CN105616038B - The mechanized classification collection system and method for a kind of cornea package body - Google Patents
The mechanized classification collection system and method for a kind of cornea package body Download PDFInfo
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- CN105616038B CN105616038B CN201510989182.4A CN201510989182A CN105616038B CN 105616038 B CN105616038 B CN 105616038B CN 201510989182 A CN201510989182 A CN 201510989182A CN 105616038 B CN105616038 B CN 105616038B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/14—Eye parts, e.g. lenses, corneal implants; Implanting instruments specially adapted therefor; Artificial eyes
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- Ophthalmology & Optometry (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a kind of mechanized classification collection system of cornea package body and method, it is related to technical field of medical instruments.To solve the problems, such as that manual labor amount needed for prior art categorised collection cornea package body is big, the low invention of efficiency.The mechanized classification collection system of cornea package body of the present invention, including：Detector；Multiple products collect station；Mechanical arm assembly；Control unit, described control unit can drive the transparent wrapper body to be moved in the detection range of the detector, and the optical property for the cornea that can be detected according to the detector, control machinery hand component is by transparent wrapper body movement and is put into corresponding product collection station.The mechanized classification collection system and method for cornea package body of the present invention can be used for cornea package body of the categorised collection equipped with cornea.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly to a kind of mechanized classification collection system of cornea package body
And method.
Background technology
Keratonosus is the second diseases causing blindness in global range, and with the speed increase of the annual cases of 150-200 ten thousand.Cornea
Transplanting is the current treatment the only effective method of corneal blindness, and to be mainly cornea donation and cornea replace in the source of corneal transplantation materials
Dai Pin, such as cell-eliminating coanea matrix.In order to overcome irregular astigmatism etc. to transplant defect, it usually needs cornea is moved into detection
The target location of device is detected, and to determine whether cornea is qualified products, and carries out categorised collection according to testing result.
In traditional categorised collection method, artificial participation is higher, less efficient.
The content of the invention
Embodiments of the invention provide a kind of the mechanized classification collection system and method for cornea package body, can realize angle
The mechanized classification of film package body is collected, and reduces manual labor amount, improves categorised collection efficiency.
To reach above-mentioned purpose, the embodiment provides a kind of mechanized classification of cornea package body to collect system
System, including：Detector, the detector can obtain the optical property of the cornea in its detection range；Multiple products are collected
Station, multiple products collect the cornea product that station is respectively used to collect different optical property scopes；Mechanical arm assembly, institute
State mechanical arm assembly be used for clamp the transparent wrapper body equipped with cornea, and transparent wrapper body movement can be driven；Control is single
Member, described control unit can drive the transparent wrapper body to be moved in the detection range of the detector, and can be according to described
The optical property of the cornea of detector detection, control machinery hand component is by transparent wrapper body movement and is put into corresponding product
Collect station.
Embodiments of the invention additionally provide a kind of mechanized classification collection method of cornea package body, including following step
Suddenly：Control unit control machinery hand component drives the transparent wrapper body to be moved in the detection range of the detector；It is described
Detector is detected to the optical property of cornea in the transparent wrapper body, and testing result is sent to the control list
Member；The optical property for the cornea that described control unit detects according to the detector, control machinery hand component is by the transparent bag
Dress body is mobile and is put into corresponding product collection station.
The mechanized classification collection system and method for a kind of cornea package body provided in an embodiment of the present invention, mechanical arm assembly
Transparent wrapper body of the clamping equipped with cornea, and drive transparent wrapper body to be moved in the detection range of detector, now, detector
The optical property of cornea in transparent wrapper body can be detected, and testing result is sent to control unit, control unit and connect
, can be according to this testing result after receiving testing result, control machinery hand component is by the movement of transparent wrapper body and is put into corresponding production
Product collect station, it is achieved thereby that the mechanized classification of cornea package body is collected.Cornea package body provided in an embodiment of the present invention
Mechanized classification collection system and method, realize cornea package body mechanized classification collect, required manual labor amount
It is smaller, and the efficiency of categorised collection is higher.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the top view of the mechanized classification collection system of cornea package body of the embodiment of the present invention；
The structure that Fig. 2 collects station for product in the mechanized classification collection system of cornea package body of the embodiment of the present invention is shown
It is intended to；
Fig. 3 is the stereogram of the mechanized classification collection system of cornea package body of the embodiment of the present invention；
Fig. 4 be cornea package body of the embodiment of the present invention mechanized classification collection system in manipulator structural representation.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
In the description of the invention, it is to be understood that term " " center ", " on ", " under ", "front", "rear", " left side ",
The orientation or position relationship of the instruction such as " right side ", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are based on shown in the drawings
Orientation or position relationship, be for only for ease of the description present invention and simplify description, rather than instruction or imply signified device or
Element must have specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In description of the invention, unless otherwise indicated, " multiple " are meant that two or more.
Reference picture 1, Fig. 1 are a specific implementation of the mechanized classification collection system of cornea package body of the embodiment of the present invention
Example, the mechanized classification collection system of the cornea package body of the present embodiment include：Detector 2, the detector 2, which can obtain, to be located at
The optical property of cornea in its detection range；Multiple products collect station 3, and multiple products are collected station 3 and are respectively used to
Collect the cornea product of different optical property scopes；Mechanical arm assembly 4, the mechanical arm assembly 4 are used to clamp equipped with cornea
Transparent wrapper body, and the transparent wrapper body can be driven to move；Control unit (not shown), described control unit can bands
The transparent wrapper body is moved to be moved in the detection range of the detector 2, and the cornea that can be detected according to the detector 2
Optical property, control machinery hand component 4 is by transparent wrapper body movement and is put into corresponding product collection station 3.
A kind of mechanized classification collection system of cornea package body provided in an embodiment of the present invention, mechanical arm assembly 4 clamp
Transparent wrapper body equipped with cornea, and drive transparent wrapper body to be moved in the detection range of detector 2, now, detector 2 is right
The optical property of cornea is detected in transparent wrapper body, and testing result is sent to control unit, control unit and received
, can be according to this testing result after testing result, control machinery hand component 4 is by the movement of transparent wrapper body and is put into corresponding product receipts
Collect station 3, it is achieved thereby that the mechanized classification of cornea package body is collected.Cornea package body provided in an embodiment of the present invention from
Dynamicization classified collection system, the mechanized classification for realizing cornea package body are collected, and required manual labor amount is smaller, and classification is received
The efficiency of collection is higher.
In the above-described embodiments, in order to which the cornea in transparent wrapper body is accurately moved in the detection range of detector,
Preferably, in addition to cornea positioner 1, cornea positioner 1 can obtain the nontransparent object in its detection range
Positional information, control unit can control the detection range that mechanical arm assembly 4 drives transparent wrapper body to be moved to cornea positioner 1
It is interior, before transparent wrapper body is moved in the detection range of detector, to determine position of the cornea in transparent wrapper body
Information, the cornea in transparent wrapper body can be accurately moved to according to this positional information in the detection range of detector.
Wherein, cornea positioner 1 includes background light curtain 11 and relative with background light curtain 11 and spaced image
Identification device 12, when the transparent wrapper body equipped with cornea is moved between background light curtain 11 and pattern recognition device 12, background
Light curtain 11 can send color background light, and pattern recognition device 12 can obtain the angle that background light curtain 1 clamps through mechanical arm assembly 4
The image that the bias light of film package body is formed, and the position of non-transparent part is determined according to image, thus it can obtain positioned at background
The positional information of nontransparent object between light curtain 11 and pattern recognition device 12.
In order to detect the optical property of cornea in transparent wrapper body, detector 2 can be radium emnation optical detector, laser light
The transparency that detector can detect cornea is learned, and radium emnation optical detector has precision height, good reliability, start i.e. operable etc.
Advantage, the corneal transparence for obtaining measurement has higher accuracy, and measurement process is time-consuming shorter, and efficiency is higher.
In order to facilitate unified management, background light curtain 11, pattern recognition device 12, detector 2, multiple products collect station 3,
Mechanical arm assembly 4 and control unit centralized arrangement are on carrying platform 100.
It should be noted that background light curtain 11 and pattern recognition device 12 can may be contained within the flat of the place of carrying platform 100
On face, background light curtain 11 can be also arranged in the plane at the place of carrying platform 100, pattern recognition device 12 is arranged at bias light
The top of curtain 11 simultaneously keeps certain interval between background light curtain 11, or pattern recognition device 12 is arranged at into carrying platform
In plane where 100, background light curtain 11 is arranged at the top of pattern recognition device 12 and keeps certain with pattern recognition device 12
Interval, do not limit herein.Similarly, detector 2 can be horizontally disposed with, and can also be vertically arranged, not limited herein.
In addition, control unit can be single-chip microcomputer, PLD (programmable logic device, programmable logic device
Part), DSP (digital signal processor, digital signal processor) etc., do not limit herein.
In order to collect cornea package body, as shown in Fig. 2 product collect station 3 include feeding mouth 31, pan feeding slideway 32 and
Material collecting box for harvesting 33, the upper end of pan feeding slideway 32 connect with feeding mouth 31, and lower end connects with the inside of Material collecting box for harvesting 33, and feeding mouth 31 is positioned at machinery
On the motion track of hand component 4, under the control of the control unit, mechanical arm assembly 4 clamps transparent wrapper body and is moved to accordingly
Product collects station 3, and the transparent wrapper body of clamping is put into product and collected in the feeding mouth 31 of station 3, is put into feeding mouth 31
Interior transparent wrapper body can be slipped into Material collecting box for harvesting 33 along pan feeding slideway 32, to realize the collection of transparent wrapper body.This is simple in construction,
It is convenient to realize.
Wherein, pan feeding slideway 32 can be vertical slideway, or one end as shown in Figure 2 connects with feeding mouth 31, separately
One end tilts down and is communicated in inside Material collecting box for harvesting 33, enables transparent wrapper body in the presence of its gravity along pan feeding slideway 32
Slip into Material collecting box for harvesting 33, do not limit herein.
In addition, the shape of Material collecting box for harvesting 33 can be cylindrical shape, cube etc., do not limit herein, and to Material collecting box for harvesting 33
Volume do not limit, specifically, Material collecting box for harvesting 33 can accommodate a number of transparent wrapper body.
Because cornea package body according to the transparency of cornea in package body is divided into qualified products and substandard product, therefore produce
Product, which collect station 3, includes qualified products collection station and substandard product collection station, and qualified products collect station and are used to collect
The cornea of transparency within a preset range, substandard product collect station and are used to collect angle of the transparency outside preset range
Film.When the transparency that cornea in obtained cornea package body is detected by detector 2 is in preset range, then this angle is judged
Film package body is qualified products, can put it into qualified products and collect corresponding to station in feeding mouth 31；Examined when by detector 2
When the transparency of cornea is in outside preset range in the cornea package body measured, then it is unqualified production to judge this cornea package body
Product, it can put it into the feeding mouth 31 that substandard product is collected corresponding to station, the classification for being achieved in cornea package body is received
Collection.
Wherein, preset range is that user is previously set, the setting of preset range bound, is to be directed to identical thickness
On the premise of the cornea of degree carries out mass data collection, according to the normal distribution situation of light transmission, with reference to certain linear calculation
What method was drawn.And for the cornea of different-thickness, the preset range drawn is different.
Moved in order to facilitate cornea package body, it is preferable that as shown in figure 3, mechanical arm assembly 4 includes manipulator 41 and moved
Dynamic device 42, manipulator 41 is used to clamp the transparent wrapper body equipped with cornea, with the phase of solid mechanical hand 41 and cornea package body
To position, mobile device 42 moves for driving mechanical hand 41, so as to the cornea package body movement on driving mechanical hand 41.This knot
Structure is simple, easy to operate.
Wherein it is preferred to manipulator 41 can be made as structure as shown in Figure 4, specifically, including support 411, set
In the first clamping plate 412 on support 411, second clamping plate 413 and drive mechanism 418, drive mechanism 418 is used to drive first
Clamping plate 412 and second clamping plate 413 are bonded or opened, and the middle part of first clamping plate 412 and second clamping plate 413 is provided with optical transmission window
414, can be by between first clamping plate 412 and second clamping plate 413 when first clamping plate 412 and the fitting of second clamping plate 413
The edge of transparent wrapper body clamps for one week, and thus part of the transparent wrapper body equipped with cornea is located at optical transmission window 414, in favor of
Obtain the positional information of the cornea in optical transmission window 414.This is simple in construction, easily realizes.
, can also only first clamping plate it should be noted that first clamping plate 412 can make using global design as by transparent material
412 region of middle part optical transmission window 414 is made by transparent material, can also be by the region of 412 middle part optical transmission window of first clamping plate 414
Through hole directly is set to, is not limited herein.
Similarly, second clamping plate 413 can make using global design as by transparent material, can also be only in second clamping plate 413
The region of portion's optical transmission window 414 is made by transparent material, can also directly set in the region of 413 middle part optical transmission window of second clamping plate 414
For through hole, do not limit herein.
Moreover, the concrete shape of first clamping plate 412 and second clamping plate 413 can be set according to the shape of cornea package body
Meter, is not limited, as long as first clamping plate 412 and second clamping plate 413 can clamp cornea package body herein.
In order to realize being bonded between first clamping plate 412 and second clamping plate 413 or opening, it is preferable that manipulator 41 can be with
Structure as shown in Figure 4 is made as, i.e. first clamping plate 412 is fixed on support 411 by fixed arm 415, and second clamping plate 413 passes through
Turning arm 416 is articulated with support 411, is connected between fixed arm 415 and turning arm 416 by return unit 417, drive mechanism
418 include motor 4181, and the output shaft of motor 4181 is connected with swing arm 4182, and swing arm 4182 is away from the output shaft of motor 4181
One end is with second clamping plate 413 against when swing arm 4182 close to the direction of second clamping plate 413 to when swinging, swing arm 4182 can promote
Second clamping plate 413 rotates to close to the direction of first clamping plate 412, until first clamping plate 412 and second clamping plate 413 fit,
When being swung when swing arm 4182 to the direction away from second clamping plate 413, second clamping plate 413 is in the presence of return unit 417 to remote
The direction of first clamping plate 412 rotates.This is simple in construction, easy to operate, and motor 4181 is by driving swing arm 4182, swing arm 4182
Promote second clamping plate 413 to be rotated to close to the direction of first clamping plate 412, motor 4181 can be disposed in proximity to 41, manipulator
The position of main body is supportted, such as the part that the supporter 5 in Fig. 4 is supportive body, avoids motor 4181 being arranged on cantilever beam
And increase the burden of cantilever beam, so as to prevent cantilever beam to be deformed even being broken.
It should be noted that in actual applications, drive mechanism 418 of the invention can also be applied outer by swing arm 4182
Power causes first clamping plate 412 in the presence of by external force to side close or away from second clamping plate 413 to first clamping plate 412
To rotation, to realize being bonded between first clamping plate 412 and second clamping plate 413 or opening, the embodiment of the present invention to this without
Limitation, as long as enabling to first clamping plate 412 and second clamping plate 413 to clamp cornea package body in working condition.
In the embodiment shown in fig. 4, return unit 417 is elastic component, and the coefficient of elasticity of elastic component is not specifically limited,
As long as elastic component enables to first clamping plate 412 and the second clamping plate 413 be in open mode, the folder of first clamping plate 412 and second
The maximum thickness for opening distance and being more than or equal to cornea package body between plate 413, or when motor 4181 drives swing arm 4182 to cause
Swing arm 4182 promote second clamping plate 413 to first clamping plate 412 rotate when, positioned at first clamping plate 412 and the elasticity of second clamping plate 413
Part can enable first clamping plate 412 to clamp cornea package body with second clamping plate 413 when external force extruding deforms upon.
Preferably, return unit 417 is spring, and this is simple in construction, is easily realized.
It is excellent referring to Fig. 4 in order to reduce swing arm 4182 and the caused frictional force in relative movement of second clamping plate 413
Selection of land, the one end of swing arm 4182 away from the output shaft of motor 4181 are provided with roller 4183, the outer wheel face and second clamping plate of roller 4183
413 against when motor 4181 drives swing arm 4182 to drive second clamping plate 413 to move, roller 4183 is against second clamping plate 413
And producing Relative sliding with second clamping plate 413 rolls roller 4183, rolling friction is produced, compared to the slip under equal conditions
Friction, the frictional force of rolling friction is smaller, and abrasion is smaller.
In the embodiment shown in fig. 3, it is mobile in order that cornea package body can move with vertical direction in the horizontal direction
Device 42 includes moving horizontally component 421 and vertical shift component 422, and manipulator 41 is connected with vertical shift component 422, vertically
Moving assembly 422 can driving mechanical hand 41 vertically move back and forth, vertical shift component can be driven by moving horizontally component 421
422 and manipulator 41 move back and forth in the horizontal direction, it is achieved thereby that the shifting with vertical direction in the horizontal direction of cornea package body
It is dynamic.This is simple in construction, easily realizes.
Wherein, moving horizontally component 421 includes the first actuator 4211, horizontal guide rail 4212, is arranged at horizontal guide rail
Horizontal screw lead (not shown) in 4212 and the first nut (not shown) with horizontal screw lead cooperation, the first spiral shell
Mother is slidably connected with horizontal guide rail 4212, and the first actuator 4211 can drive horizontal screw lead to rotate, vertical shift component 422 and the
One nut is fixedly connected, and the first actuator 4211 can be motor or other drive devices, not limit herein, as long as can
Horizontal screw lead is driven to be rotated with its own axis.This is simple in construction, easily realizes, and itself has because feed screw nut coordinates
There are compact-sized, accurate positioning, convenient control, therefore move horizontally component 421 to realize that cornea is packed exactly
The horizontal location of body, and occupy little space, conveniently realize Automated condtrol.
In addition, vertical shift component 422 includes the second actuator 4223, upright guide rail 4221, is arranged at upright guide rail
Vertical leading screw (not shown) in 4221 and the second nut 4222 coordinated with vertical leading screw, the second nut 4222 with
Upright guide rail 4221 is slidably connected, and the second actuator 4223 can drive vertical leading screw to rotate.Second actuator 4223 can be electricity
Machine or other drive devices, are not limited herein, as long as vertical leading screw can be driven to be rotated with its own axis.This knot
Structure is compact, occupies little space, and can realize and be accurately positioned, and conveniently realize Automated condtrol.
The embodiment of the present invention additionally provides a kind of mechanized classification collection method of cornea package body, comprises the following steps：
Control unit control machinery hand component 4 drives the transparent wrapper body to be moved in the detection range of the detector 2；The inspection
Survey instrument 2 to detect the optical property of cornea in the transparent wrapper body, and testing result is sent to described control unit；
The optical property for the cornea that described control unit detects according to the detector 2, control machinery hand component 4 is by the transparent bag
Dress body is mobile and is put into corresponding product collection station 3.
A kind of mechanized classification collection method of cornea package body provided in an embodiment of the present invention, control unit can control machine
Tool hand component 4 drives transparent wrapper body to be moved in the detection range of detector 2, and control unit is getting optics of cornea performance
Testing result after, can determine that the corresponding product of this cornea collects station 3, and drive and this angle is housed according to this testing result
The transparent wrapper body of film is mobile and is put into this product collection system, it is achieved thereby that the mechanized classification of cornea package body is received
Collection.Mechanized classification collection method of the embodiment of the present invention, automaticity is higher, and required manual labor amount is smaller, collection
Efficiency is higher.
In the above-described embodiments, in order to the cornea in transparent wrapper body to be accurately moved to the detection range of detector 2
It is interior, before by mechanical arm assembly 4, the transparent wrapper body equipped with cornea is moved in the detection range of detector 2, also wrap
Include：Transparent wrapper body of the clamping of mechanical arm assembly 4 equipped with cornea, and drive transparent wrapper body to be moved to the prison of cornea positioner
In the range of survey；Cornea positioner obtains the positional information of cornea in transparent wrapper body, and positional information is sent to control list
Member.Thus before transparent wrapper body is moved in the detection range of detector 2, accurately determine cornea in transparent wrapper body
Interior positional information, control unit is according to this positional information, you can the cornea in transparent wrapper body is accurately moved into detector 2
Detection range in.
It is excellent in order to accurately detect the optical property of cornea in transparent wrapper body when detector 2 is radium emnation optical detector
Selection of land, control unit drive transparent wrapper body to move, make transparent wrapper body according to the positional information control machinery hand component 4 of cornea
The center of interior cornea and the detection light center superposition of radium emnation optical detector, so that the cornea in transparent wrapper body is complete
In detection range in detector 2, in favor of the accurate detection of optics of cornea performance in transparent wrapper body.
The transparency of cornea is to judge whether cornea can be used in the Important Parameters of transplanting, and therefore, detector 2 is to transparent bag
The optical property for filling internal cornea is detected, and specifically, detector 2 is examined to the transparency of cornea in transparent wrapper body
Survey, to determine whether cornea is qualified products.
In order to realize categorised collection, specifically, the optical property for the cornea that control unit detects according to detector 2, control
Mechanical arm assembly 4 is mobile and be put into corresponding product and collect station 3 and include by transparent wrapper body：When the transparency of cornea is default
In the range of when, control unit control machinery hand component 4 is mobile and be put into qualified products and collect station by transparent wrapper body；Work as cornea
Transparency outside preset range when, control unit control machinery hand component 4 is mobile and be put into unqualified production by transparent wrapper body
Product collect station, to realize the categorised collection of cornea.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (16)
- A kind of 1. mechanized classification collection system of cornea package body, it is characterised in that including：Detector, the detector can obtain the optical property of the cornea in the transparent wrapper body in its detection range；Multiple products collect station, and multiple products collect station and are used to be equipped with according to the difference of optics of cornea performance, collection The transparent wrapper body of cornea；Mechanical arm assembly, the mechanical arm assembly is used to clamp the transparent wrapper body equipped with cornea, and can drive described transparent Package body moves；Control unit, described control unit can drive the transparent wrapper body to be moved in the detection range of the detector, and The optical property for the cornea that can be detected according to the detector, control machinery hand component is by transparent wrapper body movement and is put into Corresponding product collects station.
- 2. the mechanized classification collection system of cornea package body according to claim 1, it is characterised in that also including cornea Positioner, the cornea positioner can obtain the positional information of the nontransparent object in its detection range, the control Unit processed can control the detection range that the mechanical arm assembly drives the transparent wrapper body to be moved to the cornea positioner It is interior.
- 3. the mechanized classification collection system of cornea package body according to claim 1, it is characterised in that the detector For radium emnation optical detector, the radium emnation optical detector can detect the transparency of cornea.
- 4. the mechanized classification collection system of cornea package body according to claim 1, it is characterised in that the product is received Collection station includes feeding mouth, pan feeding slideway and Material collecting box for harvesting, and pan feeding slideway upper end connects with the feeding mouth, lower end and the collection Connected inside hopper, the feeding mouth is located on the motion track of the mechanical arm assembly.
- 5. the mechanized classification collection system of cornea package body according to claim 1, it is characterised in that the product is received Collecting station includes qualified products collection station and substandard product collection station, and the qualified products collect station and are used to collect dress There is the transparent wrapper body of the cornea of transparency within a preset range, the substandard product collects station and is used to collect equipped with transparent The transparent wrapper body for the cornea spent outside preset range.
- 6. the mechanized classification collection system of cornea package body according to claim 1, it is characterised in that the manipulator Component includes manipulator and mobile device, and the manipulator is used to clamp the transparent wrapper body equipped with cornea, the mobile device For driving the manipulator to move.
- 7. the mechanized classification collection system of cornea package body according to claim 6, it is characterised in that the manipulator Including support, first clamping plate, second clamping plate and the drive mechanism being arranged on support, the drive mechanism are used to driving described First clamping plate and second clamping plate fitting are opened, and the middle part of the first clamping plate and second clamping plate is provided with optical transmission window, when described , can be by the transparent wrapper body between the first clamping plate and second clamping plate when first clamping plate and second clamping plate are bonded Edge clamps for one week, and part of the transparent wrapper body equipped with cornea is located at the optical transmission window.
- 8. the mechanized classification collection system of cornea package body according to claim 7, it is characterised in that first folder Plate is fixed on the support by fixed arm, and the second clamping plate is articulated with the support by turning arm, the fixation Connected between arm and the turning arm by return unit, the drive mechanism includes motor, and the output shaft of the motor is connected with Swing arm, the one end of the swing arm away from the motor output shaft is with the second clamping plate against when the swing arm is to close to described When the direction of second clamping plate is swung, the swing arm can promote the second clamping plate to be rotated to close to the direction of the first clamping plate, Until the first clamping plate and second clamping plate fit, and when being swung when the swing arm to the direction away from the second clamping plate, institute Second clamping plate is stated to rotate to the direction away from the first clamping plate in the presence of the return unit.
- 9. the mechanized classification collection system of cornea package body according to claim 6, it is characterised in that the mobile dress Put including moving horizontally component and vertical shift component, the manipulator is connected with the vertical shift component, the vertical shifting Dynamic component can drive the manipulator vertically to move back and forth, it is described move horizontally component can drive vertical shift component and The manipulator moves back and forth in the horizontal direction.
- 10. the mechanized classification collection system of cornea package body according to claim 9, it is characterised in that the level Moving assembly include the first actuator, horizontal guide rail, the horizontal screw lead being arranged in the horizontal guide rail and with the level The first nut that leading screw coordinates, first nut are slidably connected with the horizontal guide rail, and first actuator can drive institute Horizontal screw lead rotation is stated, the vertical shift component is fixedly connected with first nut.
- 11. the mechanized classification collection system of the cornea package body according to claim 9 or 10, it is characterised in that described Vertical shift component include the second actuator, upright guide rail, the vertical leading screw being arranged in the upright guide rail and with it is described The second nut that vertical leading screw coordinates, second nut are slidably connected with the upright guide rail, and second actuator can band The dynamic vertical leading screw rotates.
- 12. a kind of mechanized classification collection method of cornea package body, it is characterised in that comprise the following steps：S1, control unit control machinery hand component drive transparent wrapper body to be moved in the detection range of detector；S2, the detector detect to the optical property of cornea in the transparent wrapper body, and by testing result send to Described control unit；The optical property for the cornea that S3, described control unit detect according to the detector, control machinery hand component will be described Bright package body is mobile and is put into corresponding product collection station.
- 13. according to the method for claim 12, it is characterised in that also include before S1：S1A, the transparent wrapper body of the mechanical arm assembly clamping equipped with cornea, and drive the transparent wrapper body to be moved to In the detection range of cornea positioner；S1B, the cornea positioner obtain the positional information of cornea in the transparent wrapper body, and the positional information is sent out Deliver to described control unit.
- 14. according to the method for claim 13, it is characterised in that the detector is radium emnation optical detector, the step Rapid S1 is specifically included：Described control unit controls the mechanical arm assembly to drive the transparent wrapper body to move according to the positional information of the cornea It is dynamic, make the center of cornea in the transparent wrapper body and the detection light center superposition of the radium emnation optical detector.
- 15. according to the method for claim 14, it is characterised in that the detector is to cornea in the transparent wrapper body Optical property is detected, including：The detector detects to the transparency of cornea in the transparent wrapper body.
- 16. according to the method for claim 15, it is characterised in that the product, which collects station, includes qualified products collection work Position and substandard product collect station, and the step S3 is specifically included：When the cornea transparency within a preset range when, described control unit control machinery hand component is by the transparent wrapper Body is mobile and is put into qualified products collection station；When the transparency of the cornea is outside preset range, described control unit control machinery hand component is by the transparent wrapper Body is mobile and is put into substandard product collection station.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510989182.4A CN105616038B (en) | 2015-12-25 | 2015-12-25 | The mechanized classification collection system and method for a kind of cornea package body |
| PCT/CN2016/102860 WO2017107638A1 (en) | 2015-12-25 | 2016-10-21 | Automatic sorting and collecting system and method for cornea packages |
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| CN201510989182.4A CN105616038B (en) | 2015-12-25 | 2015-12-25 | The mechanized classification collection system and method for a kind of cornea package body |
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Citations (4)
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| CN200996982Y (en) * | 2007-01-16 | 2007-12-26 | 天津必利优科技发展有限公司 | Quartz crystal oscillater, its automatic testing loader |
| CN102658543A (en) * | 2012-04-27 | 2012-09-12 | 北京中拓机械有限责任公司 | Mechanical arm with detector |
| CN103528956A (en) * | 2013-09-13 | 2014-01-22 | 杭州电子科技大学 | Detection method and device for transparency of tissue engineering cornea |
| CN204064972U (en) * | 2014-06-25 | 2014-12-31 | 台州振皓自动化科技有限公司 | optical lens surface defect detecting system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004526467A (en) * | 2000-09-12 | 2004-09-02 | アナメッド インク． | Systems and methods for packaging and handling implants |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200996982Y (en) * | 2007-01-16 | 2007-12-26 | 天津必利优科技发展有限公司 | Quartz crystal oscillater, its automatic testing loader |
| CN102658543A (en) * | 2012-04-27 | 2012-09-12 | 北京中拓机械有限责任公司 | Mechanical arm with detector |
| CN103528956A (en) * | 2013-09-13 | 2014-01-22 | 杭州电子科技大学 | Detection method and device for transparency of tissue engineering cornea |
| CN204064972U (en) * | 2014-06-25 | 2014-12-31 | 台州振皓自动化科技有限公司 | optical lens surface defect detecting system |
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