CN104473653B - Three Degree Of Freedom forearm blood sampling robot - Google Patents

Abstract

The invention provides a three-degree-of-freedom forearm blood collection robot. Solve the disadvantages of the existing manual needle pricking blood drawing. The invention comprises a workbench, on which a first transmission arm, a second transmission arm and a pin insertion mechanism are arranged, the first transmission arm and the workbench form a rotational connection through a first joint, the second transmission arm and the first transmission arm A rotation connection is formed through the second joint, and a rotation connection is formed between the pin insertion mechanism and the second transmission arm through the third joint. The pin insertion mechanism includes a rectangular frame, a driving motor, a ball screw, a guide rail and a moving slide table. The drive motor is connected to the ball screw, and the two ends of the ball screw and the rectangular frame are sleeved with bearings. Screw holes and sliding holes are opened on the moving slide table, and nuts are inserted in the screw holes, and the nuts are sleeved on the ball screw to form threads. To connect, the slide hole is pierced with the slide guide tube, and the guide slide sleeve is covered on the guide slide rail to form a sliding connection, and the side of the mobile slide table is fixedly connected with the blood-drawing needle. The invention adopts mechanical blood drawing, accurate acupuncture and high safety.

Description

Three degrees of freedom forearm blood collection robot

technical field

The invention belongs to the technical field of surgical instruments, and relates to a needling operation for venous blood drawing, in particular to a three-degree-of-freedom forearm blood-taking robot.

Background technique

Blood routine examination is one of the most extensive and basic inspection items in clinical examination. Through the analysis of blood cells, we can understand the changes in the number and shape of blood cells in patients, which is helpful for better early diagnosis of diseases.

At present, there are three main sources of blood routine samples: peripheral blood collection, venous blood and peripheral diluted blood, and the results measured by different blood collection methods will have certain differences. In routine blood tests, venous blood sampling can avoid many influencing factors, and is accurate and stable for a long time. It can directly reflect the patient's condition and is widely used.

Blood collection is undertaken by medical staff who have been specially trained in blood collection techniques. The proficiency of blood collection techniques is directly related to the quality of blood and the health of blood donors. At present, there is no universal blood collection equipment to help nurses improve the automation and intelligence of blood collection, so as to standardize the blood collection process and reduce complications of blood donors. How to realize the automation and standardization of blood collection, reduce the dependence on blood collection medical staff, and improve the comfort of blood donors has become a difficult problem for blood collection.

Contents of the invention

The purpose of the present invention is to solve the above-mentioned problems in the existing technology, and propose a method of adjusting the swing amplitude of each angle surface through mechanical cooperation, so as to reach any angle in the three-dimensional space, and realize highly accurate needle insertion through automatic machine action. Three-degree-of-freedom forearm blood collection robot.

The purpose of the present invention can be achieved through the following technical solutions: a three-degree-of-freedom forearm blood collection robot includes a workbench, a mechanical arm is set on the workbench, a blood drawing needle is set on the driving end of the mechanical arm, and the mechanical arm includes The first transmission arm, the second transmission arm and the pin insertion mechanism, the first transmission arm and the workbench form a rotational connection through the first joint, and the second transmission arm and the first transmission arm pass through the second joint form a rotational connection, the pin insertion mechanism and the second transmission arm form a rotational connection through a third joint, the pin insertion mechanism includes a rectangular frame, and the rectangular frame is provided with a driving motor, a ball screw, at least one The root guide rail and the mobile slide table, the drive motor is connected to the ball screw, the two ends of the ball screw and the rectangular frame are sleeved with bearings, and the screw holes and sliding holes are opened on the mobile slide table. A nut is threaded into the screw hole, and the nut is sleeved on the ball screw to form a threaded connection. The sliding hole is connected with a guide sleeve, and the guide sleeve is sleeved on the guide rail to form a sliding connection. The side part of the slide table is fixedly connected with the above-mentioned blood-drawing needle.

In this three-degree-of-freedom forearm blood collection robot, two guide rails are used, and the two guide rails are respectively located on both sides of the ball screw. There are screw holes in the middle of the moving slide, and sliding holes on both sides, so that they are symmetrically sleeved on a ball screw and two guide rails, which improves the stability of the guide movement. During the operation, firstly, the swing position is adjusted by rotating the first transmission arm around the first joint, then the swing position is adjusted by rotating the second transmission arm around the second joint, and then the swing position is adjusted by rotating the pin insertion mechanism around the third joint. Adjustment of the swing position, and finally through the socket cooperation of the mobile slide in the pin insertion mechanism with the ball screw and guide rail, driven by the drive motor, the rotation of the ball screw is converted into the transfer movement of the mobile slide , to finish inserting the blood drawing needle into the vein of the human body.

In the above-mentioned three-degree-of-freedom forearm blood collection robot, limit sensors are set at both ends of the rectangular frame, touch stoppers are set at both ends of the mobile slide, and the limit sensors are electrically connected to the drive motor , the touch bar touches the limit sensor under the drive of the moving slide, and the limit sensor controls the drive motor to stop through an electric signal. During the transfer operation of the mobile slide, once the mobile slide reaches the front limit position or the rear limit position, the touch lever at the corresponding position will touch the limit sensor, so that the drive motor stops, and the mobile slide stops moving, which is beneficial Travel safety.

In the above-mentioned three-degree-of-freedom forearm blood collection robot, the first joint includes a first servo motor and a first harmonic reducer, a connecting plate is arranged on the workbench, and the first servo motor is installed on the connecting plate, The input end of the first harmonic reducer is located on the connecting plate, the output end is located on the first transmission arm, and the output shaft of the first servo motor is connected to the input end of the first harmonic reducer. The first servo motor transmits steering power to the first harmonic reducer, and through the deceleration and torque amplification functions of the first harmonic reducer, the steering power is output to the first transmission arm through the output end of the first harmonic reducer.

In the above-mentioned three-degree-of-freedom forearm blood collection robot, first limit switches are arranged on both sides of the first transmission arm on the connecting plate, and first trigger stops protruding toward both sides are arranged on the first transmission arm Driven by the first transmission arm, the first trigger block touches the first limit switch on the same side, and the first limit switch controls the first servo motor to stop through an electric signal. When the left or right swing of the first transmission arm reaches the limit position, the first trigger flap on the corresponding side touches the first limit switch, so that the first servo motor stops and the first transmission arm stops swinging, which is conducive to the safety of the stroke .

In the above-mentioned three-degree-of-freedom forearm blood collection robot, the second joint includes a second servo motor and a second harmonic reducer, the second servo motor is installed on the first transmission arm, and the second harmonic reducer The input end of the servo motor is located on the first transmission arm, the output end is located on the second transmission arm, and the output shaft of the second servo motor is connected to the input end of the second harmonic reducer. The second servo motor transmits steering power to the second harmonic reducer, and through the deceleration and torque amplification functions of the second harmonic reducer, the steering power is output to the second transmission arm through the output end of the second harmonic reducer.

In the above-mentioned three-degree-of-freedom forearm blood collection robot, two second limit switches are set on the second transmission arm, and the two second limit switches face opposite directions, and a second trigger is set on the first transmission arm. The blocking piece, the second limit switch on either side touches the above-mentioned second trigger blocking piece driven by the second transmission arm, and the second limit switch controls the second servo motor to stop through an electric signal. When the left or right swing of the second transmission arm reaches the limit position, the second limit switch on the corresponding side touches the second trigger block, so that the second servo motor stops and the second transmission arm stops swinging, which is beneficial to the safety of the stroke .

In the above-mentioned three-degree-of-freedom forearm blood collection robot, the third joint includes a third servo motor and a third harmonic reducer, the third servo motor is installed on the second transmission arm, and the third harmonic reducer The input end of the servo motor is located on the second transmission arm, the output end is located on the pin mechanism, and the output shaft of the third servo motor is connected to the input end of the third harmonic reducer. The third servo motor transmits steering power to the third harmonic reducer, and through the deceleration and torque amplification functions of the third harmonic reducer, the steering power is output to the pin insertion mechanism through the output end of the third harmonic reducer.

In the above-mentioned three-degree-of-freedom forearm blood collection robot, the needle insertion mechanism is provided with a third trigger block, and the second transmission arm is provided with two third limit switches, and the two third limit switches face opposite directions , the third trigger block is driven by the pin insertion mechanism to touch the third limit switch on either side, and the third limit switch controls the third servo motor to stop through an electric signal. When the left or right swing of the pin insertion mechanism reaches the limit position, the third trigger block touches the third limit switch on the corresponding side, so that the third servo motor stops, and the pin insertion mechanism stops swinging, which is beneficial to the safety of the stroke.

In the above-mentioned three-degree-of-freedom forearm blood collection robot, the rectangular frame includes a four-sided panel, and a support plate is arranged inside the four-sided panel, and one end of the ball screw and the guide rail is installed on the four-sided panel, and the other end Installed on the support plate, the driving motor is connected with the ball screw through a coupling. Both ends of the ball screw are sleeved with bearings, the bearing at one end is installed in the front plate of the four-sided enclosure, and the bearing at the other end is installed in the support plate. The surrounding boards and supporting boards on all sides are fixed and assembled by screws.

In the above-mentioned three-DOF forearm blood-drawing robot, the workbench includes an equipment area and an operation area, the mechanical arm is installed in the equipment area, and the mechanical arm extends the blood-drawing needle above the operation area through the driving end. During the blood drawing operation, the person puts the arm on the operating area of the workbench, and puts the venous blood vessel under the blood drawing needle.

Compared with the prior art, this three-degree-of-freedom forearm blood collection robot has the following advantages:

1. The present invention has a compact structure and is suitable for realizing multi-degree-of-freedom movements in the blood collection space of the mechanical arm; the large working space is suitable for blood collection needs of various groups of people; the positioning accuracy is high, and the precise acquisition of the position of the blood vessel can be realized with the cooperation of the limit device; the operation is smooth, High security.

2. The present invention can realize the automation and intelligence of the blood collection by the mechanical arm, standardize the blood collection process, reduce the work intensity of doctors, improve the work efficiency of doctors, and reduce the complications of blood donors.

Description of drawings

Fig. 1 is a front view of the overall structure of the three-degree-of-freedom forearm blood collection robot.

Fig. 2 is a top view of the overall structure of the three-degree-of-freedom forearm blood collection robot.

Fig. 3 is a side view of the overall structure of the three-degree-of-freedom forearm blood collection robot.

Fig. 4 is the first sectional view of the three-degree-of-freedom forearm blood collection robot.

Fig. 5 is a second sectional view of the three-degree-of-freedom forearm blood collection robot.

Fig. 6 is a third sectional view of the three-degree-of-freedom forearm blood collection robot.

Fig. 7 is a plan view of the needle insertion mechanism in the three-degree-of-freedom forearm blood collection robot.

In the figure, 1. Workbench; 1a, connecting plate; 2. The first servo motor; 3. The first harmonic reducer; 4. The first transmission arm; 5. The first limit switch; 6. The first trigger gear 7. The second servo motor; 8. The second harmonic reducer; 9. The second transmission arm; 10. The second limit switch; 11. The second trigger block; 12. The third servo motor; 13. The third harmonic reducer; 14, pin mechanism; 14a, rectangular frame; 14b, drive motor; 14c, coupling; 14d, ball screw; ; 14h, guide slide cylinder; 14i, limit sensor; 14j, touch gear lever; 15, third limit switch; 16, third trigger block; 17, blood-drawing needle.

detailed description

The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

As shown in FIGS. 1 to 7 , the three-degree-of-freedom forearm blood collection robot includes a worktable 1 on which a mechanical arm is arranged, and a blood-drawing needle 17 is arranged on the driving end of the mechanical arm.

The workbench 1 includes an equipment area and an operation area, the mechanical arm is installed in the equipment area, and the mechanical arm extends the blood-drawing needle 17 to the top of the operation area through the driving end.

The mechanical arm includes a first transmission arm 4, a second transmission arm 9 and a pin insertion mechanism 14. The first transmission arm 4 and the worktable 1 form a rotational connection through a first joint, and the second transmission arm 9 and the first transmission arm 4 A rotational connection is formed between them through a second joint, and a rotational connection is formed between the pin insertion mechanism 14 and the second transmission arm 9 through a third joint.

The first joint includes a first servo motor 2 and a first harmonic reducer 3. A connection plate 1a is arranged on the workbench 1. The first servo motor 2 is installed on the connection plate 1a. The input end of the first harmonic reducer 3 is located at On the connecting plate 1 a, the output end is located on the first transmission arm 4 , and the output shaft of the first servo motor 2 is connected to the input end of the first harmonic reducer 3 . The first servo motor 2 sends steering power to the first harmonic reducer 3, and through the deceleration and torque amplification functions of the first harmonic reducer 3, the steering power is output to the first harmonic reducer 3 through the output end. Transmission arm 4.

The first limit switch 5 is arranged on both sides of the first transmission arm 4 on the connecting plate 1a, and the first trigger catch 6 protruding toward both sides is arranged on the first transmission arm 4, and the first trigger catch 6 is on the second Driven by a transmission arm 4, it touches the first limit switch 5 located on the same side, and the first limit switch 5 controls the first servo motor 2 to stop by an electric signal. When the left or right swing of the first transmission arm 4 reaches the limit position, the first trigger flap 6 on the corresponding side touches the first limit switch 5, so that the first servo motor 2 stops, and the first transmission arm 4 stops swinging , which is conducive to the safety of the journey.

The second joint includes a second servo motor 7 and a second harmonic reducer 8, the second servo motor 7 is installed on the first transmission arm 4, and the input end of the second harmonic reducer 8 is located on the first transmission arm 4, The output end is located on the second transmission arm 9 , and the output shaft of the second servo motor 7 is connected to the input end of the second harmonic reducer 8 . The second servo motor 7 sends steering power to the second harmonic speed reducer 8, and through the deceleration and torque amplification functions of the second harmonic speed reducer 8, the steering power is output to the second harmonic speed reducer 8 through the output end of the second harmonic speed reducer 8. Transmission arm 9.

Two second limit switches 10 are set on the second transmission arm 9, and the two second limit switches 10 face opposite directions. Driven by the second transmission arm 9 , the limit switch 10 touches the second trigger block 11 , and the second limit switch 10 controls the second servo motor 7 to stop through an electric signal. When the left or right swing of the second transmission arm 9 reaches the limit position, the second limit switch 10 on the corresponding side touches the second trigger catch 11, so that the second servo motor 7 stops, and the second transmission arm 9 stops swinging , which is conducive to the safety of the journey.

The third joint includes a third servo motor 12 and a third harmonic reducer 13, the third servo motor 12 is installed on the second transmission arm 9, and the input end of the third harmonic reducer 13 is located on the second transmission arm 9, The output end is located on the pin mechanism 14 , and the output shaft of the third servo motor 12 is connected to the input end of the third harmonic reducer 13 . The third servo motor 12 transmits steering power to the third harmonic reducer 13, through the deceleration and torque amplification functions of the third harmonic reducer 13, the steering power is output to the pin through the output end of the third harmonic reducer 13 Agency14.

The pin insertion mechanism 14 is provided with a third trigger blocking piece 16, and the second transmission arm 9 is provided with two third limit switches 15, and the two third limit switches 15 face opposite directions, and the third trigger blocking piece 16 is positioned between the pins. Driven by the mechanism 14, the third limit switch 15 on either side is touched, and the third limit switch 15 controls the third servo motor 12 to stop by an electric signal. When the left or right swing of the pin insertion mechanism 14 reaches the limit position, the third trigger catch 16 touches the third limit switch 15 on the corresponding side, so that the third servo motor 12 stops, and the pin insertion mechanism 14 stops swinging, which is beneficial to Travel safety.

The pin insertion mechanism 14 includes a rectangular frame 14a, and the rectangular frame 14a includes a four-sided enclosure, a support plate is arranged inside the four-sided enclosure, and the four-sided enclosure and the support plate are fixedly assembled by screws. The rectangular frame 14a is provided with a drive motor 14b, a ball screw 14d, two guide rails 14e and a moving slide 14f, specifically the two guide rails 14e are respectively located on both sides of the ball screw 14d. One end of the ball screw 14d and the guide rail 14e is installed on the four-sided coaming, and the other end is installed on the support plate, wherein both ends of the ball screw 14d are sleeved with bearings, and the bearing at one end is installed into the front plate of the four-sided coaming , the bearing at the other end fits into the support plate. The drive motor 14b is connected to the ball screw 14d, and the two are connected through a coupling 14c.

The middle part of mobile slide table 14f offers screw hole, and both sides respectively offer slide hole. The nut 14g is inserted into the screw hole, and the nut 14g is sleeved on the ball screw 14d to form a threaded connection; the sliding hole is inserted into the guide sleeve 14h, and the guide sleeve 14h is sleeved on the guide rail 14e to form a sliding connection, thereby moving the slide The table 14f is symmetrically sleeved on a ball screw 14d and two guide rails 14e, which improves the stability of the guide movement. A blood-drawing needle 17 is fixedly connected to the side of the mobile slide 14f.

Both ends of the rectangular frame 14a are equipped with limit sensors 14i, and both ends of the moving slide 14f are equipped with touch stoppers. The limit sensors 14i are electronically connected to the drive motor 14b, and the touch stoppers are driven by the moveable slide 14f. When the limit sensor 14i is touched, the limit sensor 14i controls the drive motor 14b to stop through an electric signal. During the transfer operation of the moving slide 14f, once the moving slide 14f reaches the front limit position or the rear limit position, the trigger lever 14j at the corresponding position will touch the limit sensor 14i, so that the driving motor 14b stops, and the moving slide Platform 14f stops motion, is conducive to the safety of stroke.

During the blood drawing operation, the person places his arm on the operating area of the workbench 1 and puts the venous blood vessel under the blood drawing needle 17 . Firstly, the swing position is adjusted by the rotation of the first transmission arm 4 around the first joint, then the swing position is adjusted by the rotation of the second transmission arm 9 around the second joint, and then the swing position is adjusted by the rotation of the pin insertion mechanism 14 around the third joint. The position is adjusted, and finally through the socket cooperation between the moving slide 14f in the pin mechanism 14, the ball screw 14d and the guide rail 14e, under the drive of the driving motor 14b, the rotation of the ball screw 14d is converted into a moving slide The transfer movement of 14f completes piercing the blood-drawing needle 17 into the vein of the human body.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, but they will not deviate from the spirit of the present invention or go beyond the definition of the appended claims range.

Although the workbench 1; the connection plate 1a; the first servo motor 2; the first harmonic reducer 3; the first transmission arm 4; the first limit switch 5; the first trigger block 6; Second servo motor 7; second harmonic reducer 8; second transmission arm 9; second limit switch 10; second trigger block 11; third servo motor 12; third harmonic reducer 13; pin mechanism 14. Rectangular frame 14a; Drive motor 14b; Coupling 14c; Ball screw 14d; Limit switch 15; third trigger block 16; blood-drawing needle 17 and other terms, but the possibility of using other terms is not excluded. These terms are used only for the purpose of describing and explaining the essence of the present invention more conveniently; interpreting them as any kind of additional limitation is against the spirit of the present invention.

Claims (9)

1. Three-degree-of-freedom forearm blood collection robot, comprising a workbench, a mechanical arm is set on the workbench, and a blood-drawing needle is set on the driving end of the mechanical arm, it is characterized in that the mechanical arm includes a first transmission arm, a second Two transmission arm and pin insertion mechanisms, the first transmission arm and the workbench form a rotational connection through a first joint, and the second transmission arm and the first transmission arm form a rotational connection through a second joint, the said A rotation connection is formed between the pin insertion mechanism and the second transmission arm through a third joint, and the pin insertion mechanism includes a rectangular frame on which a drive motor, a ball screw, at least one guide rail and a moving The sliding table, the drive motor is connected to the ball screw, the two ends of the ball screw and the rectangular frame are sleeved with bearings, the screw hole and the slide hole are opened on the mobile sliding table, and the screw hole is connected Nut, the nut is sleeved on the ball screw to form a threaded connection, the sliding hole is pierced with a guide sleeve, the guide sleeve is sleeved on the guide rail to form a sliding connection, the side of the mobile slide is fixed Connect the above-mentioned blood-drawing needle; both ends of the rectangular frame are equipped with limit sensors, and both ends of the mobile slide are equipped with touch stoppers, the limit sensors are electronically connected to the drive motor, and the touch stoppers Driven by the moving slide, the rod touches the limit sensor, and the limit sensor controls the drive motor to stop through an electric signal. 2. The three-degree-of-freedom forearm blood collection robot according to claim 1, wherein the first joint includes a first servo motor and a first harmonic reducer, a connecting plate is arranged on the workbench, and the first A servo motor is installed on the connection plate, the input end of the first harmonic reducer is located on the connection plate, the output end is located on the first transmission arm, and the output shaft of the first servo motor is connected to the first harmonic reducer input terminal. 3. The three-degree-of-freedom forearm blood collection robot according to claim 2, wherein first limit switches are arranged on both sides of the first transmission arm on the connecting plate, and the orientation toward The first trigger flap protruding from both sides, the first trigger flap touches the first limit switch on the same side under the drive of the first transmission arm, and the first limit switch controls the first limit switch through an electric signal A servo motor stops. 4. The three-degree-of-freedom forearm blood collection robot according to claim 1, wherein the second joint includes a second servo motor and a second harmonic reducer, and the second servo motor is installed on the first transmission arm Above, the input end of the second harmonic reducer is located on the first transmission arm, the output end is located on the second transmission arm, and the output shaft of the second servo motor is connected to the input end of the second harmonic reducer. 5. The three-degree-of-freedom forearm blood collection robot according to claim 4, characterized in that two second limit switches are arranged on the second transmission arm, and the two second limit switches face opposite directions, and the first A transmission arm is provided with a second trigger catch, and the second limit switch on either side touches the above-mentioned second trigger catch under the drive of the second transmission arm, and the second limit switch passes an electric signal Control the second servo motor to stop. 6. The three-degree-of-freedom forearm blood collection robot according to claim 1, wherein the third joint includes a third servo motor and a third harmonic reducer, and the third servo motor is installed on the second transmission arm Above, the input end of the third harmonic reducer is located on the second transmission arm, the output end is located on the pin mechanism, and the output shaft of the third servo motor is connected to the input end of the third harmonic reducer. 7. The three-degree-of-freedom forearm blood collection robot according to claim 6, characterized in that, the needle insertion mechanism is provided with a third trigger block, and the second transmission arm is provided with two third limit switches, two The third limit switch faces the opposite direction, and the third trigger flap touches the third limit switch on either side under the drive of the pin mechanism, and the third limit switch controls the third servo through an electric signal. The motor stops. 8. The three-degree-of-freedom forearm blood collection robot according to any one of claims 1 to 7, wherein the rectangular frame includes four-sided panels, a support plate is arranged inside the four-sided panels, and the ball screw One end of the guide slide rail is installed on the four-sided coaming plate, and the other end is installed on the support plate, and the drive motor is connected with the ball screw through a coupling. 9. The three-degree-of-freedom forearm blood collection robot according to any one of claims 1 to 7, wherein the workbench includes an equipment area and an operation area, the mechanical arm is installed in the equipment area, and the mechanical The arm extends the lancet over the surgical field through the drive end.