CN113624548B - Be applied to automatic brill powder device of temporal bone - Google Patents
Be applied to automatic brill powder device of temporal bone Download PDFInfo
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- CN113624548B CN113624548B CN202111194274.5A CN202111194274A CN113624548B CN 113624548 B CN113624548 B CN 113624548B CN 202111194274 A CN202111194274 A CN 202111194274A CN 113624548 B CN113624548 B CN 113624548B
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
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Abstract
The application relates to the technical field of manipulators, and particularly provides an automatic powder drilling device applied to a temporal bone, wherein a drilling station is arranged on a workbench; the automatic clamping device comprises a worktable, a feeding manipulator, a drilling unit, a rack, an automatic clamping module and a clamping mechanism, wherein the worktable is used for clamping a sample to be processed; the automatic powder drilling module is slidably mounted at the top of the rack; the automatic clamping module and the automatic powder drilling module can move relatively; the automatic collection module comprises a collection vessel and a collection manipulator, the collection vessel and the collection manipulator are both arranged on the rack, and the collection vessel is positioned below the temporal bone clamping position and used for collecting powder of drilling powder; the collecting manipulator is used for grabbing the collecting vessel so as to fill the powder collected in the collecting vessel.
Description
Technical Field
The application relates to the technical field of manipulators, in particular to an automatic powder drilling device applied to a temporal bone.
Background
Drilling powder taking of the temporal bone is a key first step of carrying out genetic evolution related researches on samples such as molecular ancient biology, year measurement and the like, how to carry out drilling powder taking of the temporal bone quickly, reliably and portably, and some important samples enter a research visual field again under the condition of micro-damage, and the method has important practical significance in the aspect of ensuring the sample integrity required by follow-up research. The drilling powder of the existing temporal bone is drilled manually, and the problems of high operation strength, low efficiency, high requirement on experience of operators, long training period, influence on operation accuracy and the like exist.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
An object of the application is to provide an automatic bore powder device for temporal bone to solve or alleviate the problem that exists among the above-mentioned prior art.
In order to achieve the above purpose, the present application provides the following technical solutions:
the application provides an automatic bore whitewashed device for temporal bone includes: the device comprises a workbench, a feeding manipulator and a drilling unit; a drilling station is arranged on the workbench; the feeding mechanical arm is arranged on the workbench and used for grabbing a sample to be processed and moving the sample to the drilling station so as to collect drilling powder of the sample to be processed by the drilling unit; get unit fixed mounting in get the station, include: the automatic powder drilling machine comprises a rack, an automatic clamping module, an automatic powder drilling module and an automatic collecting module; the automatic clamping module is arranged at the bottom of the rack in a sliding manner, and is provided with a temporal bone clamping position for clamping the sample to be processed sent by the feeding manipulator; the automatic powder drilling module is slidably mounted at the top of the rack; the automatic clamping module and the automatic powder drilling module can move relatively, so that a drilling gun on the automatic powder drilling module is over against the sample to be processed, and the sample to be processed is drilled with powder; the automatic collection module comprises a collection vessel and a collection manipulator, the collection vessel and the collection manipulator are both mounted on the rack, and the collection vessel is located below the temporal bone clamping position and used for collecting the powder of the drilling powder; the collecting manipulator is used for grabbing the collecting vessel so as to fill the powder collected in the collecting vessel.
Preferably, the automatic clamping module includes: the movable bearing plate is arranged on the rack along the front-back direction of the automatic powder drilling device; the clamping main body is fixedly arranged on the movable bearing plate, is positioned below the automatic powder drilling module and can move in the front-back direction under the driving of the movable bearing plate; the clamping main body is provided with a plurality of sets of clamping cylinders, the centers of the clamping cylinders form the temporal bone clamping position, and the telescopic parts of the clamping cylinders extend and retract towards the temporal bone clamping position to clamp the temporal bone clamping position to-be-processed sample.
Preferably, the flexible clamping block is installed at the telescopic part of the clamping cylinder, and the flexible clamping block is driven by the telescopic part to clamp the sample to be processed.
Preferably, still be equipped with a plurality of clamping-force sensors on the centre gripping main part, it is a plurality of clamping-force sensors and a plurality of the centre gripping jar one-to-one, every clamping-force sensor set up in the pars contractilis of centre gripping jar with between the fixed part of centre gripping jar, in order to right the pars contractilis centre gripping treat that the power of processing sample monitors.
Preferably, the automatic clamping module further comprises: a folding shield mounted on the moving carrier plate, located between the collection vessel and the holding cylinder, and capable of being extended or folded in a front-rear direction; the folding shield is provided with a powder leakage hole, wherein the powder leakage hole is over against the temporal bone clamping position when the folding shield is extended.
Preferably, the automatic powder drilling module comprises: the horizontal adjusting mechanism comprises a fixed seat, a front and rear adjusting part and a left and right adjusting part, and the fixed seat is fixedly arranged at the top of the rack; the left and right adjusting parts are slidably mounted on the side surfaces of the front and rear adjusting parts and can move on the front and rear adjusting parts along the left and right direction; the front and rear adjusting part is slidably mounted on the fixed seat and can drive the left and right adjusting part to move on the fixed seat along the front and rear direction; the vertical adjusting mechanism is arranged on the left and right adjusting part and can move along the up-down direction; a drill gun mechanism comprising: the main rotating part is rotatably arranged on the vertical adjusting mechanism, can rotate along the vertical axis of the vertical adjusting mechanism and can move in the vertical direction under the driving of the vertical adjusting mechanism; the gun body clamping part is fixedly arranged on the main rotating part and can rotate along the vertical axis under the driving of the main rotating part, and the gun body clamping part is used for installing the drilling gun.
Preferably, a plurality of rifle body centre gripping positions of edge circumference equipartition on the rifle body clamping part, every rifle body centre gripping position corresponds one respectively the centre gripping drill gun.
Preferably, the drill gun mechanism further comprises: the device comprises a load sensor and a displacement sensor, wherein the load sensor and the displacement sensor are both arranged on the gun body clamping part, the load sensor is used for controlling the drilling force of the drilling gun during powder drilling, and the displacement sensor is used for controlling the drilling depth of the drilling gun during powder drilling.
Preferably, the automatic powder drilling module further comprises: the biological safety cabinet is of a shell structure with an opening at one end, and the opening end is covered above the horizontal adjusting mechanism.
Preferably, a to-be-processed sample placing station is further arranged on the workbench and used for placing the to-be-processed sample; the drilling unit is provided with a test tube placing station, and the test tube placing station is used for placing a sealed test tube filled with the powder; the feeding mechanical arm is arranged at one corner of the workbench close to the sample placing station to be processed, and the collecting mechanical arm is arranged at the top of the rack close to the test tube placing station; and the execution tail ends of the feeding mechanical arm and the collection mechanical arm are both flexible bionic clamping claws.
Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:
in the automatic drilling device applied to the temporal bone, a to-be-processed sample is grabbed by a feeding mechanical arm arranged on a workbench and sent to a drilling station, and drilling powder is collected on the to-be-processed sample by a drilling unit arranged on the drilling station; the drilling unit enables a drilling gun on the automatic powder drilling module to be over against a sample to be processed at a temporal bone clamping position through the relative motion of the automatic clamping module and the automatic powder drilling module, and the drilling gun drills powder to the sample to be processed; and collecting the powder during drilling through a collecting vessel positioned below the temporal bone clamping position, and then filling the collected powder in the collecting vessel by a collecting manipulator. Therefore, the whole process completely realizes automatic clamping of the sample to be processed, automatic drilling powder and automatic powder collection, the processing is accurate, the operation is simple, convenient and reliable, the efficiency is high, and meanwhile, the requirements on operators and the operation intensity are greatly reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. Wherein:
fig. 1 is a schematic structural view of an automated powder drilling apparatus applied to a temporal bone provided in accordance with some embodiments of the present application;
FIG. 2 is a front view of the embodiment of FIG. 1;
FIG. 3 is a schematic structural view of an automated clamping module provided in accordance with some embodiments of the present application;
FIG. 4 is a schematic diagram of a configuration of an automated powder drilling module provided in accordance with some embodiments of the present application;
fig. 5 is a front view of the embodiment shown in fig. 4.
Description of reference numerals:
100-a workbench; 200-a feeding manipulator; 300-a drilling unit; 400-a control unit;
301-a rack; 302-automatic clamping module; 303-automatic powder drilling module; 304-an automatic collection module; 305-biosafety cabinets;
312-moving the carrier plate; 322-a clamping body; 322A-a clamping cylinder; 322B-mounting barrel; 332-folding the shield;
313-a horizontal adjustment mechanism; 313A-a holder; 313B-a front-rear adjustment section; 313C-left and right adjustment section; 323-vertical adjusting mechanism; 333-drilling gun mechanism; 333A-main rotating part; 333B-gun body clamping part;
901-a first ball screw pair; 902-a first stepper motor; 903-a second stepper motor; 904-third stepper motor; 905-a servo motor; 906-test tube placement station.
Detailed Description
The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
As shown in fig. 1 to 5, the automatic drilling device for temporal bone includes: a table 100, a feeding robot 200, and a drilling unit 300; a drilling station is arranged on the workbench 100; the feeding manipulator 200 is mounted on the workbench 100 and used for grabbing the sample to be processed and moving the sample to the drilling station so as to collect the drilling powder of the sample to be processed by the drilling unit 300; drilling unit 300 fixed mounting is in drilling the station, includes: the automatic powder drilling machine comprises a frame 301, an automatic clamping module 302, an automatic powder drilling module 303 and an automatic collecting module 304; the rack 301 is fixedly arranged at the drilling station, the automatic clamping module 302 is slidably arranged at the bottom of the rack 301, and the automatic clamping module 302 is provided with a temporal bone clamping position for clamping a sample to be processed sent by the feeding manipulator 200; the automatic powder drilling module 303 is slidably mounted at the top of the frame 301; the automatic clamping module 302 and the automatic powder drilling module 303 can move relatively, so that a drill gun on the automatic powder drilling module 303 is just treating a sample to be processed, and the sample to be processed is drilled; the automatic collection module 304 comprises a collection vessel and a collection manipulator, the collection vessel and the collection manipulator are both mounted on the frame 301, and the collection vessel is located below the temporal bone clamping position and used for collecting powder of drilling powder; the collecting manipulator is used for grabbing the collecting vessel so as to fill the powder collected in the collecting vessel.
In the embodiment of the present application, the workbench 100 is a smooth table top, the workbench 100 is fixed by a plurality of legs, the legs are detachably connected to the lower surface of the workbench 100, the legs are made of profiles (such as channel steel, square tubes, etc.), and the legs are connected by fixing rods to enhance the stability of the workbench 100. Further, the end portions of the supporting legs are provided with adjusting foot pads, the adjusting foot pads can be detachably connected to the supporting legs, the height of the supporting legs can be adjusted in the vertical direction, and then the workbench 100 is kept horizontal through adjustment of the plurality of adjusting foot pads. Preferably, the adjusting foot pad is in threaded connection with the end of the supporting leg, and the height of the supporting leg is adjusted by adjusting the depth of the adjusting foot pad screwed into the end of the supporting leg.
In the embodiment of the present application, the middle of the top of the working table 100 is set as a drilling station, the feeding manipulator 200 is installed on the left side of the drilling station, and the control unit 400 (such as a programmable logic controller, a touch display screen, etc.) of the automatic powder drilling device is installed on the right side of the drilling station. By installing the drilling unit 300 in the middle of the table top of the work table 100, the control unit 400 is disposed close to the drilling unit 300, thereby facilitating an operator to observe the drilling state in real time and increasing the response speed of the operator to the drilling operation when the drilling operation is performed.
In the embodiment of the present application, the feeding robot 200 is a flexible robot with multiple degrees of freedom (e.g., six degrees of freedom), so that the feeding robot 200 can grasp the sample to be processed from multiple angles and orientations and send the sample to the drilling station. Therefore, the sample to be processed can be placed at a proper position according to the space by an operator, and the space utilization rate is improved on the premise of ensuring the function of the feeding manipulator 200.
In the embodiment of the application, the frame 301 is detachably mounted on the drilling station in the front-back direction, the cross section of the frame 301 in the front-back direction is 20866;, the opening end of the frame 301 faces the table top of the workbench 100, 20866of the frame 301, a U-shaped groove is formed in the middle of the upper surface of the U-shaped structure, through holes are symmetrically formed in two sides of the U-shaped groove in the front-back direction, specifically, the cross section of each through hole is rectangular, and the axis of each through hole is perpendicular to 20866;, the upper surface of the frame 301.
In the present embodiment, the auto-clamping module 302 is slidably mounted to the upper surface of the v 20866of the rack 301 in the front-to-rear direction. Specifically, a sliding groove is formed in the upper surface of the v 20866of the rack 301, a sliding rail matched with the sliding groove is correspondingly arranged on the automatic clamping module 302, the automatic clamping module 302 is connected with the rack 301 through a first ball screw pair 901, and the first ball screw pair 901 converts rotary motion into linear motion of the automatic clamping module 302 under the driving of a first stepping motor 902, so that the automatic clamping module 302 moves in the front-back direction through the matching of the sliding rail and the sliding groove.
In an alternative embodiment, the auto-clamping module 302 includes a moving carrier plate 312 and a clamping body 322. The movable bearing plate 312 is mounted on the frame 301 along the front-rear direction of the automated powder drilling apparatus; the clamping main body 322 is fixedly installed on the movable bearing plate 312, is located below the automatic powder drilling module 303, and can be driven by the movable bearing plate 312 to move in the front-back direction; the clamping main body 322 is provided with a plurality of clamping cylinders 322A, the centers of the clamping cylinders 322A form a temporal bone clamping position, and the telescopic parts of the clamping cylinders 322A move towards the temporal bone clamping position in a telescopic mode so as to clamp a sample to be processed at the temporal bone clamping position.
In the embodiment of the application, the section of the movable bearing plate 312 in the front-back direction is also 20866; 'a type structure, 20866of the movable bearing plate 312, bottom ends on two sides of the type structure are located at 20866of the rack 301 as sliding rails, a first ball screw pair 901 driving the automatic clamping module 302 to move back and forth passes through 20866of the movable bearing plate 312 in a sliding groove on the upper surface of the type structure, a cavity of the type structure is connected with the top of the 20866;' the type structure of the movable bearing plate 312, and the connection of the first ball screw and the movable bearing plate 312 deviates from a temporal bone clamping position; the first stepping motor 902 is fixedly installed at an end of the v-20866of the rack 301, and drives the first ball screw pair 901 to rotate, so as to convert the rotation motion into the forward and backward movement of the movable bearing plate 312 on the rack 301.
In the embodiment of the present application, the clamping bodies 322 are fixedly installed on the movable supporting plate 312 and located at the middle of the upper surface of the movable supporting plate 312, and a plurality of sets of clamping cylinders 322A are circumferentially and uniformly distributed on the upper surface of the movable supporting plate 312. Specifically, the upper surface of the movable bearing plate 312 is fixedly connected with an installation cylinder 322B with openings at two ends, the bottom end of the installation cylinder 322B is fixedly connected with the upper surface of the movable bearing plate 312, and a plurality of sets of clamping cylinders 322A are uniformly distributed on the side wall of the installation cylinder 322B along the circumferential direction. Preferably, the shaft section of the mounting cylinder 322B is a regular hexagon, and correspondingly, six sets of clamping cylinders 322A are provided, and six sets of clamping cylinders 322A are correspondingly mounted on six side walls of the mounting cylinder 322B. Therefore, the adaptability of the samples to be processed with different shapes and specifications can be effectively improved, and meanwhile, the isolated drilling powder of the samples to be processed can be realized through the side wall of the mounting cylinder 322B.
In a specific example, the flexible portion of the clamping cylinder 322A is provided with a flexible clamping block, and the flexible clamping block is driven by the flexible portion to clamp the sample to be processed. Therefore, the surface of the sample to be processed can be effectively protected, and the sample to be processed is prevented from being damaged.
In another specific example, the clamping body 322 is further provided with a plurality of clamping force sensors, the plurality of clamping force sensors are in one-to-one correspondence with the plurality of clamping cylinders 322A, and each clamping force sensor is arranged between the expansion part of the clamping cylinder 322A and the fixing part of the clamping cylinder 322A to monitor the force of the expansion part clamping the sample to be processed. Therefore, the clamping force of the clamping cylinder 322A in clamping the sample to be processed is monitored in real time, so that the sample to be processed is accurately clamped, the damage to the sample to be processed caused by overlarge clamping force is effectively avoided, and the sample to be processed cannot be clamped effectively due to the fact that the clamping force is too small.
In the embodiment of the application, the control unit 400 is used for setting the clamping force of different samples to be processed, and the unit is used for carrying out real-time loading analysis on the clamping force of the samples to be processed through the clamping force sensor, so that the control precision of the clamping force of the samples to be processed is effectively improved.
In another specific example, the automatic clamping module 302 further comprises: the shield 332 is folded. The folded passport is mounted on the moving carrier 312 between the collection vessel and the holding cylinder 322A and can be extended or folded in the front-rear direction; the folded shield 332 is provided with a leakage hole, wherein the leakage hole is opposite to the temporal bone holding position when the folded shield 332 is extended. Therefore, in the powder drilling process, the folding shield 332 extends, the drilling powder enters the collecting vessel through the powder leakage hole, the powder collection is not influenced, meanwhile, the powder is prevented from flying, entering other parts and causing damage to the other parts or equipment halt, and the reliability and the service life of the automatic powder drilling device are effectively improved.
In another specific example, the foldable shield 332 is composed of two parts, which are respectively disposed at the front and rear ends of the upper surface of the frame 301, and when the two parts of the foldable shield 332 are extended, the ends of the two parts of the foldable shield 332 are respectively in contact with the front and rear ends of the movable loading plate 312; when no drilling is performed, the two-part folding shield 332 is folded to the front and rear ends of the chassis 301.
In some alternative embodiments, the automated powder drilling module 303 is slidably mounted on the top of the frame 301, and in particular, the automated powder drilling module 303 comprises: a horizontal adjustment mechanism 313, a vertical adjustment mechanism 323, and a drill gun mechanism 333. The horizontal adjustment mechanism 313 includes a fixed seat 313A, a front-rear adjustment portion 313B, and a left-right adjustment portion 313C, and the left-right adjustment portion 313C is slidably mounted on a side surface of the front-rear adjustment portion 313B and is movable in the left-right direction on the front-rear adjustment portion 313B; the front-rear adjusting portion 313B is slidably mounted on the fixing base 313A, and can drive the left-right adjusting portion 313C to move on the fixing base 313A in the front-rear direction.
The vertical adjusting mechanism 323 is fixedly arranged on the left and right adjusting part and can move along the up and down direction; the drill gun mechanism 333 includes: the main rotating part 333A and the gun body clamping part 333B are arranged on the vertical adjusting mechanism 323 in a rotating mode, can rotate along the vertical axis of the vertical adjusting mechanism 323, and can move in the vertical direction under the driving of the vertical adjusting mechanism 323; the gun body clamping part 333B is fixedly mounted on the main rotating part 333A and can be driven by the main rotating part 333A to rotate along a vertical axis, and the gun body clamping part 333B is used for mounting a drill gun.
In the embodiment of the present application, the horizontal adjustment mechanism 313 drives the vertical adjustment mechanism and the drill gun mechanism 333 to move in the front-back direction and the left-right direction, so that the drill gun is aligned with the sample to be processed by the relative movement with the automatic clamping module 302; after the drill gun is aligned with the sample to be processed, the drill gun is driven to move up and down through the vertical adjusting mechanism, and the drill gun is moved to be in contact with the sample to be processed; and then, performing powder drilling on the sample to be processed by using a drilling gun.
In the embodiment of the present application, the front-rear adjusting portion 313B is connected to the second stepping motor 903 through a second ball screw pair, and the second stepping motor 903 drives the second ball screw pair to convert the rotational motion into the linear motion of the front-rear adjusting portion 313B along the front-rear direction. Specifically, the lower surface of the front-rear adjusting portion 313B contacts the top surface of the fixing base 313A through a sliding pair (a slide rail, a chute, etc.), and is driven to move by the second stepping motor 903 through a second ball screw pair, wherein the second ball screw is installed at the lower portion of the front-rear adjusting portion 313B in the front-rear direction, and the second stepping motor 903 is fixed to the front (rear) end of the fixing base 313A.
In the embodiment of the present application, the left and right adjusting portions 313C are connected by a third ball screw pair and a third stepping motor 904, and the third stepping motor 904 drives the third ball screw pair to convert the rotational motion into the linear motion of the left and right adjusting portions 313C in the left and right directions. Specifically, the side walls of the left and right adjusting portions 313C are hung on the side walls of the front and rear adjusting portions 313B, for example, slide grooves are provided on the side walls of the front and rear adjusting portions 313B, slide rails are provided on the side walls of the left and right adjusting portions 313C, and the slide rails of the left and right adjusting portions 313C are overlapped with the slide grooves of the front and rear adjusting portions 313B. The left and right adjusting portions 313C are driven to move by a third stepper motor 904 through a third ball screw pair, wherein the third ball screw pair is installed in the front and rear adjusting portion 313B in the left-right direction and is connected with the left and right adjusting portion 313C, and the third stepper motor 904 is fixedly installed at the right (left) end of the front and rear adjusting portion 313B.
In the embodiment of the present application, the vertical adjustment mechanism 323 is connected to the left and right adjustment portion 313C through a fourth ball screw pair, and is driven by the servo motor 905 to move up and down, so as to drive the drill gun mechanism 333 to move up and down. The vertical line adjusting mechanism is further provided with a sliding guide rod, and the sliding guide rod is used for ensuring that the up-and-down movement of the drilling gun mechanism 333 does not generate deviation. Specifically, a sliding hole is formed in a side wall of the left and right adjusting portion 313C, and a sliding guide rod passes through the sliding hole and moves in the up-down direction under the driving of the servo motor 905.
In the embodiment of the present application, the main body rotating part of the drilling gun mechanism 333 is installed at the lower end of the vertical adjusting mechanism 323, for example, an electric rotating motor is used, the end of the electric rotating motor is fixedly installed at the lower end face of the vertical adjusting mechanism 323 and is coaxial with the vertical adjusting mechanism 323, and the output end of the electric rotating motor is connected to the gun body clamping part 333B to drive the gun body clamping part 333B to rotate.
In a specific example, a plurality of gun body clamping positions are uniformly distributed on the gun body clamping part 333B along the circumferential direction, and each gun body clamping position clamps one drilling gun correspondingly. Specifically, the gun body clamping portion 333B is a cylindrical structure, the upper end surface of the gun body clamping portion 333B is coaxially connected to the main body rotating portion, and a plurality of gun body clamping positions are uniformly distributed on the side wall of the gun body clamping portion 333B along the circumferential direction. Therefore, the drill gun can be clamped in a plurality of different models and types at the same time, the replacement time of the drill gun is shortened, and the powder drilling efficiency is improved.
In another specific example, the drill gun mechanism 333 further includes: the gun body clamping part 333B is provided with a load sensor and a displacement sensor, wherein the load sensor and the displacement sensor are both arranged on the gun body clamping part 333B, the load sensor is used for controlling the drilling force of the drilling gun during powder drilling, and the displacement sensor is used for controlling the drilling depth of the drilling gun during powder drilling. Specifically, the drilling force and the drilling depth of different samples to be processed are set through the control unit 400, and the drilling force and the drilling depth are monitored and adjusted in real time through the load sensor and the displacement sensor, so that the control precision of the samples to be processed during drilling powder is effectively improved.
In another specific example, the automated powder drilling module 303 further comprises: a biohazard safety equipment 305. The biosafety cabinet 305 is a housing structure with an open end, and the open end covers the horizontal adjustment mechanism 313. Therefore, other parts of the automatic powder drilling module 303 can be protected, meanwhile, pollution and interference of the external environment during powder drilling can be effectively avoided, and the purity of the drilling powder of the sample to be processed is improved.
In some optional embodiments, a to-be-processed sample placing station is further disposed on the workbench 100, and is used for placing a to-be-processed sample; the drilling unit 300 is provided with a test tube placing station 906, and the test tube placing station 906 is used for placing sealed test tubes filled with powder. Further, the feeding mechanical arm 200 is arranged at one corner of the workbench 100 close to the sample placing station to be processed, and the collecting mechanical arm is arranged at the top of the rack 301 close to the test tube placing station 906; wherein, the execution tail ends of the feeding manipulator 200 and the collecting manipulator are both flexible bionic clamping claws.
In the embodiment of the application, the feeding manipulator 200 is installed close to the to-be-processed sample placing station, so that the to-be-processed sample can be conveniently grabbed from the to-be-processed sample placing station during working, and the to-be-processed sample is placed into the temporal bone clamping position of the drilling unit 300 from the side; when the workbench does not work, the workbench is folded and contracted at one corner of the workbench 100, so that influence on other work is effectively avoided.
In this application embodiment, collect the manipulator and be close to the test tube and place station 906 flip-chip at the top of frame 301, not only effectively utilized the headspace of frame 301, made the structure compacter, simultaneously, effectively increased the workspace of collecting the manipulator, be convenient for collect the manipulator and take out the collection household utensils from the below of temporal bone centre gripping position, and can be more nimble will collect the powder filling in the household utensils to the sealed test tube of depositing to place at the test tube and place station 906.
In this application embodiment, collect the household utensils and set up the powder groove of slope on class, the high position in powder groove is located temporobone centre gripping position under, and the low level in powder groove extends to powder collecting region to with the opening of sealing up the test tube to the adaptation, whereby, treat that the sample bores the automatic collection to sealing up in the test tube of powder accessible inclined powder groove of powder production.
In the embodiment of the application, the execution tail ends of the feeding mechanical arm 200 and the collecting mechanical arm are both flexible bionic clamping claws, so that the protection of a clamping object is effectively improved when a sample to be processed or a collecting vessel or a sealed test tube is clamped, and the wall surface damages the clamping object.
In the embodiment of the application, the control unit 400 controls the feeding manipulator 200 to grab the to-be-processed sample at the to-be-processed sample placing station, and automatically sends the to-be-processed sample to a designated position (temporal bone clamping position) in the biosafety cabinet 305 according to a set path, so as to control the clamping force of the multiple sets of clamping cylinders 322A and clamp and fix the to-be-processed sample; then, controlling the automatic powder drilling module 303 and the automatic clamping module 302 to move relatively, and selecting a proper drill gun to align the drill gun with the powder drilling point of the sample to be processed; the drilling gun is controlled to drill powder according to the set drilling depth, when the drilling powder meets the requirement, the drilling gun automatically returns, and the automatic clamping module 302 automatically returns; the collection robot fills the powder in the collection vessel into a sealed test tube, and seals, places the sealed test tube in the test tube placement station 906.
According to the automatic drilling device applied to the temporal bone, provided by the embodiment of the application, the sample to be processed is grabbed and conveyed to the drilling station through the feeding mechanical arm 200 arranged on the workbench 100, and the drilling unit 300 arranged on the drilling station is used for collecting the drilling powder of the sample to be processed; the drilling unit 300 makes the drilling gun on the automatic powder drilling module 303 directly face the sample to be processed at the temporal bone clamping position through the relative movement of the automatic clamping module 302 and the automatic powder drilling module 303, and the drilling gun drills powder to the sample to be processed; and collecting the powder during drilling through a collecting vessel positioned below the temporal bone clamping position, and then filling the collected powder in the collecting vessel by a collecting manipulator. Therefore, the whole process completely realizes automatic clamping of the sample to be processed, automatic drilling powder and automatic powder collection, the processing is accurate, the operation is simple, convenient and reliable, the efficiency is high, and meanwhile, the requirements on operators and the operation intensity are greatly reduced.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. An automatic bore whitewashed device of temporal bone is applied to, its characterized in that includes: the device comprises a workbench, a feeding manipulator and a drilling unit;
a drilling station is arranged on the workbench;
the feeding mechanical arm is arranged on the workbench and used for grabbing a sample to be processed and moving the sample to the drilling station so as to collect drilling powder of the sample to be processed by the drilling unit;
get unit fixed mounting in get the station, include: the automatic powder drilling machine comprises a rack, an automatic clamping module, an automatic powder drilling module and an automatic collecting module;
the automatic clamping module is arranged at the bottom of the rack in a sliding manner, and is provided with a temporal bone clamping position for clamping the sample to be processed sent by the feeding manipulator; the automatic powder drilling module is slidably mounted at the top of the rack; the automatic clamping module and the automatic powder drilling module can move relatively, so that a drilling gun on the automatic powder drilling module is over against the sample to be processed, and the sample to be processed is drilled with powder; the automatic clamping module includes: the automatic powder drilling device comprises a movable bearing plate and a clamping main body, wherein the movable bearing plate is arranged on the rack along the front-back direction of the automatic powder drilling device; the upper surface of the movable bearing plate is fixedly connected with an installation cylinder with openings at two ends and a regular hexagonal axial cross section, the bottom end of the installation cylinder is fixedly connected with the upper surface of the movable bearing plate, six sets of clamping cylinders are uniformly distributed on the side wall of the installation cylinder along the axial direction, the centers of the six sets of clamping cylinders form a temporal bone clamping position, and the telescopic parts of the six sets of clamping cylinders telescopically move towards the temporal bone clamping position in the horizontal plane so as to clamp the sample to be processed at the temporal bone clamping position;
the automatic collection module comprises a collection vessel and a collection manipulator, the collection vessel and the collection manipulator are both fixedly mounted on the rack, the collection vessel is located below the temporal bone clamping position, an inclined powder groove is formed in the upper surface of the collection vessel, the high position of the powder groove is located right below the temporal bone clamping position, the low position of the powder groove extends to the powder collection area and is matched with an opening of a sealed test tube, so that powder generated by drilling of the sample to be processed is automatically collected into the sealed test tube through the inclined powder groove;
the collecting manipulator is used for grabbing the collecting vessel so as to fill the powder collected in the collecting vessel.
2. The automatic powder drilling device applied to the temporal bone according to claim 1, wherein a flexible clamping block is mounted on a telescopic part of the clamping cylinder, and the flexible clamping block is driven by the telescopic part to clamp the sample to be processed.
3. The automatic powder drilling device applied to the temporal bone according to claim 1, wherein a plurality of clamping force sensors are further arranged on the clamping main body, the plurality of clamping force sensors correspond to the plurality of clamping cylinders one by one, and each clamping force sensor is arranged between an expansion part of each clamping cylinder and a fixing part of each clamping cylinder so as to monitor the force of the expansion part clamping the sample to be processed.
4. The automated cement drilling apparatus for application to the temporal bone according to claim 1, wherein the automatic gripping module further comprises: a folding shield mounted on the moving carrier plate, located between the collection vessel and the holding cylinder, and capable of being extended or folded in a front-rear direction; the folding shield is provided with a powder leakage hole, wherein the powder leakage hole is over against the temporal bone clamping position when the folding shield is extended.
5. The automated cement drilling apparatus for application to the temporal bone according to claim 1, wherein the automated cement drilling module comprises:
a horizontal adjusting mechanism which comprises a fixed seat, a front and back adjusting part and a left and right adjusting part,
the fixed seat is fixedly arranged at the top of the rack;
the left and right adjusting parts are slidably mounted on the side surfaces of the front and rear adjusting parts and can move on the front and rear adjusting parts along the left and right direction; the front and rear adjusting part is slidably mounted on the fixed seat and can drive the left and right adjusting part to move on the fixed seat along the front and rear direction;
the vertical adjusting mechanism is arranged on the left and right adjusting part and can move along the up-down direction;
a drill gun mechanism comprising: the main rotating part is rotatably arranged on the vertical adjusting mechanism, can rotate along the vertical axis of the vertical adjusting mechanism and can move in the vertical direction under the driving of the vertical adjusting mechanism; the gun body clamping part is fixedly arranged on the main rotating part and can rotate along the vertical axis under the driving of the main rotating part, and the gun body clamping part is used for installing the drilling gun.
6. The automatic powder drilling device applied to the temporal bone according to claim 5, wherein a plurality of gun body clamping positions are uniformly distributed on the gun body clamping portion along the circumferential direction, and each gun body clamping position correspondingly clamps one drill gun.
7. The automated powder drilling apparatus for application to the temporal bone according to claim 5, wherein the drill gun mechanism further comprises: the device comprises a load sensor and a displacement sensor, wherein the load sensor and the displacement sensor are both arranged on the gun body clamping part, the load sensor is used for controlling the drilling force of the drilling gun during powder drilling, and the displacement sensor is used for controlling the drilling depth of the drilling gun during powder drilling.
8. The automated cement drilling apparatus for application to the temporal bone according to claim 5, wherein the automated cement drilling module further comprises: the biological safety cabinet is of a shell structure with an opening at one end, and the opening end is covered above the horizontal adjusting mechanism.
9. The automated drilling device for temporal bone according to any one of claims 1-8,
the workbench is also provided with a to-be-processed sample placing station which is used for placing the to-be-processed sample;
the drilling unit is provided with a test tube placing station, and the test tube placing station is used for placing a sealed test tube filled with the powder;
the feeding mechanical arm is arranged at one corner of the workbench close to the sample placing station to be processed, and the collecting mechanical arm is arranged at the top of the rack close to the test tube placing station; and the execution tail ends of the feeding mechanical arm and the collection mechanical arm are both flexible bionic clamping claws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111194274.5A CN113624548B (en) | 2021-10-13 | 2021-10-13 | Be applied to automatic brill powder device of temporal bone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111194274.5A CN113624548B (en) | 2021-10-13 | 2021-10-13 | Be applied to automatic brill powder device of temporal bone |
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| Publication Number | Publication Date |
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| CN113624548A CN113624548A (en) | 2021-11-09 |
| CN113624548B true CN113624548B (en) | 2022-04-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2012515931A (en) * | 2008-04-25 | 2012-07-12 | ウィンケルマン、ジェイムズ | System and method for determining total blood count and white blood cell percentage |
| CN103674761B (en) * | 2013-12-13 | 2017-01-04 | 上海烟草集团有限责任公司 | Automatic cigarette smoke analysis device |
| CN204101315U (en) * | 2014-08-27 | 2015-01-14 | 广州市刑事科学技术研究所 | A kind of bone sample sampler |
| CN208907861U (en) * | 2018-09-29 | 2019-05-28 | 浙江大学 | Bone and the minimally invasive sampler of cartilage samples |
| CN210487301U (en) * | 2019-07-31 | 2020-05-08 | 北京达博创新科技开发有限公司 | Equipment for rapidly collecting bone fragment samples |
| CN212432565U (en) * | 2019-12-31 | 2021-01-29 | 尹桂明 | Bone sample sampling device of easy operation |
| CN213858196U (en) * | 2020-09-15 | 2021-08-03 | 江苏巨麦机床科技有限公司 | Workpiece fixing and clamping device for machine tool |
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