CN116413465A - Cup arranging device and control method - Google Patents
Cup arranging device and control method Download PDFInfo
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- CN116413465A CN116413465A CN202111676792.0A CN202111676792A CN116413465A CN 116413465 A CN116413465 A CN 116413465A CN 202111676792 A CN202111676792 A CN 202111676792A CN 116413465 A CN116413465 A CN 116413465A
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 77
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- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 230000004308 accommodation Effects 0.000 claims description 5
- 238000011049 filling Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000011068 loading method Methods 0.000 description 12
- 230000001276 controlling effect Effects 0.000 description 10
- 230000000875 corresponding effect Effects 0.000 description 9
- 239000007788 liquid Substances 0.000 description 6
- 238000010415 tidying Methods 0.000 description 3
- 238000012742 biochemical analysis Methods 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000003018 immunoassay Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005842 biochemical reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000008105 immune reaction Effects 0.000 description 1
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
- G01N33/50—Chemical analysis of biological material, e.g. blood, urine; Testing involving biospecific ligand binding methods; Immunological testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
- G01N33/50—Chemical analysis of biological material, e.g. blood, urine; Testing involving biospecific ligand binding methods; Immunological testing
- G01N33/53—Immunoassay; Biospecific binding assay; Materials therefor
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- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- 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
- G01N35/04—Details of the conveyor system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- 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
- G01N35/04—Details of the conveyor system
- G01N2035/0474—Details of actuating means for conveyors or pipettes
- G01N2035/0491—Position sensing, encoding; closed-loop control
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- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- 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
- G01N35/04—Details of the conveyor system
- G01N2035/0496—Other details
- G01N2035/0498—Drawers used as storage or dispensing means for vessels or cuvettes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The application relates to a cup arranging device and a control method. The cup organizer comprises: the accommodating part is used for accommodating the reaction cup and is provided with an upper cup opening; the moving part is rotationally connected with the accommodating part and comprises at least one accommodating position, and the accommodating position can drive the reaction cup to rotate to the upper cup opening; the driving part is connected with the moving part and used for driving the moving part to rotate; and the limit detection part is connected with the driving part and is used for controlling the start and stop of the driving part so that any containing position of the reaction cup placed on the driving part is positioned at the preset position of the upper cup opening in any static state. According to the scheme provided by the application, the cup can be stably and accurately arranged according to the requirement of the cup, and the damage of the reaction cup is avoided.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to a cup arranging device and a control method.
Background
A sample analyzer (biochemical analysis, immunoassay) is an instrument for detecting a specific substance in blood. In order to obtain a detection signal, the liquid in the cuvette is usually subjected to a specific reaction, such as a biochemical reaction, an immunological reaction. The reaction cup is a component for bearing liquid to be detected in the sample analyzer and is used for providing a reaction place for the liquid to be detected. The cuvette is typically a disposable plastic cup that is discarded after the reaction has ended. In a fully automated sample analyzer, the cuvette is automatically uploaded into the sample analyzer by a cuvette handling device.
Since the number of tests is typically hundreds or thousands of a day, in order to reduce the number of manual operations, it is necessary that the cuvette sorter can carry hundreds of cuvettes and upload them sequentially into the sample analyzer. Therefore, in the process of loading the reaction cup into the sample analyzer through the uploading channel, the alignment accuracy of the relative position of the reaction cup entering the uploading channel and the uploading channel during starting or stopping has a great influence on the accuracy and stability of the cup on the reaction cup.
Disclosure of Invention
In order to solve or partially solve the problems existing in the related art, the application provides a cup arranging device and a control method, which can stably and accurately finish cup feeding according to cup feeding requirements and avoid damage of reaction cups.
A first aspect of the present application provides a cup organizer, the cup organizer comprising:
the accommodating part is used for accommodating the reaction cup and is provided with an upper cup opening;
the moving part is rotationally connected with the accommodating part and comprises at least one accommodating position, and the accommodating position can drive the reaction cup to rotate to the upper cup opening;
the driving part is connected with the moving part and used for driving the moving part to rotate;
and the limit detection part is connected with the driving part and is used for controlling the start and stop of the driving part so that any containing position of the reaction cup placed on the driving part is positioned at the preset position of the upper cup opening in any static state.
A second aspect of the present application provides a control method for the cup sorter described in the foregoing, the control method comprising:
the motion part is controlled to rotate or stop rotating relative to the accommodating part, and the limit detection part can control the driving part to be in any static state, and any accommodating position in which the reaction cup is placed is located at a preset position of the upper cup opening.
The technical scheme that this application provided can include following beneficial effect: through the spacing detection portion that sets up, can be according to the start-stop of demand automatic control drive portion to avoid appearing uploading the condition that the reaction cup in the passageway can't stop in time when filling up the cup. And the limit detection part can control the stop position of the moving part relative to the opening in the stop state, so that the moving part can have a preset position with a holding position at the upper cup opening when stopping each time, and the preset position is a certain position to which the reaction cup rotates before being matched with the deflector rod. As long as the driving part is ensured to stop at a preset position every time, even if the driving part is suddenly started, the driving part is even shaked, and the reaction cup is not damaged due to the extrusion of the deflector rod because the driving part is not in a semi-cup-loading state.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
FIG. 1 is a schematic view of a partial structure of a cup organizer according to an embodiment of the present application;
FIG. 2 is a schematic view of the cup organizer of FIG. 1 in another orientation;
FIG. 3 is a schematic view of another partial structure of the cup organizer shown in an embodiment of the present application;
fig. 4 is a partial cross-sectional view of a cup organizer as shown in an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
A sample analyzer (e.g., biochemical analysis, immunoassay) is an instrument for detecting a specific substance in blood. The reaction cup is a component for bearing liquid to be detected in the sample analyzer and is used for providing a reaction place for the liquid to be detected. The sample analyzer at least comprises a cup feeding station for loading the reaction cup into the dispensing disc, and the liquid to be detected in the reaction cup is detected and analyzed by controlling the rotation of the dispensing disc, and the specific structure and the working principle of the sample analyzer are not described in detail herein. In order to realize automatic cup feeding of the cup feeding station, a cup arranging device is arranged corresponding to the cup feeding station, the cup arranging device is provided with an uploading channel, and reaction cups are loaded into the uploading channel through the cup arranging device, so that the reaction cups orderly arranged in the uploading channel can be automatically loaded into corresponding dispensing discs when the cup feeding is needed.
When the position of the reaction cup placed in the dispensing tray is full, the cup sorter is controlled to stop in time because the situation can not be identified, the reaction cup is continuously loaded into the uploading channel, the reaction cup is easily accumulated in the uploading channel, and the situation that the reaction cup is extruded and damaged after the cup is full occurs is easily caused. Moreover, after the cup sorter is manually or automatically controlled to stop before the loading channel is full of cups, the situation that the reaction cups stop at half the loading channel and the half the loading channel is likely to occur, and the reaction cups of the half loading cup are easily damaged due to the influence of shaking, extrusion and the like caused by other parts when the cup sorter is restarted.
To above-mentioned problem, this application embodiment provides a reason cup ware, can be according to cup feeding demand stable, accurate completion cup, avoids the reaction cup to damage.
The following describes the technical scheme of the embodiments of the present application in detail with reference to the accompanying drawings.
Referring to fig. 1 to 4, the cup sorter includes a receiving part 1, a moving part 3, a driving part 2 and a limit detecting part 4, the receiving part 1 is used for receiving a reaction cup, the receiving part 1 has an upper cup opening 11, the upper cup opening 11 is communicated with a cup feeding station of the sample analyzer through a communicated uploading channel, and the moving part 3 loads the sorted reaction cup into the uploading channel through the upper cup opening 11 to wait for entering the sample analyzer in line. The motion portion 3 is connected to the accommodating portion 1 in a rotating mode, the motion portion 3 comprises at least one accommodating position 31, the accommodating position 31 can drive the reaction cup to rotate to the upper cup opening 11, and the reaction cup is loaded into the uploading channel through a deflector rod arranged at the corresponding position of the upper cup opening 11. The driving part 2 is connected with the moving part 3 and used for driving the moving part 3 to rotate, the limit detection part 4 is connected with the driving part 2 and used for controlling the starting and stopping of the driving part 2, so that the driving part 2 is in any static state, and any containing position 31 for containing a reaction cup is located at a preset position of the upper cup opening 11. Through the spacing detection portion 4 that sets up, can be according to the start-stop of demand automatic control drive portion 2 to avoid appearing uploading the condition that the reaction cup in the passageway can't stop in time when filling up the cup. And, the limit detection part 4 can control the stop position of the moving part 3 relative to the upper cup opening 11 in the stop state, so that a holding position 31 can be positioned at a preset position of the upper cup opening 11 when the moving part 3 stops each time, and the preset position is a certain position to which the reaction cup rotates before being matched with the deflector rod. As long as it is ensured that a holding position 31 is stopped at a preset position every time the driving part 2 is stopped, even if the driving part 2 is suddenly started, the driving part is not in a half-on-cup state and is not extruded by the deflector rod to damage the reaction cup even if shaking occurs.
It can be understood that the preset position may be set in the accommodating portion 1, when the reaction vessel of one accommodating position 31 is in a state of being matched with the driving lever to be loaded into the uploading channel, the preset position may be set at any position between the accommodating position 31 and the next accommodating position 31 adjacent thereto, so long as the reaction cup to be loaded into the uploading channel through the driving lever can be ensured, when the driving portion stops, the limit detection portion 4 can control the accommodating position 31 corresponding to the reaction cup to stop outside the contactable range with the driving lever, and a worker can adaptively select the specific position of the preset position according to the actual conditions such as the rotation speed of the moving portion 3, the adjacent included angle between the accommodating positions 31, and the like. Alternatively, the preset position may be provided in the limit detection unit 4, and is not particularly limited herein.
In a specific embodiment, the moving part 3 includes a cup arranging turntable, the plurality of accommodating positions 31 are arranged along the circumferential direction of the cup arranging turntable, the accommodating part 1 is provided with an accommodating cavity 13, a bottom wall and a side wall 12, the cup arranging turntable is located at the bottom wall of the accommodating part 1, and the upper cup opening 11 is located at the side wall 12 of the accommodating part 1. The accommodating portion 1 may be provided as a cylindrical structure having an upper opening and an accommodating chamber 13, and the upper cup opening 11 is located at a sidewall 12 of the cylindrical structure and communicates with the accommodating chamber 13. The cup arranging turntable is rotatably connected to the bottom wall of the cylinder structure. In order to automatically realize the upper cup of the upward loading passage, the accommodating portion 1 of the cylindrical structure is obliquely placed so that the upper cup opening 11 is obliquely directed upward. In this way, the plurality of reaction cups entering the accommodating cavity 13 are subjected to the action of gravity, so that the accommodating position 31 positioned at the lowest part can be adapted to one reaction cup in the rotating process of the cup arranging turntable, and the reaction cup is driven to rotate to the upper cup opening 11 along with the cup arranging turntable. When the reaction cup moving to the upper cup opening 11 reaches the position of the deflector rod, the deflector rod can be abutted with the reaction cup and pushed to move in the uploading channel, so that the uploading work of the reaction cup is realized.
Optionally, one side of the accommodating part 1 far away from the cup arranging turntable is provided with a bearing part 5 for bearing the reaction cup to the accommodating cavity 13, and the bearing part 5 can be an arc-shaped bearing plate arranged on one side of the side wall of the accommodating part 1 far away from the upper cup opening 11, so that more reaction cups can be placed to the accommodating part 1 through the bearing plate at one time, the requirement of loading more reaction cups at one time is met, and the specific structure and the cooperation with the accommodating part 1 and the like are not described in detail herein.
The preset angle is arranged between any two adjacent accommodating positions 31, and when the limit detection part 4 controls the driving part 2 to stop, the driving part 2 drives the cup arranging turntable to rotate at an integral multiple of the preset angle. The holding bits 31 are circumferentially arranged along the edge of the cup arranging turntable, and the holding bits 31 may be concave with a shape matching the shape of the reaction cup. The reaction cup located in the accommodating cavity 13 can vibrate therein by external force or stir the reaction cup inside by the rotation of the cup arranging turntable, so that the reaction cup rotating to the accommodating position 31 below can enter with the adapted reaction cup, and the cooperation of the reaction cup and the accommodating position 31 is realized. The reaction cup can rotate along with the cup arranging rotary table, so that cup arranging of the reaction cup in the accommodating cavity 13 is realized. The reaction cup that the driving lever stirred every time is the reaction cup that is located holding position 31 after reason cup, and under the static state, the motion portion 3 stops in one of them holding position 31 and is located the preset position. Thus, from the start of the driving part 2, as long as the driving part 2 is controlled to drive the cup arranging turntable to rotate at a preset angle which is an integral multiple, each time the driving part 2 stops, the holding position 31 corresponding to the reaction cup which is to be shifted by the shift lever to enter the uploading channel next time can be ensured to stop at the preset position.
It will be appreciated that the preset angle between the adjacent accommodation bits 31 may be adapted according to different requirements, and is not specifically limited herein.
In an embodiment, the driving part 2 includes a driving motor 21 and a synchronous pulley group, the cup arranging turntable is provided with a rotating shaft 32 penetrating through the bottom wall, the synchronous pulley group connects an output shaft of the driving motor 21 with the rotating shaft 32, and the limit detection part 4 is used for monitoring a rotating angle of the rotating shaft 32 so as to obtain the rotating angle of the cup arranging turntable. The synchronous pulley set comprises a first pulley 22 and a second pulley 24, the first pulley 22 is fixedly connected to an output shaft of the driving motor 21, the second pulley 24 is fixedly connected to the rotating shaft 32, and the first pulley 22 and the second pulley 24 are connected through a synchronous belt 23, so that the rotation of the output shaft driven by the driving motor 21 can drive the rotating shaft 32 to rotate. The structure has higher matching stability, can control the rotating angle of the rotating shaft 32 more accurately according to the requirement, and improves the precision of controlling the rotating angle of the rotating shaft 32.
Alternatively, the driving portion 2 may be other matching structures capable of driving the rotating shaft 32 to rotate in a forward direction and a reverse direction, for example, a matching structure in which the driving motor 21 drives gears to mesh, an output shaft of the driving motor 21 is fixedly connected with a first gear, the rotating shaft 32 is fixedly connected with a second gear meshed with the first gear, and the driving motor 21 drives the first gear to rotate so as to drive the rotating shaft 32 to rotate, which is not limited specifically herein.
The limit detection unit 4 may be provided directly on the rotation shaft 32, or may be provided on the output shaft of the drive motor 21, the first pulley 22, and the second pulley 24. In this application, in order to ensure the accuracy of the rotation angle of the cup sorting turntable, the limit detection unit 4 is provided on the rotation shaft 32. Because the driving part 2 is controlled to be positioned at a preset position in the static state, when the driving part 2 is started each time to drive the cup arranging turntable to rotate, the total rotation angle of the cup arranging turntable driven by the driving part 2 can be accurately obtained as long as the rotation angle of the rotating shaft 32 is monitored through the limit detection part 4. When receiving a command for controlling the driving unit 2 to stop, the driving unit 2 can be controlled to stop as long as the rotation angle of the rotating shaft 32 measured by the limit detection unit 4 is an integer multiple of the preset angle.
In an embodiment, the cup sorter further comprises a control unit electrically connected to at least the driving part 2 and the limit detection part 4. By means of the control unit, the stop time of the driving part 2 can be controlled by the limit detection part 4, so that the situation that half cup feeding occurs after stopping can be avoided.
In an embodiment, referring to fig. 4, the limit detection portion 4 includes a code wheel located on the rotating shaft 32 or the synchronous belt wheel set and a sensor disposed on one side of the code wheel, where the sensor is electrically connected to the control unit, and the setting of the code wheel is at least used to measure the angular displacement of the rotation of the cup arranging turntable and limit the angular displacement to be an integer multiple of a preset angle. Through the preset angle of entering between the adjacent holding bits 31 in advance, in the cup arranging turntable rotation process, the angular displacement of the cup arranging turntable rotation can be conveniently and rapidly measured through the setting of the code disc, and the angular displacement is controlled to be limited to be an integer multiple of the preset angle, and then the driving motor 21 is stopped. Or the initial angular displacement corresponding to the preset position is recorded in advance, and when the full cup stop signal is obtained, the next containing position 31 to be added with the cup is rotated to the initial angular displacement position, and then the driving motor 21 is stopped. Thereby ensuring that the next reaction cup to be loaded can not move to the movable range of the deflector rod, and avoiding the situation that the reaction cup is clamped on the half upper cup. The sensor may be, for example, an optocoupler, which is not particularly limited herein.
Alternatively, when the code wheel is disposed on the rotating shaft 32 and the second pulley 24 is also disposed on the rotating shaft 32, in order to save the layout space, the code wheel may be disposed integrally with the second pulley 24, so long as the connected synchronous belt does not interfere with the code track disposed on the code wheel, which will not be described in detail herein.
It will be appreciated that at least the position of the uploading channel corresponding to the upper cup mouth 11 may be provided with a detecting member for detecting that the reaction cup is full, the detecting member is electrically connected with the control unit, when the uploading channel is full, the detecting member can continuously detect the reaction cup at the corresponding position, so that a full cup signal is sent to the control unit, and the control unit can control the driving part 2 and the limit detecting part 4 of the cup arranging device to perform corresponding actions according to the full cup signal, so that the loading of the reaction cup to the uploading channel is stopped and the loading of the reaction cup is not stopped in the semi-upper cup state. The detecting member may be, for example, an optocoupler, which is not particularly limited herein.
The present application provides a control method for the cup sorter described in the foregoing, the control method comprising: the motion part 3 is controlled to rotate or stop rotating relative to the accommodating part 1, and the limit detection part 4 can control the driving part 2 to be in any static state, and any accommodating position 31 in which a reaction cup is placed is positioned at a preset position of the upper cup opening 11. In the static state before or after the cup tidying device is started each time, the limit detection part 4 controls the movement of the driving part 2, so that the driving part 2 drives the movement part 3 to rotate until the holding position 31 is at a preset position, the cup tidying device is ensured to stop in time after the cup tidying device is full, and the stopped position is a certain position before the next holding position 31 to be loaded enters the movement range of the deflector rod, namely the preset position. The situation that the reaction cup is positioned on the half upper cup in the movement range of the deflector rod can not occur, and the reaction cup on the half upper cup is prevented from being extruded due to shaking of external factors such as a motor or the deflector rod when the driving part 2 is started suddenly.
In an alternative embodiment, any adjacent accommodation bits 31 arranged along the circumferential direction have a preset angle therebetween, and the control method further includes: in the process that the driving part 2 drives the moving part 3 to rotate, if the limit detection part 4 detects that the total rotating angle of the moving part 3 is a preset rotating angle, the driving part 2 is controlled to stop, wherein the preset rotating angle is an integral multiple of the preset angle. The driving part is in a stop state, one holding position is positioned to a preset position to serve as an initial state, on the basis, when the cup is loaded on the uploading channel through the cup arranging device, the quantity of reaction cups needed by the uploading channel to be loaded on the full cup can be calculated in advance, then the prefabricated rotation angle needed by the movement part 3 to be rotated is calculated according to the preset angle of the adjacent holding position 31, and the prefabricated rotation angle is input into the control unit. It can be understood that the preset rotation angle is an integer multiple of the preset angle, that is, when the control unit detects that the total rotation angle of the moving part reaches the preset rotation angle through the limit detection part 4 during the process of loading the cup onto the channel from the initial state, the control unit directly controls the driving part 2 to stop moving according to the information obtained by the limit detection part 4. Like this, not only can in time stop when guaranteeing to upload the passageway and be in full cup, and prefabricated rotation angle is the integer multiple of predetermineeing the angle for next will be in the holding position 31 of cup and be in the preset position, in order to avoid appearing half the condition of cup.
The specific control method comprises the following steps:
s101, when the control unit receives the cup filling signal, the control unit acquires the rotation angle of the movement part measured by the limit detection part 4.
S102, judging whether the rotation angle is an integer multiple of a preset angle, if so, controlling the driving part 2 to stop, otherwise, controlling the driving part 2 to move until the rotation angle is the integer multiple of the preset angle.
In the process that the driving part 2 controls the moving part 3 to rotate for cup feeding, when the uploading channel detects the full cup, a full cup signal is sent to the control unit, after the control unit receives the full cup signal, the control unit obtains information of the limit detection part 4 for detecting the rotation angle of the moving part 3 in real time, and the limit detection part 4 sends the detected rotation angle to the control unit. The control unit compares the rotation angle with the preset angle, if the rotation angle is an integer multiple of the preset angle, the driving part 2 is directly controlled to stop, and the holding position 31 of the next stopped cup to be placed in preparation can be just located at the preset position, so that the situation of half cup placement can not occur. Otherwise, the driving part 2 is controlled to continue moving until the rotation angle is an integer multiple of the preset angle.
It will be appreciated that, after the control unit receives the full cup signal, if the rotation angle is not an integer multiple of the preset angle, the angle that the movement portion 3 can continue to rotate should not exceed the preset angle when the driving portion 2 continues to move.
In the step S102, when the limit detection portion 4 has a preset rotation angle, the preset rotation angle is an integer multiple of the preset angle, and the control method includes: comparing the rotation angle with the preset rotation angle, if the rotation angle is larger than the preset rotation angle, controlling the driving part 2 to reversely rotate until the rotation angle is equal to the preset rotation angle, and if the rotation angle is smaller than the preset rotation angle, controlling the driving part 2 to continuously rotate until the rotation angle is equal to the preset rotation angle. By comparing the rotation angle measured by the limit detection portion 4 with a certain preset rotation angle when the preset holding bit 31 is aligned with the preset position, the driving portion 2 can be controlled to stop as long as the comparison result satisfies that the rotation angle is equal to the preset rotation angle. If not, the driving part 2 may be controlled to rotate in the forward or reverse direction, so that the driving part 2 is finally stopped, and the Rong Zhiwei is aligned with the preset position.
It will be appreciated that when comparing the pre-formed rotation angle with the rotation angle, the control unit has previously configured the pre-formed rotation angle to a preset angle that is closest to or equal to an integer multiple of the rotation angle based on the measured rotation angle, i.e. the pre-formed rotation angle is not a constant value.
For the adjustment of the rotation angle, the specific control method further comprises the following steps: when the rotation angle is larger than the preset rotation angle, the rotation angle and the preset rotation angle are differed, the time required for the driving part 2 to run to reach the angle is calculated according to the difference angle of the rotation angle and the preset rotation angle, and the driving part 2 is controlled to reversely rotate for the time and then stop. When the rotation angle is smaller than the preset rotation angle, the rotation angle and the preset rotation angle are differed, the time required for the driving part to run to reach the angle is calculated according to the two angles with different phases, and the driving part is controlled to continue to rotate for the time and then stop. By this way, the specific angle between the next holding position 31 to be matched with the shifting block and the preset position can be accurately determined, the time required by the driving part 2 to drive the moving part 3 to rotate by the angle can be calculated according to the angle, and the holding position 31 can be aligned with the preset position by only controlling the driving part 2 to run forward or backward for the time and then stopping.
The embodiments of the present application have been described above, the foregoing description is exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A cup organizer, the cup organizer comprising:
the accommodating part is used for accommodating the reaction cup and is provided with an upper cup opening;
the moving part is rotationally connected with the accommodating part and comprises at least one accommodating position, and the accommodating position can drive the reaction cup to rotate to the upper cup opening;
the driving part is connected with the moving part and used for driving the moving part to rotate;
and the limit detection part is connected with the driving part and is used for controlling the start and stop of the driving part so that any containing position of the reaction cup placed on the driving part is positioned at the preset position of the upper cup opening in any static state.
2. The cup organizer of claim 1, wherein the moving portion comprises a cup organizer, a plurality of the accommodation bits being arranged along a circumference of the cup organizer,
and a preset angle is arranged between any two adjacent accommodating positions, and when the limit detection part controls the driving part to stop, the driving part drives the cup arranging turntable to rotate at an integral multiple of the preset angle.
3. The cup organizer of claim 2, wherein the receiving portion has a receiving cavity, the cup organizer is positioned at a bottom wall of the receiving portion, the upper cup opening is positioned at a side wall of the receiving portion, the driving portion includes a driving motor and a timing belt group,
the cup arranging turntable is provided with a rotating shaft penetrating through the bottom wall, the synchronous belt wheel set connects an output shaft of the driving motor with the rotating shaft, and the limit detection part is used for monitoring the rotating angle of the rotating shaft so as to obtain the rotating angle of the cup arranging turntable.
4. A cup organizer according to claim 3, in which the limit detection comprises a code wheel located on the spindle or the timing pulley set, the code wheel being at least for measuring the angular displacement of the rotation of the cup organizer and limiting the angular displacement to an integer multiple of the predetermined angle.
5. The cup organizer of any one of claims 1-4, further comprising a control unit electrically connected with at least the drive portion and the limit detection portion.
6. A control method for a cup organizer according to any one of claims 1-5, the control method comprising:
the motion part is controlled to rotate or stop rotating relative to the accommodating part, and the limit detection part can control the driving part to be in any static state, and any accommodating position in which the reaction cup is placed is located at a preset position of the upper cup opening.
7. The control method according to claim 6, wherein a predetermined angle is provided between any adjacent one of the accommodation bits arranged in the circumferential direction, the control method further comprising:
and in the process that the driving part drives the moving part to rotate, if the limit detection part detects that the total rotating angle of the moving part is a preset rotating angle, the driving part is controlled to stop, wherein the preset rotating angle is an integral multiple of the preset angle.
8. The control method according to claim 6, wherein the cup sorter includes a control unit and an upload channel communicating with the upper cup opening, the control unit is capable of receiving a full cup signal from the upload channel, a preset angle is provided between any adjacent accommodation sites arranged along a circumferential direction, and the driving part drives the movement part to rotate, and the control method includes:
when the control unit receives the cup filling signal, the control unit acquires the rotation angle of the moving part measured by the limit detection part;
and judging whether the rotation angle is an integer multiple of the preset angle, if so, controlling the driving part to stop by the control unit, otherwise, controlling the driving part to move until the rotation angle is the integer multiple of the preset angle.
9. The control method according to claim 8, wherein the limit detection portion has a preset rotation angle that is an integer multiple of the preset angle, the control method comprising:
when the control unit receives the cup filling signal, the control unit acquires the rotation angle of the moving part measured by the limit detection part,
comparing the rotation angle with the preset rotation angle, controlling the driving part to reversely rotate until the rotation angle is equal to the preset rotation angle if the rotation angle is larger than the preset rotation angle, and controlling the driving part to continuously rotate until the rotation angle is equal to the preset rotation angle if the rotation angle is smaller than the preset rotation angle.
10. The control method according to claim 9, wherein when the rotation angle is larger than the preset rotation angle, the rotation angle and the preset rotation angle are made different, a time required for the driving portion to run up to the angle is calculated based on an angle of the difference between the rotation angle and the preset rotation angle, the driving portion is controlled to reversely rotate for the time and then stop, or,
when the rotation angle is smaller than the preset rotation angle, the rotation angle and the preset rotation angle are differed, the time required for the driving part to run to reach the angle is calculated according to the two angles with different phases, and the driving part is controlled to continue to rotate for the time and then stops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111676792.0A CN116413465A (en) | 2021-12-31 | 2021-12-31 | Cup arranging device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111676792.0A CN116413465A (en) | 2021-12-31 | 2021-12-31 | Cup arranging device and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116413465A true CN116413465A (en) | 2023-07-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111676792.0A Pending CN116413465A (en) | 2021-12-31 | 2021-12-31 | Cup arranging device and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116413465A (en) |
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2021
- 2021-12-31 CN CN202111676792.0A patent/CN116413465A/en active Pending
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