CN102059705A - Electromagnetic test cup gripping method and system - Google Patents
Electromagnetic test cup gripping method and system Download PDFInfo
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- CN102059705A CN102059705A CN 201010597703 CN201010597703A CN102059705A CN 102059705 A CN102059705 A CN 102059705A CN 201010597703 CN201010597703 CN 201010597703 CN 201010597703 A CN201010597703 A CN 201010597703A CN 102059705 A CN102059705 A CN 102059705A
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- cup
- automatic controller
- test cup
- hook
- calutron
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Abstract
The invention relates to an electromagnetic test cup gripping method and system. The gripping method comprises the following steps of: controlling an electromagnetic device to be power-off through an automatic controller and controlling a driving device to drive the electromagnetic device to move toward the direction of a test cup; controlling the electromagnetic device to be power-on through the automatic controller if the automatic controller confirms that the top of the electromagnetic device is arranged on the test cup so that the electromagnetic device grips the test cup through a gripping hook under the electromagnetic action; and controlling the gripping hook by the automatic controller to put the test cup in a target position. The electromagnetic test cup gripping method and system, which are provided by the embodiment provided by the invention, control the electromagnetic device to be power-on/off to grip the test cup through the automatic controller under the electromagnetic action and avoid adopting a complicated mechanical device to grip the test cup so as to simplify the gripping process of the test cup; and the automatic controller controls the gripping hook to put the test cup in the target position so as to improve the gripping precision of the test cup.
Description
Technical field
The present invention relates to technical field of medical instruments, particularly a kind of test cup electromagnetism grasping means and grasping system.
Background technology
In existing blood coagulation tester, need a plurality of test cups to finish a test process, therefore in order to finish a test process, need to repeatedly take test cup; In the prior art for fear of manually taking test cup, by test cup is placed on the rotating disk, adopt the mode of vacsorb to take test cup by manipulator, because the mode of vacsorb need to be furnished with vavuum pump, therefore so that the mechanical device complexity of vacsorb, the reduced complexity of mechanical device draw the accuracy of test cup.
Summary of the invention
The object of the present invention is to provide the grasping means of a kind of test cup electromagnetism and grasping system, improve the accuracy of crawl test cup.
The embodiment of the invention provides the grasping means of a kind of test cup electromagnetism, comprising:
Drive described calutron and pressing plate towards the direction motion of test cup by the outage of automatic controller control calutron and accessory drive;
The top is set to described test cup if described automatic controller is determined described pressing plate, controls described calutron energising by described automatic controller, and described calutron grasps described test cup by catch-cup hook under electromagnetic action;
Controlling described catch-cup hook by described automatic controller puts described test cup and is located at the target location.
The embodiment of the invention provides a kind of test cup electromagnetism grasping system that can realize the described method of technique scheme, comprising:
Automatic controller, the calutron that is connected with described automatic controller, the drive unit that all is connected with described automatic controller and described calutron; Wherein,
Described automatic controller is controlled the outage of described calutron and is controlled described drive unit and drives described calutron and pressing plate towards the direction motion of test cup; The top is set to described test cup if described automatic controller is determined described pressing plate, the energising of described automatic controller control calutron, and described calutron grasps described test cup by catch-cup hook under electromagnetic action; Described automatic controller is controlled described catch-cup hook and described test cup is put is located at the target location.
Test cup electromagnetism provided by the invention grasping means and grasping system, outage by automatic controller control calutron and energising are implemented under the electromagnetic action grasps test cup, avoided adopting complicated mechanical device crawl test cup, thereby simplified the crawl process of test cup; By automatic controller control catch-cup hook test cup is put and to be located at the target location, thereby improved the accuracy of crawl test cup.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 tests glass schematic flow sheet of an embodiment of electromagnetism grasping means for the present invention;
Fig. 2 tests glass schematic flow sheet of another embodiment of electromagnetism grasping means for the present invention;
Fig. 3 tests glass structural representation of an embodiment of electromagnetism grasping system for the present invention;
Fig. 4 tests glass structural representation of another embodiment of electromagnetism grasping system for the present invention;
Fig. 5 is the schematic diagram that glass hook is in releasing orientation of grabbing in the embodiment of the invention;
Fig. 6 is the schematic diagram that glass hook is in seized condition of grabbing in the embodiment of the invention.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
Fig. 1 tests glass schematic flow sheet of an embodiment of electromagnetism grasping means for the present invention, and as shown in Figure 1, present embodiment comprises the steps:
The test cup electromagnetism grasping means that the embodiment of the invention provides, outage by automatic controller control calutron and energising are implemented under the electromagnetic action grasps test cup, avoided adopting complicated mechanical device crawl test cup, thereby simplified the crawl process of test cup; By automatic controller control catch-cup hook test cup is put and to be located at the target location, thereby improved the accuracy of crawl test cup.
Fig. 2 tests glass schematic flow sheet of another embodiment of electromagnetism grasping means for the present invention; As shown in Figure 2, the embodiment of the invention comprises:
Step 201, drive calutron and pressing plate towards the direction motion of test cup by the outage of automatic controller control calutron and accessory drive;
Wherein, automatic controller can send one to first switch that is used to control calutron and be used to first instruction that this calutron is disconnected, after this this first switch of first instruction indication disconnects, make calutron and power supply disconnect, because calutron and power supply disconnect, so calutron can't produce electromagnetic action this moment; When first switch sent first instruction, automatic controller can send second instruction that is used to start this drive unit work to drive unit at automaton, made drive unit can drive the direction motion of calutron towards the test cup.
Step 202, when pressing plate contacts with test cup, obtain induction information from this test cup by the sensor that is connected with this automatic controller;
Step 203, this sensor feed back to this automatic controller with this induction information;
Step 204, this automatic controller determine that according to this induction information this calutron top is set to this test cup;
Wherein, in the above-mentioned steps 202～step 204, when pressing plate contacted with the test cup, the sensor sensing that is connected with this automatic controller was to the induction information between pressing plate and the test cup, when automatic controller gets access to this induction information, can determine that pressing plate contacts with the test cup.
Step 205, when determining that by this induction information this pressing plate top is set to this test cup, switch on by this automatic controller control calutron;
Wherein, corresponding with above-mentioned steps 201, automatic controller can send the 3rd instruction that is used to make this calutron closure to first switch, behind the 3rd this first switch closure of instruction indication, make calutron and power turn-on, because calutron and power turn-on, so calutron produces electromagnetic action at this moment;
Step 206, iron core drive this catch-cup hook motion under the electromagnetic action of this calutron;
Step 207, this catch-cup hook grasp this test cup under the restriction of first limited post;
Wherein, because calutron has produced electromagnetic action in above-mentioned steps 205, therefore, by step 206 and step 207, iron core drives glass hook motion of grabbing that is connected with this iron core under the electromagnetic action of calutron, owing to have first limited post, therefore make to grab to grab this test cup under glass restriction that is hooked in first limited post.
Step 208, after this catch-cup hook grabs test cup, catch-cup hook breaks away from the home position under the effect of iron core, then automatic controller obtains the positional information of this catch-cup hook;
If this automatic controller of step 209 determines that this positional information is consistent with this target location, then this automatic controller control calutron outage;
Wherein, in above-mentioned steps 208 and the step 209, the target location is specifically as follows the predeterminated position that test cup need to be placed, the form of the positional information in this target location and the above-mentioned steps 208 is identical, for example: if test cup need to be at three-dimensional space motion, then positional information is three dimensional space coordinate, the target location correspondingly is preset as three dimensional space coordinate, if test cup need to be moved at two dimensional surface, then positional information is the two dimensional surface coordinate, and then the target location correspondingly is preset as the two dimensional surface coordinate; Determine that at this automatic controller this positional information is consistent with this target location, illustrate that namely test cup has reached default position, then this automatic controller can be by sending first instruction to first switch, thereby so that calutron and power supply disconnect, this moment, calutron stopped to produce electromagnetic action.
Step 210, iron core drive this catch-cup hook motion under Action of Gravity Field;
Step 211, the stop motion under the restriction of second limited post of this catch-cup hook, this automatic controller are controlled this catch-cup hook and this test cup is put are located at this target location.
Wherein, in above-mentioned steps 210 and step 211, because calutron stops to produce electromagnetic action, so iron core no longer is subjected to the control of electromagnetic action, this catch-cup hook motion of drive under Action of Gravity Field; Automatic controller is controlled this catch-cup hook according to this positional information and this test cup is put is located at this target location.
The test cup electromagnetism grasping means that the embodiment of the invention provides, outage by automatic controller control calutron and energising are implemented under the electromagnetic action grasps test cup, avoided adopting complicated mechanical device crawl test cup, thereby simplified the crawl process of test cup; By automatic controller control catch-cup hook test cup is put and to be located at the target location, thereby improved the accuracy of crawl test cup.
In above-mentioned embodiment illustrated in figures 1 and 2, can also comprise: by the automatic controller adjusting nut to regulate the stroke of this catch-cup hook; Be used for to regulate the catch-cup hook stroke by adjusting nut, guarantee that catch-cup hook has suitable operating distance, thereby realize crawl and unclamp action accurate.
Fig. 3 tests glass structural representation of an embodiment of electromagnetism grasping system for the present invention, and the embodiment of the invention can realize the method flow of above-mentioned embodiment illustrated in figures 1 and 2; As shown in Figure 3, the embodiment of the invention comprises: automatic controller 31, the calutron 32 that is connected with automatic controller 31, the drive unit 33 that all is connected with automatic controller 31 and calutron 32;
Wherein, automatic controller 31 control calutrons, 31 outages and accessory drive 33 driving calutrons 32 and pressing plate 34 are towards the direction motion of test cup; 34 tops are set to test cup if automatic controller 31 is determined pressing plate, 32 energisings of automatic controller 31 control calutrons, and calutron 32 grasps test cup by catch-cup hook under electromagnetic action; Automatic controller 32 control catch-cup hooks are put described test cup and are located at the target location.
The test cup electromagnetism grasping system that the embodiment of the invention provides, outage by automatic controller 31 control calutrons 32 and energising are implemented under the electromagnetic action grasps test cup, avoided adopting complicated mechanical device crawl test cup, thereby simplified the crawl process of test cup; By automatic controller 31 control catch-cup hooks test cup is put and to be located at the target location, thereby improved the accuracy of crawl test cup.
Fig. 4 tests glass structural representation of another embodiment of electromagnetism grasping system for the present invention, and the embodiment of the invention can realize the method flow of above-mentioned embodiment illustrated in figures 1 and 2; As shown in Figure 4, the embodiment of the invention comprises: automatic controller 41, the calutron 42 that is connected with automatic controller 41, the drive unit 43, the pressing plate 44 that all are connected with automatic controller 41 and calutron 42, be arranged on sensor 45 on the pressing plate 44, the iron core 47 of glass hook 46 motions is grabbed in control under the electromagnetic action of calutron 42;
Wherein, automatic controller 41 control calutrons, 41 outages and accessory drive 43 driving calutrons 42 and pressing plate 44 are towards the direction motion of test cup; 44 tops are set to test cup if automatic controller 41 is determined pressing plate, 42 energisings of automatic controller 41 control calutrons, and calutron 42 grasps test cup by catch-cup hook under electromagnetic action; Automatic controller 41 control catch-cup hooks 46 are put test cup and are located at the target location; Sensor 45 is connected with automatic controller 41, be arranged on the pressing plate 44, be used for obtaining the induction information from described test cup, this induction information is fed back to automatic controller 41, so that automatic controller 41 determines that according to described induction information calutron 42 tops are set to described test cup; Iron core 47 drives catch-cup hook 47 motions under the electromagnetic action of calutron 42, catch-cup hook 46 grasps described test cup under the restriction of first limited post;
Further, automatic controller 41 also is used for obtaining the positional information of catch-cup hook 46, if automatic controller 41 determines that described positional information is consistent with described target location, then controls calutron 42 outages; So that iron core 46 drives the catch-cup hook motion under Action of Gravity Field; If automatic controller 41 determines that catch-cup hooks 46 contact with second limited post, then control catch-cup hook 46 and described test cup is put be located at described target location;
Further, automatic controller 41 also is used for adjusting nut is grabbed glass hook 46 with adjusting stroke.
The test cup electromagnetism grasping system that the embodiment of the invention provides, outage by automatic controller 41 control calutrons 42 and energising are implemented under the electromagnetic action grasps test cup, avoided adopting complicated mechanical device crawl test cup, thereby simplified the crawl process of test cup; By automatic controller 41 control catch-cup hooks test cup is put and to be located at the target location, thereby improved the accuracy of crawl test cup.
Further, the calutron 42 in embodiment illustrated in fig. 4 specifically can comprise solenoid.
The technical scheme of embodiment for a more clear understanding of the present invention, below by Fig. 5 and Fig. 6 to Fig. 1 of the present invention～embodiment illustrated in fig. 4 specific descriptions.Fig. 5 is the schematic diagram that glass hook is in releasing orientation of grabbing in the embodiment of the invention, and Fig. 6 is the schematic diagram that glass hook is in seized condition of grabbing in the embodiment of the invention; Calutron in the embodiment of the invention is specially drive unit in the solenoid and the embodiment of the invention, and to be specially the motor that is arranged on the fixed mount be that example is carried out exemplary illustration.
Particularly, as shown in Figure 5 and Figure 6, when 52 outages of automatic controller 51 control solenoids, grab cup and collude 53 in opened condition, fixed mount 50 is provided with motor 501, and motor 501 drives solenoid 52 and moves downward certain distance, till pressing plate 54 is pushed down test cup 55; At this moment, it is motionless that fixed mount 50 keeps, and the uncertain motion of test cup 55 when pressing plate 54 is pushed down test cup 55 and prevented to grasp at this moment, is arranged on the induction information that sensor 56 on the pressing plate 54 comes self-test cup 55, and this induction information is fed back to automatic controller 51; Automatic controller 51 is determined according to this induction information that pressing plate 54 has pushed up and is set to test cup 55, then automatic controller 51 is controlled solenoid 52 and power turn-ons, iron core 57 is attracted to motion under the electromagnetic action that solenoid 52 produces, and drive and to grab glass hook 53 and move upward, grab cup and collude 53 catch test cup 55 like clockwork under the restriction of first limited post 581, the realization grasping movement moves upward under the driving of motor 501.
After catch-cup hook 53 grabbed test cup 55, catch-cup hook 53 broke away from the home position under the effect of iron core 57, and automatic controller 51 obtains the positional information of catch-cup hook 53; If automatic controller 51 determines that the positional information of catch-cup hook 53 is consistent with default target location, then automatic controller 51 control solenoids 52 outages, iron core 57 moves downward under Action of Gravity Field, driving catch-cup hook 53 moves downward, catch-cup hook 53 is unclamped test cup 55 under the restriction of second limited post 582, be located at the target location thereby test cup 55 put.
In addition, automatic controller 51 also is used for adjusting nut is grabbed glass hook 53 with adjusting stroke; Automatic controller 51 is further regulated by adjusting nut 59 and is grabbed glass hook 53 strokes, guarantees that grabbing glass hook 53 has suitable operating distance, thereby realizes grasping and to unclamp action accurate.
Automatic controller in the embodiment of the invention can be realized by hardware circuit according to the design requirement of side circuit.The those skilled in the art can be well understood to, and is the convenience described and succinct, and the specific works process of the system of foregoing description, equipment, module and unit can with reference to the corresponding process among the preceding method embodiment, not repeat them here.
One of ordinary skill in the art will appreciate that: all or part of step that realizes the foregoing description can be finished by the relevant hardware of programmed instruction, aforesaid program can be stored in the computer read/write memory medium, this program is carried out the step that comprises said method embodiment when carrying out; And aforesaid storage medium comprises: various media that can be program code stored such as ROM, RAM, magnetic disc or CD.
It should be noted that at last: above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. test cup electromagnetism grasping means is characterized in that, comprising:
Drive described calutron and pressing plate towards the direction motion of test cup by the outage of automatic controller control calutron and accessory drive;
The top is set to described test cup if described automatic controller is determined described pressing plate, controls described calutron energising by described automatic controller, and described calutron grasps described test cup by catch-cup hook under electromagnetic action;
Controlling described catch-cup hook by described automatic controller puts described test cup and is located at the target location.
2. method according to claim 1 is characterized in that, described automatic controller determines that described pressing plate top is set to described step of testing cup and comprises:
When described pressing plate contacts with described test cup, obtain induction information from described test cup by the sensor that is connected with described automatic controller;
Described sensor feeds back to described automatic controller with this induction information;
Described automatic controller determines that according to described induction information described electromagnetic installing top set is set to described test cup.
3. method according to claim 1 is characterized in that, described calutron comprises by grabbing glass step of the described test cup of hook extracting under electromagnetic action:
Iron core drives described catch-cup hook motion under the electromagnetic action of described calutron;
Described catch-cup hook grasps described test cup under the restriction of first limited post.
4. method according to claim 3 is characterized in that, describedly described test glass is put the step that is located at the target location comprises by the described glass hook of grabbing of described automatic controller control:
After described catch-cup hook grabbed described test cup, described catch-cup hook broke away from the home position under the effect of described iron core, and then described automatic controller obtains the positional information of described catch-cup hook;
If it is consistent with described target location that described automatic controller is determined described positional information, then described automatic controller control calutron outage;
Described iron core drives described catch-cup hook motion under Action of Gravity Field;
The described cup of grabbing is hooked in stop motion under the restriction of second limited post, and described automatic controller control is described grabs glass hook and described test glass is put be located at described target location.
5. according to the arbitrary described method of claim 1～4, it is characterized in that, also comprise:
By described automatic controller adjusting nut to regulate described stroke of grabbing glass hook.
6. the test cup electromagnetism grasping system that can realize the described method of claim 1, it is characterized in that, comprising: automatic controller, the calutron that is connected with described automatic controller, the drive unit that all is connected with described automatic controller and described calutron; Wherein,
Described automatic controller is controlled the outage of described calutron and is controlled described drive unit and drives described calutron and pressing plate towards the direction motion of test cup; The top is set to described test cup if described automatic controller is determined described pressing plate, and described automatic controller is controlled described calutron energising, and described calutron grasps described test cup by catch-cup hook under electromagnetic action; Described automatic controller is controlled described catch-cup hook and described test cup is put is located at the target location.
7. system according to claim 6 is characterized in that, also comprises: with the sensor that described automatic controller is connected, be arranged on the described pressing plate;
When described pressing plate contacts with described test cup, described sensor is used to obtain the induction information from described test cup, this induction information is fed back to described automatic controller, make described automatic controller determine that according to described induction information described pressing plate top is set to described test cup.
8. system according to claim 6 is characterized in that, also comprises: the iron core that is subjected to described calutron control;
Described iron core drives described catch-cup hook motion under the electromagnetic action of described calutron, described catch-cup hook grasps described test cup under the restriction of first limited post.
9. system according to claim 6 is characterized in that, also comprises:
Described automatic controller also is used for obtaining the positional information of described catch-cup hook, and is consistent with described target location if described automatic controller is determined described positional information, then controls the calutron outage; So that described iron core drives described catch-cup hook motion under Action of Gravity Field;
If described automatic controller determines described catch-cup hook and contact with second limited post, then control described catch-cup hook and described test cup is put be located at described target location.
10. according to the arbitrary described system of claim 6～9, it is characterized in that,
Described automatic controller also is used for adjusting nut to regulate described stroke of grabbing glass hook.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105977039A CN102059705B (en) | 2010-12-21 | 2010-12-21 | Electromagnetic test cup gripping method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105977039A CN102059705B (en) | 2010-12-21 | 2010-12-21 | Electromagnetic test cup gripping method and system |
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| Publication Number | Publication Date |
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| CN102059705A true CN102059705A (en) | 2011-05-18 |
| CN102059705B CN102059705B (en) | 2012-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010105977039A Active CN102059705B (en) | 2010-12-21 | 2010-12-21 | Electromagnetic test cup gripping method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102350703A (en) * | 2011-09-22 | 2012-02-15 | 浙江工业大学 | Electromagnet-driven clamping mechanical hand |
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| US5907269A (en) * | 1997-06-06 | 1999-05-25 | Etrema Products, Inc. | Magnetostrictive clamping device |
| WO2002038342A1 (en) * | 2000-11-08 | 2002-05-16 | Serge Grygorowicz | Electrically controlled pliers for manipulating, clamping, flanging workpieces or similar operations |
| CN2632679Y (en) * | 2003-07-29 | 2004-08-11 | 深圳迈瑞生物医疗电子股份有限公司 | Recating cup pick-place device for automatic biochemial analyzer |
| CN201429619Y (en) * | 2009-04-24 | 2010-03-24 | 北京普利生仪器有限公司 | Cup gripping device of automatic blood coagulometer |
| CN201625926U (en) * | 2010-02-23 | 2010-11-10 | 新乡市起重机厂有限公司 | Rotary metal plate clamp with magnetic sucking disc |
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2010
- 2010-12-21 CN CN2010105977039A patent/CN102059705B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5907269A (en) * | 1997-06-06 | 1999-05-25 | Etrema Products, Inc. | Magnetostrictive clamping device |
| WO2002038342A1 (en) * | 2000-11-08 | 2002-05-16 | Serge Grygorowicz | Electrically controlled pliers for manipulating, clamping, flanging workpieces or similar operations |
| CN2632679Y (en) * | 2003-07-29 | 2004-08-11 | 深圳迈瑞生物医疗电子股份有限公司 | Recating cup pick-place device for automatic biochemial analyzer |
| CN201429619Y (en) * | 2009-04-24 | 2010-03-24 | 北京普利生仪器有限公司 | Cup gripping device of automatic blood coagulometer |
| CN201625926U (en) * | 2010-02-23 | 2010-11-10 | 新乡市起重机厂有限公司 | Rotary metal plate clamp with magnetic sucking disc |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102350703A (en) * | 2011-09-22 | 2012-02-15 | 浙江工业大学 | Electromagnet-driven clamping mechanical hand |
| CN102350703B (en) * | 2011-09-22 | 2013-11-13 | 浙江工业大学 | Electromagnet-driven clamping mechanical hand |
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| Publication number | Publication date |
|---|---|
| CN102059705B (en) | 2012-11-21 |
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Address after: 102200, 1A, 27, Chuangxin Road, Changping Science Park, Beijing Patentee after: Beijing Sicceeder Technology Co., Ltd. Address before: 102200, 1A, 27, Chuangxin Road, Changping District science and Technology Park, Beijing Patentee before: Beijing Succeeder Science and Technology Development Co., Ltd. |
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Address after: 102200, 1A, 27, Chuangxin Road, Changping District science and Technology Park, Beijing Patentee after: Beijing Sicceeder Technology Co., Ltd. Address before: 102200, 1A, 27, Chuangxin Road, Changping Science Park, Beijing Patentee before: Beijing Sicceeder Technology Co., Ltd. |