#$%^&*AU2020100557A420200521.pdf#####ABSTRACT A type of blood drawing robot disclosed in the present invention comprises a base plate, an arm fixture, a positioning manipulator, an end actuator and a binocular camera, the arm fixture and the positioning manipulator are arranged on the base plate, the end actuator is arranged on the positioning manipulator, the binocular camera is arranged on the end actuator, and the positioning manipulator comprises a translation device and a linkage mechanism. The blood drawing robot for the present invention makes the positioning manipulator drive the end actuator to move accurately and align to the vein blood vessel through the translation device and the matching linkage mechanism, and simplifying the device, greatly reducing the occupied space of the whole robot. The blood drawing robot for the present invention make the arm holder be suitable for fixations of arms in sizes by matching the movable end plate and the fixed-end plate, enabling the need to have optimal posture by adjusting the angle of inserting the needle into the vein and the posture of the needle tip via the steering mechanism.1/6 32 531 6 311 1 313 2 2 3121 3 314 2 314 FIG. 1
