阅读说明：本技术 一种自动医疗盐水更换机器人 (Automatic medical saline replacing robot ) 是由 郭奇伸 于 2020-06-18 设计创作，主要内容包括：本发明公开了一种自动医疗盐水更换机器人,包括顶部体,所述顶部体的底面上固设有支撑架,所述支撑架放置在地面上,所述顶部体内开设有两个左右对称且开口向外界的传动腔和连接腔,所述传动腔位于所述连接腔上侧,所述传动腔与所述连接腔连通,所述传动腔内设有能够挂装盐水袋,并能定位夹紧插入头的定位控制机构,所述定位控制机构包括转动设在所述传动腔后壁上的传动轴,本发明采用挂杆和扭簧结合方式,能够自动感应盐水袋内的盐水是否已经用完,通过定位夹杆的定位,让针头的换取准确率更高,采用气缸辅助顶压,能够使针头更加顺利的插入插入头和盐水袋内。(The invention discloses an automatic medical saline replacing robot, which comprises a top body, wherein a support frame is fixedly arranged on the bottom surface of the top body, the supporting frame is placed on the ground, two transmission cavities and a connecting cavity which are symmetrical left and right and open to the outside are arranged in the top body, the transmission cavity is positioned at the upper side of the connecting cavity and is communicated with the connecting cavity, the transmission cavity is internally provided with a saline bag capable of being hung, and a positioning control mechanism capable of positioning and clamping the insertion head, wherein the positioning control mechanism comprises a transmission shaft rotatably arranged on the rear wall of the transmission cavity, the invention adopts a combination mode of a hanging rod and a torsion spring, can automatically sense whether the saline in the saline bag is used up or not, through the location of location clamping bar, let the rate of accuracy of getting of trading of syringe needle higher, adopt the supplementary roof pressure of cylinder, can make the syringe needle insert in head and the salt solution bag more smoothly.)

1. The utility model provides an automatic robot is changed to medical saline, includes the top body, the support frame has set firmly on the bottom surface of the top body, its characterized in that: the support frame is placed on the ground, two transmission cavities which are bilaterally symmetrical and have openings facing the outside and a connecting cavity are formed in the top body, the transmission cavities are located on the upper side of the connecting cavity and are communicated with the connecting cavity, a positioning control mechanism which can be used for hanging a saline bag and can position and clamp an insertion head is arranged in each transmission cavity, each positioning control mechanism comprises a transmission shaft which is rotatably arranged on the rear wall of each transmission cavity, a gear disc is fixedly arranged on the periphery of each transmission shaft, a hanging rod is fixedly arranged on the periphery of each gear disc, the extending part of each hanging rod extends out of the outside, the saline bag can be hung and loaded on the periphery of each hanging rod, a sliding rod is fixedly arranged between the upper wall and the lower wall of each connecting cavity, a lifting block is slidably arranged on the periphery of each sliding rod, the extending part of each lifting block extends out of the outside, and a positioning clamping rod is, the positioning clamping rod can clamp the insertion head, a bottom annular cavity is formed in the top body, and an annular disc is rotatably arranged on the bottom wall of the bottom annular cavity; the utility model discloses a saline bag infusion syringe, including annular dish, top, change mechanism, T type screw rod and T type slide bar, threaded connection is equipped with the swivel nut on the periphery of T type screw rod, Z type piece has been set firmly on the periphery of swivel nut, Z type piece with the periphery sliding connection of T type slide bar, the left surface of Z type piece has set firmly the cover that presss from both sides, it accompanies the syringe needle to press from both sides built-in the cover, the syringe needle bottom surface is connected and is installed the injection syringe.

2. The automated medical saline exchange robot of claim 1, wherein: the transmission cavity and the connecting cavity are provided with racks which slide up and down on the inner wall far away from the outside, the periphery of the gear disc is provided with teeth, the gear disc is meshed with the racks, two transmission cavities are communicated with each other to form a limiting cavity, the bottom wall of the limiting cavity is provided with a sector wheel in a rotating mode, the bottom wall of the limiting cavity is provided with two limiting blocks which are bilaterally symmetrical in a sliding mode, a limiting groove with an opening facing the limiting cavity is formed in the racks, the limiting blocks can be inserted into the limiting groove, a limiting spring is fixedly arranged between each limiting block and the inner wall of the limiting cavity, a torsion spring is fixedly arranged between the front side face of the gear disc and the front wall of the transmission cavity, a rotating shaft is arranged on the front wall of the connecting cavity in a rotating mode, a rotating connecting rod is fixedly arranged on the periphery of the rotating shaft, and two cavities which are bila, the rotating connecting rod is respectively hinged with the rack and the lifting block in the cavity.

3. The automated medical saline exchange robot of claim 2, wherein: the annular is coiled and is equipped with ratchet chamber and belt chamber, the ratchet chamber is located the belt chamber upside, the downwardly extending part of T type screw rod stretches into the ratchet intracavity, and its bottom surface has set firmly the ratchet group, it is equipped with the minor axis to rotate on the diapire of ratchet group, the minor axis with ratchet group power connection, minor axis downwardly extending part stretches into the belt intracavity, it is equipped with vertical axis to rotate on the diapire in belt chamber, vertical axis with the band pulley has all been set firmly in the periphery of minor axis, two the transmission is equipped with the belt between the band pulley, fixed gear ring has been set firmly on the roof of bottom annular chamber, the upwardly extending part of vertical axis runs through the inner wall of annular dish, and stretches into in the bottom annular intracavity, and its top surface has set firmly driven gear, driven gear with fixed gear ring meshing.

4. The automated medical saline exchange robot of claim 3, wherein: the bottom annular chamber with the restriction chamber intercommunication, the top surface of annular dish has set firmly the go-between, the go-between upwards extends the part and stretches into the restriction intracavity, and with fan-shaped wheel fixed connection, the upside in restriction chamber has been seted up and has been contacted the chamber, the top surface of fan-shaped wheel has set firmly the connecting axle, the connecting axle upwards extends the part and stretches into contact the intracavity, and its top surface has set firmly the cam, the top surface fixed mounting of top body has electric cylinder, electric cylinder's bottom surface electric connection is equipped with two bilateral symmetry's control module, control module downwardly extending part stretches into contact the intracavity, control module can with contact the chamber contact.

Technical Field

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

Background

At present, in the hospital, patient accepts to hang a little saline and carries out physiology treatment to be a common treatment means, however, many critical patients need to be in hospital and treat, hang saline at night, if do not have the attendant, when meetting current saline and having hung up, if not in time changing, then dangerous very much, possibly influence patient life safety, though also there is the nurse to patrol, but can't guarantee punctuality and promptness, consequently, in order to solve above-mentioned problem, it can change saline automatically to be necessary to design an intelligent robot device of a section, reduce the danger that patient hung the bottle.

Disclosure of Invention

The object of the present invention is to provide an automatic medical saline exchange robot for overcoming the above mentioned drawbacks of the prior art.

The automatic medical saline replacing robot comprises a top body, wherein a support frame is fixedly arranged on the bottom surface of the top body, the support frame is placed on the ground, two transmission cavities and a connecting cavity which are bilaterally symmetrical and open to the outside are formed in the top body, the transmission cavities are positioned on the upper sides of the connecting cavities and are communicated with the connecting cavities, a positioning control mechanism capable of hanging saline bags and positioning and clamping insertion heads is arranged in the transmission cavities, the positioning control mechanism comprises a transmission shaft which is rotatably arranged on the rear wall of the transmission cavities, a gear disc is fixedly arranged on the periphery of the transmission shaft, a hanging rod is fixedly arranged on the periphery of the gear disc, the extending part of the hanging rod extends out of the outside, the saline bags can be hung and loaded on the periphery of the hanging rod, a slide rod is fixedly arranged between the upper wall and the lower wall of the connecting cavity, and a lifting block is slidably arranged on the periphery of the slide rod, the utility model discloses a saline bag replacement mechanism, including the connecting chamber, the connecting chamber is connected with the top of lifting block extension, the lifting block extension stretches out the external world, and it keeps away from it connects the chamber side and has set firmly the location clamping bar, the location clamping bar can the clamping the insert head, the internal bottom annular chamber that has seted up in top, it is equipped with the annular dish to rotate on the diapire of bottom annular chamber, the annular dish with the internal connection opposite side of changing that is equipped with in top the change mechanism of saline bag, change the mechanism including setting firmly T type screw rod and T type slide bar on the annular dish top surface, threaded connection is equipped with the swivel nut on the periphery of T type screw rod, Z type piece has set firmly on the periphery of swivel nut, Z type piece with the periphery sliding connection of T type slide bar, the left surface of Z type piece has set firmly presss from both sides the cover.

According to a further technical scheme, racks are arranged on the inner walls of the transmission cavity and the connection cavity, which are far away from the outside, in a vertically sliding mode, teeth are arranged on the periphery of the gear disc, the gear disc is meshed with the racks, a limiting cavity is communicated between the two transmission cavities, a sector wheel is arranged on the bottom wall of the limiting cavity in a rotating mode, two limiting blocks which are bilaterally symmetrical are arranged on the bottom wall of the limiting cavity in a horizontally sliding mode, a limiting groove with an opening facing the limiting cavity is formed in the racks, the limiting blocks can be inserted into the limiting groove, a limiting spring is fixedly installed between the limiting blocks and the inner wall of the limiting cavity, a torsion spring is fixedly installed between the front side face of the gear disc and the front wall of the transmission cavity, a rotating shaft is arranged on the front wall of the connection cavity in a rotating mode, a rotating connecting rod is fixedly arranged on the periphery of the rotating shaft, and two cavities, the rotating connecting rod is respectively hinged with the rack and the lifting block in the cavity.

Further technical scheme, seted up ratchet chamber and belt chamber in the annular dish, the ratchet chamber is located the belt chamber upside, the downward extension of T type screw rod stretches into the ratchet intracavity, and its bottom surface has set firmly the ratchet group, it is equipped with the minor axis to rotate on the diapire of ratchet group, the minor axis with ratchet group power connection, minor axis downwardly extending part stretches into the belt intracavity, it is equipped with vertical axis to rotate on the diapire in belt chamber, vertical axis with the band pulley has all been set firmly in the periphery of minor axis, two the transmission is equipped with the belt between the band pulley, fixed gear ring has set firmly on the roof of bottom annular chamber, vertical axis upwards extension runs through the inner wall of annular dish, and stretches into in the bottom annular intracavity, and its top surface has set firmly driven gear, driven gear with fixed gear ring meshing.

Further technical scheme, the bottom annular chamber with restrict the chamber intercommunication, the top surface of annular dish has set firmly the go-between, the go-between upwards extends the part and stretches into restrict the intracavity, and with fan-shaped wheel fixed connection, the contact chamber has been seted up to the upside in restriction chamber, the top surface of fan-shaped wheel has set firmly the connecting axle, the connecting axle upwards extends the part and stretches into contact intracavity, and its top surface has set firmly the cam, the top surface fixed mounting of the top body has electric cylinder, electric cylinder's bottom surface electric connection is equipped with two bilateral symmetry's control module, control module downwardly extending part stretches into contact intracavity, control module can with contact the chamber contact.

The invention has the beneficial effects that: the invention adopts a combination mode of the hanging rod and the torsion spring, can automatically sense whether the saline in the saline bag is used up, the accuracy rate of the needle head replacement is higher through the positioning of the positioning clamping rod, the needle head can be more smoothly inserted into the insertion head and the saline bag through the air cylinder for assisting jacking, wherein the linkage of the rack and the lifting block in the positioning control mechanism enables the positioning clamping rod and the saline bag to be lifted simultaneously, the positioning is more accurate, the replacement mechanism can drive the needle head to be pulled out through the Z-shaped block and the clamping sleeve by adopting the structural characteristics of the T-shaped screw rod, the T-shaped screw rod is driven to rotate by gravity, and then the annular disc is driven to rotate, so that the needle head connection can be realized by being switched to the lower side of the saline bag on the right side, and the purpose of replacing the saline is further.

Drawings

FIG. 1 is a schematic view of the overall internal structure of the present invention;

FIG. 2 is an enlarged schematic view of the invention at A in FIG. 1;

FIG. 3 is an enlarged schematic view of the invention at B of FIG. 1;

figure 4 is a top view of a sector wheel 60 of the present invention.

Detailed Description

The invention will now be described in detail with reference to fig. 1-4, for convenience of description, the following orientations will now be defined: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

Referring to fig. 1-4, an automatic medical saline replacing robot according to an embodiment of the present invention includes a top body 12, a supporting frame 26 is fixedly disposed on a bottom surface of the top body 12, the supporting frame 26 is disposed on a ground surface, two bilaterally symmetrical transmission cavities 13 and a connection cavity 19 having an opening facing the outside are disposed in the top body 12, the transmission cavities 13 are disposed on an upper side of the connection cavity 19, the transmission cavities 13 are communicated with the connection cavity 19, a positioning control mechanism 101 capable of hanging a saline bag 17 and positioning and clamping an insertion head 43 is disposed in the transmission cavities 13, the positioning control mechanism 101 includes a transmission shaft 33 rotatably disposed on a rear wall of the transmission cavities 13, a gear plate 14 is fixedly disposed on an outer periphery of the transmission shaft 33, a hanging rod 15 is fixedly disposed on an outer periphery of the gear plate 14, an extending portion of the hanging rod 15 extends out of the outside, the saline bag 17 can be hung and loaded on an outer periphery of the hanging rod 15, a slide rod 18 is fixedly arranged between the upper wall and the lower wall of the connecting cavity 19, a lifting block 31 is slidably arranged on the periphery of the slide rod 18, the extension part of the lifting block 31 extends out of the outside, a positioning clamping rod 32 is fixedly arranged on the side surface of the lifting block 31 far away from the connecting cavity 19, the positioning clamping rod 32 can clamp the insertion head 43, a bottom annular cavity 21 is arranged in the top body 12, an annular disc 20 is rotatably arranged on the bottom wall of the bottom annular cavity 21, a replacing mechanism 102 capable of being connected with the saline bag 17 on the other side in a replaceable manner is arranged in the annular disc 20 and the top body 12, the replacing mechanism 102 comprises a T-shaped screw 48 and a T-shaped slide rod 49 which are fixedly arranged on the top surface of the annular disc 20, a threaded sleeve 50 is connected onto the periphery of the T-shaped screw 48 in a threaded manner, a Z-shaped block 47 is fixedly arranged on the periphery of the threaded sleeve 50, and the Z-shaped block, the left side surface of the Z-shaped block 47 is fixedly provided with a jacket 45, a needle 44 is clamped in the jacket 45, and the bottom surface of the needle 44 is connected with an injection tube 46.

In addition, in one embodiment, a rack 16 is slidably provided on the inner walls of the transmission cavity 13 and the connection cavity 19 away from the outside in an up-and-down manner, teeth are provided on the outer periphery of the gear disc 14, the gear disc 14 is engaged with the rack 16, a limiting cavity 57 is provided between the two transmission cavities 13, a sector wheel 60 is rotatably provided on the bottom wall of the limiting cavity 57, two bilaterally symmetrical limiting blocks 58 are slidably provided on the bottom wall of the limiting cavity 57 in a left-and-right manner, a limiting groove 61 with an opening facing the limiting cavity 57 is provided in the rack 16, the limiting block 58 can be inserted into the limiting groove 61, a limiting spring 59 is fixedly installed between the limiting block 58 and the inner wall of the limiting cavity 57, a torsion spring 34 is fixedly installed between the front side surface of the gear disc 14 and the front wall of the transmission cavity 13, a rotating shaft 29 is rotatably provided on the front wall of the connection cavity 19, a rotation link 30 is fixedly arranged on the periphery of the rotation shaft 29, two bilaterally symmetrical cavities 28 are formed in the rotation link 30, the rotation link 30 is respectively hinged with the rack 16 and the lifting block 31 in the cavities 28, when the saline bag 17 is hung on the periphery of the left hanging rod 15, the left hanging rod 15 inclines downwards, the left gear disc 14 can drive the left rack 16 to move upwards, so that the left lifting block 31 is positioned at the bottom side, the left positioning clamping rod 32 can clamp and position the left insertion head 43, at the moment, the left limiting block 58 is not inserted into the left limiting groove 61, at the moment, the right limiting block 58 is inserted into the right limiting groove 61, the right rack 16 is fixed, so that the right hanging rod 15 is in a horizontal state, and when another saline bag 17 is hung on the periphery of the right hanging rod 15, the right positioning clamping rod 32 can be made to clamp the right insertion head 43.

In addition, in one embodiment, a ratchet cavity 51 and a belt cavity 54 are formed in the annular disc 20, the ratchet cavity 51 is located on the upper side of the belt cavity 54, a downward extending portion of the T-shaped screw 48 extends into the ratchet cavity 51, a ratchet group 52 is fixedly arranged on the bottom surface of the ratchet cavity, a short shaft 53 is rotatably arranged on the bottom wall of the ratchet group 52, the short shaft 53 is in power connection with the ratchet group 52, a downward extending portion of the short shaft 53 extends into the belt cavity 54, a vertical shaft 23 is rotatably arranged on the bottom wall of the belt cavity 54, pulleys 55 are fixedly arranged on the peripheries of the vertical shaft 23 and the short shaft 53, a belt 56 is arranged between the two pulleys 55 in a transmission manner, a fixed gear ring 24 is fixedly arranged on the top wall of the bottom annular cavity 21, an upward extending portion of the vertical shaft 23 penetrates through the inner wall of the annular disc 20 and extends into the bottom annular cavity 21, and a driven gear 22 is fixedly arranged on the top surface of the vertical shaft, the driven gear 22 is engaged with the fixed gear ring 24, when the saline in the saline bag 17 on the left side is used up, the hanging rod 15 can be rotated upwards to reset through the torsion spring 34, so that the positioning clamping rod 32 can clamp the insertion head 43 to move upwards, the needle 44 and the jacket 45 can be driven to move upwards, the Z-shaped block 47 can drive the threaded sleeve 50 to move upwards, the T-shaped screw 48 rotates at the moment, the short shaft 53 does not rotate, when the Z-block 47 is moved to the maximum position, the needle 44 is disconnected from the insertion head 43, so that the screw sleeve 50 can be driven to descend by the gravity of the Z-shaped block 47, at this time, the T-shaped screw 48 can drive the short shaft 53 to rotate, so that the belt 56 can drive the vertical shaft 23 to rotate, the annular disc 20 is then rotated to the right around the top body 12 by the engagement of the driven gear 22 and the fixed gear ring 24.

In addition, in one embodiment, the bottom annular cavity 21 is communicated with the limiting cavity 57, the top surface of the annular disc 20 is fixedly provided with a connecting ring 27, an upward extending portion of the connecting ring 27 extends into the limiting cavity 57 and is fixedly connected with the sector wheel 60, the upper side of the limiting cavity 57 is provided with a contact cavity 36, the top surface of the sector wheel 60 is fixedly provided with a connecting shaft 38, an upward extending portion of the connecting shaft 38 extends into the contact cavity 36, the top surface of the sector wheel is fixedly provided with a cam 37, the top surface of the top body 12 is fixedly provided with an electric cylinder 40, the bottom surface of the electric cylinder 40 is electrically connected with two bilaterally symmetrical control modules 41, a downward extending portion of the control module 41 extends into the contact cavity 36, the control module 41 can be contacted with the contact cavity 36, when the control module 41 is contacted with the contact cavity 36, the electric cylinder 40 can be started, the top surface of the electric cylinder 40 is provided with a power rod 39 in a power connection manner, the left side and the right side of the power rod 39 are respectively provided with a support rod 42 in a fixed manner, the bottom surface of the support rod 42 is provided with a top rod 11 in a fixed manner, the top rod 11 can be abutted against the hanging rod 15, when the annular disc 20 rotates, the connecting ring 27 can drive the sector wheel 60 to rotate, the left limiting block 58 can be inserted into the left limiting groove 61, the right limiting block 58 can be separated from the right limiting groove 61, at the same time, the sector wheel 60 can drive the connecting shaft 38 to rotate, the cam 37 can be contacted with the control module 41, the electric cylinder 40 can drive the power rod 39 to rapidly descend and return, the top rod 11 can drive the right hanging rod 15 to rapidly descend, and the needle head 44 rotates to the right side, the right insertion head 43 and the needle 44 can then be inserted together.

In the initial state, the hanging rods 15 on both sides are hung with the fully loaded saline bag 17, and the limiting block 58 on one side is inserted into the limiting groove 61 to limit the movement of the rack 16, the needle 44 is inserted into the insertion head 43 on the descending side of the saline bag 17, the Z-shaped block 47 and the screw sleeve 50 are positioned on the lower side, and the positioning clamping rod 32 clamps and positions the insertion head 43.

When the saline water bag is used, when the saline water bag 17 is hung on the periphery of the left hanging rod 15, the left hanging rod 15 inclines downwards, the left gear plate 14 can drive the left rack 16 to move upwards, so that the left lifting block 31 can be positioned at the bottom side, the left positioning clamping rod 32 can clamp and position the left insertion head 43, at the moment, the left limiting block 58 is not inserted into the left limiting groove 61, at the moment, the right limiting block 58 is inserted into the right limiting groove 61, the right rack 16 is fixed, so that the right hanging rod 15 is in a horizontal state, when another saline water bag 17 is hung on the periphery of the right hanging rod 15, the right positioning clamping rod 32 can clamp the right insertion head 43, when the saline water bag 17 at the left side is used up, the hanging rod 15 can be rotated upwards through the torsion spring 34 to reset, so that the positioning clamping rod 32 can clamp the insertion head 43 to move upwards, so that the driving needle head 44 and the clamping sleeve 45 move upwards, then the Z-shaped block 47 can drive the screw sleeve 50 to move upwards, at the same time, the T-shaped screw 48 rotates, the short shaft 53 does not rotate, when the Z-shaped block 47 moves to the maximum position, the needle 44 is disconnected from the insertion head 43, so that the screw sleeve 50 can be driven to descend by the gravity of the Z-shaped block 47, at the same time, the T-shaped screw 48 can drive the short shaft 53 to rotate, so that the belt 56 can drive the vertical shaft 23 to rotate, further the annular disc 20 can rotate to the right around the top body 12 through the meshing of the driven gear 22 and the fixed gear ring 24, when the annular disc 20 rotates, the connecting ring 27 can drive the sector wheel 60 to rotate, the left limiting block 58 can be inserted into the left limiting groove 61, at the same time, the right limiting block 58 can leave the right limiting groove 61, at the sector wheel 60 can drive the connecting shaft 38 to rotate, further the cam 37 can contact the control module 41, and the electric cylinder 40 can drive the power rod 39 to rapidly and return once, then the top rod 11 drives the right hanging rod 15 to descend rapidly, at this time, the needle head 44 rotates to the right side, and then the right insertion head 43 and the needle head 44 are connected together in an inserting way.

The invention has the beneficial effects that: the invention adopts a combination mode of the hanging rod and the torsion spring, can automatically sense whether the saline in the saline bag is used up, the accuracy rate of the needle head replacement is higher through the positioning of the positioning clamping rod, the needle head can be more smoothly inserted into the insertion head and the saline bag through the air cylinder for assisting jacking, wherein the linkage of the rack and the lifting block in the positioning control mechanism enables the positioning clamping rod and the saline bag to be lifted simultaneously, the positioning is more accurate, the replacement mechanism can drive the needle head to be pulled out through the Z-shaped block and the clamping sleeve by adopting the structural characteristics of the T-shaped screw rod, the T-shaped screw rod is driven to rotate by gravity, and then the annular disc is driven to rotate, so that the needle head connection can be realized by being switched to the lower side of the saline bag on the right side, and the purpose of replacing the saline is further.

It will be apparent to those skilled in the art that various modifications may be made to the above embodiments without departing from the general spirit and concept of the invention. All falling within the scope of protection of the present invention. The protection scheme of the invention is subject to the appended claims.