阅读说明：本技术 智能注射机器人 (Intelligent injection robot ) 是由 海鸥 于 2021-08-16 设计创作，主要内容包括：本发明涉及机器人技术领域,具体为智能注射机器人,包括六轴机械手臂,所述六轴机械手臂的输出端固定有注射驱动机构,所述注射驱动机构包括固定缸,所述固定缸的内部伸缩连接有活塞杆,所述固定缸的外表面固定有锁止机构,所述活塞杆的输出端固定有固定架,所述固定架的外表面固定有注液组件和综合防护机构,所述综合防护机构包括支撑架,所述支撑架固定于固定架的外表面上。本发明在注射端装配上检测机构,并在驱动机构上装配上双重保险组件,与检测机构信息连通,实现电子物理双重防护,提高注射位置以及注射压力的准确性,避免过度驱动使针头刺入太深,提高注射安全性,同时能够识别判断伤员伤情,根据伤员情况调整注射位置。(The invention relates to the technical field of robots, in particular to an intelligent injection robot which comprises six mechanical arms, wherein an injection driving mechanism is fixed at the output ends of the six mechanical arms, the injection driving mechanism comprises a fixed cylinder, a piston rod is telescopically connected inside the fixed cylinder, a locking mechanism is fixed on the outer surface of the fixed cylinder, a fixed frame is fixed at the output end of the piston rod, a liquid injection assembly and a comprehensive protection mechanism are fixed on the outer surface of the fixed frame, the comprehensive protection mechanism comprises a support frame, and the support frame is fixed on the outer surface of the fixed frame. The injection end is provided with the detection mechanism, the driving mechanism is provided with the double-safety component which is communicated with the detection mechanism, so that electronic and physical double protection is realized, the accuracy of the injection position and the injection pressure is improved, the situation that a needle is deeply penetrated due to over-driving is avoided, the injection safety is improved, meanwhile, the injury of a wounded person can be identified and judged, and the injection position is adjusted according to the condition of the wounded person.)

1. Intelligent injection robot, including six robotic arm (1), its characterized in that: the output of six robotic arm (1) is fixed with injection actuating mechanism (2), injection actuating mechanism (2) is including fixed jar (201), the inside telescopic connection of fixed jar (201) has piston rod (202), the external fixation of fixed jar (201) has locking mechanism (3), the output of piston rod (202) is fixed with mount (4), the external fixation of mount (4) has notes liquid subassembly (6) and comprehensive protection mechanism (7), comprehensive protection mechanism (7) are including support frame (701), support frame (701) are fixed in on the surface of mount (4), the external fixation of support frame (701) has step motor (702), and step motor (702)'s output cup joints initiative fluted disc (703), the external surface meshing of initiative fluted disc (703) has driven fluted disc (704), the outer fixed surface of driven fluted disc (704) has telescopic link (705), one end that telescopic link (705) deviate from driven fluted disc (704) is fixed with semi-ring shape monitoring assembly (707), the one end that mount (4) deviate from annotating liquid subassembly (6) is fixed with syringe needle (5).

2. The intelligent injection robot of claim 1, wherein: one end of the fixed cylinder (201) deviating from the fixed frame (4) is fixed with a servo motor, the output end of the servo motor is connected with a driving gear through a coupler, tooth grooves (203) are uniformly formed in the outer surface of the piston rod (202), and the driving gear is meshed with the tooth grooves (203).

3. The intelligent injection robot of claim 2, wherein: locking mechanism (3) are including set casing (301), set casing (301) are the annular cover and locate on the surface of set cylinder (201), and set casing (301) are connected fixedly through screw and set cylinder (201), the inside of set casing (301) is provided with electric push rod (302), the output of electric push rod (302) pierces through the surface of set cylinder (201), and the output shape of electric push rod (302) coincide with the inner chamber shape of tooth's socket (203).

4. The intelligent injection robot of claim 3, wherein: the interior of the fixed shell (301) is provided with a passive locking assembly (303), the passive locking assembly (303) is opposite to the electric push rod (302), the passive locking assembly (303) comprises a sleeve (3031), the sleeve (3031) is fixedly connected with the inner wall of the fixed shell (301) through a screw, a limit pin (3033) is telescopically connected in the sleeve (3031), a first spring (3032) is abutted to the outer surface of the limit pin (3033), and one end, deviating from the limit pin (3033), of the first spring (3032) is abutted to the inner wall of the sleeve (3031).

5. The intelligent injection robot of claim 4, wherein: the outer surface of one end of the limiting pin (3033) departing from the sleeve (3031) is in a cross shape, the bottom end of the limiting pin (3033) penetrates through the outer surface of the fixed cylinder (201), the bottom end of the limiting pin (3033) is matched with the inner cavity of the tooth socket (203), the outer surface of the limiting pin (3033) abuts against a limiting rod (3035), a connecting pile (3034) is fixed on one side, close to the limiting pin (3033), of the inside of the fixed cylinder (201), the top end of the connecting pile (3034) is rotatably connected with the limiting rod (3035) through a hinge shaft, a shifting rod (3036) is abutted against one end of the limiting rod (3035) departing from the connecting pile (3034), the shifting rod (3036) consists of a connecting shaft and two shifting plates, the two shifting plates are arranged in a 90-degree staggered mode and are respectively fixed at the upper end and the lower end of the connecting shaft, the connecting shaft penetrates through the outer surface of the fixed cylinder (201) and is rotatably connected with the fixed cylinder (201), the bottom end of the shifting lever (3036) is abutted with a top plate (3037), a movable rod (3038) penetrates through the outer surface of the top plate (3037), the movable rod (3038) is H-shaped, a second spring (3039) is sleeved on one side of the movable rod (3038), a fixed cylinder (3040) is sleeved on the other side of the movable rod (3038), and the fixed cylinder (3040) is fixedly connected with the inner wall of the fixed cylinder (201).

6. The intelligent injection robot of claim 4, wherein: annotate liquid subassembly (6) including leading a liquid section of thick bamboo (601), the bottom and mount (4) of leading a liquid section of thick bamboo (601) close soon and be connected, the inner chamber of leading a liquid section of thick bamboo (601) and the inner chamber intercommunication of syringe needle (5), the inside of leading a liquid section of thick bamboo (601) is fixed with sheet rubber (602), sheet rubber (602) are hourglass hopper-shaped, and the periphery of sheet rubber (602) is fixed in on the inner wall of leading a liquid section of thick bamboo (601), the one end that leads a liquid section of thick bamboo (601) and deviates from syringe needle (5) closes soon and is connected with the liquid medicine bottle.

7. The intelligent injection robot of claim 6, wherein: the outer surface of a liquid guide cylinder (601) is located to driven fluted disc (704) cover, one side that driven fluted disc (704) deviates from liquid guide cylinder (601) is fixed with the lantern ring, the arc wall has been seted up to the surface of mount (4), lantern ring and arc wall sliding connection.

8. The intelligent injection robot of claim 7, wherein: the telescopic rod (705) comprises three sections of hollow pipes, a first section of hollow pipe penetrates through the lantern ring and is fixedly connected with the outer surface of the driven fluted disc (704), a second section of hollow pipe is connected with the telescopic rod (705) in a telescopic mode, a third section of hollow pipe is connected with the second section of hollow pipe in a telescopic mode, a reset spring is arranged in the telescopic rod (705), and the electromagnetic blocks (706) are sleeved at the bottom ends of the first section of hollow pipe and the second section of hollow pipe.

9. The intelligent injection robot of claim 8, wherein: semicircular monitoring subassembly (707) are including ring frame (7071), the one end of ring frame (7071) is the semicircular shape, the other end of ring frame (7071) is "U" shape, and both sides are rotated through the articulated shaft around the bottom of third section hollow tube and are connected with linking frame (7077), and the torsional spring has all been cup jointed at the both ends of articulated shaft, both sides surface all is connected with spud pile (7076) through the articulated shaft rotation about linking frame (7077), spud pile (7076) is fixed with the interior wall connection of ring frame (7071).

10. The intelligent injection robot of claim 9, wherein: an arc-shaped film (7072) is fixed on the lower surface of the ring frame (7071), the top end of the arc-shaped film (7072) abuts against a piezoelectric inductor (7073), the piezoelectric inductor (7073) is fixed inside the ring frame (7071), the piezoelectric inductor (7073) is in a closed ring shape, a distance inductor (7074) and a camera (7075) are uniformly arranged inside the piezoelectric inductor (7073), the distance inductor (7074) and the camera (7075) are arranged in a staggered mode, an electric control unit is fixed on the upper surface of the support frame (701), a single chip microcomputer and a wireless transmission module are integrated in the electric control unit, the output ends of the piezoelectric inductor (7073), the distance inductor (7074) and the camera (7075) are electrically connected with the single chip microcomputer through leads, the output end of the single chip microcomputer is electrically connected with the stepping motor (702) and the electric push rod (302) through leads, and a toxic agent detection assembly (708) is fixed on one side, far away from the stepping motor (702), of the fixed frame (4), the poison agent detection assembly (708) comprises fixing base and detection stick two parts, and the fixing base is fixed on the surface of mount (4), detects the stick and passes the fixed inside of inserting and locating liquid guide cylinder (601), and detects stick and fixing base and be the slope and arrange, and the external surface mounting of fixing base has audible and visual alarm module, detects the output of stick and passes through wire and singlechip electric connection, and the output of singlechip passes through wire and audible and visual alarm module and electromagnetic block (706) electric connection.

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent injection robot.

Background

The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, and the medical robot is a robot for replacing medical staff to perform treatment in extreme environments.

For example, under the biochemical environment, the medical staff is easily influenced by the environment and affects the treatment effect, even the staff is possibly dangerous to life, the safe mode is to treat the disease through the robot, and the injection treatment is the most common treatment mode.

In view of this, chinese patent publication No. CN208974844U discloses an injection robot, which includes: a fixing device for mounting an injection instrument, the injection instrument having a piston rod; the first driving device can be directly driven or drive the piston rod to move through the first transmission device; the fixing device is movably arranged. The utility model provides an injection robot both can adjust the inclination of mount, can rotate injection apparatus again, can also go up and down to remove along two horizontally directions, set up like this and make its activity requirement that can satisfy all directions in the ophthalmic surgery, make it can replace the staff operation injection apparatus. The injection is mechanically operated, so that the injury caused by hand trembling and the like due to the physiological limitation of a human body can be avoided, the injection can be operated by replacing the hand of a human through a mechanical structure, and in the practical use, various factors which are not necessary for patients and the environment can bring a plurality of problems to an injection robot.

To injection position confirm and the damage of injection needle in the injection process, can't prevent that overdrive makes the syringe needle puncture too deeply, influences injection security, can't discern and judge wounded's injury, adjusts the injection position according to the wounded's condition, consequently the urgent need design intelligent injection robot and solve above-mentioned problem.

Disclosure of Invention

The invention aims to provide an intelligent injection robot, which aims to solve the problems that the accuracy of an injection position and the injection pressure cannot be well controlled, a needle head is easily damaged, the needle head cannot be deeply penetrated due to over-driving to influence the injection safety, the injury of a wounded person cannot be identified and judged, and the injection position can be adjusted according to the condition of the wounded person.

In order to achieve the purpose, the invention provides the following technical scheme: the intelligent injection robot comprises six-axis mechanical arms, an injection driving mechanism is fixed at the output ends of the six-axis mechanical arms, the injection driving mechanism comprises a fixed cylinder, a piston rod is telescopically connected in the fixed cylinder, the outer surface of the fixed cylinder is fixed with a locking mechanism, the output end of the piston rod is fixed with a fixed frame, the outer surface of the fixing frame is fixed with a liquid injection assembly and a comprehensive protection mechanism, the comprehensive protection mechanism comprises a supporting frame, the supporting frame is fixed on the outer surface of the fixing frame, the outer surface of the supporting frame is fixed with a stepping motor, and the output end of the stepping motor is sleeved with a driving fluted disc, the outer surface of the driving fluted disc is engaged with a driven fluted disc, the external fixed surface of driven fluted disc has the telescopic link, the one end that the telescopic link deviates from driven fluted disc is fixed with the semicircular monitoring subassembly, the one end that the mount deviates from annotating the liquid subassembly is fixed with the syringe needle.

Preferably, the one end that the fixed cylinder deviates from the mount is fixed with servo motor, and servo motor's output has the driving gear through the coupling joint, the tooth's socket has evenly been seted up to the surface of piston rod, and the driving gear meshes with the tooth's socket.

Preferably, the locking mechanism includes the set casing, the set casing is the annular cover and locates on the surface of set cylinder, and the set casing passes through the screw and is connected fixedly with the set cylinder, the inside of set casing is provided with electric push rod, the output of electric push rod pierces through the surface of set cylinder, and the output shape of electric push rod is identical with the inner chamber shape of tooth's socket.

Preferably, the inside of set casing is provided with passive locking subassembly, passive locking subassembly is mutually opposite with the electric push rod, passive locking subassembly includes the sleeve, the sleeve passes through the screw fixed with the interior wall connection of set casing, telescopic inside telescopic connection has the spacer pin, the surface conflict of spacer pin has first spring, and the one end that first spring deviates from the spacer pin is contradicted with telescopic inner wall.

Preferably, the outer surface of one end of the limiting pin, which is far away from the sleeve, is in a cross shape, the bottom end of the limiting pin penetrates through the outer surface of the fixed cylinder, the bottom end of the limiting pin is matched with the inner cavity of the tooth socket, the outer surface of the limiting pin abuts against a limiting rod, a connecting pile is fixed on one side, which is close to the limiting pin, in the fixed cylinder, the top end of the connecting pile is rotatably connected with the limiting rod through a hinge shaft, one end of the limiting rod, which is far away from the connecting pile, abuts against a shifting rod, the shifting rod is composed of a connecting shaft and two shifting plates, the two shifting plates are arranged in a 90-degree staggered manner and are respectively fixed at the upper end and the lower end of the connecting shaft, the connecting shaft penetrates through the outer surface of the fixed cylinder and is rotatably connected with the fixed cylinder, a top plate abuts against the bottom end of the shifting rod, a movable rod penetrates through the outer surface of the top plate, the movable rod is in an I shape, and one side of the movable rod is sleeved with a second spring, and the other side cover of movable rod is equipped with a fixed cylinder, fixed cylinder is fixed with the inner wall connection of fixed jar.

Preferably, annotate the liquid subassembly and include a liquid guide cylinder, the bottom and the mount of liquid guide cylinder close soon and be connected, the inner chamber of liquid guide cylinder and the inner chamber intercommunication of syringe needle, the inside of liquid guide cylinder is fixed with the sheet rubber, the sheet rubber is and leaks hopper-shaped, and on the periphery of sheet rubber was fixed in the inner wall of liquid guide cylinder, the one end that liquid guide cylinder deviates from the syringe needle closes soon and is connected with the liquid medicine bottle.

Preferably, the driven fluted disc is sleeved on the outer surface of the liquid guide cylinder, a lantern ring is fixed on one side of the driven fluted disc, which deviates from the liquid guide cylinder, an arc-shaped groove is formed in the outer surface of the fixing frame, and the lantern ring is connected with the arc-shaped groove in a sliding mode.

Preferably, the telescopic link comprises three sections of hollow pipes, and first section of hollow pipe passes the lantern ring and is fixed with the surface connection of driven fluted disc, second section of hollow pipe and telescopic link telescopic connection, third section of hollow pipe and second section of hollow pipe telescopic connection, reset spring is equipped with in the telescopic link, and the bottom of first section of hollow pipe and second section of hollow pipe has all cup jointed the electromagnetism piece.

Preferably, the semicircular monitoring assembly comprises a ring frame, one end of the ring frame is in a semicircular shape, the other end of the ring frame is in a U shape, the front side and the rear side of the bottom of the third section hollow tube are connected with a connecting frame in a rotating mode through an articulated shaft, torsional springs are sleeved at the two ends of the articulated shaft, the outer surfaces of the left side and the right side of the connecting frame are connected with fixing piles in a rotating mode through the articulated shaft, and the fixing piles are fixed with the inner wall of the ring frame in a connecting mode.

Preferably, an arc-shaped film is fixed on the lower surface of the ring frame, a piezoelectric inductor is abutted against the top end of the arc-shaped film and fixed inside the ring frame, the piezoelectric inductor is in a closed ring shape, distance inductors and cameras are uniformly arranged inside the piezoelectric inductor and are arranged in a staggered manner, an electric control unit is fixed on the upper surface of the support frame, a single chip microcomputer and a wireless transmission module are integrated in the electric control unit, the output ends of the piezoelectric inductor, the distance inductors and the cameras are all electrically connected with the single chip microcomputer through leads, the output end of the single chip microcomputer is respectively electrically connected with a stepping motor and an electric push rod through leads, a toxic agent detection assembly is fixed on one side of the fixing frame far away from the stepping motor, the toxic agent detection assembly is composed of a fixing seat and a detection rod, and the fixing seat is fixed on the outer surface of the fixing frame, the detection rod penetrates through the fixing part and is inserted into the liquid guide cylinder, the detection rod and the fixing seat are obliquely arranged, the sound and light alarm module is fixed on the outer surface of the fixing seat, the output end of the detection rod is electrically connected with the single chip microcomputer through a wire, and the output end of the single chip microcomputer is electrically connected with the sound and light alarm module and the electromagnetic block through wires.

Compared with the prior art, the invention has the beneficial effects that: this intelligence injection robot assembles detection mechanism on the injection end to assemble dual fail-safe subassembly on actuating mechanism, with detection mechanism information intercommunication, realize the dual protection of electron physics, improve the accuracy of injection position and injection pressure, avoid overdrive to make the syringe needle pierce too deeply, improve the injection security, can discern simultaneously and judge the wounded's condition, adjust the injection position according to the wounded's condition.

The semicircular monitoring component is arranged at the bottom of the needle head, the arc-shaped film is assembled on the lower surface of the ring frame and abuts against the piezoelectric sensor, so that the abutting pressure with the skin can be monitored in real time, the injection depth can be judged, the situation that the needle head is deeply penetrated due to overdriving is avoided, the injection safety is improved, a patient can be observed through the camera, the distance between the ring frame and the skin of the patient can be monitored in real time through the distance sensor, the distances between different positions of the ring frame and the skin can be judged through three groups of annularly arranged distance sensors, the current skin position can be better judged, monitoring information is fed back to the six-axis mechanical arm, the needle head is adjusted to the optimal injection angle through the six-axis mechanical arm, the semicircular monitoring component is assembled at the bottom of the needle head, the semicircular monitoring component firstly abuts against the skin before injection, and the medicament component in the liquid guide cylinder can be detected through the cooperation of the poison detection component, when detecting poison agent, detection information can be handled through the singlechip and is transmitted for the electromagnetism piece, makes the circular telegram of electromagnetism piece produce magnetic force, makes the three section telescopic links fixed through magnetism, makes the telescopic link unable flexible, and the syringe needle can't touch skin, further improves the injection security.

Drawings

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

FIG. 2 is a schematic front view of a portion of the injection drive mechanism and the integrated shield mechanism of FIG. 1 in accordance with the present invention;

FIG. 3 is a schematic side cross-sectional view of the construction of the infusion assembly and integrated shielding mechanism of FIG. 2 in accordance with the present invention;

FIG. 4 is a schematic front elevation view, partially in section, showing the structure of the injection drive mechanism and locking mechanism of FIG. 1 in accordance with the present invention;

FIG. 5 is an enlarged view of the structure at A in FIG. 4 according to the present invention;

FIG. 6 is a schematic top cross-sectional view of the integrated shielding mechanism of FIG. 2 according to the present invention.

In the figure: 1. a six-axis robot arm; 2. an injection drive mechanism; 201. a fixed cylinder; 202. a piston rod; 203. a tooth socket; 3. a locking mechanism; 301. a stationary case; 302. an electric push rod; 303. a passive locking assembly; 3031. a sleeve; 3032. a first spring; 3033. a spacing pin; 3034. connecting piles; 3035. a limiting rod; 3036. a deflector rod; 3037. a topsheet; 3038. a movable rod; 3039. a second spring; 3040. a fixed cylinder; 4. a fixed mount; 5. a needle head; 6. a liquid injection assembly; 601. a liquid guide cylinder; 602. a rubber sheet; 7. a comprehensive protection mechanism; 701. a support frame; 702. a stepping motor; 703. a driving fluted disc; 704. a driven fluted disc; 705. a telescopic rod; 706. an electromagnetic block; 707. a semi-annular monitoring assembly; 7071. a ring frame; 7072. an arc-shaped film; 7073. a piezoelectric sensor; 7074. a distance sensor; 7075. a camera; 7076. fixing the pile; 7077. a connecting frame; 708. a toxic agent detection component.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, an embodiment of an intelligent injection robot provided by the present invention includes a six-axis robot arm 1, an injection driving mechanism 2 is fixed at an output end of the six-axis robot arm 1, six-axis driving can ensure flexibility of the six-axis robot arm 1 for driving the injection driving mechanism 2, and ensure flexible switching of an injection angle during injection, which is the prior art, and will not be described herein too much, the injection driving mechanism 2 includes a fixed cylinder 201, a piston rod 202 is telescopically connected inside the fixed cylinder 201, a locking mechanism 3 is fixed on an outer surface of the fixed cylinder 201, a fixed frame 4 is fixed at an output end of the piston rod 202, a liquid injection assembly 6 and a comprehensive protection mechanism 7 are fixed on an outer surface of the fixed frame 4, the comprehensive protection mechanism 7 includes a supporting frame 701, the supporting frame 701 is fixed on an outer surface of the fixed frame 4, a stepping motor 702 is fixed on an outer surface of the supporting frame 701, and the output of step motor 702 has cup jointed driving fluted disc 703, the surface meshing of driving fluted disc 703 has driven fluted disc 704, the external surface of driven fluted disc 704 is fixed with telescopic link 705, the one end that telescopic link 705 deviates from driven fluted disc 704 is fixed with semiannular monitoring subassembly 707, the one end that mount 4 deviates from notes liquid subassembly 6 is fixed with syringe needle 5, semiannular monitoring subassembly 707 adorns in syringe needle 5 below, during the injection, semiannular monitoring subassembly 707 can touch skin earlier, abnormal injection, telescopic link 705 is unable flexible, syringe needle 5 can't touch skin, guarantee patient's safety, avoid damaging syringe needle 5 simultaneously.

Further, the one end that fixed cylinder 201 deviates from mount 4 is fixed with servo motor, and servo motor's output has the driving gear through the coupling joint, and tooth's socket 203 has evenly been seted up to the surface of piston rod 202, and the driving gear meshes with tooth's socket 203, and servo motor drive driving gear, and tooth's socket 203 is stirred to the driving gear, can promote piston rod 202 flexible in fixed cylinder 201.

Further, locking mechanism 3 includes set casing 301, set casing 301 is the annular cover and locates on the surface of set cylinder 201, and set casing 301 passes through the screw and is connected fixedly with set cylinder 201, the inside of set casing 301 is provided with electric push rod 302, the output of electric push rod 302 pierces through the surface of set cylinder 201, and the output shape of electric push rod 302 is identical with the inner chamber shape of tooth's socket 203, work through electric push rod 302 is stretched out, can insert in the tooth's socket 203, restriction piston rod 202's motion.

Further, a passive locking assembly 303 is arranged inside the fixed shell 301, the passive locking assembly 303 is opposite to the electric push rod 302, the passive locking assembly 303 comprises a sleeve 3031, the sleeve 3031 is fixedly connected with the inner wall of the fixed shell 301 through a screw, a limit pin 3033 is telescopically connected inside the sleeve 3031, a first spring 3032 is abutted on the outer surface of the limit pin 3033, and one end of the first spring 3032 departing from the limit pin 3033 is abutted against the inner wall of the sleeve 3031, the outer surface of one end of the limit pin 3033 departing from the sleeve 3031 is in a cross shape, the bottom end of the limit pin 3033 penetrates through the outer surface of the fixed cylinder 201, the shape of the bottom end of the limit pin 3033 is matched with the shape of the inner cavity of the tooth socket 203, the first spring 3032 is used for providing elasticity for the limit pin 3033, as shown in figure 4, when no external force is applied to the limit pin 3033, the first spring 3032 can rebound to push the limit pin 3033 into the fixed cylinder 201 to be inserted into the tooth groove 203, so that the movement of the piston rod 202 is limited.

Further, the outer surface of the limit pin 3033 abuts against a limit rod 3035, as shown in fig. 4-5, the limit rod 3035 is used for limiting the limit pin 3033, a connecting post 3034 is fixed at one side of the inner part of the fixed cylinder 201 close to the limit pin 3033, the top end of the connecting post 3034 is rotatably connected with the limit rod 3035 through a hinge shaft, a shift lever 3036 abuts against one end of the limit rod 3035 away from the connecting post 3034, the shift lever 3036 is composed of a connecting shaft and two shift plates, the two shift plates are arranged in a 90 ° staggered manner and are respectively fixed at the upper end and the lower end of the connecting shaft, the connecting shaft penetrates through the outer surface of the fixed cylinder 201 and is rotatably connected with the fixed cylinder 201, a top plate 3037 abuts against the bottom end of the shift lever 3036, a movable rod 3038 penetrates through the outer surface of the top plate 3037, the movable rod 3038 is in an "i" shape ", a second spring 3039 is sleeved at one side of the movable rod 3038, a fixed cylinder 3040 is sleeved on the other side of the movable rod 3038, and is fixedly connected with the inner wall of the fixed cylinder 201, the movable rod 3038 is ensured to stably extend and retract in the fixed cylinder 3040, the piston rod 202 has a normal extension range in the fixed cylinder 201, namely the injection depth of the needle head 5 does not reach a dangerous range and exceeds a safety range, namely when the needle head is inserted too deeply, the extension position of the piston rod 202 is designed to just abut against the movable rod 3038, pressure is applied to the movable rod 3038, after the pressure exceeds the connection resistance of the deflector rod 3036 and the fixed cylinder 201, the second spring 3039 is pushed to push the top plate 3037, the top plate 3037 pushes the deflector rod 3036 to turn, so that the limiting rod 3035 is pushed to rotate to be far away from the limiting pin 3033, the limiting pin 3033 is inserted into the tooth groove 203, and the piston rod 202 is prevented from being pushed.

Further, annotate liquid subassembly 6 including leading liquid cylinder 601, the bottom and the mount 4 of leading liquid cylinder 601 close soon and be connected, the inner chamber of leading liquid cylinder 601 and the inner chamber intercommunication of syringe needle 5, the inside of leading liquid cylinder 601 is fixed with rubber piece 602, rubber piece 602 is hourglass hopper-shaped, there is the through-hole at rubber piece 602 center department, because the elasticity of rubber, make the through-hole closed under normal condition, and the periphery of rubber piece 602 is fixed in on the inner wall of leading liquid cylinder 601, the one end that leading liquid cylinder 601 deviates from syringe needle 5 closes soon and is connected with the liquid medicine bottle, be used for adding the liquid medicine in leading liquid cylinder 601, the trachea is equipped with on the leading liquid cylinder 601, be used for connecting outside air pump, during the injection, air pump work is to the trachea air feed, increase the pressure in leading liquid cylinder 601, can pour into the liquid medicine in syringe needle 5.

Further, on the surface of a liquid guide cylinder 601 was located to driven fluted disc 704 cover, one side that driven fluted disc 704 deviates from liquid guide cylinder 601 was fixed with the lantern ring, and the arc wall has been seted up to the surface of mount 4, lantern ring and arc wall sliding connection, improve the activity security of driven fluted disc 704 on mount 4.

Further, telescopic link 705 comprises three sections of hollow tubes, first section of hollow tube passes the lantern ring and is fixed with driven fluted disc 704's outer surface connection, second section of hollow tube and telescopic link 705 telescopic connection, third section of hollow tube and second section of hollow tube telescopic connection, reset spring is equipped with in the telescopic link 705, the bottom of first section of hollow tube and second section of hollow tube has all cup jointed electromagnetic block 706, telescopic link 705 is whole to be the metal material, produce magnetic force when electromagnetic block 706 circular telegram, enable telescopic link 705 magnetism to inhale fixedly, can't stretch out and draw back.

Further, the semicircular monitoring component 707 includes a ring frame 7071, one end of the ring frame 7071 is semicircular, the other end of the ring frame 7071 is U-shaped, the front and rear sides of the bottom end of the third section of hollow tube are rotatably connected with a connection frame 7077 through hinge shafts, both ends of the hinge shafts are sleeved with torsion springs, the outer surfaces of the left and right sides of the connection frame 7077 are rotatably connected with fixing piles 7076 through hinge shafts, the fixing piles 7076 are fixedly connected with the inner wall of the ring frame 7071, as shown in fig. 6, the hinge shafts connecting the connection frame 7077 and the fixing piles 7076 are also sleeved with torsion springs, the telescopic rod 705 and the support frame 701 are always kept perpendicular at 90 degrees under normal conditions, and collide against skins at different positions, the pressure is greater than the torsion springs, the ring frame 7071 can rotate on the connection frame 7077, so that the ring frame 7071 can be ensured to be adhered to the skin at different skin positions and injection angles without being affected by the injection angles, the ring frame 7071 is detected more accurately.

Further, an arc-shaped film 7072 is fixed on the lower surface of the ring frame 7071, the top end of the arc-shaped film 7072 abuts against a piezoelectric sensor 7073, the piezoelectric sensor 7073 is fixed inside the ring frame 7071, the piezoelectric sensor 7073 is in a closed ring shape, a distance sensor 7074 and a camera 7075 are uniformly arranged inside the piezoelectric sensor 7073, the distance sensor 7074 and the camera 7075 are arranged in a staggered manner, an electric control unit is fixed on the upper surface of the support frame 701, a single chip microcomputer and a wireless transmission module are integrated in the electric control unit, the output ends of the piezoelectric sensor 7073, the distance sensor 7074 and the camera 7075 are electrically connected with the single chip microcomputer through leads, the output end of the single chip microcomputer is respectively electrically connected with the stepping motor 702 and the electric push rod 302 through leads, the piezoelectric sensor 7073, the distance sensor 7074 and the camera 7075 are respectively used for detecting pressure, distance and observing, the sensing capability of the machine is improved, detection data can be transmitted into the single chip microcomputer, through the program operation of writing in the singlechip, can make different instructions according to different data, can both trigger the servo motor in electric putter 302 and the injection actuating mechanism 2 and make the change when pressure detection value is too big or pressure change curve difference, camera 7075 observes that the injection position is different, also can be through the program operation in the singlechip, send the instruction and give drive module drive step motor 702 work, step motor 702 drives driving fluted disc 703 and rotates, can drive driven fluted disc 704 and adjust the position of telescopic link 705, and then the position of adjustment semiring shape monitoring subassembly 707.

A toxic agent detection assembly 708 is fixed on one side of the fixing frame 4 far away from the stepping motor 702, the toxic agent detection assembly 708 is composed of a fixing seat and a detection rod, the fixing seat is fixed on the outer surface of the fixing frame 4, the detection rod penetrates through the fixing seat and is fixedly inserted into the liquid guide cylinder 601, the detection rod and the fixing seat are obliquely arranged, so that liquid medicine can better flow onto the detection rod, the detection rod detects toxic agents and is judged by using a reagent or a detection chip, the prior art does not need to describe the toxic agents and is provided with an audible and visual alarm module on the outer surface of the fixing seat, the output end of the detection rod is electrically connected with the single chip microcomputer through a lead, the output end of the single chip microcomputer is electrically connected with the audible and visual alarm module and the electromagnetic block 706 through a lead, the detected data can be transmitted to the single chip microcomputer after the toxic agents are detected, the judgment can be made in time through a judgment program in the single chip microcomputer, and an instruction is transmitted to the driving module to drive the electromagnetic block 706 and the audible and visual alarm module to work, the sound-light alarm module can give out sound-light alarm, the electromagnetic block 706 can be electrified to generate magnetic force to lock the telescopic rod 705, and the single chip microcomputer can also send instructions to the six-axis mechanical arm 1 and the injection driving mechanism 2, so that the six-axis mechanical arm 1 and the injection driving mechanism 2 do not move any more until danger information is relieved.

The working principle is as follows: when the six-axis mechanical arm injection device is used, the base of the six-axis mechanical arm 1 can be fixed on a mobile robot to realize mobile injection, the six-axis mechanical arm 1 can be installed on a wall to perform fixed-point injection, an external power supply is needed after the six-axis mechanical arm 1 is installed, and meanwhile, an electric control unit on the support frame 701 needs to be electrically connected with an external computer through a lead to perform robot programming, or the six-axis mechanical arm 1, the injection driving mechanism 2 and the comprehensive protection mechanism 7 are directly remotely controlled to be driven by the computer.

During injection, the patient places the injection position in the below of syringe needle 5, drive mount 4 adjustment position through six robotic arm 1 work ability is nimble, can observe the patient through camera 7075, can real-time supervision ring frame 7071 and patient skin distance through distance inductor 7074, can judge the distance between different positions of ring frame 7071 and the skin through the distance inductor 7074 that three groups of rings were arranged, thereby the current skin position of better judgement, and give six robotic arm 1 with monitoring information feedback, make six robotic arm 1 adjust syringe needle 5 to the best injection angle.

Lead to and assemble semicircular monitoring subassembly 707 in 5 bottoms of syringe needle, before the injection, semicircular monitoring subassembly 707 is the skin of contradicting at first, can detect the medicament composition in the drain pipe 601 through the cooperation of poison agent determine module 708, when detecting poison agent, detect information and can handle the back through the singlechip and transmit for electromagnetism piece 706, make electromagnetism piece 706 circular telegram produce magnetic force, it is fixed to make three section telescopic link 705 pass through magnetism, it is unable flexible to make telescopic link 705, syringe needle 5 can't touch skin, further improve the injection security.

When the ring frame 7071 abuts against the skin, the arc-shaped film 7072 can abut against the skin, the extrusion force can be transmitted to the piezoelectric sensor 7073 through the arc-shaped film 7072, the piezoelectric sensor 7073 monitors the abutting pressure with the skin, so that the injection depth is judged, according to the analysis of a pressure database, the skin at different positions has different injection pressures, the skin positions identified by the distance sensor 7074 and the camera 7075 are matched, the injection pressure curve in the database can be obtained, the pressure curve deviation value during actual injection is too large or too small, abnormal injection can be judged, the electric control unit timely transmits information to the locking mechanism 3, the electric push rod 302 can work emergently, the output end of the electric push rod 302 extends out and is clamped into the tooth groove 203, the piston rod 202 is limited, and the danger caused by continuous injection is avoided.

Even if the injection is judged to be normal electronically, the piston rod 202 is pushed to a certain position, and excessive pressure is applied to the movable rod 3038, the second spring 3039 is pushed to push the top plate 3037, so that the top plate 3037 pushes the shifting rod 3036 to turn, the limiting rod 3035 is pushed to rotate to be far away from the limiting pin 3033, the limiting pin 3033 is inserted into the tooth groove 203, the piston rod 202 is prevented from being pushed, double protection is guaranteed, the injection safety can be guaranteed, and the safety is higher.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.