of the Electrical heads 15 is small
In the internal diameter of needle exchange chamber 11, one end of electric drive hydraulic thruster 14 connect with Electrical heads 15, the other end and pushes pin and controls drive module
13 connections, the end that the Electrical heads 15 pass through small cylinder, which is placed in needle exchange chamber 11 and passes through conducting wire and pushes pin, controls drive module
13 connections, syringe testing agency are embedded in needle exchange chamber 11 and control drive module 13 by conducting wire and connect with pushing pin；
The blood drawing run-bake-needle fault mechanism includes small cylinder, and the small cylinder includes fixed plate 16 and movable plate 17, fixed plate 16
It is connected by hinge with an axial cross section of movable plate 17, forms run-bake-needle fault notch 18 between another axial cross section, further include two
The hydraulic cylinder 20 that drive module 13 connect by conducting wire is controlled with pushing pin, one end of each hydraulic cylinder 20 and 3 lateral wall of large cylinder
Fixed, 17 bottom end of the other end and movable plate 19 upper surface of bottom plate is fixed, and the other side of bottom plate 19 passes through with fixed plate 16 to be connect
Column is fixed, and the vertical interval between described two hydraulic cylinders 20 is greater than syringe axial length；
The Feng Zhen mechanism includes the first turntable 21, the second turntable 22, electric hydaulic arm 23, A motor 24, B motor 25, institute
It states by the connection winding of needle cover winding 26 between the first turntable 21 and the second turntable 22, the first turntable 21 is mounted on operation arm
The motor side of upper section and its shaft is connect with A motor 24, the electric hydaulic arm 23 passes through cross-brace column 27 and operation arm 1
Upper section connection, piston rod free end connect with B motor 25 by support plate 28, the output end of the B motor 25 and second turn
The shaft of disk 22 connects, and is additionally provided with electric pushrod 29 in the upper surface of support plate 28, the A motor 24, B motor 25, electronic
Hydraulic arm 23, electric pushrod 29 are connect with the control system of blood drawing robot respectively；
The automated needle changeover run-bake-needle fault course of work is as follows：
When push rod 9 pushes syringe, the syringe 30 squeezes reset spring in a state of nature by minor arc baffle 5
12, and enter in needle exchange chamber 11；When syringe testing agency detects that syringe is placed in needle exchange chamber 11, the electric drive hydraulic thruster
14 push syringes 30 along the axial movement of needle exchange chamber 11 and syringe needle are made to be placed in small cylinder outer end；When knit stitch adjusting bracket 2 controls needle
After cylinder knit stitch is laid flat, the compression of hydraulic cylinder 20 makes fixed plate 16 and movable plate 17 clamp syringe 30, and syringe is sucked in Electrical heads 15
Tail end is simultaneously mobile towards the direction far from syringe needle；After the completion of blood drawing robot detects blood drawing, the electric hydaulic arm 23 extends,
A motor 24 and B motor 24 forward or reverse so that 26 least significant end of needle cover winding needle cover open end be aligned syringe needle, electric pushrod
29 elongations push needle cover to be connected on syringe 30；Described push pin controls the control elongation of hydraulic cylinder 20 of drive module 13 so that fixed plate
16 unclamp syringe with movable plate 17, and electric drive hydraulic thruster 14 is sucked syringe by Electrical heads 15 and moves towards the direction far from syringe needle
It is dynamic, until syringe is located between two hydraulic cylinders 20, pushes pin and control the control power-off of Electrical heads 15 of drive module 13, syringe passes through de-
Needle tray mouth 18 rolls on bottom plate 19.The syringe 30 includes the cylinder 311 with syringe needle, is provided on 311 outer wall of cylinder
With the matched clamping bulge loop 313 of needle cover, be internally provided with piston rod, it is axial that the axial length of the piston rod is greater than cylinder 311
Length, and it is stainless steel wafer 312 that piston rod, which is located at one end outside cylinder 311, the diameter of the stainless steel wafer 312 is less than circle
The outer diameter of cylinder 311.It is provided with a notch in the upper section of operation arm 1, the tail end of the A motor 24 passes through slot-open-section and is placed in behaviour
Make the outside of arm 1, the shaft of output shaft and the first turntable 21 is fixed, the shaft of 21 other end of the first turntable by cantilever lever with grasp
It is fixed to make arm solid 1.The upper surface of the bottom plate 19 is rubber pad inclined-plane, the thickness of bottom plate 19 towards the direction far from small cylinder gradually
Reduce.
Whether in the above structure, syringe testing agency is pressure sensor or infrared sensor, be placed in to detect syringe and changed
In needle cavity.Pushing pin and controlling drive module 13 includes electrohydraulic cylinder, control chip, controls chip and blood drawing robot control system
Connection, and simultaneously with electrohydraulic cylinder, Electrical heads 15, blood drawing run-bake-needle fault mechanism in hydraulic cylinder 20 connect by conducting wire, by
It controls and sets all parts work step and sequence in chip, above-mentioned movement can be completed.
Through the invention, blood drawing robot can be automatically performed needle exchange, blood drawing, the process for sealing needle, run-bake-needle fault, greatly alleviate
Manual labor's amount, realizes the automation process of robot blood drawing, and takes needle convenient, effectively prevents people and is taking needle or peace
It is easier to the problem of being scratched by syringe needle when dress, there is great economy and practical value；Meanwhile needle cover being covered using envelope needle construction
On syringe needle, the bacterium that can avoid in air enters in syringe blood from syringe needle hole, and the essence of subsequent blood detection also can be improved with this
Degree, safety and sanitation.
Embodiment 2
As shown in figure 5, on the basis of embodiment 1, the reset spring 12 includes position-limiting drum 121, helical spring 122, A
Arc panel 123, B arc panel 124, one end of the position-limiting drum 121 is connect with A arc panel 123, the other end is oval-shaped cavity
The oval-shaped cavity of open end, the helical spring 122 and position-limiting drum 121 is mutually matched, and one end of helical spring 122 is placed in limit
It is connect in the cylinder of position with A arc panel 123, the connection of the other end and B arc panel 124.Inventor, which passes through, is designed as ellipse for position-limiting drum,
Helical spring can be greatly increased in this way along the sectional area of large cylinder axial direction, further limited the Impact direction of helical spring, improved
The stability of helical spring, so that the service life of needle exchange mechanism greatly promotes.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of intelligent blood sampling machine of achievable automated needle changeover, the operation arm (1) including robot of drawing blood, in operation arm
(1) end is provided with knit stitch adjusting bracket (2), which is characterized in that further includes syringe (30), needle exchange mechanism, push-pin mechanism, blood drawing
Run-bake-needle fault mechanism, Feng Zhen mechanism, wherein：
The needle exchange mechanism includes large cylinder (3) and small cylinder, the circumferential side wall integrated molding of the large cylinder (3) and small cylinder
It connects and central axis is parallel to each other, and large cylinder (3) is connect by mounting rack with knit stitch adjusting bracket (2) bottom end, in great circle
A circle major arc baffle (4) and minor arc baffle (5) are provided in cylinder (3), and major arc baffle (4) and minor arc baffle (5) are by large cylinder (3)
Two chambers are divided into, wherein circular passage is formed by between major arc baffle (4) outer wall and large cylinder (3) inner wall and is put for syringe
It sets room (6), the chamber that minor arc baffle (5) inner concave wall is surrounded with major arc baffle (4) inner wall is drive chamber (7), in drive chamber (7)
In driving motor (8) and push rod (9) be installed, one end of the push rod (9) is defeated by rotation axis (10) and driving motor (8)
Axis connection, the other end are placed in syringe holding chamber (6) and can push syringe along the circumferential of large cylinder (3) out, minor arc baffle (5)
By shaft, the end A of the hinged, other end and reset spring (12) is connect with the intersection of large cylinder (3) and small cylinder for one end, multiple
The end B of position spring (12) is fixed with the fixes sleeve on the outside of rotation axis (10)；The inner cavity of the small cylinder be needle exchange chamber (11) and
It is communicated with syringe holding chamber (6)；
The push-pin mechanism includes syringe testing agency, pushing pin controls drive module (13), electric drive hydraulic thruster (14) and electromagnetism
Head (15), pushing pin controls drive module (13) and is connect with knit stitch adjusting bracket (2) bottom end by mounting rack, the Electrical heads (15)
Diameter be less than the internal diameter of needle exchange chamber (11), one end of electric drive hydraulic thruster (14) connect with Electrical heads (15), the other end with push away
Needle controls drive module (13) connection, and the end that the Electrical heads (15) pass through small cylinder is placed in needle exchange chamber (11) and by leading
Line controls drive module (13) and connect with pushing pin, and syringe testing agency is embedded in needle exchange chamber (11) and by conducting wire and control of pushing pin
Drive module (13) connection processed；
The blood drawing run-bake-needle fault mechanism includes small cylinder, and the small cylinder includes fixed plate (16) and movable plate (17), fixed plate
(16) it is connected by hinge with an axial cross section of movable plate (17), forms run-bake-needle fault notch (18) between another axial cross section, also
Control the hydraulic cylinder (20) that drive module (13) connect by conducting wire with pushing pin including two, one end of each hydraulic cylinder (20) with
Large cylinder (3) lateral wall fixes, bottom plate (19) upper surface of the other end and movable plate (17) bottom end is fixed, bottom plate (19) it is another
Side is fixed with fixed plate (16) by connecting column, and it is axially long that the vertical interval between described two hydraulic cylinders (20) is greater than syringe
Degree；
The Feng Zhen mechanism includes the first turntable (21), the second turntable (22), electric hydaulic arm (23), A motor (24), B motor
(25), pass through needle cover winding (26) connection winding, the first turntable (21) between first turntable (21) and the second turntable (22)
The upper section and its shaft for being mounted on operation arm are connect with A motor (24), and the motor side of the electric hydaulic arm (23) passes through cross
It is connect to support column (27) with operation arm (1) upper section, the free end of piston rod is connected by support plate (28) and B motor (25)
It connects, the output end of the B motor (25) is connect with the shaft of the second turntable (22), is additionally provided in the upper surface of support plate (28)
Electric pushrod (29), the A motor (24), B motor (25), electric hydaulic arm (23), electric pushrod (29) respectively with blood drawing machine
The control system of device people connects；
The automated needle changeover run-bake-needle fault course of work is as follows：
When push rod (9) push syringe, the syringe (30) squeezes reset spring in a state of nature by minor arc baffle (5)
(12), and enter in needle exchange chamber (11)；When syringe testing agency detect syringe be placed in needle exchange chamber (11) it is interior when, the electronic liquid
Pressure push rod (14) pushes syringe (30) along the axial movement of needle exchange chamber (11) and syringe needle is made to be placed in small cylinder outer end；When knit stitch is adjusted
After bracket (2) control syringe knit stitch is laid flat, hydraulic cylinder (20) compression makes fixed plate (16) and movable plate (17) clamp syringe
(30), syringe tail end and the direction movement towards separate syringe needle is sucked in Electrical heads (15)；When blood drawing robot detects that blood drawing is completed
Afterwards, the electric hydaulic arm (23) elongation, A motor (24) and B motor (25) forward or reverse so that needle cover winding (26) is minimum
The needle cover open end at end is directed at syringe needle, and electric pushrod (29) elongation pushes needle cover to be connected on syringe (30)；The control of pushing pin
Drive module (13) controls hydraulic cylinder (20) and extends so that syringe, electric drive hydraulic thruster are unclamped in fixed plate (16) and movable plate (17)
(14) by Electrical heads (15) be sucked syringe and towards the direction far from syringe needle it is mobile, until syringe be located at two hydraulic cylinders (20) it
Between, it pushes pin and controls drive module (13) control Electrical heads (15) power-off, syringe is rolled by run-bake-needle fault notch (18) in bottom plate (19)
On.
2. a kind of intelligent blood sampling machine of achievable automated needle changeover according to claim 1, which is characterized in that the syringe
(30) include the cylinder (311) with syringe needle, be provided on cylinder (311) outer wall with the matched clamping bulge loop (313) of needle cover,
It is internally provided with piston rod, the axial length of the piston rod is greater than cylinder (311) axial length, and piston rod is located at cylinder
(311) one end outside is stainless steel wafer (312), and the diameter of the stainless steel wafer (312) is less than the outer diameter of cylinder (311).
3. a kind of intelligent blood sampling machine of achievable automated needle changeover according to claim 1, which is characterized in that in operation arm
(1) upper section is provided with a notch, and the tail end of the A motor (24) passes through slot-open-section and is placed on the outside of operation arm (1), exports
Axis and the shaft of the first turntable (21) are fixed, and the shaft of the first turntable (21) other end is solid by cantilever lever and operation arm (1)
It is fixed.
4. a kind of intelligent blood sampling machine of achievable automated needle changeover according to claim 1, which is characterized in that the bottom plate
(19) upper surface is rubber pad inclined-plane, and the thickness of bottom plate (19) is gradually reduced towards the direction far from small cylinder.
5. a kind of intelligent blood sampling machine of achievable automated needle changeover according to claim 1, which is characterized in that the reset bullet
Spring (12) includes position-limiting drum (121), helical spring (122), A arc panel (123), B arc panel (124), the position-limiting drum (121)
One end connect with A arc panel (123), the open end that the other end is oval-shaped cavity, the helical spring (122) and position-limiting drum
(121) oval-shaped cavity is mutually matched, one end of helical spring (122) be placed in position-limiting drum connect with A arc panel (123),
The other end is connect with B arc panel (124).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810439540.8A CN108852375B (en) | 2018-05-09 | 2018-05-09 | A kind of intelligent blood sampling machine of achievable automated needle changeover |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810439540.8A CN108852375B (en) | 2018-05-09 | 2018-05-09 | A kind of intelligent blood sampling machine of achievable automated needle changeover |
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| CN108852375A true CN108852375A (en) | 2018-11-23 |
| CN108852375B CN108852375B (en) | 2019-06-14 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113143269A (en) * | 2021-04-21 | 2021-07-23 | 山东大学齐鲁医院 | Blood drawing device |
| CN113143266A (en) * | 2021-03-23 | 2021-07-23 | 济南市儿童医院（山东大学齐鲁儿童医院） | Clinical laboratory is with multi-functional intelligent blood sampling device |
| WO2023227772A1 (en) * | 2022-05-27 | 2023-11-30 | Vitestro Holding B.V. | Cannula set loading unit, cannula set loading device and cannula insertion system |
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| JPH10328169A (en) * | 1997-05-29 | 1998-12-15 | Techno Medica:Kk | Blood collecting tube transporting system |
| US6530892B1 (en) * | 2001-03-07 | 2003-03-11 | Helen V. Kelly | Automatic skin puncturing system |
| CN201432271Y (en) * | 2009-05-17 | 2010-03-31 | 李欣 | Capping, plugging and tray loading combined machine of fully automatic vacuum blood collector |
| US20120190981A1 (en) * | 2010-12-22 | 2012-07-26 | Veebot, Llc | Systems and methods for autonomous intravenous needle insertion |
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| JPH10328169A (en) * | 1997-05-29 | 1998-12-15 | Techno Medica:Kk | Blood collecting tube transporting system |
| US6530892B1 (en) * | 2001-03-07 | 2003-03-11 | Helen V. Kelly | Automatic skin puncturing system |
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| US20120190981A1 (en) * | 2010-12-22 | 2012-07-26 | Veebot, Llc | Systems and methods for autonomous intravenous needle insertion |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113143266A (en) * | 2021-03-23 | 2021-07-23 | 济南市儿童医院（山东大学齐鲁儿童医院） | Clinical laboratory is with multi-functional intelligent blood sampling device |
| CN113143266B (en) * | 2021-03-23 | 2023-06-23 | 山东交能海诺医疗科技有限公司 | Clinical laboratory uses multi-functional intelligent blood sampling device |
| CN113143269A (en) * | 2021-04-21 | 2021-07-23 | 山东大学齐鲁医院 | Blood drawing device |
| CN113143269B (en) * | 2021-04-21 | 2022-09-09 | 山东大学齐鲁医院 | Blood drawing device |
| WO2023227772A1 (en) * | 2022-05-27 | 2023-11-30 | Vitestro Holding B.V. | Cannula set loading unit, cannula set loading device and cannula insertion system |
| NL2032010B1 (en) * | 2022-05-27 | 2023-12-11 | Vitestro Holding B V | Cannula set loading unit, cannula set loading device and cannula insertion system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108852375B (en) | 2019-06-14 |
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Inventor after: Hai Yan Jiao Inventor after: Wang Fenghui Inventor after: Li Yunguo Inventor after: Yang Dan Inventor before: Yang Dan |
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Effective date of registration: 20190517 Address after: 266071 Qingdao road central blood station, 9 Longde Road, Shinan District, Qingdao, Shandong. Applicant after: Hai Yan Jiao Address before: 610000 Unit 301, Building 42, Nanyang Jincheng, Tianfu New District, Chengdu City, Sichuan Province Applicant before: Yang Dan |
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