CN110141712A

CN110141712A - Novel sausage instrument based on underactuated manipulator

Info

Publication number: CN110141712A
Application number: CN201910500794.0A
Authority: CN
Inventors: 何静; 杨建课; 高继光; 朱晓蕾; 林爱琴
Original assignee: Wannan Medical College
Current assignee: Wannan Medical College
Priority date: 2019-06-11
Filing date: 2019-06-11
Publication date: 2019-08-20

Abstract

The invention discloses a kind of novel sausage instrument based on underactuated manipulator, including dispensing system and massage system；Dispensing system includes counterweight cabinet, tool box and enema tube；Massage system includes configuration bracket and underactuated manipulator.Constant temperature system, liquid medicine injection system, blending explosive system and flow control system are installed in tool box, make the parameters such as the temperature, concentration, flow and flow rate of enema fluid in optimum controling range, reduces the injury to patient, reduces the risk for causing complication；Underactuated manipulator solves the problems, such as to massage trajectory planning difficulty caused by stomach height irregularly changes when patient lies low；Enema fluid can be extended in the remaining time of patient's body by manipulator massage, accelerate the mixing velocity and abundant degree of enema fluid and excrement, greatly improve the clean-up performance of single bowel lavage rear intestinal, reduce the bowel lavage number that cleaning intestine needs, improve the efficiency of bowel lavage.

Description

Novel sausage instrument based on underactuated manipulator

Technical field

The invention belongs to medical instrument and robotic technology fields more particularly to a kind of based on the novel of underactuated manipulator Bowel lavage instrument.

Background technique

Cleansing enema is the important step before intestinal inspection or intestinal surgery.Enteron aisle is easily caused if failing to clear enteron aisle Inspection result inaccuracy, or there is the case where defecation in patient's art.

Most of hospitals, China still use artificial method of clyster when implementing cleansing enema.Artificial bowel lavage process is cumbersome, leads Cause the great work intensity of medical worker.Artificial bowel lavage is walked about by patient drives the mode of intestines peristalsis to realize enema fluid and excrement Mixing cause bowel lavage efficiency lower if both wanting to make to take a long time if being uniformly mixed；Artificial bowel lavage cleans intestines simultaneously Road it is ineffective, it is necessary to cleaning intestinal tract can just be made by carrying out multiple enema operation, this be bowel lavage low efficiency another major reason. Simultaneously because bowel lavage belongs to store period, repeatedly plugs anal canal and easily cause the complication such as hemorrhoid or Sphincter ani chalasia.

The parameters such as temperature, concentration, the flow and flow rate of enema fluid are an important factor for determining cleaning intestinal tract degree.If cannot By these state modulators in the scope of application, then the clean-up performance of single bowel lavage rear intestinal can be reduced, while can also cause other Complication.Enema fluid concentration is too low or temperature is excessively high can all reduce single enema effect；Enema fluid excessive concentration can cause liver property Encephalopathy；Enema fluid temperature is too low to stimulate intestinal mucosa and patient is made to generate abdominal pain phenomenon；Bowel lavage flow quantity is too small necessarily to be will increase The single bowel lavage time also makes troubles to patient to reduce the working efficiency of medical staff；Bowel lavage flow quantity is excessive to be will increase To the impact force of enteron aisle, patient's defecation is stimulated, it is also possible to puncture the intestinal wall of the weaker gerontal patient of intestinal wall.

The abundant degree that enema fluid is mixed with excrement determines patient's cleaning intestinal tract degree after single bowel lavage.Enema fluid and excrement Just it mixes more abundant more is excreted conducive to excrement, single bowel lavage rear intestinal more cleans.The abundant journey that enema fluid is mixed with excrement Degree is decided by the enema fluid implementation that retention time length and enema fluid are mixed with excrement in Intestinal Mucosal Injury in Patients Undergoing.Artificial bowel lavage The mixing walked about by patient and then the mode of intestines peristalsis is driven to realize enema fluid and excrement.Which needs long period side It is able to achieve being sufficiently mixed for enema fluid and excrement, is the main reason for artificial bowel lavage efficiency is lower.Enema fluid is protected in patient's body The tolerance degree for staying length of time to be decided by patient to enema fluid.The enema fluid patient's body retention time weaker in tolerance degree It is shorter, enema fluid cannot be reached and being sufficiently mixed for excrement excretes, single enema effect is poor；Although enema fluid is resistance to It is long by the degree stronger patient's body holding time, enema fluid can be made to be sufficiently mixed with excrement, but hybrid mode determines filling Intestines low efficiency.

In order to improve bowel lavage efficiency and enema effect, researcher has done a large amount of research and discovery, including enema method Improvement, the update of enema and the exploitation of enema medicament.No matter how method improves, and artificial bowel lavage is walked by patient always The dynamic mode for driving intestines peristalsis realizes the mixing of enema fluid and excrement, bowel lavage low efficiency, and single enema effect is poor；At this stage The parameters such as the certain temperature that can guarantee enema fluid of enema, concentration, flow and flow rate, but the mixing of enema fluid and excrement according to It is so to walk about that the mode of intestines peristalsis is driven to realize by patient, single enema effect is poor, and bowel lavage whole efficiency is still lower；Separately have Researcher develops the bowel lavage medicament for allowing patient to take orally, the medicinal preparation for oral administration when patient needs bowel lavage；But this method needs Want patient's midnight just to get up to drink medicine, during which be even more need multiple defecation with reach cleaning intestine as a result, and repeatedly defecation can lead Patient's collapse is caused, the progress of operation is influenced.

It is CN2617382Y that Chinese patent, which announces (cloth) number, and bulletin (cloth) day is on May 26th, 2004, entitled " Self-controlling microcomputer coloclysis dialysis therapeutical equipment " provides a Self-controlling microcomputer coloclysis dialysis therapeutical equipment in the case, this sets It is standby to automatically control the parameters such as the temperature, concentration, flow and flow rate of medical fluid, but involving great expense for dialysis machine, it is particularly suited for Dialysis necessarily causes the waste of medical resource if for bowel lavage.Bowel lavage is carried out using the equipment of the case, still relies on trouble afterwards Person walks about the mixing for driving the mode of intestines peristalsis to realize enema fluid and excrement, bowel lavage low efficiency.

Li Jinqiu at document the operation of preoperative cleansing enema " computer enema treatment instrument be applied to ", literature periodical source " in Magnificent nursing magazine " the 2nd phase of the 1st phase page 61 of volume 40 in January, 2005, a kind of DGY-2 type computer enema treatment is provided in the case Instrument, the instrument use high-precision micro-pressure sensing element, are pushed away enema fluid using constant pressure under the control of microcomputer Enter in patient body.The instrument has fully considered the influence of bowel lavage pressure and flow to patient, but bowel lavage medical fluid concentration dependant in The personal experience of medical staff.

Liu Shui equality is in document " colon affusion dialysis treatment machine based on Fuzzy Neural-network Control ", literature periodical source 872-876 pages of the phase of " computer measurement and control " 2005 volume 13 the 8th provides in the case a kind of based on fuzzy neural network The colon affusion dialysis treatment machine of control, the equipment are monitored and are controlled automatically with temperature, pressure, flow, flow velocity, volume, capacity System；Overtemperature, superpressure, aneroid, no medicine, pipe blocking automatic alarm and control；Safe and reliable plant-wide emergency shutdown switch designs.This sets Influence of the standby abundant degree of mixing for not accounting for enema fluid and excrement after bowel lavage to single enema effect.

Lin Guirong is in document " development and application of disposable special enema syringe ", " the practical nursing of China of literature periodical source Magazine " on March 18th, 2005 the 3rd the second half of the month phase version page 71 of volume 21, provide a kind of disposable special enema syringe in the case, can The dosage of bowel lavage medical fluid is grasped, but the research is unable to control the parameters such as the concentration, temperature, flow and flow rate of enema fluid.

It is CN204864276U that Chinese patent, which announces (cloth) number, and bulletin (cloth) day is on December 16th, 2015, denomination of invention For " a kind of intelligent constant-temperature enema syringe ", a kind of intelligent constant-temperature enema syringe is provided in the case, which can avoid cross-infection, will Enema fluid temperature is controlled in steady state value.But the research is not directed to the parameters such as the concentration of bowel lavage medical fluid, flow and flow rate, does not also relate to And enema fluid mixes influence of the abundant degree to single enema effect with excrement.

With the progress of medical technology, surgical operation can solve many diseases, and the patient for carrying out abdominal operation is needed also to get over Come it is more, and guarantee cleaning intestinal tract be carry out abdominal operation required link, very big work pressure is brought to medical staff Power, existing enema method and enema not can solve problem above again, need it is a can improve bowel lavage efficiency, alleviate The equipment of medical staff's operating pressure saves medical resource.

Summary of the invention

The technical problem to be solved by the present invention is to overcome artificial bowel lavage and existing enema bowel lavage low efficiency and easily draw The problem of sending out complication provides a kind of novel sausage instrument that bowel lavage efficiency can be improved and can reduce initiation complication risk.

In order to solve the above-mentioned technical problem, the present invention adopted the following technical scheme that realization: described one kind is based on deficient The novel sausage instrument of driving manipulator has dispensing system and massage system；

The dispensing system has counterweight cabinet, tool box and enema tube；

The massage system has counterweight support and underactuated manipulator；

The tool box has shell, constant temperature system, liquid medicine injection system, flow control system, blending explosive system and connects them The first pipeline, the second pipeline, third pipeline, the 4th pipeline and the 5th pipeline；

The dispensing system is placed in the specific position in room；The massage system according to the concrete condition of patient, The mobile height adjustment with massage ball in position is completed by operator；The tool box, which is bolted, is fixed on counterweight cabinet Upper surface；The enema tube, which is connected through a screw thread, to be mounted on tool box；The underactuated manipulator is bolted It is mounted in counterweight support.

Counterweight cabinet described in technical solution is cabinet structural member, for limiting 6 freedom degrees and storage of dispensing system Medical Devices；Counterweight cabinet has 3 cabinet bodies, is referred to as the first cabinet body, the second cabinet body and third cabinet body from left to right；Counterweight cabinet Top is thick plate-like structural member, is provided with 6 identical shell location holes, is tapped blind hole, for positioning and pacifying Casing, the upper plate part of each cabinet body have 2 shell location holes；

The upside plate of first cabinet body is provided with 1 constant temperature axis through hole, and the ladder in lower part aperture is greater than for top aperture Light through-hole；It is provided with 4 identical constant temperature electric machine support mounting holes on rear side plate, is tapped through hole；

The upside plate of third cabinet body is provided with 1 mixed medicine axis through hole, is light through-hole；4 are provided on rear side plate Identical mixed medicine electric machine support mounting hole is tapped through hole.

Shell described in technical solution is case body structural member, for dust-proof and fixing internal component；Shell is outermost 6 plates of side form the shell of a cuboid；Enclosure interior is divided into 5 cabinets by 4 plates；Two of the leftmost side Cabinet is referred to as the first cabinet and the second cabinet from top to bottom；It is the 4th that two cabinets of the rightmost side are referred to as from top to bottom Cabinet and the 5th cabinet；Middle housing is known as third cabinet；The size phase of outer casing bottom board dimensions and counterweight cabinet top plate Together, it is provided with 6 identical housing mounting holes on outer casing bottom plate, is light through-hole, it is opposite with 6 shell location holes It answers；

4 identical support of heater rod location holes are provided on plate on the left of first cabinet, are tapped through hole；Top It is provided with 1 water inlet on plate, is light through-hole；It is provided with 4 identical suction pump location holes on rear side plate, is spiral shell Line through-hole；

Plate is provided with 1 constant temperature shaft mounting hole and 4 identical water storages being uniformly distributed along the circumference on the upside of second cabinet Device mounting hole, the former is greater than downside aperture ladder light through-hole for upside aperture, and the latter is light through-hole；It is additionally provided on base plate member 1 constant temperature axis location hole is greater than downside aperture ladder light through-hole for upside aperture；

1 No. 1 pipeline hole and 4 identical syringe rack location holes are provided on plate on the left of third cabinet；1 Number pipeline Kong Weiguang through-hole；Syringe rack location hole is tapped through hole；3 electric cylinders component installations are provided on rear side plate Hole is tapped through hole；

It is provided with 1 No. 2 pipeline hole on plate on the left of 4th cabinet, is light through-hole；1 No. 3 are provided on base plate member Pipeline hole, 1 No. 4 pipeline hole, 1 No. 5 pipeline hole, are all light through-hole；Rear side plate is provided with 4 identical medicine-sucking pumps Mounting hole is tapped through hole；4 identical pressure cylinder rack positioning holes and 1 No. 6 pipeline are provided on the plate of right side Hole is all tapped through hole；

It is provided with 1 mixed medicine shaft mounting hole and 1 liquid-level switch mounting hole on plate on the upside of 5th cabinet, is that light is logical Hole；1 mixed medicine axis location hole and 4 identical medicine storage mounting holes being uniformly distributed along the circumference are provided on base plate member, it is preceding Person is the ladder light through-hole that upside aperture is greater than downside aperture, and the latter is light through-hole.

Constant temperature system described in technical solution has constant temperature motor and its bracket, constant temperature axis, water receiver impeller, water storage Device, heating rod, support of heater rod, suction pump and the first pipeline；For controlling the temperature of enema fluid.

The constant temperature motor branch for being fixed on plate on rear side of the first cabinet body is bolted in the constant temperature motor and its bracket On frame mounting hole；The constant temperature axis upper end passes through constant temperature shaft mounting hole and the bearing in water receiver bottom centre hole, in Portion is placed through the bearing and constant temperature axis through hole of constant temperature axis positioning hole, and lower end is connected by shaft coupling with constant temperature motor shaft； The water receiver impeller is connected by key and is threadedly coupled the upper end for being mounted on constant temperature motor shaft；The water receiver passes through spiral shell Bolt is fastened on the upside of the second cabinet on the water receiver mounting hole of plate；The heating rod passes through heating rod mounting hole, and It is mounted in support of heater rod；The heating rod for being fixed on plate on the left of the first cabinet is bolted in the support of heater rod On rack positioning hole；The suction pump is mounted on the suction pump location hole of the first cabinet back side panel；First pipeline Left end connection water source simultaneously enters in the first cabinet of shell through water inlet, and the two sides of middle part and suction pump are connected by screw thread It connects, right end enters in water receiver；It is sealed between constant temperature axis top and water receiver using sealing device.

Liquid medicine injection system described in technical solution has No. 1 flowmeter, No. 1 check valve, syringe rack, medicinal box, note Emitter fixinig plate, syringe, syringe handle bracket, electric cylinders component and the second pipeline；For controlling the concentration of enema fluid.

The syringe rack, which is bolted, to be fixed on the left of third cabinet on the syringe rack location hole of plate； The nipple of the medicinal box top and syringe is attached by hose；The syringe cylinder handle of the syringe is placed in injection In device cylinder handle locating slot, pass through the frictional force and shape between the two between syringe fixinig plate and syringe cylinder handle locating slot Shape structure limits 6 freedom degrees of syringe cylinder handle, and syringe handle is placed in syringe handle locating slot, is limited by planform 4 freedom degrees of syringe handle, are allowed to rotational freedom only along the vertical direction and one-movement-freedom-degree along longitudinal direction；Described Syringe handle bracket is bolted on the slide unit for being mounted on electric cylinders component；The electric cylinders component is mounted on third cabinet On the electric cylinders component mounting hole of rear side plate；The second pipeline left end passes through No. 1 pipeline hole and is connected through a screw thread installation On water receiver, middle part is sequentially connected No. 1 flowmeter, No. 1 check valve and medicinal box, and right end sequentially passes through No. 2 pipeline holes and No. 3 Pipeline hole is placed in medicine storage.

Flow control system described in technical solution has medicine-sucking pump, pressure cylinder, pressure jar support, No. 2 flowmeters, flows micro- Adjust handle, medicine outlet, No. 2 check valves, No. 1 overflow valve, No. 2 overflow valves, third pipeline, the 4th pipeline and the 5th pipeline；For Control the flow and flow rate of enema fluid.

The medicine-sucking pump, which is bolted, to be fixed on rear side of the 4th cabinet on the medicine-sucking pump mounting hole of plate；Described Pressure cylinder is mounted in the pressure cylinder mounting hole of pressure jar support, by pressure cylinder mounting hole and is assemblied in pressure cylinder limit hole 6 freedom degrees of caging bolt limitation pressure cylinder；The pressure jar support, which is bolted, to be fixed on the right side of the 4th cabinet On the pressure cylinder rack positioning hole of plate；The flow rate fine-tuning handle, which is connected through a screw thread, to be mounted on medicine outlet；Rotating flow Amount trimming handle is adjusted the area of fluid in medicine outlet and then adjusts flow and flow rate；The third pipeline left end passes through 4 Number pipeline hole is placed in medicine storage, and middle part is connected through a screw thread the two sides for being mounted on medicine-sucking pump, and right end is connected through a screw thread installation On pressure cylinder；The upper end of 4th pipeline, which is connected through a screw thread, to be mounted on pressure cylinder, and No. 1 overflow is then sequentially connected Valve, No. 2 check valves and No. 2 flowmeters simultaneously pass through the outside that No. 6 pipeline holes reach the 4th cabinet, and the lower end of the 4th pipeline passes through spiral shell Line is fastened on the outside of plate on the right side of the 4th cabinet；The part that 4th pipeline is located on the outside of the 4th cabinet is known as medicine outlet； The 5th pipeline right end is connect with the middle part of the 4th pipeline, then connects No. 2 overflow valves, reaches drug storage through No. 5 pipeline holes Inside device；No. 2 flowmeter monitorings enter the volume of the enema fluid of patient's body.

Blending explosive system described in technical solution has mixed medicine motor and its bracket, mixed medicine axis, medicine storage, medicine storage impeller And liquid-level switch；For enema fluid to be uniformly mixed.

The mixed medicine motor and its bracket are mounted on rear side of third cabinet body on the mixed medicine electric machine support mounting hole of plate；Institute The mixed medicine axis upper end stated passes through the mixed medicine axis positioning hole bearing (ball) cover bearing below of plate on the upside of the 5th cabinet, and middle part passes through The mixed medicine axis through hole of plate, lower end and mixed medicine motor shaft on the upside of medicine storage, bearing and third cabinet body in mixed medicine shaft mounting hole It is connected by shaft coupling, mixes and sealed between medicine axis and medicine storage bottom centre hole by sealing device；The medicine storage impeller It is connected through a screw thread and is keyed on the downside of the middle part for being fixed on mixed medicine axis on the diameter of axle on the upside of middle part；The liquid-level switch is set In in medicine storage, upper end is connected through a screw thread on the liquid-level switch mounting hole for being fixed on the 5th cabinet upside plate.

Counterweight support described in technical solution has brake block, universal wheel, clump weight, support frame and support plate；For Mobile massage system and the freedom degree for limiting massage system.

The clump weight is oblate rod structure part, for limiting 6 freedom degrees of massage system bottom；It is provided with 4 identical circumferential support frame location holes and 4 identical circumferential mobile device installations Hole；The former is tapped through hole, the latter for light through-hole and the two radius circumferentially it is different；

The support frame is truss structure；

The support plate is disk-like structure, is provided with 4 identical circumferential pedestal location holes It is all tapped through hole with 4 identical circumferential support frame mounting holes；Radius of a circle along the two is different.

The universal wheel and brake block is installed on caster bracket, constitutes mobile device；4 groups of mobile devices are logical It crosses threaded connection to be fixed on the mobile device mounting hole of clump weight lower surface, for moving massage system；The support frame Lower end is bolted on the support frame location hole for being fixed on clump weight upper surface, and upper end, which is bolted, is fixed on support On the support frame mounting hole of disk lower surface.

Underactuated manipulator described in technical solution has pedestal, large arm motor, small pulley, large arm, middle arm motor, big Belt wheel, big belt wheel installation axle, middle arm, trimming handle, forearm, spring, forearm set, massage ball stand and massage ball；For increasing The adjusting of the retention time, promotion the enema fluid uniformity coefficient mixed with excrement and massage ball height of enema fluid in vivo.

The pedestal is the Round Barrel Type structural member of inverted " t " font, is provided with 4 identical edges in lower edge The base installing hole of circle distribution is light through-hole, corresponding with the pedestal location hole in support plate；Upper plate part is arranged on center There is 1 large arm motor axis hole, the ladder light through-hole in downside aperture is greater than for upside aperture；Be additionally provided with 4 it is identical with The large arm motor installing hole being uniformly distributed along the circumference centered on large arm motor axis hole is tapped through hole；

The large arm is the plate-type structural piece of hollow out, and left side is provided with 1 middle arm motor axis hole, is that lower part aperture is big Ladder light through-hole in top aperture；4 are additionally provided with identical to be uniformly distributed along the circumference centered on middle arm motor axis hole Middle arm motor installing hole is tapped through hole；It is additionally provided with 1 large arm motor shaft mounting hole beside middle arm motor axis hole, is band The light through-hole of keyway；The middle part of large arm is by cutting a cuboid and by upper surface under along the front of cuboid to rear surface Surface cuts two cuboids and the engraved structure that is formed respectively；1 middle arm limiting slot, middle arm limit are provided on the right side of large arm The height of slot is identical as middle arm thickness, to the one-movement-freedom-degree of arm in limiting along the vertical direction, rotational freedom transversely Rotational freedom along longitudinal direction；Large arm right end, by 1 big belt wheel mounting hole, leads to close to the setting of the upside of middle arm limiting slot for light Hole；Large arm right end is provided with 1 middle arm location hole on the downside of middle arm limiting slot, is ladder light through-hole, top aperture and big The aperture of belt wheel mounting hole is identical, and is greater than lower part aperture；Big belt wheel mounting hole and middle arm location hole are coaxial；

The big belt wheel installation axle is multi-diameter shaft, upper end diameter of axle minimum and, upper end consistent with the center bore of big belt wheel Band keyway and screw thread；It is maximum against the end portion diameter of axle, it is consistent with the aperture of middle arm mounting hole, and have keyway；Close to upper end The diameter of axle it is identical as the lower end diameter of axle；

The middle arm be cuboid two sides increase by two semi-cylindricals at structural member；Middle arm left end is provided with 1 Middle arm mounting hole is the light through-hole with keyway；Right end is provided with 1 forearm mounting hole, is tapped through hole；

The forearm is the multi-diameter shaft with keyway；Keyway is located on the thinner diameter of axle, while the top of thinner side is set It is equipped with screw thread, for installing trimming handle；There are two the symmetrical forearm set positioning of relatively small arm center for setting on the thicker diameter of axle Hole is conical bore；

The forearm set top is " cylinder " shape structural member, and lower part is multi-diameter shaft；2 are provided on " barrel " of forearm set The guide groove of a symmetrical similar " general flat key " structure, the lower part diameter of axle of multi-diameter shaft are less than the top diameter of axle.

The massage ball stand is "u"-shaped plate, and upper part plate is provided centrally with massage ball rack mounting apertures, For ladder light through-hole, the aperture close to the upper and lower surfaces part of upper plate part is consistent, greater than the aperture of middle section, in Between part pore size be bearing outer ring installation dimension；It is provided with 1 massage ball mounting hole on its two sides ear plate, is light Through-hole.

The pedestal is bolted on the pedestal location hole for being fixed on support plate upper surface；The large arm motor It is bolted in the large arm motor installing hole for being fixed on base top plate lower surface, large arm motor shaft passes through large arm motor Bearing and large arm motor shaft mounting hole in axis hole, blending bolt connection and key connection are fixed in large arm；The middle arm electricity Machine is bolted in the middle arm motor installing hole for being fixed on large arm lower surface, and middle arm motor shaft passes through bearing, middle arm motor The centre bore of axis hole and small pulley；The small pulley is connected through a screw thread and is keyed the upper end for being mounted on middle arm motor shaft； The big belt wheel is connected through a screw thread and is keyed the upper end for being mounted on big belt wheel installation axle；The lower end of big belt wheel installation axle according to The secondary bearing in bearing (ball) cover, bearing, big belt wheel mounting hole, middle arm location hole and middle arm mounting hole；The middle arm is left End is mounted in middle arm limiting slot；The forearm upper end passes through forearm mounting hole and is threadedly coupled and is fixed on the right side of middle arm； The trimming handle is connected through a screw thread and is keyed the upper end for being mounted on forearm；Forearm lower end set upper spring is simultaneously put into forearm In the top " cylinder " of set, spacer pin passes through guide groove and is mounted on the forearm set limit hole of forearm end portion；Spacer pin limit The rotational freedom of the position of spring upper end processed and forearm set along the vertical direction, the planform and forearm set of forearm end portion Planform limitation forearm set transversely with longitudinal one-movement-freedom-degree and rotational freedom so that forearm covers opposite forearm Lower end only has 1 one-movement-freedom-degree along the vertical direction；The end portion of the forearm set sequentially passes through bearing, massage ball stand Mounting hole and bearing, and be threadedly coupled and be mounted on massage ball frame upper plate；Massage ball, which is connected through a screw thread, to be mounted on Massage the ear of ball stand.

Compared with prior art the beneficial effects of the present invention are:

1. the novel sausage instrument of the present invention based on underactuated manipulator uses common component, low cost；

2. the novel sausage instrument of the present invention based on underactuated manipulator can extend enema fluid in patient's body Holding time, so that enema fluid and excrement are more fully mixed；Replace patient to walk about with the mode of massage simultaneously and drives enteron aisle The mode of wriggling promotes being sufficiently mixed for enema fluid and excrement, single enema effect can be improved, saves cleaning intestine and is taken Between, improve working efficiency.

3. the novel sausage instrument of the present invention based on underactuated manipulator can obviously reduce required for cleaning intestinal tract Bowel lavage number, reduce the working strength of medical staff, save medical resource, while reducing the store period to patient Number reduces the risk for causing complication；

4. temperature, concentration, the flow and flow rate of a kind of novel sausage instrument strict control enema fluid of the present invention, and Flow velocity can be finely adjusted according to patient's self tolerance situation, the injury to patient can be reduced, reduce the risk for causing complication；

5. a kind of novel sausage instrument of the present invention cannot be only used for cleaning intestine, constipation can also be treated.

To sum up, a kind of novel sausage instrument practical value with higher of the present invention and wide application prospect, A kind of new structure is provided for fields such as lack of driven robot, medical instruments.

Detailed description of the invention

The present invention will be further described below with reference to the drawings:

Fig. 1 is the overall framework figure of the novel sausage instrument based on underactuated manipulator；

Fig. 2 is the structural schematic diagram of the novel sausage instrument dispensing system composition based on underactuated manipulator；

Fig. 3 is the structural schematic diagram of the novel sausage instrument massage system composition based on underactuated manipulator；

Fig. 4 is the axonometric projection graph of the novel sausage instrument counterweight cabinet composition based on underactuated manipulator；

Fig. 5 is the axonometric projection graph of the novel sausage tool housing composition based on underactuated manipulator；

Fig. 6 is the axonometric projection graph of the novel sausage instrument support of heater rod composition based on underactuated manipulator；

Fig. 7 is the axonometric projection graph of the novel sausage instrument syringe rack composition based on underactuated manipulator；

Fig. 8 is the axonometric projection graph of the novel sausage instrument syringe fixinig plate composition based on underactuated manipulator；

Fig. 9 is the axonometric projection graph of the novel sausage instrument syringe handle bracket composition based on underactuated manipulator；

Figure 10 is the axonometric projection graph of the novel sausage instrument pressure jar support composition based on underactuated manipulator；

Figure 11 be the novel sausage instrument counter weight group based on underactuated manipulator at axonometric projection graph；

Figure 12 is the axonometric projection graph of the novel sausage instrument support plate composition based on underactuated manipulator；

Figure 13 is the axonometric projection graph that the pedestal of the novel sausage instrument based on underactuated manipulator forms；

Figure 14 is the axonometric projection graph of the novel sausage instrument large arm composition based on underactuated manipulator；

Figure 15 is the axonometric projection graph of arm composition in the novel sausage instrument based on underactuated manipulator；

Figure 16 is the axonometric projection graph of the novel sausage instrument forearm set composition based on underactuated manipulator；

Figure 17 is the axonometric projection graph that the novel sausage instrument based on underactuated manipulator massages ball stand composition；

In figure: 1, counterweight cabinet, 2, shell, 3, constant temperature axis, 4, water receiver impeller, 5, water receiver, 6, heating rod, 7, heating rod Bracket, 8, suction pump, 9, No. 1 flowmeters, 10, No. 1 check valves, 11, syringe rack, 12, medicinal box, 13, syringe fixes Piece, 14, syringe, 15, syringe handle bracket, 16, electric cylinders component, 17, medicine-sucking pump, 18, pressure cylinder, 19, pressure jar support, 20, No. 2 flowmeters, 21, flow rate fine-tuning handle, 22, medicine outlet, 23, No. 2 check valves, 24, No. 1 overflow valves, 25, No. 2 overflows Valve, 26, mixed medicine axis, 27, medicine storage, 28, medicine storage impeller, 29, liquid-level switch, 30, brake block, 31, universal wheel, 32, counterweight Block, 33, support frame, 34, support plate, 35, pedestal, 36, small pulley, 37, large arm, 38, big belt wheel, 39, big belt wheel installation axle, 40, middle arm, 41, trimming handle, 42, forearm, 43, forearm set, 44, massage ball stand, 45, massage ball, 46, shell location hole, 47, constant temperature axis through hole, 48, constant temperature electric machine support mounting hole, 49, mixed medicine electric machine support mounting hole, 50, mixed medicine axis through hole, 51, constant temperature axis location hole, 52, constant temperature shaft mounting hole, 53, water receiver mounting hole, 54, support of heater rod location hole, 55, water inlet Mouthful, 56, suction pump location hole, 57, No. 1 pipeline holes, 58, syringe rack location hole, 59, electric cylinders component mounting hole, 60, No. 2 Pipeline hole, 61, No. 3 pipeline holes, 62, No. 4 pipeline holes, 63, No. 5 pipeline holes, 64, medicine-sucking pump mounting hole, 65, pressure jar support it is fixed Position hole, 66, No. 6 pipeline holes, 67, mixed medicine axis location hole, 68, medicine storage mounting hole, 69, mixed medicine shaft mounting hole, 70, liquid-level switch Mounting hole, 71, housing mounting holes, 72, support of heater rod mounting hole, 73, heating rod mounting hole, 74, syringe rack mounting hole, 75, syringe cylinder handle locating slot, 76, syringe handle locating slot, 77, syringe handle rack mounting apertures, 78, pressure cylinder limit hole, 79, pressure cylinder mounting hole, 80, pressure cylinder rack mounting apertures, 81, mobile device mounting hole, 82, support frame location hole, 83, pedestal Location hole, 84, support frame mounting hole, 85, large arm motor installing hole, 86, large arm motor axis hole, 87, base installing hole, 88, in Arm motor installing hole, 89, middle arm motor axis hole, 90, large arm motor shaft mounting hole, 91, forearm limiting slot, 92, big belt wheel installation Hole, 93, middle arm location hole, 94, middle arm mounting hole, 95, forearm mounting hole, 96, guide groove, 97, massage ball rack mounting apertures, 98, massage ball mounting hole.

Specific embodiment

To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention Formula is described in further detail.

Refering to fig. 1, a kind of novel sausage instrument based on underactuated manipulator of the present invention by dispensing system and is pressed System of rubbing composition.The two cooperates, and realizes efficient enema operation.Dispensing system is placed in the specific position in room, massage Concrete condition of the system according to patient, the mobile height adjustment with massage ball 45 in position that massage system is completed by operator.

Dispensing system is made of counterweight cabinet 1, tool box and enema tube；

Tool box by shell 2, constant temperature system, liquid medicine injection system, flow control system, blending explosive system, the first pipeline, the second pipeline, Third pipeline, the 4th pipeline and the 5th pipeline composition；

Massage system is made of counterweight support and underactuated manipulator；

Constant temperature system, liquid medicine injection system, flow control system and blending explosive system are mounted on the corresponding position inside shell 2, constitute work Has case；The upper surface for being fixed on counterweight cabinet 1 is bolted in tool box；The enema tube is connected through a screw thread the tool of being mounted on On case；The underactuated manipulator, which is bolted, to be mounted in counterweight support；

Constant temperature system is according to thermal loss and enema effect optimum temperature range (38~42 DEG C) by the water temperature in water receiver 5 Control is in the range of 42~46 DEG C；

Liquid medicine injection system is according to the measured value of No. 1 flowmeter 9, for the medical fluid of specified rate, so that reaching the bowel lavage of medicine storage 27 Liquid concentration is maintained at optimum concentration range (0.1%-0.2%)；And mix medical fluid tentatively with water；

Flow control system is used to control the flow and flow rate of enema fluid, is allowed to be maintained at optimum flow rate (80-100ml/ Min in)；

Blending explosive system is for the enema fluid tentatively mixed to be uniformly mixed；

The mode that underactuated manipulator is used to massage colon in a counterclockwise direction after enema operation terminates extends bowel lavage Retention time, the mixing velocity and abundant degree of promotion enema fluid and excrement of the liquid in Intestinal Mucosal Injury in Patients Undergoing, after improving single bowel lavage The cleannes of enteron aisle.

Dispensing system can reduce the risk of patients' complication；The cleaning of single bowel lavage rear intestinal can be improved in massage system Degree, the discharge of excrement can be accelerated by massaging colon in a clockwise direction, can be used for treating constipation.

Referring to Fig.2, the dispensing system by counterweight cabinet 1, shell 2, constant temperature axis 3, water receiver impeller 4, water receiver 5, plus Hot pin 6, support of heater rod 7, suction pump 8,1 flowmeter 9,1 check valve 10, syringe rack 11, medicinal box 12, syringe Fixinig plate 13, syringe 14, syringe handle bracket 15, electric cylinders component 16, medicine-sucking pump 17, pressure cylinder 18, pressure jar support 19,2 Number flowmeter 20, flow rate fine-tuning handle 21,24, No. 2 overflow valves 25 of the overflow valve of check valve 23,1 of medicine outlet 22,2, mixed medicine axis 26, medicine storage 27, medicine storage impeller 28, liquid-level switch 29, constant temperature motor and its bracket, mixed medicine motor and its bracket, the first pipe Road, the second pipeline, third pipeline, the 4th pipeline and the 5th pipeline composition.

Constant temperature motor is mounted on constant temperature electric machine support, and mixed medicine motor is mounted on mixed medicine electric machine support；Shell 2 passes through spiral shell Tether the upper surface for connecing and being mounted on counterweight cabinet 1；Other components are installed inside shell 2；Enema tube left end nut is connected by screw thread It connects and is mounted on medicine outlet 22, enema tube right end and anal canal are connected.

Constant temperature motor, constant temperature axis 3, water receiver impeller 4, water receiver 5, heating rod 6, support of heater rod 7, suction pump 8 and One pipeline constitutes constant temperature system.

Water receiver 5 is bolted on the water receiver mounting hole 53 for being mounted on the first bottom of box plate；Heating rod branch 7 left end of frame, which is bolted, to be fixed on the left of the first cabinet on the support of heater rod location hole 54 of plate；6 upper end of heating rod is logical It crosses and is bolted fixed on 7 right side heating rod mounting hole 73 of support of heater rod；Suction pump 8, which is bolted, is mounted on first On rear side of cabinet on the suction pump location hole 56 of plate；3 upper end of constant temperature axis passes through constant temperature shaft mounting hole 52 and is located at water storage Bearing in 5 bottom centre hole of device, middle part are placed through bearing and constant temperature axis through hole 47 in constant temperature axis location hole 51, lower end It is connected by shaft coupling with constant temperature motor shaft；Water receiver impeller 4, which is connected by key and is threadedly coupled, is fixed on the upper of constant temperature axis 3 End；First pipeline left end connects water source, and middle part enters in the first cabinet by water inlet 55 and passes through with the two sides of suction pump 8 Screw thread is attached, and right end enters in water receiver 5.

Suction pump 8 is program controlled, and each extraction amount is the water of specific quantity；Temperature sensor is had on heating rod 6, works as water Heating rod 6 is started to work when temperature is lower than 42 DEG C, while constant temperature motor drives water receiver impeller 4 to rotate, and accelerated heat is transmitted and made Water is heated evenly；When water temperature is higher than 46 DEG C, heating rod 6 and constant temperature motor are simultaneously stopped work, so that the water temperature in water receiver 5 44-46 DEG C are remained at, thermal loss is deducted, patient's body enema fluid temperature is reached and is maintained at optimum temperature range (38- 42 DEG C) in.

9, No. 1 check valves 10 of No. 1 flowmeter, syringe rack 11, medicinal box 12, syringe fixinig plate 13, syringe 14, Syringe handle bracket 15, electric cylinders component 16 and the second pipeline form liquid medicine injection system.

Syringe rack 11, which is bolted, to be mounted on the left of third cabinet on the syringe rack location hole 58 of plate； The syringe cylinder handle of syringe 14 is mounted in the syringe cylinder handle locating slot 75 of syringe rack 11, and syringe handle is mounted on note It is to be slidably connected in the syringe handle locating slot 76 of emitter handle bracket 15；The nipple of syringe 14 and the top of medicinal box 12 pass through Hose connection；Electric cylinders component 16 is bolted on rear side of installation third cabinet on the electric cylinders component mounting hole 59 of plate；Injection Device handle bracket 15 is bolted on the slide unit for being mounted on electric cylinders component 16；Second pipeline left end passes through No. 1 pipeline hole 57, leads to It crosses threaded connection to be mounted on water receiver 5, middle part, which is connected through a screw thread, is sequentially connected 9, No. 1 check valves 10 of No. 1 flowmeter and storage Medicine box 12, right end sequentially pass through No. 2 pipeline holes 60 and No. 3 pipeline hole 61 and enter in medicine storage 27.

The height of syringe cylinder handle locating slot 75 and the consistency of thickness of syringe cylinder handle, the two form transition fit, can limit Syringe cylinder handle processed transversely with 2 longitudinal rotational freedoms and transversely with 2 one-movement-freedom-degrees of vertical direction.Note Emitter cylinder handle locating slot 75 and syringe fixinig plate 13 form a hole completely the same with syringe cylinder shank shape after cooperating, and And the stiction between syringe fixinig plate 13 and syringe cylinder handle locating slot 75 is sufficiently large, without artificial the case where participating in Under, which will not find to change, and so limit syringe cylinder handle one-movement-freedom-degree along longitudinal direction and along the vertical direction Rotational freedom.It follows that under the synergy of syringe cylinder handle locating slot 75 and syringe fixinig plate 13, syringe cylinder 6 freedom degrees of handle are completely restricted.

It is interference fit between syringe piston and syringe cylinder, so syringe handle only has 1 movement along the vertical direction Freedom degree and the shaking slight along other directions；After syringe handle is assembled to syringe handle locating slot 76, due to syringe handle Thickness it is consistent with the height of syringe handle locating slot 76, syringe handle only remains 1 rotational freedom along the vertical direction and 1 Move longitudinally freedom degree；After syringe handle fits into syringe cylinder and syringe handle locating slot 76, syringe handle only remains 1 A rotational freedom along the vertical direction can only follow syringe handle bracket 15 along vertical side in the case where no external force is reversed To movement；Electric cylinders component 16 drives syringe handle bracket 15 to feed along the vertical direction, realizes the supply of medical fluid in syringe 14.

Syringe barrel inner diameter, the parameter of electric cylinders component 16 be it is set, control electric cylinders stroke syringe handle can be realized Stroke control, and then control drug supply amount；No. 1 flowmeter 9 can monitor the flow of the outflow water out of water receiver 5 and then change It is counted as the volume of water；In the case where the volume of water and set medical fluid volume, the concentration of enema fluid can be calculated.According to enema fluid The operating parameter that each component of liquid medicine injection system is arranged in optimum concentration range (0.1%-0.2%) is that can guarantee the concentration of enema fluid.

It is out-of-date to monitor that water flows through in No. 1 flowmeter 9, No. 1 check valve 10 is opened, and electric cylinders component 16 drives syringe 14 The medical fluid of supply specified amount enters medicinal box 12 and stops, and the position of syringe handle is kept by the self-locking function of electric cylinders；Drug storage Medical fluid is flowed into medicine storage 27 by the medical fluid in box 12 through current scour through the second pipeline；When No. 1 monitoring of flowmeter 9 is flowed through When the volume of water reaches designated value, No. 1 check valve 10 is closed.

Mixed medicine motor, mixed medicine axis 26, medicine storage 27, medicine storage impeller 28 and liquid-level switch 29 form blending explosive system.

Mixed medicine axis 26 is multi-diameter shaft, and the diameter of axle is maximum on the upside of middle part, and the diameter of axle is identical as the upper end diameter of axle on the downside of middle part, the lower end diameter of axle It is most lower；Place on the downside of middle part on the upside of middle part is provided with keyway and screw thread；

Mixed medicine motor and its bracket are mounted on rear side of third cabinet body on the mixed medicine electric machine support mounting hole 49 of plate；Mixed medicine axis 26 upper ends pass through the 67 inner bearing end cap bearing below of mixed medicine axis location hole of plate on the upside of the 5th cabinet, and middle part passes through medicine storage The mixed medicine axis through hole of plate on the upside of lid, the bearing in 27 bottom centre hole of medicine storage, mixed medicine shaft mounting hole 69 and third cabinet body 50, lower end is connect with mixed medicine motor shaft by shaft coupling, is mixed between 27 bottom centre hole of medicine axis 26 and medicine storage through sealing dress Set sealing；The medicine storage impeller 28 is connected through a screw thread and is keyed on the downside of the middle part for being fixed on mixed medicine axis 26 on the diameter of axle； The liquid-level switch 29 is placed in medicine storage 27, and upper end is connected through a screw thread the liquid-level switch for being fixed on plate on the upside of the 5th cabinet On mounting hole 70, to control the unlatching of suction pump 8.

When liquid-level switch 29 monitors that the liquid level in medicine storage 27 reaches designated value, mixes medicine motor and drive medicine storage impeller 28 rotations, stir the enema fluid tentatively mixed, keep the mixing of medical fluid and water more uniform；When liquid-level switch 29 monitors medicine storage Liquid level prepares enema fluid to No. 1 check valve 10 is started when critical point again in 27.

Medicine-sucking pump 17, pressure cylinder 18,19, No. 2 flowmeters 20 of pressure jar support, flow rate fine-tuning handle 21, medicine outlet 22,2 Number overflow valve 24,2 of check valve 23,1 overflow valve 25, third pipeline, the 4th pipeline and the 5th pipeline form flow control system.

Medicine-sucking pump 17 is bolted on the medicine-sucking pump mounting hole 64 for being fixed on the rear side plate of the 4th cabinet；Pressure cylinder 18 are mounted in the pressure cylinder mounting hole 79 of pressure jar support 19；By pressure cylinder mounting hole 79 and it is assemblied in pressure cylinder limit hole 6 freedom degrees of 78 caging bolt limitation pressure cylinder 18；Pressure jar support 19, which is bolted, is fixed on the 4th cabinet right side On the pressure cylinder rack positioning hole 65 of side plate part；Flow rate fine-tuning handle 21, which is connected through a screw thread, to be mounted on medicine outlet 22；Rotation Flow rate fine-tuning handle 21 is adjusted the area of fluid in medicine outlet 22 and then adjusts flow and flow rate, is allowed to meet tolerance degree not With the demand of patient；Third pipeline left end is placed in medicine storage 27 by No. 5 pipeline holes 63, and middle part, which is connected through a screw thread, to be mounted on The two sides of medicine-sucking pump 17, right end, which is connected through a screw thread, to be mounted on pressure cylinder 18；The upper end of 4th pipeline is connected through a screw thread peace On pressure cylinder 18, then it is sequentially connected 24, No. 2 check valve 23 and No. 2 flowmeters 20 of No. 1 overflow valve and passes through No. 6 pipelines Hole 66 reaches the outside of the 4th cabinet, and the lower end of the 4th pipeline, which is connected through a screw thread, is fixed on the outer of the 4th cabinet right side plate Side；The part that 4th pipeline is located on the outside of the 4th cabinet is known as medicine outlet 22；Connect in the middle part of 5th pipeline right end and the 4th pipeline It connects, then connects No. 2 overflow valves 25, reached inside medicine storage 27 through No. 4 pipeline holes 62.

The enema fluid for flowing through medicine-sucking pump 17, which enters in pressure cylinder 18, to be pressurized, and pressurized enema fluid subtracts through No. 1 overflow valve 24 Pressure, the enema fluid after decompression flow out medicine outlet 22 through No. 2 check valve 23 and No. 2 flowmeters 20 and enter in enema tube；No. 2 check valves 23 is interior in optimum flow rate (80-100ml/min) by the flow control of enema fluid, and extra enema fluid is through No. 2 overflow valves 25 It flows back into medicine storage 27.

Refering to Fig. 3, the massage system by brake block 30, universal wheel 31, clump weight 32, support frame 33, support plate 34, Pedestal 35, large arm motor, small pulley 36, large arm 37, middle arm motor, big belt wheel 38, big belt wheel installation axle 39, middle arm 40, fine tuning Handle 41, forearm 42, spring, forearm set 43, massage ball stand 44 and massage ball 45 form.

Brake block 30, universal wheel 31, clump weight 32, support frame 33, support plate 34 form counterweight support, for mobile massage 6 freedom degrees of system and limitation massage system without artificial participate in.

Universal wheel 31 directly with ground face contact, positioned at the bottom of entire massage system；Universal wheel 31 and brake block 30 are equal It is mounted on caster bracket, constitutes mobile device；4 groups of mobile devices, which are connected through a screw thread, is fixed on 32 lower surface of clump weight Mobile device mounting hole 81 on, for moving massage system；33 lower end of support frame, which is bolted to be fixed on, matches On the support frame location hole 82 of 32 upper surface of pouring weight, the support frame peace for being fixed on 34 lower surface of support plate is bolted in upper end It fills on hole 84.

Pedestal 35, large arm motor, small pulley 36, large arm 37, middle arm motor, big belt wheel 38, big belt wheel installation axle 39, middle arm 40, trimming handle 41, forearm 42, spring, forearm set 43, massage ball stand 44 and massage ball 45 form underactuated manipulator.

Big belt wheel installation axle 39 is multi-diameter shaft, upper end diameter of axle minimum and, upper end band consistent with the center bore of big belt wheel 38 Keyway and screw thread；It is maximum against the end portion diameter of axle, it is consistent with the aperture of middle arm mounting hole 94, and have keyway；Close to upper end The diameter of axle it is identical as the lower end diameter of axle.

Pedestal 35 is bolted on the pedestal location hole 83 for being fixed on 34 upper surface of support plate；Large arm motor passes through spiral shell Bolt is fastened in the large arm motor installing hole 85 of 35 top plate lower surface of pedestal, and large arm motor shaft passes through large arm motor shaft Bearing and large arm motor shaft mounting hole 90 in hole 86, blending bolt connection and key connection are fixed in large arm 37；Middle arm motor It is bolted in the middle arm motor installing hole 88 for being fixed on 37 lower surface of large arm, middle arm motor shaft passes through bearing, middle arm electricity The centre bore of crankshaft bore 89 and small pulley 36；Small pulley 36, which is connected through a screw thread and is keyed, is mounted on the upper of middle arm motor shaft End；Big belt wheel 38 is connected through a screw thread and is keyed the upper end for being mounted on big belt wheel installation axle 39；Under big belt wheel installation axle 39 End sequentially passes through the bearing in bearing (ball) cover, bearing, big belt wheel mounting hole 92, middle arm location hole 93 and middle arm mounting hole 94；In 40 left end of arm is mounted in middle arm limiting slot 91；42 upper end of forearm passes through forearm mounting hole 95 and in the upside of middle arm right end under Side uses 1 nut to pre-tighten respectively, and forearm 42 is fixed on to the right end of middle arm 40；；Trimming handle 41 is connected through a screw thread to be connected with key Connect the upper end for being mounted on forearm 42；After patient lies and puts down, the nut of the upper and lower two sides of 40 right end of arm in medical staff's release, according to trouble The height of person's posture differential rotation trimming handle 41 and then adjusting massage ball 45, is allowed to meet the massage demand of patient, then twist The nut of two sides, limits the change in location of forearm 42 above and below 40 right end of tight middle arm；42 lower end of forearm set upper spring is simultaneously put into forearm In the top " cylinder " of set 43, spacer pin passes through guide groove 96 and is mounted on the forearm set limit hole of 42 end portion of forearm；Limit The rotational freedom of the position and forearm set 43 of position pin limited spring upper end along the vertical direction, the structure shape of 42 end portion of forearm The planform of shape and forearm set 43 limits the transversely one-movement-freedom-degree and rotational freedom with longitudinal direction of forearm set 43, so that small The lower end of the opposite forearm 42 of arm set 43 only has 1 one-movement-freedom-degree along the vertical direction；The end portion of forearm set 43 according to It is secondary to pass through bearing, massage ball rack mounting apertures 97 and bearing, and be threadedly coupled and be mounted on massage 44 upper plate part of ball stand； Massage ball 45 is connected through a screw thread the ear for being mounted on massage ball stand 44.

The structure type of 37 left end entity right end hollow out of large arm and middle arm the motor arrangement on the left of large arm motor shaft, so that The torque that the torque and right side generated on the left of large arm motor shaft by self weight is generated by self weight is close to balance, and left side torque is less than the right side Side force square；Meanwhile the blind-mate of large arm 37 and 35 upside plate of pedestal and the power suffered by sharing on large arm motor shaft；? When underactuated manipulator massages patient abdomen, stomach height is different when being lain low due to patient, and massage ball 45 reaches abdomen high bit Spring when setting in forearm set 43 can compress and generate elastic force, which, which forms, generates torque counterclockwise, at this time large arm motor The torque of axis two sides is in the state almost balanced.

When massage ball 45 reaches designated position, medical worker steps on 4 brake blocks 30 and prevents underactuated manipulator from moving Dynamic, then frictional force caused by the gravity by manipulator self weight with clump weight 32 fixes massaging manipulator on the ground. Different massage tracks is set according to the height section of patient, and being shown in operation interface is different gears；Then further according to The height of the specific adjusting massage ball 45 of the posture of patient.

Refering to Fig. 4, the counterweight cabinet 1 is cabinet structural member, for limiting 6 freedom degrees and the storage doctor of dispensing system Treat equipment；Counterweight cabinet 1 has 3 cabinet bodies, is referred to as the first cabinet body, the second cabinet body and third cabinet body from left to right；Counterweight cabinet 1 Top be thick plate-like structural member, be provided with 6 identical shell location holes 46, be tapped blind hole, for position and Shell 2 is installed, the upper plate part of each cabinet body there are 2 shell location holes 46；

The upside plate of first cabinet body is provided with 1 constant temperature axis through hole 47, and the rank in lower part aperture is greater than for top aperture Terraced light through-hole；It is provided with 4 identical constant temperature electric machine support mounting holes 48 on rear side plate, is tapped through hole；

The upside plate of third cabinet body is provided with 1 mixed medicine axis through hole 50, is light through-hole；4 are provided on rear side plate A identical mixed medicine electric machine support mounting hole 49 is tapped through hole.

Refering to Fig. 5, the shell 2 is case body structural member, for dust-proof and fixing internal component；Shell 2 is outermost 6 plates of side form the shell of a cuboid；Enclosure interior is divided into 5 cabinets by 4 plates；Two of the leftmost side Cabinet is referred to as the first cabinet and the second cabinet from top to bottom；It is the 4th that two cabinets of the rightmost side are referred to as from top to bottom Cabinet and the 5th cabinet；Middle housing is known as third cabinet；2 base plate member size of shell and 1 top plate size phase of counterweight cabinet Together, it is provided with 6 identical housing mounting holes 71 on 2 base plate member of shell, is light through-hole, with 6 shell location holes 46 It is corresponding；

4 identical support of heater rod location holes 54 are provided on plate on the left of first cabinet, are tapped through hole；On It is provided with 1 water inlet 55 on portion's plate, is light through-hole；4 identical suction pump location holes are provided on rear side plate 56, it is tapped through hole；

Plate is provided with the identical storage being uniformly distributed along the circumference of 1 constant temperature shaft mounting hole 52 and 4 on the upside of second cabinet Hydrophone mounting hole 53, the former is greater than downside aperture ladder light through-hole for upside aperture, and the latter is light through-hole；It is also set on base plate member It is equipped with 1 constant temperature axis location hole 51, is greater than downside aperture ladder light through-hole for upside aperture；

1 identical syringe rack location hole in No. 1 pipeline hole 57 and 4 is provided on plate on the left of third cabinet 58；No. 1 pipeline hole 57 is light through-hole；Syringe rack location hole 58 is tapped through hole；3 electric cylinders groups are provided on rear side plate Part mounting hole 59 is tapped through hole；

It is provided with 1 No. 2 pipeline hole 60 on plate on the left of 4th cabinet, is light through-hole；13 is provided on base plate member Number No. 5 pipeline holes 63 in 61,1, pipeline hole, 62,1, No. 4 pipeline holes, are all light through-hole；Rear side plate be provided with 4 it is identical Medicine-sucking pump mounting hole 64, be tapped through hole；4 identical 65 Hes of pressure cylinder rack positioning hole are provided on the plate of right side 1 No. 6 pipeline hole 66, is all tapped through hole；

It is provided with 1 mixed medicine shaft mounting hole 69 and 1 liquid-level switch mounting hole 70 on plate on the upside of 5th cabinet, is all light Through-hole；1 mixed medicine axis location hole 67 and 4 identical medicine storage mounting holes being uniformly distributed along the circumference are provided on base plate member 68；The former is greater than the ladder light through-hole in downside aperture for upside aperture, and the latter is light through-hole.

Refering to Fig. 6, the support of heater rod 7 is L shape plate-type structural piece, be provided on the vertical plate in left side 4 it is identical Support of heater rod mounting hole 72, it is corresponding with the support of heater rod location hole 54 on the left of the first cabinet on plate；Heating rod branch Frame mounting hole 72 is light through-hole, for positioning and installing support of heater rod 7；It is provided with and adds on the bottom plate of 7 lower section of support of heater rod Hot pin mounting hole 73 is light through-hole；6 upper end of heating rod is passed through into heating rod mounting hole 73, then with nut by the upper of heating rod 6 End is fixed in support of heater rod 7.

Refering to Fig. 7, the syringe rack 11 is that two cross sections are cut on bottom plate is long to L shape plate-type structural piece The structural member that rectangular top adds the domes of semicircle to be formed is provided with 4 identical syringe branch in left side vertical plate Frame mounting hole 74 is light through-hole, corresponding with the syringe rack location hole 58 of plate on the left of third cabinet, for fixing and pacifying Fill syringe rack 11；Syringe cylinder handle locating slot 75 is provided on 11 bottom plate of syringe rack.

Refering to Fig. 8, the syringe fixinig plate 13 is that cross section is " ten " font and cuts syringe cylinder in side edge The rubber structure part that handle half is formed, syringe fixinig plate 13 are mounted in syringe cylinder handle locating slot 75 to be interference fitted, lean on 6 freedom degrees of elastic force and stiction the limitation syringe cylinder of rubber.

Refering to Fig. 9, the syringe handle bracket 15 cuts off two to the turning of " L " along end face for L shape plate-type structural piece A cross section is the structural member that rectangle top adds the domes of semicircle to be formed, and upper part plate is provided with the positioning of syringe handle Slot 76；Lower part vertical plate is provided with 4 identical syringe handle rack mounting apertures 77, is light through-hole, is used for mounting of syringe Handle bracket 15；The height of syringe handle mounting groove 76 and the consistency of thickness of syringe handle, are used for mounting of syringe handle.

Refering to fig. 10, the pressure jar support 19 is "convex" shaped structural member, is provided with 1 pressure cylinder limit hole 78, the identical pressure cylinder rack mounting apertures 80 of 1 pressure cylinder mounting hole 79 and 4；Pressure cylinder limit hole 78 is logical for screw thread Hole cooperates with caging bolt, the rotational freedom and one-movement-freedom-degree of limitation pressure cylinder 18 along longitudinal direction；Pressure cylinder mounting hole 79 is Light through-hole and its aperture is consistent in 18 outer diameter of pressure cylinder, forms transition fit, limitation pressure cylinder 18 transversely with vertical direction One-movement-freedom-degree and rotational freedom；Pressure cylinder rack mounting apertures 80 are the pressure on light through-hole, with plate on the right side of the 4th cabinet Jar support location hole 65 is corresponding, for positioning and installing pressure jar support 19.

Refering to fig. 11, the clump weight 32 is oblate cylindricality structural member, be along the circumferential direction respectively arranged with thereon 4 it is complete The identical mobile device mounting hole 81 of exactly the same support frame location hole 82 and 4；Support frame location hole 82 and mobile dress The distance for setting mounting hole 81 to the 32 upper surface center of circle of clump weight is different；Support frame location hole 82 be tapped through hole, for position and Support frame 33 is installed；Mobile device mounting hole 81 is light through-hole, for positioning and installing mobile device.

Refering to fig. 12, the support plate 34 is disk-like structure part, be provided with 4 it is identical circumferentially The identical circumferential support frame mounting hole 84 of pedestal location hole 83 and 4；Radius of a circle is greater than along the former The latter；The two is all tapped through hole, for positioning and mounting seat 35 and support frame 33.

Refering to fig. 13, the pedestal 35 is the Round Barrel Type structural member of inverted " t " font, is provided with 4 in lower edge Identical circumferential base installing hole 87 is light through-hole, corresponding with the pedestal location hole 83 in support plate 34, For pedestal 35 to be mounted on support plate 34；1 large arm motor axis hole 86 is provided on upper plate part center, it is logical for ladder light Hole, for passing through large arm motor shaft and installation bearing；Centered on large arm motor axis hole 86, be additionally provided with 4 it is identical The large arm motor installing hole 85 being uniformly distributed along the circumference is tapped through hole, for installing large arm motor.

Refering to fig. 14, the large arm 37 is the plate-type structural piece of hollow out, and left side is provided with 1 middle arm motor axis hole 89, the ladder light through-hole in top aperture is greater than for lower part aperture；Be additionally provided with 4 identical is with middle arm motor axis hole 89 The middle arm motor installing hole 88 that center is uniformly distributed along the circumference is tapped through hole；The side of middle arm motor axis hole 89 is additionally provided with 1 big Arm motor shaft mounting hole 90 is the light through-hole with keyway；The middle part of large arm 37 is to be cut by the front along cuboid to rear surface One cuboid and two cuboids are cut by upper surface to lower surface respectively and the engraved structure that is formed；The right side of large arm 37 is set It is equipped with 1 middle arm limiting slot 91, the height of middle arm limiting slot 91 is identical as middle 40 thickness of arm, to arm 40 in limiting along vertical side To one-movement-freedom-degree, rotational freedom transversely and rotational freedom along longitudinal direction；37 right end of large arm is limited close to middle arm The upside setting of slot 91 is light through-hole by 1 big belt wheel mounting hole 92；37 right end of large arm is set close to the downside of middle arm limiting slot 91 It is equipped with 1 middle arm location hole 93, is ladder light through-hole, top aperture is identical as 92 aperture of big belt wheel mounting hole, and is greater than lower part Aperture；Big belt wheel mounting hole 92 and middle arm location hole 93 are coaxial.

Refering to fig. 15, the middle arm 40 be cuboid two sides increase by two semi-cylindricals at structural member；Middle arm 40 Left end is provided with 1 middle arm mounting hole 94, is the light through-hole with keyway；Right end is provided with 1 forearm mounting hole 95, logical for screw thread Hole.

Refering to fig. 16, it is " cylinder " shape structural member that the forearm, which covers 43 tops, and lower part is multi-diameter shaft；Forearm set 43 The guide groove 96 of 2 symmetrical similar " general flat key " structures is provided on " barrel ", for installing spacer pin and guiding；Ladder The lower part diameter of axle of axis is less than the top diameter of axle, is used for fixed and positioned massage ball stand 44.

Refering to fig. 17, the massage ball stand 44 is "u"-shaped plate, and upper part plate is provided centrally with massage ball Rack mounting apertures 97 are ladder light through-hole, and the aperture close to the upper and lower surfaces part of upper plate part is consistent, is greater than centre Partial aperture, the pore size of middle section are bearing outer ring installation dimension, for installing the lower part of bearing and forearm set 43 Multi-diameter shaft；It is provided with 1 massage ball mounting hole 98 on its two sides ear plate, is light through-hole, for installing the rotation of massage ball 45 Shaft, rotary shaft are connect by bearing with massage ball 45, realize colon massage.

A kind of working principle of novel sausage instrument based on underactuated manipulator of the present invention:

A kind of novel sausage instrument based on underactuated manipulator of the present invention is taken out when needing to be implemented enema operation Water pump 8 enters spare in water receiver 5 according to the water that specific quantity is extracted in system command；Temperature sensor is had on heating rod 6, it can Real-time monitoring water temperature；When monitoring the water temperature in water receiver 5 lower than 42 DEG C, heating rod 6 is started to work, and system opens constant temperature electricity Machine, drives water receiver impeller 4 to stir the water in water receiver 5, and accelerated heat is transmitted and is heated evenly water；When water temperature is higher than 46 DEG C When heating rod 6 stop working；Enema fluid circulates in pipeline can generate thermal loss, after calculating thermal loss, reach patient's body Interior enema fluid temperature is maintained within 38-42 DEG C of optimum temperature range.

When system receives the instruction that bowel lavage starts, No. 1 check valve 10 is opened, using liquid level difference by water by way of note Medicine system is flowed into medicine storage 27；When water flows through No. 1 flowmeter 9, system opens the motor of electric cylinders component 16, drives injection Device handle moves down, and medical fluid is pushed in medicinal box 12, is tentatively mixed and delivered to medical fluid with water using washing away for water flow In medicine storage 27.When liquid-level switch 29 has monitored that medical fluid enters in medicine storage 27 in medicine storage 27, the work of medicine motor is mixed, It drives medicine storage impeller 28 to rotate, and then medical fluid is uniformly mixed with water.Water in medicine storage 27 can be learnt from No. 1 flowmeter 9 Volume, can according to electric cylinders climb displacement syringe handle displacement so that calculate medical fluid volume, enema fluid so can be obtained Concentration.After the conversion relation of the volume and electric cylinders stroke that set water, the concentration of enema fluid can be set in optium concentration Within range 80-100ml/min.

Medical fluid successively passes through medicine-sucking pump 17, check valve 23 and No. 2 flowmeter 20 of overflow valve 24,2 of pressure cylinder 18,1 reaches To medicine outlet 22；Adjust component parameter can by enema fluid flow rate set optimum flow rate 80-100ml/min it It is interior.Flow is proportional to flow velocity, and the bowel lavage flow quantity entered in Intestinal Mucosal Injury in Patients Undergoing can be obtained according to the diameter of medicine outlet 22.Together When, medical worker can also be finely tuned the flow velocity of enema fluid using flow rate fine-tuning handle 21, be allowed to according to the tolerance degree of patient itself Reach the requirement of patient comfort；No. 2 monitorings of flowmeter 20 enter the volume of the enema fluid of patient's body.

For patient without movement, medical worker decontrols the i.e. removable underactuated manipulator of brake block 30 after completing enema operation And it is suitble to the massage gear of patient according to the height feature selecting of patient.The massage gear of underactuated manipulator corresponds to different press It rubs track, is set according to the height of patient, can also be massaged according to the posture and feeling of patient using trimming handle 41 45 height adjustment of ball.

When patient is lain low on one's sick bed, the height of abdomen is random variation, and the position in close thoracic cavity is more elsewhere Height, the position close to body two sides are lower；When massage ball 45 is massaged by lower position to higher position, it is necessary to adjusting massage ball Otherwise 45 height will be unable to abdomen organ that is current or oppressing patient by force and pass through, if must using normal massaging manipulator Must have 3 or more freedom degrees can realize.But stomach height is random to change the massage track for resulting in massage ball 45 Planning is abnormal difficult.It is perpendicular that the present invention uses the unactuated joint being made of forearm 42 and forearm set 43 and internal spring to realize Histogram to one-movement-freedom-degree.When massage ball 45 meets obstructions, the spring stress in activation lacking mechanical hand arm set 43 compresses, The one-movement-freedom-degree for realizing 45 vertical direction of massage ball, need to only plan the massage track of 45 horizontal direction of massage ball at this time, And patient will not be damaged.

Intestines peristalsis drives excrement to move along clockwise direction, and after bowel lavage, underactuated manipulator is along side counterclockwise It is massaged to the abdomen to patient, on the one hand can promote the mixing velocity of enema fluid and excrement, on the other hand also promote bowel lavage Liquid counterclockwise flow has sufficient time to promote enema fluid and excrement mixed so that the retention time of enema fluid in vivo lengthens The abundant degree closed.

Massage can promote the velocity of liquid assets of excrement in vivo to underactuated manipulator clockwise, so that the disease of constipation patient Shape is able to cure or alleviate.

The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way Limitation, as long as the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out is used, or without changing It is within the scope of the present invention into the conception and technical scheme of the invention are directly applied to other occasions.

Claims

1. a kind of novel sausage instrument based on underactuated manipulator, which is characterized in that have dispensing system and massage system；

The dispensing system has counterweight cabinet (1), tool box and enema tube；

The massage system has counterweight support and underactuated manipulator；

The tool box has shell (2), constant temperature system, liquid medicine injection system, flow control system, blending explosive system and the connection perseverance Warm system, liquid medicine injection system, flow control system, the first pipeline of blending explosive system, the second pipeline, third pipeline, the 4th pipeline and the 5th Pipeline；

The upper surface for being fixed on counterweight cabinet (1) is bolted in the tool box；The enema tube is connected through a screw thread It is mounted on tool box；The underactuated manipulator, which is bolted, to be mounted in counterweight support；The micromatic setting It is mounted in counterweight support by bearing and threaded connection.

2. the novel sausage instrument based on underactuated manipulator as described in claim 1, which is characterized in that the counterweight cabinet It (1) is cabinet structural member；Counterweight cabinet (1) has 3 cabinet bodies, is referred to as the first cabinet body, the second cabinet body and third cabinet from left to right Body；The top of counterweight cabinet (1) is plate-type structural piece, is provided with 6 shell location holes (46), is tapped blind hole, for fixed Position and installation shell (2), the upper plate part of each cabinet body have 2 shell location holes (46)；

The upside plate of first cabinet body is provided with 1 constant temperature axis through hole (47), and constant temperature axis through hole (47) is that top aperture is big Ladder light through-hole in lower part aperture；4 constant temperature electric machine support mounting holes (48), constant temperature electric machine support are provided on rear side plate Mounting hole (48) is tapped through hole；

The upside plate of third cabinet body is provided with 1 mixed medicine axis through hole (50), and mixing medicine axis through hole (50) is light through-hole；Rear side 4 mixed medicine electric machine support mounting holes (49) are provided on plate, mixing medicine electric machine support mounting hole (49) is tapped through hole.

3. the novel sausage instrument based on underactuated manipulator as described in claim 1, which is characterized in that the shell It (2) is case body structural member；Outermost 6 plates of shell (2) form the shell of a cuboid；Enclosure interior is by 4 Plate is divided into 5 cabinets；Two cabinets of the leftmost side are referred to as the first cabinet and the second cabinet from top to bottom；The rightmost side Two cabinets are referred to as from top to bottom as the 4th cabinet and the 5th cabinet；Middle housing is known as third cabinet；Shell (2) bottom Board dimensions are identical as counterweight cabinet (1) top plate size, and 6 housing mounting holes (71) are provided on shell (2) base plate member, Housing mounting holes (71) are light through-hole, and 6 housing mounting holes (71) are corresponding with 6 shell location hole (46)；

4 support of heater rod location holes (54) are provided on the left of first cabinet on plate, support of heater rod location hole (54) is spiral shell Line through-hole；1 water inlet (55) is provided on upper plate part, water inlet (55) is light through-hole；4 pumpings are provided on rear side plate Water pump location hole (56), suction pump location hole (56) are tapped through hole；

Plate is provided with 1 constant temperature shaft mounting hole (52) and 4 water receiver mounting holes being uniformly distributed along the circumference on the upside of second cabinet (53), constant temperature shaft mounting hole (52) is that upside aperture is greater than downside aperture ladder light through-hole, and water receiver mounting hole (53) is logical for light Hole；1 constant temperature axis location hole (51) is additionally provided on base plate member, constant temperature axis location hole (51) is that upside aperture is greater than lower-side hole Diameter ladder light through-hole；

1 No. 1 pipeline hole (57) and 4 syringe rack location holes (58) are provided on plate on the left of third cabinet；No. 1 pipeline Hole (57) is light through-hole；Syringe rack location hole (58) is tapped through hole；3 electric cylinders component installations are provided on rear side plate Hole (59), electric cylinders component mounting hole (59) are tapped through hole；

1 No. 2 pipeline hole (60) is provided on the left of 4th cabinet on plate, No. 2 pipeline holes (60) are light through-hole；On base plate member It is provided with 1 No. 3 pipeline hole (61), 1 No. 4 pipeline hole (62), 1 No. 5 pipeline hole (63), No. 3 pipeline holes (61), No. 4 pipes Road hole (62), No. 5 pipeline holes (63) are all light through-hole；Rear side plate is provided with 4 medicine-sucking pump mounting holes (64), medicine-sucking pump installation Hole (64) is tapped through hole；It is provided with 4 pressure cylinder rack positioning holes (65) and 1 No. 6 pipeline hole (66) on the plate of right side, presses Power jar support location hole (65) and No. 6 pipeline holes (66) are all tapped through hole；

It is provided with 1 mixed medicine shaft mounting hole (69) and 1 liquid-level switch mounting hole (70) on plate on the upside of 5th cabinet, mixes medicine axis Mounting hole (69) and liquid-level switch mounting hole (70) are all light through-hole；1 mixed medicine axis location hole (67) is provided on base plate member The medicine storage mounting hole (68) being uniformly distributed along the circumference with 4；Mixed medicine axis location hole (67) is the rank that upside aperture is greater than downside aperture Terraced light through-hole, medicine storage mounting hole (68) are light through-hole.

4. the novel sausage instrument based on underactuated manipulator as described in claim 1, which is characterized in that the constant temperature system System has constant temperature motor and its bracket, constant temperature axis (3), water receiver impeller (4), water receiver (5), heating rod (6), support of heater rod (7), suction pump (8) and the first pipeline；

The constant temperature electric machine support peace for being fixed on plate on rear side of the first cabinet body is bolted in the constant temperature motor and its bracket It fills on hole (48)；Constant temperature axis (3) upper end passes through constant temperature shaft mounting hole (52) and is located in water receiver (5) bottom centre hole Bearing, the bearing and constant temperature axis through hole (47) being placed through in the middle part of constant temperature axis (3) in constant temperature axis location hole (51), constant temperature axis (3) lower end is connected by shaft coupling with constant temperature motor shaft；The water receiver impeller (4) is connected by key and is threadedly coupled installation In the upper end of constant temperature motor shaft；The water receiver for being fixed on plate on the upside of the second cabinet is bolted in the water receiver (5) On mounting hole (53)；The heating rod (6) passes through heating rod mounting hole (73) and is mounted on support of heater rod (7)；It is described Support of heater rod (7) be bolted and be fixed on the left of the first cabinet on the support of heater rod location hole (54) of plate；Institute The suction pump (8) stated is mounted on the suction pump location hole (56) of the first cabinet back side panel；The first pipeline left end connection Water source simultaneously enters in first cabinet of shell (2) through water inlet (55), and the two sides in the middle part of the first pipeline with suction pump (8) pass through spiral shell Line is attached, and the first pipeline right end enters in water receiver (5)；Sealing dress is used between constant temperature axis (3) top and water receiver (5) Set sealing.

5. the novel sausage instrument based on underactuated manipulator as described in claim 1, which is characterized in that the injection system System have No. 1 flowmeter (9), No. 1 check valve (10), syringe rack (11), medicinal box (12), syringe fixinig plate (13), Syringe (14), syringe handle bracket (15), electric cylinders component (16) and the second pipeline；

The syringe rack location hole for being fixed on plate on the left of third cabinet is bolted in the syringe rack (11) (58) on；Medicinal box (12) top and the nipple of syringe (14) are attached by hose；The syringe (14) Syringe cylinder handle is placed in syringe cylinder handle locating slot (75), passes through syringe fixinig plate (13) and syringe cylinder handle locating slot (75) 6 freedom degrees of frictional force and shape and structure limitation syringe cylinder handle between the two between, syringe handle are placed in 4 freedom degrees that syringe handle is limited in syringe handle locating slot (76) and by planform make syringe handle only along perpendicular Histogram to rotational freedom and one-movement-freedom-degree along longitudinal direction；Installation is bolted in the syringe handle bracket (15) On the slide unit of electric cylinders component (16)；The electric cylinders component (16) is mounted on the electric cylinders component peace of the rear side plate of third cabinet It fills on hole (59)；The second pipeline left end, which passes through No. 1 pipeline hole (57) and is connected through a screw thread, is mounted on water receiver (5) On, be sequentially connected No. 1 flowmeter (9), No. 1 check valve (10) and medicinal box (12) in the middle part of the second pipeline, the second pipeline right end according to It is secondary to pass through No. 2 pipeline holes (60) and No. 3 pipeline holes (61) are placed in medicine storage (27).

6. the novel sausage instrument based on underactuated manipulator as described in claim 1, which is characterized in that the flow control system System has medicine-sucking pump (17), pressure cylinder (18), pressure jar support (19), No. 2 flowmeters (20), flow rate fine-tuning handle (21), goes out Medicine mouth (22), No. 2 check valves (23), No. 1 overflow valve (24), No. 2 overflow valves (25), third pipeline, the 4th pipeline and the 5th pipe Road；

The medicine-sucking pump (17), which is bolted, to be fixed on rear side of the 4th cabinet on the medicine-sucking pump mounting hole (64) of plate；Institute The pressure cylinder (18) stated is mounted in the pressure cylinder mounting hole (79) of pressure jar support (19), by pressure cylinder mounting hole (79) and It is assemblied in 6 freedom degrees of caging bolt limitation pressure cylinder (18) of pressure cylinder limit hole (78)；The pressure jar support (19) it is bolted and is fixed on the right side of the 4th cabinet on the pressure cylinder rack positioning hole (65) of plate；The flow rate fine-tuning Handle (21), which is connected through a screw thread, to be mounted on medicine outlet (22)；It is set by No. 5 pipeline holes (63) the third pipeline left end In medicine storage (27), the two sides for being mounted on medicine-sucking pump (17) are connected through a screw thread in the middle part of third pipeline, third pipeline right end is logical Threaded connection is crossed to be mounted on pressure cylinder (18)；The upper end of 4th pipeline, which is connected through a screw thread, is mounted on pressure cylinder (18) On, it is then sequentially connected No. 1 overflow valve (24), No. 2 check valves (23) and No. 2 flowmeters (20) and passes through No. 6 pipeline holes (66) The outside of the 4th cabinet is reached, the lower end of the 4th pipeline is connected through a screw thread the outside for being fixed on plate on the right side of the 4th cabinet；The The part that four pipelines are located on the outside of the 4th cabinet is known as medicine outlet (22)；The middle part of the 5th pipeline right end and the 4th pipeline Connection then connects No. 2 overflow valves (25), and it is internal to reach medicine storage (27) through No. 4 pipeline holes (62)；No. 2 flowmeter (20) prisons Survey the volume for entering the enema fluid of patient's body.

7. the novel sausage instrument based on underactuated manipulator as described in claim 1, which is characterized in that the mixed medicine system System has mixed medicine motor and its bracket, mixed medicine axis (26), medicine storage (27), medicine storage impeller (28) and liquid-level switch (29)；

The mixed medicine motor and its bracket are mounted on rear side of third cabinet body on the mixed medicine electric machine support mounting hole (49) of plate；Institute Mixed medicine axis (26) upper end stated passes through mixed medicine axis location hole (67) the inner bearing end cap bearing below of plate on the upside of the 5th cabinet, The bearing in medicine storage (27) bottom centre hole is passed through in the middle part of mixed medicine axis (26), is mixed on the upside of medicine shaft mounting hole (69) and third cabinet body The mixed medicine axis through hole (50) of plate, mixed medicine axis (26) lower end are connect with mixed medicine motor shaft by shaft coupling, mixed medicine axis (26) and It is sealed between medicine storage (27) bottom centre hole by sealing device；The medicine storage impeller (28) is connected through a screw thread and key It is fastened on the downside of the middle part of mixed medicine axis (26) on the diameter of axle on the upside of middle part；The liquid-level switch (29) is placed in medicine storage (27) in, liquid-level switch (29) upper end is connected through a screw thread the liquid-level switch mounting hole (70) for being fixed on plate on the upside of the 5th cabinet On.

8. the novel sausage instrument based on underactuated manipulator as described in claim 1, which is characterized in that the counterweight branch Frame has brake block (30), universal wheel (31), clump weight (32), support frame (33) and support plate (34)；

The clump weight (32) is oblate rod structure part, for limiting 6 freedom degrees of massage system bottom；Clump weight (32) On be provided with 4 circumferential support frame location holes (82) and 4 circumferential mobile device mounting holes (81)；Branch Support location hole (82) be tapped through hole, mobile device mounting hole (81) be light through-hole and the two circumferentially radius difference；

The support frame (33) is truss structure；

The support plate (34) is disk-like structure, is provided with 4 circumferential pedestal location holes (83) and 4 edges The support frame mounting hole (84) of circle distribution, is all tapped through hole；Along pedestal location hole (83) and support frame mounting hole (84) Radius of a circle is different；

The universal wheel (31) and brake block (30) is installed on caster bracket, constitutes mobile device；4 groups of mobile devices It is connected through a screw thread on the mobile device mounting hole (81) for being fixed on clump weight (32) lower surface；Under the support frame (33) End is bolted on the support frame location hole (82) for being fixed on clump weight (32) upper surface, and fixation is bolted in upper end On the support frame mounting hole (84) of support plate (34) lower surface.

9. the novel sausage instrument based on underactuated manipulator as described in claim 1, which is characterized in that the drive lacking Manipulator has pedestal (35), large arm motor, small pulley (36), large arm (37), middle arm motor, big belt wheel (38), big belt wheel peace It fills axis (39), middle arm (40), trimming handle (41), forearm (42), spring, forearm set (43), massage ball stand (44) and massages Ball (45)；

The pedestal (35) is the columnar structured part of inverted " t " font, is provided with 4 along circle in pedestal (35) lower edge The base installing hole (87) of week distribution, base installing hole (87) are light through-hole, on base installing hole (87) and support plate (34) Pedestal location hole (83) is corresponding；1 large arm motor axis hole (86), large arm motor axis hole (86) are provided on upper plate part center It is greater than the ladder light through-hole in downside aperture for upside aperture；4 are additionally provided with centered on large arm motor axis hole (86) circumferentially Uniformly distributed large arm motor installing hole (85), large arm motor installing hole (85) are tapped through hole；

The large arm (37) is the plate-type structural piece of hollow out, and left side is provided with 1 middle arm motor axis hole (89), middle arm motor Axis hole (89) is the ladder light through-hole that lower part aperture is greater than top aperture；Being additionally provided with 4 with middle arm motor axis hole (89) is The middle arm motor installing hole (88) that the heart is uniformly distributed along the circumference, middle arm motor installing hole (88) are tapped through hole；Middle arm motor axis hole (89) 1 large arm motor shaft mounting hole (90) is additionally provided with beside, large arm motor shaft mounting hole (90) is logical for the light with keyway Hole；The middle part of large arm (37) is by cutting a cuboid along the front of cuboid to rear surface and by upper surface to lower surface point The engraved structure for not cutting two cuboids and being formed；1 middle arm limiting slot (91), middle arm limit are provided on the right side of large arm (37) The height of position slot (91) is identical as middle arm (40) thickness, to arm in limiting (40) one-movement-freedom-degree along the vertical direction, along cross To rotational freedom and rotational freedom along longitudinal direction；Large arm (37) right end close to middle arm limiting slot (91) upside setting by 1 big belt wheel mounting hole (92), big belt wheel mounting hole (92) are light through-hole；Large arm (37) right end is close to middle arm limiting slot (91) Downside is provided with 1 middle arm location hole (93), and middle arm location hole (93) is ladder light through-hole, top aperture and big belt wheel mounting hole (92) aperture is identical, and is greater than lower part aperture；Big belt wheel mounting hole (92) and middle arm location hole (93) are coaxial；

The big belt wheel installation axle (39) is multi-diameter shaft, big belt wheel installation axle (39) upper end diameter of axle it is minimum and with big belt wheel (38) Center bore it is consistent, big belt wheel installation axle (39) upper end band keyway and screw thread；Big belt wheel installation axle (39) abuts end portion The diameter of axle is maximum and consistent with the aperture of middle arm mounting hole (94) and has keyway；The diameter of axle of the big belt wheel installation axle (39) close to upper end It is identical as the lower end diameter of axle；

The middle arm (40) is to increase the structural member of two semi-cylindricals in cuboid two sides；Middle arm (40) left end is provided with 1 A middle arm mounting hole (94), middle arm mounting hole (94) are the light through-hole with keyway；Right end is provided with 1 forearm mounting hole (95), Forearm mounting hole (95) is tapped through hole；

The forearm (42) is the multi-diameter shaft with keyway；Keyway is located on the thinner diameter of axle, while the top of thinner side is set It is equipped with screw thread；There are two opposite forearm (42) centrosymmetric forearms to cover location hole, forearm set positioning for setting on the thicker diameter of axle Hole is conical bore；

Forearm set (43) top is columnar structured part, and forearm set (43) lower part is multi-diameter shaft；" the cylinder of forearm set (43) 2 symmetrical guide grooves (96) are provided on wall ", the lower part diameter of axle of multi-diameter shaft is less than the top diameter of axle；

The massage ball stand (44) is "u"-shaped plate, and upper part plate is provided centrally with massage ball rack mounting apertures (97), massage ball rack mounting apertures (97) are ladder light through-hole, upper table of the massage ball rack mounting apertures (97) close to upper plate part Face is consistent with the aperture of bottom surface section and is greater than the aperture of middle section, the hole of massage ball rack mounting apertures (97) middle section Diameter size is bearing outer ring installation dimension；1 massage ball peace is provided on massage ball rack mounting apertures (97) two sides ear plate It fills hole (98), massage ball mounting hole (98) is light through-hole；

The pedestal (35) is bolted on the pedestal location hole (83) for being fixed on support plate (34) upper surface；Described Large arm motor is bolted in the large arm motor installing hole (85) for being fixed on pedestal (35) top plate lower surface, large arm electricity Arbor passes through bearing and large arm motor shaft mounting hole (90) in large arm motor axis hole (86), and blending bolt connection and key connection are solid It is scheduled on large arm (37)；The middle arm motor installing hole for being fixed on large arm (37) lower surface is bolted in the middle arm motor (88) on, middle arm motor shaft passes through the centre bore of bearing, middle arm motor axis hole (89) and small pulley (36)；The small pulley (36) it is connected through a screw thread and is keyed the upper end for being mounted on middle arm motor shaft；The big belt wheel (38) be connected through a screw thread and Key connection is mounted on the upper end of big belt wheel installation axle (39)；The lower end of big belt wheel installation axle (39) sequentially passes through bearing (ball) cover, axis It holds, the bearing in big belt wheel mounting hole (92), middle arm location hole (93) and middle arm mounting hole (94)；Described middle arm (40) left end It is mounted in middle arm limiting slot (91)；Forearm (42) upper end passes through forearm mounting hole (95) and is threadedly coupled and is fixed on On the right side of middle arm (40)；The trimming handle (41) is connected through a screw thread and key connection is mounted on the upper ends of forearm (42)；Forearm (42) lower end covers upper spring and is put into the top cylinder of forearm set (43), and spacer pin passes through guide groove (96) and is mounted on forearm (42) on the forearm set limit hole of end portion；The position of spacer pin limited spring upper end and forearm set (43) are along the vertical direction Rotational freedom, the planform of forearm (42) end portion and planform limitation forearm set (43) of forearm set (43) are along cross To the one-movement-freedom-degree and rotational freedom with longitudinal direction, so that forearm set (43) only has 1 along perpendicular with respect to the lower end of forearm (42) Histogram to one-movement-freedom-degree；The end portion of the forearm set (43) sequentially passes through bearing, massage ball rack mounting apertures (97) And bearing, and be threadedly coupled and be mounted on massage ball stand (44) upper plate part；Massage ball (45) is connected through a screw thread installation In the ear of massage ball stand (44).