CN109557327B - Cup grabbing judgment method - Google Patents
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- CN109557327B CN109557327B CN201710885080.7A CN201710885080A CN109557327B CN 109557327 B CN109557327 B CN 109557327B CN 201710885080 A CN201710885080 A CN 201710885080A CN 109557327 B CN109557327 B CN 109557327B
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- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
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Abstract
The invention relates to a cup grabbing judgment method which is used for judging whether a cup grabbing device grabs a reaction cup or not. When the cup grabbing device grabs the reaction cup, if the cup grabbing component can be closed to reach a closed target value, the cup grabbing device is judged not to grab the reaction cup, and if the cup grabbing component is out of step in the closing process and the cup grabbing component is closed to reach a cup grabbing area, the cup grabbing device is judged to grab the reaction cup. According to the cup grabbing judgment method, when the cup grabbing device does not grab the reaction cup after the clamping and grabbing component is closed, the system can make correct judgment, so that the subsequent operation of the full-automatic chemiluminescence immunoassay analyzer is prevented from being influenced.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a cup grabbing judgment method for grabbing reaction cups.
Background
The chemiluminescence immunoassay (CLIA) is a non-radioactive immunoassay which has been developed rapidly worldwide in the last decade, and is an ultra-high sensitivity micro-measurement technology developed after enzyme-linked immunosorbent assay (EIA), Radioimmunoassay (RIA) and Fluorescence Immunoassay (FIA). The technology combines a chemiluminescence measuring method with high sensitivity with a high-specificity immunoreaction method to quantitatively detect various antigens, haptens, antibodies, hormones, enzymes, fatty acids, vitamins, medicines and the like.
The full-automatic chemiluminescence immunoassay analyzer is an instrument for carrying out immunological quantitative analysis on a body fluid sample of a patient by using a chemiluminescence immunoassay technology, can detect a plurality of disease symptoms, has the advantages of high sensitivity, wide linear range, simple instrument and equipment, convenient operation, high analysis speed, automation of experiment completion in the detection process and the like, greatly improves immunoassay efficiency, eliminates artificial subjective errors, improves immunoassay quality, and is widely applied to the fields of modern clinical immunoassay diagnosis and life science research at present.
A fully automated chemiluminescent immunoassay system generally comprises the following subsystems: the reaction cup loading module, the sample loading module, the reagent loading module, the incubation module, the sample adding module, the liquid path and cleaning module and the measuring module are required to be transferred among the modules.
Generally, the transfer of the reaction cup is accomplished by a cup grasping device, the reaction cup is placed in the reaction cup position, and after the cup grasping device is moved to the reaction cup position, the grasping and releasing of the reaction cup is accomplished by the closing and opening of the grasping members. However, when the reaction cup is grabbed by the cup grabbing device, the situation that the reaction cup is not grabbed by the cup grabbing device after the cup grabbing component is closed can occur due to reasons such as the fact that the reaction cup is not placed correctly or the cup grabbing device is in a motion error, and after the situation occurs, if the situation is not judged correctly, the subsequent operation can be affected, so that the subsequent operation of the full-automatic chemiluminescence immunoassay analyzer breaks down.
Disclosure of Invention
In view of the above, it is necessary to provide a cup grasping determination method for determining whether or not the cup grasping apparatus grasps a reaction cup.
A cup grabbing judgment method is used for judging whether a cup grabbing device grabs a reaction cup or not, and comprises a clamping and grabbing component which can complete closing and opening actions, and is characterized by comprising the following steps:
setting a closed target value and a cup grabbing area, wherein the cross section of the reaction cup is rectangular or circular, when the cross section of the reaction cup is rectangular, the closed target value is smaller than the width of the reaction cup, and the ratio of the cup grabbing area to the width of the reaction cup is 0.8-1.2: 1, when the cross section of the reaction cup is circular, the closing target value is smaller than the diameter of the reaction cup, and the ratio of the cup grabbing area to the diameter of the reaction cup is 0.8-1.2: 1; and
the clamping and grabbing component moves to a reaction cup position at a first speed, the clamping and grabbing component performs closing action at a second speed and a first clamping and grabbing force, if the clamping and grabbing component can be closed to reach the closing target value, the cup grabbing device is judged not to grab the reaction cup, if the clamping and grabbing component is out of step in the closing process, and the clamping and grabbing component is closed to reach the cup grabbing area, the cup grabbing device is judged to grab the reaction cup, wherein the first speed is higher than the second speed.
In one embodiment, when the cross section of the reaction cup is rectangular, the closing target value is 8 to 9.5/10 of the width of the reaction cup, and the ratio of the cup grasping area to the width of the reaction cup is 0.8 to 1.2: 1; when the cross section of the reaction cup is circular, the closing target value is 7-9.5/10 of the diameter of the reaction cup, and the ratio of the cup grabbing area to the diameter of the reaction cup is 0.8-1.2: 1.
in one embodiment, when the cross section of the reaction cup is rectangular, the closing target value is 9/10 of the width of the reaction cup, and the ratio of the cup grabbing area to the width of the reaction cup is 0.9-1.1: 1;
when the cross section of the reaction cup is circular, the closing target value is 9/10 of the diameter of the reaction cup, and the ratio of the cup grabbing area to the diameter of the reaction cup is 0.9-1.1: 1.
in one embodiment, the ratio of the first speed to the second speed is 1.5-10: 1.
in one embodiment, the method further comprises the following action of reporting an error or automatically performing program setting by the clamping and grabbing component after the cup grabbing device is judged not to grab the reaction cup.
In one embodiment, the method further comprises the step of continuing to perform a closing action with a second clamping force when the clamping and grabbing component continues to move after the cup grabbing device grabs the reaction cup, and if the clamping and grabbing component can be closed to reach the closing target value at the moment, judging that the reaction cup falls off during the movement of the clamping and grabbing component; wherein the first clip grip is greater than the second clip grip.
In one embodiment, the ratio of the first gripping force to the second gripping force is 1.5 to 10: 1.
in one embodiment, when the cross section of the reaction cup is rectangular, the operation of the pinch grip assembly to generate step loss during closing is as follows: when the clamping and grabbing component is closed to reach the width of the reaction cup, the clamping and grabbing component is out of step;
when the cross section of the reaction cup is circular, the operation that the clamping and grabbing component generates step-out in the closing process is as follows: when the clamping and grabbing component is closed to reach the diameter of the reaction cup, the clamping and grabbing component is out of step.
In one embodiment, the clamping and gripping assembly comprises a power-driven clamping jaw, a first gripping hand and a second gripping hand, wherein the power-driven clamping jaw can drive the first gripping hand and the second gripping hand to relatively close or relatively far, so that the closing and opening actions are completed.
In one embodiment, the gripping and clamping assembly moves to a reaction cup position at a first speed, the gripping and clamping assembly performs a closing action at a second speed and a first gripping force, if the gripping and clamping assembly can be closed to reach the closing target value, the cup gripping device is judged not to grip the reaction cup, if the gripping and clamping assembly loses step during closing and the gripping and clamping assembly is closed to reach the cup gripping area, the operation that the cup gripping device grips the reaction cup is judged as follows:
the clamping and grabbing assembly moves to the reaction cup position at the first speed, the electric clamping jaws drive the first gripper and the second gripper to relatively approach at the second speed and the first clamping force, and if the distance between the first gripper and the second gripper can reach the closing target value, judging that the cup grabbing device does not grab the reaction cup, if the first gripper and the second gripper are out of step in the relative approaching process, and the distance between the first gripper and the second gripper reaches the cup gripping area, the cup gripping device is judged to grip the reaction cup, if the first gripper and the second gripper are out of step in the relative approaching process, and if the distance between the first hand grab and the second hand grab does not reach the cup grabbing area, determining that the cup grabbing device is failed or is stuck.
When the cup grabbing device grabs the reaction cup, if the cup grabbing component can be closed to reach a closed target value, the cup grabbing device is judged not to grab the reaction cup, if the cup grabbing component is out of step in the closing process and the cup grabbing component is closed to reach a cup grabbing area, the cup grabbing device is judged to grab the reaction cup, and if the cup grabbing component is out of step in the closing process and the cup grabbing component is not closed to reach the cup grabbing area, the cup grabbing component is judged to be invalid or stuck. By the adoption of the cup grabbing judgment method, when the cup grabbing device does not grab the reaction cup after the clamping and grabbing component is closed, the system can make correct judgment, and therefore the subsequent operation of the full-automatic chemiluminescence immunoassay analyzer is prevented from being influenced.
Drawings
FIG. 1 is a flowchart of a cup grabbing determination method according to an embodiment;
FIG. 2 is a schematic structural view of an embodiment of a cup grasping device;
FIG. 3 is a schematic view of the vertical drive assembly and the pinch grip assembly of the cup gripping device shown in FIG. 2;
FIG. 4 is a schematic view of the gripping assembly of the cup gripping device shown in FIG. 2;
FIG. 5 is an enlarged schematic view of a first gripper of the pinch grip assembly shown in FIG. 4;
fig. 6 is a schematic structural view of another embodiment of a cup grasping device.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with examples are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
As shown in fig. 1, a method for determining whether a cuvette is gripped by a cuvette gripping device according to an embodiment.
The cup grasping determination method can be applied to various cup grasping devices, and generally, in conjunction with fig. 2, the cup grasping device of the present embodiment includes a grasping and clamping assembly 90, and the grasping and clamping assembly 90 can perform closing and opening actions.
The cup grabbing judgment method comprises the following steps:
and S10, setting a closing target value and a cup grabbing area.
Generally, the cross-section of the reaction cup is rectangular or circular.
When the cross section of the reaction cup is rectangular, the closing target value is smaller than the width of the reaction cup, and the ratio of the cup grabbing area to the width of the reaction cup is 0.8-1.2: 1.
when the cross section of the reaction cup is circular, the closing target value is smaller than the diameter of the reaction cup, and the ratio of the cup grabbing area to the diameter of the reaction cup is 0.8-1.2: 1.
generally, the closing target value is set to be slightly smaller than the width of the cuvette. When the cross section of the reaction cup is rectangular, the closing target value can be 7/10-9.5/10 of the width of the reaction cup. When the cross section of the reaction cup is circular, the closing target value can be 7/10-9.5/10 of the diameter of the reaction cup.
In this embodiment, the closing target value is smaller than the minimum value of the cup grasping area. In other embodiments, the closing target value may be set to be greater than the minimum value of the cup grasping region, and in this case, the closing target value falls within the range of the cup grasping region.
Preferably, when the cross section of the reaction cup is rectangular, the closing target value can be 9/10 of the width of the reaction cup, and the ratio of the cup grasping area to the width of the reaction cup is 0.9-1.1: 1.
preferably, when the circular shape of the cuvette is a circle, the closing target value may be 9/10 of the diameter of the cuvette, and the ratio of the area of the grasping cup to the diameter of the cuvette is 0.9 to 1.1: 1.
and S20, moving the clamping and grabbing component 90 to the reaction cup position at a first speed, closing the clamping and grabbing component 90 at a second speed and a first clamping and grabbing force, if the clamping and grabbing component 90 can be closed to reach a closing target value, determining that the cup grabbing device does not grab the reaction cup, and if the clamping and grabbing component 90 is out of step during closing and the clamping and grabbing component 90 is closed to reach a cup grabbing area, determining that the cup grabbing device grabs the reaction cup.
Wherein the first speed is greater than the second speed. The reaction cup is held at low speed by high-speed movement, so that the reaction cup is prevented from deforming on the premise of holding the reaction cup tightly, the reaction cup is prevented from sliding off, and the reliability is higher.
Preferably, the ratio of the first speed to the second speed is 1.5-10: 1.
more preferably, the ratio of the first speed to the second speed is 4: 1.
generally, the gripper assembly 90 also needs to be initialized before it can function properly. The initialization operation is as follows: the method comprises the steps that a timer is started, a motion control system starts a motor and moves towards an original point sensor at a lower speed, the motion control system monitors signals of the original point sensor in real time, once a motor drives a motion part to reach an induction area of the original point sensor, the original point sensor sends signals to the motion control system, the motion control system immediately controls the motor to stop, the position is recorded as a coordinate system 0 point, initialization success is reported to a previous-level control system, if the timer exceeds a specified value (the value is influenced by the maximum stroke), the original point sensor does not send signals to the motion control system, and the motion control system reports abnormality to the previous-level control system.
After the initialization is finished, the motion control system enters a normal working mode, after the upper-level control system sends out a control instruction, the motor is started, and the clamping and grabbing assembly 90 starts to perform clamping and grabbing operations.
When the pinch grip assembly 90 normally works, the motor driving current is increased, the position sensor mounted on the motor is constantly monitored, whether the position sensor returns a corresponding step number record is compared when n pulses (the n value can be set according to the required sensitivity) are sent to the motor, if the step number record returned by the position sensor is not matched with the sent pulse number, the motor is out of step, the control system stops the motor movement and reports abnormality to the upper-level control system, if the step number returned by the position sensor reaches the target position, the movement command is successfully executed, and the movement control system reports the execution success to the upper-level control system.
Preferably, the method for determining the cup grasping apparatus further includes a next operation of determining that the cup grasping apparatus has not grasped the reaction cup after S20, and then the grasping and clamping unit 90 performs an error report or automatically performs a program setting.
More preferably, the system automatically records whether each reaction cup position has a reaction cup during initialization, thereby instructing the gripping assembly 90 to move on to the next reaction cup position having a reaction cup.
After the cup grabbing device is judged not to grab a reaction cup, the operation that the clamping and grabbing component 90 continues to move to the next reaction cup position is added, so that the continuous operation of the system can be ensured, and the reaction time of the system is saved.
Preferably, after S20, when it is determined that the cuvette grasping apparatus has grasped the cuvette and the grasping unit 90 has moved further, the grasping unit 90 continues to perform the closing operation with the second grasping force, and when the grasping unit 90 can be closed to reach the closing target value at this time, it is determined that the cuvette has dropped while the grasping unit 90 is moving. Wherein the first gripping force is greater than the second gripping force. Thereby avoiding the pinch grip assembly 90 from damaging the photometric surface of the cuvette.
Preferably, the ratio of the first clamping force to the second clamping force is 1.5-10: 1.
more preferably, the ratio of the first grip force to the second grip force is 4: 1.
if the reaction cup is judged to fall off in the moving process of the clamping and grabbing component 90, the motor is in a continuous out-of-step state due to the fact that the motor cannot move continuously at the moment, the clamping and grabbing component 90 loses the supporting force of the reaction cup and can move continuously inwards, the encoder of the motor can also feed back a change signal to the control system, and the control system can calculate the loss position of the reaction cup according to the step counting of the encoders of the horizontal driving motor and the vertical driving motor.
The reaction cup drop detection is added, and the problem that follow-up operation fails due to errors in the process of driving the reaction cup to move by the cup grabbing device can be avoided.
Preferably, when the cross-section of the reaction cup is rectangular, the operation of the gripper assembly 90 to produce step-out during closing is: when the pinch grip assembly 90 is closed to the width of the reaction cup, the pinch grip assembly 90 is out of step.
Preferably, when the cross-section of the reaction cup is circular, the operation of the pinch grip assembly 90 to produce step loss during closing is: when the pinch grip assembly 90 is closed to the diameter of the reaction cup, the pinch grip assembly 90 is out of step.
Preferably, when the cup grabbing judgment method is applied to a cup grabbing device provided with a reaction cup buffer position, in the process that the reaction cup is grabbed by the cup grabbing component 90, when the reaction cup position is found to be insufficient, the reaction cup can be temporarily stored in the reaction cup buffer position by the cup grabbing component 90, so that the flexibility of system operation is increased.
The cuvette buffer position may be located anywhere on the instrument as long as it is ensured that the cuvette buffer position is located within the area of movement of the gripping assembly 90.
When the cup grabbing device grabs the reaction cup, if the cup grabbing component can be closed to reach a closed target value, the cup grabbing device is judged not to grab the reaction cup, if the cup grabbing component is out of step in the closing process and the cup grabbing component is closed to reach a cup grabbing area, the cup grabbing device is judged to grab the reaction cup, and if the cup grabbing component is out of step in the closing process and the cup grabbing component is not closed to reach the cup grabbing area, the cup grabbing component is judged to be invalid or stuck. By the adoption of the cup grabbing judgment method, when the cup grabbing device does not grab the reaction cup after the clamping and grabbing component is closed, the system can make correct judgment, and therefore the subsequent operation of the full-automatic chemiluminescence immunoassay analyzer is prevented from being influenced.
The cup grasping determination method can be applied to all kinds of cup grasping devices including the grasping assembly 90 on the market, and the following description will be given by taking the cup grasping device of an embodiment as an example.
With reference to fig. 2 and 3, one embodiment of a cup grasping device includes: a base plate 10, a horizontal rail 20, a horizontal transmission assembly, a slider (not shown), a mounting bracket 50, a vertical rail 60, a vertical motion assembly, an adaptor 80, and a pinch grip assembly 90.
The base plate 10, the horizontal guide rail 20 and the horizontal transmission assembly constitute a horizontal movement assembly. The slide (not shown), the mounting bracket 50, the vertical rail 60, the vertical motion assembly, and the adaptor 80 constitute the vertical motion assembly.
The horizontal motion assembly may drive the vertical motion assembly to move back and forth in a horizontal direction, and the vertical motion assembly may drive the pinch grip assembly 90 to move back and forth in a vertical direction.
The horizontal guide rail 20 is fixed on the base plate 10, and the horizontal transmission assembly is installed on the base plate 10.
In this embodiment, the horizontal transmission assembly includes a horizontal motor 31, a driving pulley 33, a timing belt 35, a driven pulley mounting bracket 37, and a driven pulley 39.
The horizontal motor 31 is arranged at one end of the base plate 10, the driving wheel 33 is connected with a rotating shaft of the horizontal motor 31, the driven wheel mounting rack 37 is arranged at the other end of the base plate 10, the driven wheel 39 is arranged on the driven wheel mounting rack 37, and the synchronous belt 35 is wound on the driving wheel 33 and the driven wheel 39.
The vertical motion assembly is mounted on the slide.
The mounting bracket 50 is mounted on the horizontal moving assembly, the slider (not shown) is fixedly connected with the mounting bracket 50, the vertical guide rail 60 is fixed on the mounting bracket 50, the vertical moving assembly is mounted on the mounting bracket 50, and the adaptor 80 is connected with the vertical moving assembly.
Preferably, in the present embodiment, the mounting bracket 50 is integrally designed.
In this embodiment, the mounting bracket 50 is fixedly connected to the timing belt 35, and a slider (not shown) is engaged with the horizontal rail 20. The horizontal motor 31 moves the timing belt 35, thereby moving the slider (not shown) back and forth along the horizontal guide rail 20.
Preferably, in other embodiments, a slider (not shown) is fixedly connected to the timing belt 35 and the slider (not shown) is engaged with the horizontal rail 20. The mounting bracket 50 is fixed on a slider (not shown), the vertical guide rail 60 is fixed on the mounting bracket 50, the vertical driving assembly is mounted on the mounting bracket 50, and the adaptor 80 is connected with the vertical driving assembly. The horizontal motor 31 of the slide block (not shown) drives the timing belt 35 to move, thereby driving the slide block (not shown) to move back and forth along the horizontal guide rail 20.
Referring to fig. 2, in the present embodiment, there are 2 horizontal transmission assemblies and 2 vertical movement assemblies. 2 horizontal transmission assemblies drive 2 vertical motion assemblies respectively.
Preferably, in other embodiments, the number of the horizontal transmission assemblies is 1, and the number of the vertical movement assemblies is also 1; 1 horizontal transmission assembly drives 1 vertical motion assembly.
The pinch grip assembly 90 is mounted on the adaptor 80. The vertical motion assembly drives the adaptor 80 back and forth along the vertical rail 60, thereby driving the pinch grip assembly 90 back and forth along the vertical rail 60.
The vertical motion assembly includes a vertical motor 71, a lead screw 73, a lead screw nut 75, and a connector 77.
The vertical motor 71 is mounted on the mounting rack 50, the screw rod 73 is a rotating shaft of the vertical motor 71, the screw rod nut 75 is sleeved on the screw rod 73, and the connecting piece 77 is fixed on the screw rod nut 75.
The adapter 80 is fixedly connected to the connecting element 77. Preferably, the adapter 80 is designed in one piece with the connecting piece 77.
The vertical motor 71 drives the lead screw 73 to rotate, so as to drive the lead screw nut 75 to move, and thus drive the connecting piece 77, the adapter 80 and the clamping and grabbing assembly 90 to move back and forth along the vertical guide rail 60.
Preferably, the screw 73 is a trapezoidal screw with a self-locking function. When the vertical motor 71 is powered off, the screw rod 73 can be self-locked to enable the screw rod nut 75 to be fixed, so that the clamping and grabbing assembly 90 is prevented from being damaged due to impact caused by gravity falling.
Preferably, in the present embodiment, the vertical movement assembly further includes an optical coupling sensing piece 78 and an optical coupler 79 for determining an initial position of the pinch grip assembly 90. The optical coupler induction sheet 78 and the optical coupler 79 are both mounted on the connecting piece 77.
Referring to fig. 4 and 5, the clamp assembly 90 includes a powered clamping jaw 92, a first hand grip 94 and a second hand grip 96. The motorized gripping jaws 92 are capable of driving the first and second hand grips 94, 96 relatively closer together or relatively farther apart to complete the closing and opening actions.
In this embodiment, S20 specifically is: the grasping assembly 90 is moved to the reaction cup position, and the electric clamping jaws 92 drive the first grasping hand 94 and the second grasping hand 96 to relatively approach, if the distance between the first grasping hand 94 and the second grasping hand 96 can reach a closing target value, it is determined that the cup grasping apparatus does not grasp the reaction cup, if the first grasping hand 94 and the second grasping hand 96 are out of step during the relatively approaching process and the distance between the first grasping hand 94 and the second grasping hand 96 reaches the cup grasping area, it is determined that the cup grasping apparatus grasps the reaction cup, if the first grasping hand 94 and the second grasping hand 96 are out of step during the relatively approaching process and the distance between the first grasping hand 94 and the second grasping hand 96 does not reach the cup grasping area, it is determined that the cup grasping apparatus is disabled or stuck. Preferably, the first grip 94 and the second grip 96 are out of step during the relative approach by: when the distance between the first and second grips 94 and 96 reaches the width of the reaction cup, the first and second grips 94 and 96 are out of step.
Referring to fig. 2, in the present embodiment, there are 2 vertical movement assemblies, and there are 2 pinch grip assemblies 90. The 2 vertical motion assemblies each drive 2 gripper assemblies 90.
Preferably, in other embodiments, there are 1 vertical motion assembly and 1 pinch grip assembly 90. The 1 vertical motion assembly drives the 1 pinch grip assembly 90.
Powered clamping jaw 92 includes a first finger 922 and a second finger 924 that may be relatively close to or relatively far from, each finger 922 and 924 being located below powered clamping jaw 92.
The first hand grip 94 is fixedly connected to the first finger 922 and the second hand grip 96 is fixedly connected to the second finger 924.
With reference to fig. 5, the first gripper 94 includes a first connecting section 942, a first bending section 944 and a first gripping section 946, the first connecting section 942 is fixedly connected to the first finger 922, the first gripping section 946 is parallel to the first connecting section 942, and two ends of the first bending section 944 are respectively connected to the first connecting section 942 and the first gripping section 946.
The second hand grip 96 is identical in shape to the first hand grip 94. Similarly, the second hand grip 96 includes a second connecting section, a second bending section and a second grabbing section, the second connecting section is fixedly connected with the second finger 924, the second grabbing section is parallel to the second connecting section, and two ends of the second bending section are respectively connected with the second connecting section and the second grabbing section.
In the present embodiment, the "distance between the first gripper 94 and the second gripper 96" appearing in the above description is the distance between the first gripper section 946 and the second gripper section.
Preferably, a first mounting groove 948 is formed on a side of the first connecting section 942 near the second gripper 96, and the first mounting groove 948 matches with the shape of the first finger 922. The first receiving groove 948 may match the shape of the first finger 922, which may facilitate a secure connection between the first finger 94 and the first finger 922.
Referring to the drawings, in the present embodiment, preferably, a contact area of the first grabbing section 946 near the second grabbing hand 96 and the reaction cup is a plane.
The second hand grip 96 has the same shape as the first hand grip 94, and the area of the second grip section near the first hand grip 94, which is in contact with the reaction cup, is a plane.
As the moving directions of the clamping and grabbing components 90 of the cup grabbing device are two-axis, only the horizontal x direction and the vertical z direction can move, for the technical scheme that one side of the first grabbing section 946 close to the second grabbing hand 96 is a non-plane and one side of the second grabbing section close to the first grabbing hand 94 is a non-plane, the position precision requirement of the clamping and grabbing components 90 in the y direction is very high, as long as a little deviation exists, the clamping and grabbing components 90 are in point or line contact instead of surface contact with the basis of the reaction cup when being clamped, the contact area is too small, and the reaction cup can be askew.
In this embodiment, the side of the first grabbing section 946 close to the second gripper 96 is a plane and the side of the second grabbing section close to the first gripper 94 is a plane, so that the requirement of the position precision of the clamping and grabbing assembly 90 in the y direction is reduced, the surface contact can be ensured when the clamping and grabbing are performed, and the grabbing is more stable.
More preferably, two edges of the first grabbing section 946 on the side close to the second grabbing hand 96 are respectively provided with two reinforcing bars 949.
The reinforcing strips 949 serve to increase the mechanical strength of the first gripping section 946, and there are no reinforcing strips 949 in the areas where the first gripping section 946 comes into contact with the reaction cup.
In other embodiments, a side of the first grabbing section 946 close to the second grabbing hand 96 is provided with a first grabbing groove, and the shape of the first grabbing groove matches with the shape of the reaction cup. One side of the second grabbing section, which is close to the first grabbing hand 94, is provided with a second grabbing groove, and the shape of the second grabbing groove is matched with that of the reaction cup. The shape of the first catching groove and the second catching groove may be any shape matching the reaction cup, for example, a square shape, a circular arc shape, a corrugated shape, or a horn shape.
Preferably, the distance between the first connecting section 942 and the second connecting section is greater than the distance between the first gripping section 946 and the second gripping section.
Preferably, a sensor for detecting the reaction cup is disposed on a side of the first grabbing section 946 close to the second grabbing hand 96.
The sensor is also used for counting all the reaction cup positions in the initialization operation before grabbing the reaction cups, recording whether each reaction cup position has a reaction cup and the position of the reaction cup, and then controlling the gripper to move to the reaction cup position of the reaction cup to grab the reaction cup by the system.
The sensor may also be located on the side of the second gripper segment adjacent the first gripper 94.
Referring to fig. 6, another embodiment of the cup grasping apparatus has the same basic structure as the cup grasping apparatus described above, except that a buffer position 100 for reaction cups is added.
The cuvette buffer position 100 is located in the movement area of the gripper assembly. When the clamping and grabbing component is used for grabbing the reaction cups, the reaction cups can be temporarily stored in the reaction cup buffer positions 100 by the clamping and grabbing component when the preset reaction cup positions are occupied, so that the flexibility of system operation is improved.
Referring to fig. 6, in this embodiment, the cup gripping device is supported by a bracket 110, the reaction cup buffer position 100 is mounted on the bracket 110, and the reaction cup buffer position 100 is located in the movement area of the pinch grip assembly.
The clamping and grabbing assembly 90 of the cup grabbing device comprises a power-driven clamping jaw 92, a first grabbing hand 94 and a second grabbing hand 96, wherein the power-driven clamping jaw 92 directly drives the first grabbing hand 94 and the second grabbing hand 96 to be relatively close to or relatively far away from each other, so that the closing and opening actions are completed. Compared with the traditional clamping and grabbing assembly, the cup grabbing device adopts the electric clamping jaws to realize power control of closing and opening, and a spring is not needed, so that the stability and the reliability of the cup grabbing device are higher.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A cup grabbing judgment method is used for judging whether a cup grabbing device grabs a reaction cup or not, and comprises a clamping and grabbing component which can complete closing and opening actions, and is characterized by comprising the following steps:
setting a closed target value and a cup-grasping area, wherein the cross section of the reaction cup is rectangular or circular, when the cross section of the reaction cup is rectangular, the closed target value is smaller than the width of the reaction cup, when the cross section of the reaction cup is circular, the closed target value is smaller than the diameter of the reaction cup, and
the clamping and grabbing component moves to a reaction cup position at a first speed, the clamping and grabbing component performs closing action at a second speed and a first clamping and grabbing force, if the clamping and grabbing component can be closed to reach the closing target value, the cup grabbing device is judged not to grab the reaction cup, if the clamping and grabbing component is out of step in the closing process, and the clamping and grabbing component is closed to reach the cup grabbing area, the cup grabbing device is judged to grab the reaction cup, wherein the first speed is higher than the second speed.
2. The method for determining a cup grab according to claim 1, wherein when the cross section of the reaction cup is rectangular, the closing target value is 8 to 9.5/10 of the width of the reaction cup, and the ratio of the cup grab area to the width of the reaction cup is 0.8 to 1.2: 1;
when the cross section of the reaction cup is circular, the closing target value is 7-9.5/10 of the diameter of the reaction cup, and the ratio of the cup grabbing area to the diameter of the reaction cup is 0.8-1.2: 1.
3. the method for determining a cup grab according to claim 2, wherein when the cross section of the cuvette is rectangular, the closing target value is 9/10 of the width of the cuvette, and the ratio of the cup grab area to the width of the cuvette is 0.9 to 1.1: 1;
when the cross section of the reaction cup is circular, the closing target value is 9/10 of the diameter of the reaction cup, and the ratio of the cup grabbing area to the diameter of the reaction cup is 0.9-1.1: 1.
4. the cup grabbing judgment method according to claim 1, wherein the ratio of the first speed to the second speed is 1.5-10: 1.
5. the cup gripping judgment method according to claim 1, wherein if the clamping and gripping assembly is out of step during the closing process and the clamping and gripping assembly is not closed to reach the cup gripping area, the clamping and gripping assembly is determined to be failed or stuck.
6. The method for determining whether the reaction cup is gripped by the cup gripping device according to claim 1, further comprising a step of reporting an error or automatically performing a program setting by the gripping unit after determining that the reaction cup is not gripped by the cup gripping device.
7. The method for determining whether the reaction cup is caught by the cup catching device according to claim 1, further comprising a step of determining that the reaction cup falls off during the movement of the grasping member if the grasping member continues to move with a second grasping force after the cup catching device has grasped the reaction cup; wherein the first clip grip is greater than the second clip grip.
8. The cup gripping judgment method according to claim 7, wherein the ratio of the first gripping force to the second gripping force is 1.5 to 10: 1.
9. the method for judging whether the reaction cup is in a rectangular cross section according to claim 1, wherein the operation of the gripping assembly for generating step loss during the closing process comprises: when the clamping and grabbing component is closed to reach the width of the reaction cup, the clamping and grabbing component is out of step;
when the cross section of the reaction cup is circular, the operation that the clamping and grabbing component generates step-out in the closing process is as follows: when the clamping and grabbing component is closed to reach the diameter of the reaction cup, the clamping and grabbing component is out of step.
10. The cup gripping judgment method according to claim 1, wherein the gripping assembly comprises a power-driven gripping jaw, a first gripping hand and a second gripping hand, and the power-driven gripping jaw can drive the first gripping hand and the second gripping hand to relatively close or relatively far, so as to complete the closing and opening actions.
11. The cup gripping judgment method according to claim 10, wherein the gripping member moves to a reaction cup position at a first speed, and the gripping member performs a closing operation at a second speed and a first gripping force, and if the gripping member can be closed to reach the target closing value, it is determined that the cup gripping device does not grip the reaction cup, and if the gripping member is out of step during closing and the gripping member is closed to reach the cup gripping area, it is determined that the cup gripping device grips the reaction cup:
the clamping and grabbing assembly moves to the reaction cup position at the first speed, the electric clamping jaws drive the first gripper and the second gripper to relatively approach at the second speed and the first clamping force, and if the distance between the first gripper and the second gripper can reach the closing target value, judging that the cup grabbing device does not grab the reaction cup, if the first gripper and the second gripper are out of step in the relative approaching process, and the distance between the first gripper and the second gripper reaches the cup gripping area, the cup gripping device is judged to grip the reaction cup, if the first gripper and the second gripper are out of step in the relative approaching process, and if the distance between the first hand grab and the second hand grab does not reach the cup grabbing area, determining that the cup grabbing device is failed or is stuck.
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| CN112881740A (en) * | 2019-11-29 | 2021-06-01 | 深圳市帝迈生物技术有限公司 | Sample adding assembly, sample analyzer and sample adding method |
| CN117169487B (en) * | 2023-11-03 | 2024-01-23 | 山东康华生物医疗科技股份有限公司 | Reaction cup grabbing and moving mechanism |
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