CN108392691B

CN108392691B - Medical automatic liquid-changing infusion support

Info

Publication number: CN108392691B
Application number: CN201810363521.1A
Authority: CN
Inventors: 不公告发明人
Original assignee: Jiangxi Zhongjuhong New Material Technology Co ltd
Current assignee: Jiangxi Zhongjuhong New Material Technology Co.,Ltd.
Priority date: 2018-04-21
Filing date: 2018-04-21
Publication date: 2020-08-11
Anticipated expiration: 2038-04-21
Also published as: CN108392691A

Abstract

The invention provides a medical automatic liquid changing infusion support, which comprises a liquid changing support, a transmission case, a support frame and the like, wherein a driving motor is excited by an electric signal of a camera or a laser sensor, and turns four circles each time, namely, the driving motor turns four circles for one period; the invention can find whether the liquid medicine in the infusion bottle is infused completely in time by taking the camera as the monitoring sensor, provides double insurance by the laser sensor, can clamp the pipeline in time to stop infusion under the condition of working error of the camera, and can not generate danger even if a patient goes to sleep.

Description

Medical automatic liquid-changing infusion support

Technical Field

The invention relates to the technical field of medical robots, in particular to a medical automatic liquid changing infusion support.

Background

Infusion (intravenous drip) is one of the common treatment means in modern medicine, the workload of doctors is getting bigger and bigger with the increasing number of infusion people in hospitals, most patients need to infuse 2-3 bottles of liquid medicine once, and in order to prevent the medicine interaction, normal saline in a pipe can be added between every two medicines, which is equivalent to infusing 3-5 bottles of liquid medicine. The needle needs to be replaced once every time a bottle is transfused, namely the needle is pulled out of the transfused empty bottle and inserted into a new bottle, the action is not complicated, but real-time supervision is needed, and particularly dangerous conditions such as air entering the body and the like can be caused if a patient is unattended under the condition that the patient falls asleep.

Disclosure of Invention

In order to solve the problems, the invention provides a medical automatic liquid changing infusion support which can find whether the liquid medicine in an infusion bottle is infused completely in time by taking a camera as a main monitor and taking a laser sensor as an auxiliary monitor, and can avoid danger even if a patient is in sleep.

The technical scheme adopted by the invention is as follows: a medical automatic liquid-changing infusion support comprises a liquid-changing frame, a transmission case, a support frame, an infusion tube, a liquid-changing frame chassis, a guide rail, an infusion bottle frame, a pressing plate, a hinge A, a connecting rod, a liquid-changing frame spindle, a crank disc, a hinge B, a limiting pin, a knob, a screw A, a transmission case box body, a transmission case base, a transmission case cover, a servo motor, a support A, a support B, a support C, a support D, a support E, a bevel gear A, a shaft A, a cam A, a roller shaft A, a push rod A, a reset spring A, a gear A, a friction disc A, a shift fork A, a sliding key A, a shaft B, a synchronizer A, a friction disc B, a gear B, a shaft C, a screw B, a gear C, a shaft D, a gear E, a bevel gear B, a bevel gear C, a bevel gear D, a shaft E, a cam B, a roller B, a reset spring B, the device comprises a sliding key B, a friction disk C, a drive plate, a shaft F, a bevel gear E, a grooved wheel, a support frame tray, a support A, a camera, a support B, a support C, an electric push rod, a nut, a laser sensor, a hinge C, a camera support, a support rod and a support frame base.

The transmission case and the infusion tube are fixed on the support frame, and the liquid changing frame is fixed at the output end of the transmission case.

The liquid changing frame comprises a liquid changing frame base plate, a guide rail, a transfusion bottle frame, a pressing plate, a hinge A, a connecting rod, a liquid changing frame main shaft, a crank disc, a hinge B, a limiting pin, a knob and a screw rod A. The liquid changing frame chassis is a support of the whole liquid changing frame, five groups of guide rails and five transfusion bottle frames are uniformly distributed at 72 degrees on the liquid changing frame chassis, and a main shaft of the liquid changing frame and a screw A are fixed at the center of the liquid changing frame chassis; the crank disc is hinged on the main shaft of the liquid changing frame and can rotate around the main shaft of the liquid changing frame; the pressing plates are matched with the guide rails, the number of the pressing plates is five, one end of each pressing plate is hinged to one end of the connecting rod through a hinge A, and the other end of each connecting rod is hinged to the crank disc through a hinge B; the crank disk, the connecting rod and the pressing plate form a crank sliding block mechanism; the limiting pin is fixed on the crank disc and plays roles in limiting and driving; the knob is screwed on the screw A, the lugs on two sides are provided with through holes and matched with the limit pins on the crank disc, the knob is screwed, and the crank disc rotates along with the knob, so that the pressing plate is driven to open and close.

The transmission case comprises a transmission case body, a transmission case base, a transmission case cover, a servo motor, a support A, a support B, a support C, a support D, a support E, a bevel gear A, a shaft A, a cam A, a roller shaft A, a push rod A, a reset spring A, a gear A, a friction disc A, a shift fork A, a sliding key A, a shaft B, a synchronizer A, a friction disc B, a gear B, a shaft C, a screw rod B, a gear C, a shaft D, a gear E, a bevel gear B, a bevel gear C, a bevel gear D, a shaft E, a cam B, a roller shaft B, a reset spring B, a push rod B, a shift fork B, a synchronizer B, a sliding key B, a friction disc C, a drive plate, a shaft F, a. The transmission case base is fixed on the transmission case body; the transmission case cover is fixed on the transmission case base; the servo motor is fixed on the cover of the box driver; the support A, the support B, the support C, the support D and the support E are fixed on the transmission case base; the shaft B is fixed on the support D, and one end of the shaft B is connected with an output shaft of the servo motor and is an input shaft of the whole rotating box; the gear A and the gear B are respectively hinged in the middle and at one end of the shaft B, and the bevel gear B is fixed at the other end of the shaft B; the friction disc A is fixed on the gear A; the friction disc B is fixed on the gear B; the synchronizer A is matched with the shaft B through a sliding key A and can move along the axial direction; the gear D is matched with the shaft C and fixed on the transmission case base; the gear C and the gear E are respectively matched with two ends of the shaft D and fixed on the transmission case base; the screw B is fixed on the gear C, and the thread part is matched with a nut on the support frame; the bevel gear A and the cam A are respectively matched with two ends of a shaft A, and the shaft A is fixed on the support E; the roller A is hinged to the push rod A through a roller shaft A, the push rod A is fixed on the support E through the action of a return spring A and a cam A, the other end of the push rod A is fixedly connected to the shifting fork A, and a fork of the shifting fork A is matched with the synchronizer A; the bevel gear C and the bevel gear D are respectively matched with one end and the middle part of a shaft E, the shaft E is fixed on the support C, and the other end of the shaft E is matched with the cam B; the bevel gear E is fixed at one end of a shaft F, the driving plate is hinged in the middle of the shaft F, and the shaft F is fixed on the support B; the friction disc C is fixedly connected to the drive plate; the synchronizer B is matched with the shaft F through a sliding key B and can move along the axial direction of the shaft F; the roller B is hinged to the push rod B through a roller shaft B, the push rod B is fixed on the support A through the action of a return spring B and a cam B, the other end of the push rod B is fixedly connected to a shifting fork B, and a fork of the shifting fork B is matched with the synchronizer B; the grooved wheel is fixed on the main shaft of the liquid changing frame and matched with the driving plate.

The support frame include support frame tray, support A, camera, support B, support C, electric putter, nut, laser sensor, hinge C, camera support, bracing piece, support frame base. The support frame base is placed on the ground and is a support of the whole machine; the supporting rod is fixedly connected to the supporting frame base; the supporting frame tray is fixed on the supporting rod; the bracket A is welded on a support bracket tray; the camera is fixed on a camera bracket which is hinged on the bracket A through a hinge C; the laser sensor is fixed on a bracket B welded on the bracket A; the electric push rod is fixed on a bracket C welded on the bracket A; the nut is welded in the center of the bottom of the support frame tray.

Due to the adoption of the technical scheme, the invention has the following advantages: (1) the invention can find whether the liquid medicine in the infusion bottle is completely infused in time by taking the camera as the monitor, and the patient can not have danger even if the patient goes to sleep; (2) the laser sensor is used as an auxiliary monitor, and the infusion safety is still ensured under the condition that the camera fails to work; (3) the mode of fixing the needle head and moving the medicine bottle is adopted, so that the stability and reliability of liquid replacement are ensured.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

FIG. 2 is a schematic view of the liquid changing rack according to the present invention.

Fig. 3 is an external view of the transmission case of the present invention.

Fig. 4 and 5 are schematic diagrams of the internal structure of the transmission case of the invention.

Fig. 6 and 7 are schematic structural views of the support frame of the present invention.

Reference numerals: 1-liquid changing frame; 2-a transmission case; 3-a support frame; 4-a transfusion tube; 101-a liquid change frame chassis; 102-a guide rail; 103-infusion bottle rack; 104-a platen; 105-hinge A; 106-connecting rod; 107-liquid changing frame main shaft; 108-crank disk; 109-hinge B; 110-a spacing pin; 111-a knob; 112-screw A; 201-transmission case body; 202-transmission case base; 203-transmission case cover; 204-a servo motor; 205-support A; 206-support B; 207-support C; 208-support D; 209-support E; 210-bevel gear A; 211-axis a; 212-cam a; 213-roller A; 214-roller axis a; 215-pushrod a; 216-return spring a; 217-gear a; 218-friction disk A; 219-fork a; 220-sliding key A; 221-axis B; 222-synchronizer a; 223-friction disk B; 224-gear B; 225-axis C; 226-screw B; 227-gear C; 228-axis D; 229-gear D; 230-gear E; 231-bevel gear B; 232-bevel gear C; 233-bevel gear D; 234-axis E; 235-cam B; 236-roller B; 237-roller axis B; 238-return spring B; 239-push rod B; 240-shift fork B; 241-synchronizer B; 242-feather key B; 243-friction disk C; 244-dial; 245-axis F; 246-bevel gear E; 247-sheave; 301-a support frame tray; 302-scaffold a; 303-a camera; 304-scaffold B; 305-scaffold C; 306-an electric push rod; 307-a nut; 308-a laser sensor; 309-hinge C; 310-camera support; 311-support rods; 312-support stand base.

Detailed Description

The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.

Example (b): as shown in figures 1, 2, 3, 4, 5, 6 and 7, the medical automatic fluid changing infusion support comprises a fluid changing support frame 1, a transmission case 2, a support frame 3, an infusion tube 4, a fluid changing support frame chassis 101, a guide rail 102, an infusion bottle frame 103, a pressure plate 104, a hinge A105, a connecting rod 106, a fluid changing support main shaft 107, a crank disc 108, a hinge B109, a limit pin 110, a knob 111, a screw A112, a transmission case body 201, a transmission case base 202, a transmission case cover 203, a servo motor 204, a support A205, a support B206, a support C207, a support D208, a support E209, a bevel gear A210, a shaft A211, a cam A212, a roller A213, a roller shaft A214, a push rod A215, a return spring A216, a gear A217, a friction disc A218, a shift fork A219, a sliding key A220, a shaft B221, a synchronizer A222, a, Friction disc B223, gear B224, shaft C225, screw rod B226, gear C227, shaft D228, gear D229, gear E230, bevel gear B231, bevel gear C232, bevel gear D233, shaft E234, cam B235, roller B236, roller shaft B237, return spring B238, push rod B239, shift fork B240, synchronizer B241, sliding key B242, friction disc C243, dial 244, shaft F245, bevel gear E246, grooved pulley 247, support frame tray 301, support A302, camera 303, support B304, support C305, electric push rod 306, nut 307, laser sensor 308, hinge C309, camera support 310, support rod 311 and support frame base 312.

The transmission case 2 and the infusion tube 4 are fixed on the support frame 3, and the liquid changing frame 1 is fixed at the output end of the transmission case 2. The liquid changing frame 1 comprises a liquid changing frame base plate 101, a guide rail 102, a transfusion bottle frame 103, a pressing plate 104, a hinge A105, a connecting rod 106, a liquid changing frame main shaft 107, a crank disc 108, a hinge B109, a limiting pin 110, a knob 111 and a screw A112. The liquid changing frame chassis 101 is a support of the whole liquid changing frame 1, five groups of guide rails 102 and five transfusion bottle frames 103 are uniformly distributed at 72 degrees, and a main shaft 107 and a screw A112 of the liquid changing frame are fixed at the center. The crank disk 108 is hinged on the liquid changing frame main shaft 107 and can rotate around the liquid changing frame main shaft 107. The pressure plates 104 cooperate with the guide rails 102, five in number, with one end hinged to one end of a connecting rod 106 by means of a hinge a 105, and the other end of the connecting rod 106 hinged to a crank disc 108 by means of a hinge B109. The crank disk 108, the connecting rod 106, and the pressure plate 104 constitute a crank-slider mechanism. The limit pin 110 is fixed on the crank disc 108 and plays a role in limiting and driving. The knob 111 is screwed on the screw rod A112, through holes are formed in lugs on two sides of the knob and are matched with the limiting pin 110 on the crank disc 108, the knob 111 is screwed, the crank disc 108 rotates along with the knob, and therefore the pressing plate 104 is driven to be opened and closed.

The transmission case 2 comprises a transmission case body 201, a transmission case base 202, a transmission case cover 203, a servo motor 204, a support A205, a support B206, a support C207, a support D208, a support E209, a bevel gear A210, a shaft A211, a cam A212, a roller A213, a roller shaft A214, a push rod A215, a return spring A216, a gear A217, a friction disc A218, a shift fork A219, a sliding key A220, a shaft B221, a synchronizer A222, a friction disc B223, a gear B224, a shaft C225, a screw B226, a gear C227, a shaft D228, a gear D229, a gear E230, a bevel gear B231, a bevel gear C232, a bevel gear D233, a shaft E234, a cam B235, a roller B236, a roller shaft B237, a return spring B238, a push rod B, a shift fork B240, a synchronizer B241, a, A sliding key B242, a friction disk C243, a dial 244, a shaft F245, a bevel gear E246, and a sheave 247. The transmission case base 202 is fixed to the transmission case body 201. A transmission case cover 203 is secured to the transmission case base 202. The servo motor 204 is fixed to the transmission case cover 203. The support seat A205, the support seat B206, the support seat C207, the support seat D208 and the support seat E209 are fixed on the transmission case base 202. The shaft B221 is fixed to the support D208, and has one end coupled to the output shaft of the servo motor 204, which is the input shaft of the entire rotating box 2. The gear A217 and the gear B224 are hinged at the middle and one end of the shaft B221 respectively, and the bevel gear B231 is fixed at the other end of the shaft B221. Friction disk a 218 is fixed to gear a 217. Friction disc B223 is fixed to gear B224. Synchronizer a 222 is axially movable by engagement of a feather key a 220 with a shaft B221. Gear D229 is engaged with shaft C225 and is fixed to transmission base 202. Gear C227 and gear E230 are fitted to the respective ends of shaft D228 and fixed to transmission case base 202. The screw B226 is fixed to the gear C227, the threaded portion of which cooperates with a nut 307 on the support 3. The bevel gear A210 and the cam A212 are respectively matched with two ends of a shaft A211, and the shaft A211 is fixed on the support E209. The roller A213 is hinged on a push rod A215 through a roller shaft A214, the push rod A215 is fixed on a support E209 through the action of a return spring A216 and a cam A212, the other end of the push rod A is fixedly connected on a shifting fork A219, and the fork A219 is matched with a synchronizer A222. The bevel gear C232 and the bevel gear D233 are fitted to one end and a middle portion of a shaft E234, respectively, the shaft E234 is fixed to the support C207, and the other end is fitted to the cam B235. The bevel gear E246 is fixed at one end of the shaft F245, the dial 244 is hinged in the middle of the shaft F245, and the shaft F245 is fixed on the support B206. The friction disk C243 is fixed to the dial 244. The synchronizer B241 is engaged with the shaft F245 through the feather key B242, and is movable in the axial direction thereof. The roller B236 is hinged on a push rod B239 through a roller shaft B237, the push rod B239 is fixed on the support A205 through the action of a return spring B238 and a cam B235, the other end of the push rod B239 is fixedly connected on a shifting fork B240, and the fork of the shifting fork B240 is matched with a synchronizer B241. The grooved wheel 247 is fixed to the fluid exchange rack main shaft 107 and engages with the dial 244.

The support frame 3 comprises a support frame tray 301, a support A302, a camera 303, a support B304, a support C305, an electric push rod 306, a nut 307, a laser sensor 308, a hinge C309, a camera support 310, a support rod 311 and a support frame base 312. The support frame base 312 rests on the ground and is the support for the entire machine. The support bar 311 is fixed on the support frame base 312. The support bracket tray 301 is fixed to the support bar 311. The bracket a 302 is welded to the support bracket tray 301. The camera 303 is fixed to a camera bracket 310 which is hinged to the bracket a 302 by a hinge C309. The laser sensor 308 is fixed to bracket B304 welded to bracket a 302. The electric push rod 306 is fixed on a bracket C305 welded on the bracket A302. The nut 307 is welded to the center of the bottom of the support bracket tray 301.

The working principle of the invention is as follows: the invention is driven by a servo motor 204, and each rotation is 4 circles to form a working period. The output of the servo motor 204 is divided into two paths through a shaft B221, one path is a fixed-axis gear train, and the transmission ratio is 1: 3, i.e., 3 revolutions of the output shaft D228 per revolution of the motor. The shifting fork A219 is controlled to move up and down by the cam mechanism of the cam A212, so that the synchronizer A222 is driven to move up and down, and the on-off of the gear A217, the gear B224 and the shaft B221 is further controlled, and the purposes of forward rotation (the transmission case 2 is lifted up) and reverse rotation (the transmission case 2 is lowered) of the output shaft D228 are achieved. And the gear ratio of the large bevel gear to the small bevel gear is 4:1, namely the large bevel gear rotates for one circle, and the small bevel gear rotates for four circles. For each revolution of the bevel gear B231 fixed to the shaft B221, the cam a 212 and the cam B235 make 1/4 revolutions along with the bevel gear a 210 and the bevel gear D233. When the synchronizer B241 is communicated with the dial 244, the cam B235 rotates 1/4 circles, the dial 244 rotates one circle, the liquid change frame 1 rotates 72 degrees along with the grooved wheel 247, then the synchronizer B231 is separated, and the dial stops rotating. In summary, during a working cycle, when the servo motor 204 rotates for the first turn, the transmission case 2 is raised to a predetermined height, and the synchronizer B is communicated with the dial 244. When the servo motor 204 rotates for the second circle, the liquid changing frame 1 rotates 72 degrees along with the grooved wheel 247, and the synchronizer A222 is communicated with the gear A217. When the servo motor 204 makes a third rotation, the gear box 2 is lowered to the initial position, and the synchronizer B is disengaged from the dial 244. During the fourth revolution of servomotor 204, synchronizer A222 is in communication with gear B224, ready for the next cycle. The camera 303 monitors the liquid level image once every second, when a preset position is reached, a signal is sent to the electric push rod 306 and the servo motor 204, the electric push rod 306 pushes a rod to tightly press the infusion tube 4, liquid is prevented from being transported continuously, and meanwhile the servo motor 204 drives the liquid changing frame 1 and the transmission case 2 to move, so that the medicine bottle is replaced. The laser sensor 308 emits laser light once every second (no light for 5 seconds after each vial change), and when the reflectance changes, it sends signals to the electric pusher 306 and the servo motor 204 to perform the above-described operation. When in use, the needle of the infusion tube 4 is firstly placed into the corresponding groove of the bracket A302, then the knob 111 is screwed to drive the five crank slider mechanisms which are uniformly distributed to act, namely, the five pressing plates 104 are pulled open, then the medicine bottle is placed into the infusion bottle rack 103, finally the knob 111 is screwed, and the five pressing plates 104 are closed.

Claims

1. A medical automatic liquid changing infusion support comprises a liquid changing support (1), a transmission case (2), a support frame (3), a liquid changing support base plate (101), a guide rail (102), an infusion bottle frame (103), a pressing plate (104), a hinge A (105), a connecting rod (106), a liquid changing support main shaft (107), a crank disc (108), a hinge B (109), a limiting pin (110), a knob (111), a screw rod A (112), a transmission case body (201), a transmission case base (202), a transmission case cover (203), a servo motor (204), a support A (205), a support B (206), a support C (207), a support D (208), a support E (209), a bevel gear A (210), a shaft A (211), a cam A (212), a roller A (213), a roller shaft A (214), a push rod A (215), a reset spring A (216), Gear a (217), friction disk a (218), shift fork a (219), sliding key a (220), shaft B (221), synchronizer a (222), friction disk B (223), gear B (224), shaft C (225), screw B (226), gear C (227), shaft D (228), gear D (229), gear E (230), bevel gear B (231), bevel gear C (232), bevel gear D (233), shaft E (234), cam B (235), roller B (236), roller shaft B (237), return spring B (238), push rod B (239), shift fork B (240), synchronizer B (241), sliding key B (242), friction disk C (243), dial (244), shaft F (245), bevel gear E (246), sheave (247), support bracket tray (301), Support A (302), camera (303), support B (304), support C (305), electric putter (306), nut (307), laser sensor (308), hinge C (309), camera support (310), bracing piece (311), support frame base (312), its characterized in that: the transmission case (2) and the infusion tube (4) are fixed on the support frame (3), and the liquid changing frame (1) is fixed at the output end of the transmission case (2);

the liquid changing frame (1) comprises a liquid changing frame base plate (101), a guide rail (102), a transfusion bottle frame (103), a pressing plate (104), a hinge A (105), a connecting rod (106), a liquid changing frame main shaft (107), a crank disc (108), a hinge B (109), a limiting pin (110), a knob (111) and a screw A (112); the liquid changing frame chassis (101) is a support of the whole liquid changing frame (1), five groups of guide rails (102) and five transfusion bottle frames (103) which are uniformly distributed at 72 degrees are arranged on the liquid changing frame chassis, and a main shaft (107) of the liquid changing frame and a screw A (112) are fixed in the center of the liquid changing frame chassis; the crank disc (108) is hinged on the main shaft (107) of the liquid changing frame and can rotate around the main shaft (107) of the liquid changing frame; the pressing plates (104) are matched with the guide rails (102), the number of the pressing plates is five, one end of each pressing plate is hinged to one end of the connecting rod (106) through a hinge A (105), and the other end of each connecting rod (106) is hinged to the crank disc (108) through a hinge B (109); the crank disk (108), the connecting rod (106) and the pressure plate (104) form a crank slider mechanism; the limiting pin (110) is fixed on the crank disc (108) to play a role in limiting and driving; the knob (111) is screwed on the screw A (112), through holes are formed in lugs on two sides of the knob and are matched with a limiting pin (110) on the crank disc (108), the knob (111) is screwed, and the crank disc (108) rotates along with the knob, so that the pressing plate (104) is driven to be opened and closed;

the transmission case (2) comprises a transmission case body (201), a transmission case base (202), a transmission case cover (203), a servo motor (204), a support A (205), a support B (206), a support C (207), a support D (208), a support E (209), a bevel gear A (210), a shaft A (211), a cam A (212), a roller A (213), a roller shaft A (214), a push rod A (215), a return spring A (216), a gear A (217), a friction disc A (218), a shifting fork A (219), a sliding key A (220), a shaft B (221), a synchronizer A (222), a friction disc B (223), a gear B (224), a shaft C (225), a screw B (226), a gear C (227), a shaft D (228), a gear D (229), a gear E (230), a bevel gear B (231), a shaft B (223), a gear B (224), a shaft C (225), bevel gear C (232), bevel gear D (233), shaft E (234), cam B (235), roller B (236), roller shaft B (237), return spring B (238), push rod B (239), shift fork B (240), synchronizer B (241), sliding key B (242), friction disc C (243), dial (244), shaft F (245), bevel gear E (246) and grooved pulley (247); the transmission case base (202) is fixed on the transmission case body (201); the transmission case cover (203) is fixed on the transmission case base (202); the servo motor (204) is fixed on the transmission case cover (203); the support A (205), the support B (206), the support C (207), the support D (208) and the support E (209) are fixed on the transmission case base (202); the shaft B (221) is fixed on the support D (208), one end of the shaft B is connected with an output shaft of the servo motor (204) and is an input shaft of the whole rotating box (2); the gear A (217) and the gear B (224) are respectively hinged in the middle and one end of the shaft B (221), and the bevel gear B (231) is fixed at the other end of the shaft B (221); the friction disc A (218) is fixed on a gear A (217); the friction disc B (223) is fixed on the gear B (224); the synchronizer A (222) is matched with the shaft B (221) through a sliding key A (220) and can move along the axial direction; the gear D (229) is matched with the shaft C (225) and fixed on the transmission case base (202); the gear C (227) and the gear E (230) are respectively matched with two ends of the shaft D (228) and fixed on the transmission case base (202); the screw B (226) is fixed on the gear C (227), and the thread part is matched with a nut (307) on the support frame (3); the bevel gear A (210) and the cam A (212) are respectively matched with two ends of a shaft A (211), and the shaft A (211) is fixed on the support E (209); the roller A (213) is hinged to a push rod A (215) through a roller shaft A (214), the push rod A (215) is fixed on a support E (209) through the action of a return spring A (216) and a cam A (212), the other end of the push rod A (215) is fixedly connected to a shifting fork A (219), and a fork of the shifting fork A (219) is matched with a synchronizer A (222); the bevel gear C (232) and the bevel gear D (233) are respectively matched with one end and the middle of a shaft E (234), the shaft E (234) is fixed on the support C (207), and the other end of the shaft E is matched with the cam B (235); the bevel gear E (246) is fixed at one end of the shaft F (245), the drive plate (244) is hinged in the middle of the shaft F (245), and the shaft F (245) is fixed on the support B (206); the friction disc C (243) is fixedly connected with the drive plate (244); the synchronizer B (241) is matched with the shaft F (245) through a sliding key B (242) and can move along the axial direction of the shaft F; the roller B (236) is hinged to a push rod B (239) through a roller shaft B (237), the push rod B (239) is fixed on the support A (205) through the action of a return spring B (238) and a cam B (235), the other end of the push rod B (239) is fixedly connected to a shifting fork B (240), and a fork of the shifting fork B (240) is matched with a synchronizer B (241); the grooved wheel (247) is fixed on the main shaft (107) of the liquid changing frame and is matched with the driving plate (244);

the support frame (3) comprises a support frame tray (301), a support A (302), a camera (303), a support B (304), a support C (305), an electric push rod (306), a nut (307), a laser sensor (308), a hinge C (309), a camera support (310), a support rod (311) and a support frame base (312); the support frame base (312) is placed on the ground and is a support of the whole machine; the supporting rod (311) is fixedly connected to the supporting frame base (312); the supporting frame tray (301) is fixed on the supporting rod (311); the bracket A (302) is welded on the supporting frame tray (301); the camera (303) is fixed on a camera bracket (310) which is hinged on the bracket A (302) through a hinge C (309); the laser sensor (308) is fixed on a bracket B (304) welded on the bracket A (302); the electric push rod (306) is fixed on a bracket C (305) welded on the bracket A (302); the nut (307) is welded at the center of the bottom of the support frame tray (301).