CN103083186B - Quantitative suction robot and control system thereof - Google Patents

Abstract

The invention discloses a quantitative suction robot and a control system thereof. The quantitative suction robot is used for preparing liquid medicines for venous transfusion. The control system comprises a pose receiving module, a post calculation unit and a motion control unit. The pose receiving module is used for receiving target pose of a medicament and transmitting the pose information of the medicament to the pose calculation unit. The post calculation unit receives the pose information of the medicament, performs reverse kinetics calculation to the robot to obtain target runing positions of control shafts of the quantitative suction robot, and transmits the target position information of the control shafts to the motion control unit. The motion control unit receives the target position information of the control shafts and transmits the information to joint execution units of the quantitative suction robot. The control system can control execution mechanisms of the quantitative suction robot precisely to automatically and quantitatively suck the medicament, with avoidance of liquid medicine pollution. In addition, chances of certain toxic medicaments physically hurting medical workers are also avoided.

Description

Quantitative smoking machine people and control system thereof

Technical field

The present invention relates to the technical field of configuration transfusion medicinal liquid, specifically, refer to a kind of quantitatively suction (extraction, injection) robot and control system thereof.

Background technology

As everyone knows, when people are sick, need to be cured by medical treatment, existing medical procedure, except drinking medicine, having an injection, also has transfusion etc., when infusing to patient, need the medicinal liquid in ampoule bottle, the medicated powder in powder bottle to mix with mother solution, then, by the medicine input patient body in mother solution.

At present, the technical field of medicine is being prepared by China, is substantially all manually make up a prescription, that is, patient is after doctor writes a prescription, and first removes pharmaceutical drug taking, need the medicine of injection, take injection section and go, nursing staff is according to the prescription of doctor, first check prescription whether consistent with medicine, then, reexamine the quality of medicine, with or without gas leakage and so on, then ampoule bottle to be cut, sterilization, retrieve injector package again, utilize syringe to extract, enter in mother solution by the drug injection in ampoule bottle; If also have powder bottle, powder bottle can carry out disinfection by again, and mother solution is injected powder bottle, rocks evenly, then medicine is injected mother solution.

As from the foregoing, because current is made up a prescription by manually completing, easily liquid medicine contamination is caused.In addition, some poisonous medicament, likely causes actual bodily harm to health care workers.

Summary of the invention

The object of the present invention is to provide a kind of extraction that can realize medicinal liquid accurately, with the quantitative smoking machine people of the process automation that makes to make up a prescription and control system thereof.

For achieving the above object, the present invention adopts following technical scheme:

A quantitative smoking machine people's control system, for controlling in the process of preparation venous transfusion medicinal liquid quantitative smoking machine people, this control system, comprises pose receiver module, pose computing unit and motion control unit;

Described pose receiver module, for receiving the object pose (position and attitude) at medicament place, and is transferred to pose computing unit by the posture information of medicament;

Described pose computing unit, receive the posture information of medicament, the inverse kinematics of carrying out robot is resolved, and obtains the object run position of each control axle of quantitative suction robot, and each control axle target position information is transferred to described motion control unit;

Described motion control unit receives each control axle target position information and is handed down to described quantitative smoking machine people each joint performance element.

Preferably, above-mentioned pose computing unit, it carries out pose calculating by the mode of forward kinematics solution, and equation expression formula is as follows:

$\left.\begin{array}{c}{x}_2=x_o\\ y_2=(l_0+\mathrm{\Δl})\·\cos \mathrm{\θ}\\ z_2=z_o-(l_0+\mathrm{\Δl})\·\sin \mathrm{\θ}\end{array}\right\}$

Wherein:

L ₀after Y-axis back to zero, initialization, without original length during rectilinear movement (stretching);

Δ l is the telescopic variation amount (the stroke numerical value of Y ' axle determines the aspiration of syringe) of Y-axis;

θ angle is the attitude of medicament, is also the angle that rotating shaft should rotate two Y-axis;

P (x ₂, y ₂, z ₂) position of medicament for calculating, be also quantitatively extract the target location that robot runs.

Preferably, above-mentioned pose computing unit, it carries out pose calculating by the mode of inverse kinematic, and equation expression formula is as follows:

$\left.\begin{array}{c}{x}_o=x_2\\ \mathrm{\Δl}=\frac{y_2}{\cos \mathrm{\θ}}-l_0\\ z_o=z_2+(l_0+\mathrm{\Δl})\·\sin \mathrm{\θ}\end{array}\right\}$

In expression formula, θ angle is target object attitude angle, the anglec of rotation that Ye Shi robot θ axle is corresponding;

The pump orifice pose of medicament is P (x ₂, y ₂, z ₂, θ).

Preferably, above-mentioned pose computing unit, its calculate described in quantitative extraction robot to the suction of mother solution, the following equation expression formula of employing show that quantitatively extracting robot needs to run to current position from current location:

$\left\{\begin{array}{c}{x}_o=x_{\mathrm{BL}}\\ \mathrm{\Δl}=\frac{y_{\mathrm{BL}}}{\cos {\mathrm{\θ}}_{\mathrm{BL}}}-l_0\\ z_o=z_{\mathrm{BL}}+(l_0+\mathrm{\Δl})\·\sin {\mathrm{\θ}}_{\mathrm{BL}}\end{array}\right.$

In expression formula, x _bL, y _bL, z _bL, θ _bLall the given coordinate of this control system, for this control system is given in advance.

A kind of quantitatively smoking machine people, it comprises above-mentioned control system and actuator, described actuator carries out quantitative extraction operation under the control of described control system, described actuator is mechanism in six degree of freedom, it comprises translation assembly, rotary components and extracts assembly, described extraction assembly is installed on described rotary components, it rotates under the drive of rotary components, described rotary components is installed on described translation assembly, its translation on described translation assembly, described extraction assembly is provided with syringe.

After adopting technique scheme, the present invention is when implementing, and by this control system, can control the actuator quantitatively extracting robot accurately, the quantitative extraction realizing medicament of automatization, namely accurately extracts, avoid the generation of liquid medicine contamination.In addition, it also avoid the medicament that some is poisonous, likely health care workers is caused to the possibility of actual bodily harm.

Accompanying drawing explanation

Fig. 1 is the structural representation of the actuator of the quantitative smoking machine people of the present invention;

Fig. 2 is the structured flowchart of the control system of the quantitative smoking machine people of the present invention.

Detailed description of the invention

In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.

As shown in Figure 1, the invention discloses a kind of quantitatively smoking machine people, it comprises actuator and control system, wherein:

Actuator is mechanism in six degree of freedom, and it comprises translation assembly 1, rotary components 2 and extracts assembly 3, wherein:

Extracting assembly 3 is installed on rotary components 2, and it rotates under the drive of rotary components 2, and rotary components 2 is installed on translation assembly 1, its translation on translation assembly 1, extracts assembly 3 and is provided with syringe A.

Translation assembly 1 is made up of X-axis and Z axis, wherein:

X-axis realizes making up a prescription the one dimension straight line slide unit of robot suction module in transverse direction (length direction) movement;

Z axis realizes the one dimension linear slide of suction module on vertical height direction;

Two Y-axis be realize making up a prescription robot suction module at flexible crawls of longitudinal direction (width), mobile syringe, carry out two one dimension straight line slide units superposed mutually aspirating;

θ rotating shaft is around Z axis assigned altitute, the rotating shaft being parallel to the rectilinear direction of X-axis, realizes the adjustment of syringe pose;

The rotating shaft that β rotating shaft is suction end of module, rotates around the rectilinear direction being parallel to X-axis;

End Pneumatic paw, the Pneumatic paw realizing capturing syringe A carries out 90 ° of upsets;

Syringe A suction handle clamping device.

As shown in Figure 2, the invention discloses a kind of control system for quantitative smoking machine people, for controlling quantitatively extracting the process of robot at preparation venous transfusion medicinal liquid, comprise pose receiver module B, pose computing unit C and motion control unit D, wherein:

Pose receiver module B, for receiving the object pose (position and attitude) at medicament place, and the posture information of medicament is transferred to pose computing unit C, pose computing unit C, receive the posture information of medicament, the inverse kinematics of carrying out robot is resolved, obtain the object run position of each control axle of quantitative smoking machine people, and by the information transmission of each control axle target location to motion control unit D, be transferred to quantitative smoking machine people each joint performance element by motion control unit D.

In the present embodiment, pose computing unit C, it carries out pose calculating by the mode of forward kinematics solution, and equation expression formula is as follows:

$\left.\begin{array}{c}{x}_2=x_o\\ y_2=(l_0+\mathrm{\Δl})\·\cos \mathrm{\θ}\\ z_2=z_o-(l_0+\mathrm{\Δl})\·\sin \mathrm{\θ}\end{array}\right\}$

Wherein:

L ₀after Y-axis back to zero, initialization, without original length during rectilinear movement (stretching);

Δ l is the telescopic variation amount (the stroke numerical value of Y ' axle determines the aspiration of syringe) of Y-axis.

θ angle is the attitude of medicament, is also the angle that rotating shaft should rotate two Y-axis;

P (x ₂, y ₂, z ₂) position of medicament for calculating, be also quantitatively extract the target location that robot runs.

In addition, in the present embodiment, pose computing unit C, its calculate described in quantitative extraction robot to the suction of mother solution, the following equation expression formula of employing show that quantitatively extracting robot needs to run to current position from current location:

$\left\{\begin{array}{c}{x}_o=x_{\mathrm{BL}}\\ \mathrm{\Δl}=\frac{y_{\mathrm{BL}}}{\cos {\mathrm{\θ}}_{\mathrm{BL}}}-l_0\\ z_o=z_{\mathrm{BL}}+(l_0+\mathrm{\Δl})\·\sin {\mathrm{\θ}}_{\mathrm{BL}}\end{array}\right.$

In expression formula, x _bL, y _bL, z _bL, θ _bLall the given coordinate of this control system, for this control system is given in advance.

During use, control actuator by control system, it can realize quantitatively extracting the mutual of robot and powder bottle and mother solution bag (bottle), can complete following action:

1) clamping of powder bottle from the input carrier of automatic robot to its swaying mechanism, carrying, mutual;

2) end Pneumatic paw captures the body of syringe A from input carrier sidewall, rollback to after set a distance, paw backward (on) upset 90, another Pneumatic paw clamps suction handle simultaneously;

3) locate, move to mother solution bag (bottle) suction position, quantitatively extract mother solution;

4) now the pose of mother solution bag (bottle) clamping device is (X _bL, Y _bL, Z _bL, θ _bL);

5), after locating, moving to powder bottle swaying mechanism (given station) position, each powder bottle is diluted successively;

6) now powder bottle pose after rotating given angle is (X _cL, Y _cL, Z _cL, θ _cL);

7) treat powder bottle swaying mechanism after hours, (or whole) pumpback is carried out quantitatively to liquid in the powder bottle shaken up;

8) now powder bottle pose after rotating given angle is (X _cH, Y _cH, Z _cH, θ _cH);

9) locate, move to mother solution bag (bottle) re-injection position, all throw mother solution bag into;

10) now the pose of mother solution bag (bottle) clamping device is (X _bH, Y _bH, Z _bH, θ _bH).

Meanwhile, control actuator by control system, it can realize quantitatively extracting the mutual of robot and ampoule bottle and mother solution bag (bottle), can complete following action:

1) suction module is located, is moved past atomization disinfection, is broken and break and the ampoule bottle suction position of the given angle that tilts;

Now the pose of the pump orifice of ampoule bottle is (X _aH, Y _aH, Z _aH, θ _aH);

2) relatively cleaner complete (more than the 10ml ampoule bottle that particularly capacity is larger) that can aspirate time for ease of entirely taking out, so need the inclination angle adjusting (increasing) ampoule bottle in aspiration procedure, at the bottom of making bottle, liquid is to position of bottleneck sluggish flow, and now pump orifice pose is (X _aL, Y _aL, Z _aL, θ _aL);

3) locate, move to mother solution bag (bottle) re-injection position, all throw mother solution bag into;

Now the pose of mother solution bag (bottle) clamping device is (X _bH, Y _bH, Z _bH, θ _bH), identical with pose time powder bottle re-injection mother solution bag (bottle).

In addition, in the specific implementation, due to suction, the re-injection pose of mother liquid multi-cavity bottle, the dilution of powder bottle, pumpback pose, and the suction pose of ampoule bottle, be all that system is given in advance and constant, so the inverse kinematics quantitatively extracting robot becomes relatively simple, a demand solution Y-axis is at the stroke Δ l of axis and the height and position Z of θ rotating shaft in O reference frame _o, resolving of inverse kinematics can be realized.That is, above-mentioned pose computing unit C, it carries out pose calculating by the mode of inverse kinematic, and equation expression formula is as follows:

$\left.\begin{array}{c}{x}_o=x_2\\ \mathrm{\Δl}=\frac{y_2}{\cos \mathrm{\θ}}-l_0\\ z_o=z_2+(l_0+\mathrm{\Δl})\·\sin \mathrm{\θ}\end{array}\right\}$

In expression formula, θ angle is target object attitude angle, the anglec of rotation that Ye Shi robot θ axle is corresponding;

The pump orifice pose of medicament is P (x ₂, y ₂, z ₂, θ).

The data that inverse kinematics is resolved, the physical parameter such as leading screw pitch in conjunction with each Electric Machine Control axle carries out equivalent conversion, then issues each spindle motor required pulse number to actuator, thus drives the precise position control quantitatively extracting robot.

The above; be only the present invention's preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.

Claims (3)

1. a quantitative smoking machine people's control system, for controlling in the process of preparation venous transfusion medicinal liquid quantitative smoking machine people, is characterized in that: this control system, comprising pose receiver module, pose computing unit and motion control unit; Described pose receiver module, for receiving the object pose at medicament place, and is transferred to pose computing unit by the posture information of medicament; Described pose computing unit, receive the posture information of medicament, the inverse kinematics of carrying out robot is resolved, and obtains the object run position of each control axle of quantitative suction robot, and each control axle target position information is transferred to described motion control unit; Described motion control unit receives each control axle target position information and is handed down to described quantitative smoking machine people each joint performance element;

Described pose computing unit, it carries out pose calculating by the mode of forward kinematics solution, and equation expression formula is as follows:

Wherein:

L ₀after Y-axis back to zero, initialization, without original length during rectilinear movement (stretching);

Δ l is the telescopic variation amount (the stroke numerical value of Y' axle determines the aspiration of syringe) of Y-axis;

θ angle is the attitude of medicament, is also the angle that rotating shaft should rotate two Y-axis;

P (x ₂, y ₂, z ₂) position of medicament for calculating, be also quantitatively extract the target location that robot runs;

Or, described pose computing unit, it carries out pose calculating by the mode of inverse kinematic, and equation expression formula is as follows:

In expression formula, θ angle is target object attitude angle, the anglec of rotation that Ye Shi robot θ axle is corresponding;

The pump orifice pose of medicament is P (x ₂, y ₂, z ₂, θ).

2. the control system of quantitative smoking machine people according to claim 1, it is characterized in that: described pose computing unit, its calculate described in quantitative extraction robot to the suction of mother solution, the following equation expression formula of employing show that quantitatively extracting robot needs to run to current position from current location:

In expression formula, x _bL, y _bL, z _bL, θ _bLall the given coordinate of this control system, for this control system is given in advance.

3. a quantitative smoking machine people, it is characterized in that: it comprises control system described in claim 1 or 2 and actuator, described actuator carries out quantitative extraction operation under the control of described control system, described actuator is mechanism in six degree of freedom, it comprises translation assembly, rotary components and extraction assembly, described extraction assembly is installed on described rotary components, it rotates under the drive of rotary components, described rotary components is installed on described translation assembly, its translation on described translation assembly, described extraction assembly is provided with syringe.