CN102059705B - Electromagnetic test cup gripping method and system - Google Patents
Electromagnetic test cup gripping method and system Download PDFInfo
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- CN102059705B CN102059705B CN2010105977039A CN201010597703A CN102059705B CN 102059705 B CN102059705 B CN 102059705B CN 2010105977039 A CN2010105977039 A CN 2010105977039A CN 201010597703 A CN201010597703 A CN 201010597703A CN 102059705 B CN102059705 B CN 102059705B
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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 accomplish a test process, therefore in order to accomplish a test process, need repeatedly take the test cup; Take the test cup for fear of manual work in the prior art; Be placed on the rotating disk through testing cup; Adopt the mode of vacsorb to take the test cup through manipulator; Because the mode of vacsorb need be furnished with vavuum pump, make that therefore the mechanical device of vacsorb is complicated, the complexity of mechanical device has reduced the accuracy of drawing the test cup.
Summary of the invention
The object of the present invention is to provide a kind of test cup electromagnetism grasping means and grasping system, improve the accuracy that grasps the test cup.
The embodiment of the invention provides the grasping means of a kind of test cup electromagnetism, comprising:
Driving said calutron through outage of automatic controller control calutron and accessory drive moves towards the direction of test cup with pressing plate;
If said automatic controller is confirmed said pressing plate top and is set to said test cup, control said calutron energising through said automatic controller, said calutron grasps said test cup through grabbing glass hook under electromagnetic action;
Said test glass is put be located at the target location through the said glass hook of grabbing of said automatic controller control.
The embodiment of the invention provides a kind of test cup electromagnetism grasping system that can realize the said method of technique scheme, comprising:
Automatic controller, the calutron that is connected with said automatic controller, the drive unit that all is connected with said automatic controller and said calutron; Wherein,
Said automatic controller is controlled the outage of said calutron and is controlled said drive unit and drives said calutron and move towards the direction of test cup with pressing plate; If said automatic controller is confirmed said pressing plate top and is set to said test cup, the energising of said automatic controller control calutron, said calutron grasps said test cup through grabbing glass hook under electromagnetic action; The control of said automatic controller is said grabs glass hook and said test glass is put is located at the target location.
Test cup electromagnetism grasping means provided by the invention and grasping system; Outage and energising through automatic controller control calutron are implemented in extracting test cup under the electromagnetic action; Avoid the employing complicated mechanical devices to grasp the test cup, thereby simplified the extracting process of test cup; Grab glass hook through automatic controller control and will test cup and put and be located at the target location, thereby improved the accuracy that grasps test glass.
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; Obviously, the 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 sketch map that glass hook is in releasing orientation of grabbing in the embodiment of the invention;
Fig. 6 is the sketch map that glass hook is in seized condition of grabbing in the embodiment of the invention.
The specific embodiment
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, 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 are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
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:
Step 101, drive the direction motion of calutron towards the test cup through outage of automatic controller control calutron and accessory drive;
Step 102, be set to this test cup if this automatic controller is confirmed said calutron top, through this automatic controller control calutron energising, this calutron grasps this test glass through grabbing glass hook under electromagnetic action;
Step 103, this is grabbed glass hook and should test glass to put and be located at the target location through the control of this automatic controller.
The test cup electromagnetism grasping means that the embodiment of the invention provides; Outage and energising through automatic controller control calutron are implemented in extracting test cup under the electromagnetic action; Avoid the employing complicated mechanical devices to grasp the test cup, thereby simplified the extracting process of test cup; Grab glass hook through automatic controller control and will test cup and put and be located at the target location, thereby improved the accuracy that grasps test glass.
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:
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 broken off; After this this first switch of first instruction indication breaks off; Make calutron and power supply break off, because calutron and power supply disconnection, 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.
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 confirm that pressing plate contacts with the test cup.
Wherein, Corresponding with above-mentioned steps 201; Automatic controller can send one to first switch be used to the 3rd instruction that makes this calutron closed, behind the 3rd this first switch closure of instruction indication, makes calutron and power turn-on; Because calutron and power turn-on, so calutron produces electromagnetic action at this moment;
Wherein, Because calutron has produced electromagnetic action in above-mentioned steps 205; Therefore, through 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.
Wherein, In above-mentioned steps 208 and the step 209; The target location specifically can be the predeterminated position that the test cup need be placed; The form of the positional information in this target location and the above-mentioned steps 208 is identical; For example: if the test cup need be at three-dimensional space motion; Then positional information is a three dimensional space coordinate; The target location correspondingly is preset as three dimensional space coordinate; If the test cup need move on 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; Confirm that at this automatic controller this positional information is consistent with this target location; I.e. explanation test cup has reached preset position; Then this automatic controller can be by sending first instruction to first switch; Thereby make calutron and power supply break off, this moment, calutron stopped to produce electromagnetic action.
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, under the gravity effect, drives this and grabs glass hook and move; This grabs glass hook and should test glass to put and be located at this target location automatic controller based on the control of this positional information.
The test cup electromagnetism grasping means that the embodiment of the invention provides; Outage and energising through automatic controller control calutron are implemented in extracting test cup under the electromagnetic action; Avoid the employing complicated mechanical devices to grasp the test cup, thereby simplified the extracting process of test cup; Grab glass hook through automatic controller control and will test cup and put and be located at the target location, thereby improved the accuracy that grasps test glass.
In above-mentioned embodiment illustrated in figures 1 and 2, can also comprise: through the automatic controller adjusting nut to regulate the stroke that this grabs glass hook; Be used for regulating through adjusting nut and grab a glass hook stroke, guarantee that grabbing a glass hook has the suitable action distance, thereby realize grasping and to unclamp proper errorless.
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 drive calutron 32 and the direction motion of pressing plate 34 towards the test cup; 34 tops are set to the test cup if automatic controller 31 is confirmed pressing plate, 32 energisings of automatic controller 31 control calutrons, and calutron 32 grasps the test cup through grabbing glass hook under electromagnetic action; Automatic controller 32 control is grabbed glass hook and said test glass is put is located at the target location.
The test cup electromagnetism grasping system that the embodiment of the invention provides; Outage and energising through automatic controller 31 control calutrons 32 are implemented in extracting test cup under the electromagnetic action; Avoid the employing complicated mechanical devices to grasp the test cup, thereby simplified the extracting process of test cup; Grab glass hook through automatic controller 31 control and will test cup and put and be located at the target location, thereby improved the accuracy that grasps test glass.
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 drive calutron 42 and the direction motion of pressing plate 44 towards the test cup; 44 tops are set to the test cup if automatic controller 41 is confirmed pressing plate, 42 energisings of automatic controller 41 control calutrons, and calutron 42 grasps the test cup through grabbing glass hook under electromagnetic action; Automatic controller 41 control is grabbed glass hook 46 and will test glass to put and be located at the target location; Sensor 45 is connected with automatic controller 41; Be arranged on the pressing plate 44; Be used to obtain induction information, this induction information is fed back to automatic controller 41, make automatic controller 41 confirm that according to said induction information calutron 42 tops are set to said test cup from said test cup; Iron core 47 drives under the electromagnetic action of calutron 42 grabs 47 motions of glass hook, grabs glass hook 46 and under the restriction of first limited post, grasps said test cup;
Further, automatic controller 41 also is used to obtain the positional information of grabbing glass hook 46, if automatic controller 41 definite said positional informations and said target location are consistent, then controls calutron 42 outages; Make iron core 46 under the gravity effect, drive and grab a glass hook motion; If automatic controller 41 is confirmed to grab glass hook 46 and contact with second limited post, then control and grab glass hook 46 and said test glass is put be located at said 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 and energising through automatic controller 41 control calutrons 42 are implemented in extracting test cup under the electromagnetic action; Avoid the employing complicated mechanical devices to grasp the test cup, thereby simplified the extracting process of test cup; Grab glass hook through automatic controller 41 control and will test cup and put and be located at the target location, thereby improved the accuracy that grasps test glass.
Further, the calutron 42 in embodiment illustrated in fig. 4 specifically can comprise solenoid.
For the clearer technical scheme of understanding the embodiment of the invention, below through Fig. 5 and Fig. 6 to Fig. 1 of the present invention～embodiment illustrated in fig. 4 specific descriptions.Fig. 5 is the sketch map that glass hook is in releasing orientation of grabbing in the embodiment of the invention, and Fig. 6 is the sketch map 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, like Fig. 5 and shown in 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 confirmed 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 and under the restriction of first limited post 581, catch test cup 55 like clockwork, the realization grasping movement moves upward under the driving of motor 501.
Grabbing after glass hook 53 grabs test cup 55, to grab glass hook 53 and under the effect of iron core 57, break away from the home position, automatic controller 51 obtains the positional information of grabbing glass hook 53; If it is consistent with preset target location that automatic controller 51 confirms to grab the positional information of glass hook 53; Then automatic controller 51 control solenoids 52 outages; Iron core 57 moves downward under the gravity effect; Drive is grabbed glass hook 53 and is moved downward, and grabs glass hook 53 and under the restriction of second limited post 582, unclamps test cup 55, puts and is located at the target location thereby will test glasss 55.
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 through adjusting nut 59 and is grabbed glass hook 53 strokes, guarantees that grabbing glass hook 53 has the suitable action distance, thereby realizes grasping and to unclamp proper errorless.
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, for the convenience described with succinct, the concrete course of work of the system of foregoing description, equipment, module and unit can repeat no more at this with reference to the corresponding process among the preceding method embodiment.
One of ordinary skill in the art will appreciate that: all or part of step that realizes the foregoing description can be accomplished through the relevant hardware of programmed instruction; Aforesaid program can be stored in the computer read/write memory medium; This program 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.
What should explain at last is: above embodiment is only in order to explaining technical scheme of the present invention, but not to its restriction; Although with reference to previous embodiment the present invention has been carried out detailed explanation, 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 are revised or replacement, do not make the spirit and the scope of the essence disengaging various embodiments of the present invention technical scheme of relevant art scheme.
Claims (6)
1. test cup electromagnetism grasping means is characterized in that, comprising:
Driving said calutron through outage of automatic controller control calutron and accessory drive moves towards the direction of test cup with pressing plate;
If said automatic controller is confirmed said pressing plate top and is set to said test cup, control said calutron energising through said automatic controller, said calutron grasps said test cup through grabbing glass hook under electromagnetic action;
Said test glass is put be located at the target location through the said glass hook of grabbing of said automatic controller control; Wherein,
Said calutron comprises through grabbing glass step of the said test cup of hook extracting under electromagnetic action:
Iron core drives the said glass hook motion of grabbing under the electromagnetic action of said calutron;
The said glass restriction that the is hooked in first limited post said test cup of extracting down of grabbing;
Saidly said test glass put the step that is located at the target location comprise through the said glass hook of grabbing of said automatic controller control:
Grab after a glass hook grabs said test cup said, saidly grab the effect that cup is hooked in said iron core and break away from a home position down, then said automatic controller obtains said positional information of grabbing glass hook;
If it is consistent that said automatic controller is confirmed said positional information and said target location, then said automatic controller control calutron cuts off the power supply;
Said iron core drives the said glass hook motion of grabbing under the gravity effect;
The said cup of grabbing is hooked in stop motion under the restriction of second limited post, and said automatic controller control is said grabs glass hook and said test glass is put be located at said target location.
2. method according to claim 1 is characterized in that, said automatic controller confirms that said pressing plate top is set to said step of testing cup and comprises:
When said pressing plate contacts with said test cup, obtain induction information from said test cup through the sensor that is connected with said automatic controller;
Said sensor feeds back to said automatic controller with this induction information;
Said automatic controller confirms that according to said induction information said calutron top is set to said test cup.
3. method according to claim 1 and 2 is characterized in that, also comprises:
Through said automatic controller adjusting nut to regulate said stroke of grabbing glass hook.
4. the test cup electromagnetism grasping system that can realize the said method of claim 1; It is characterized in that, comprising: automatic controller, the calutron that is connected with said automatic controller, the drive unit that all is connected with said automatic controller and said calutron, the iron core that receives said calutron control; Wherein,
Said automatic controller is controlled the outage of said calutron and is controlled said drive unit and drives said calutron and move towards the direction of test cup with pressing plate; If said automatic controller is confirmed said pressing plate top and is set to said test cup; Said automatic controller is controlled said calutron energising; Said iron core drives under the electromagnetic action of said calutron grabs a glass hook motion, the said glass restriction that the is hooked in first limited post said test cup of extracting down of grabbing; The control of said automatic controller is said grabs glass hook and said test glass is put is located at the target location; Wherein,
Said system also comprises:
Said automatic controller also is used to obtain said positional information of grabbing glass hook, and is consistent if said automatic controller is confirmed said positional information and said target location, then controls calutron and cuts off the power supply; Make said iron core under the gravity effect, drive the said glass hook motion of grabbing;
If said automatic controller confirms that the said glass hook of grabbing contacts with second limited post, then control the said glass hook of grabbing and said test glass is put be located at said target location.
5. system according to claim 4 is characterized in that, also comprises: with the sensor that said automatic controller is connected, be arranged on the said pressing plate;
When said pressing plate contacts with said test cup; Said sensor is used to obtain the induction information from said test cup; This induction information is fed back to said automatic controller, make said automatic controller confirm that according to said induction information said pressing plate top is set to said test cup.
6. according to claim 4 or 5 described systems, it is characterized in that said automatic controller also is used for adjusting nut to regulate said 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 CN102059705A (en) | 2011-05-18 |
| CN102059705B true 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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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102350703B (en) * | 2011-09-22 | 2013-11-13 | 浙江工业大学 | Electromagnet-driven clamping mechanical hand |
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 |
-
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 |
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| CN102059705A (en) | 2011-05-18 |
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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. |