CN210742712U - Triaxial motion controller and medical equipment - Google Patents
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- CN210742712U CN210742712U CN201921909509.2U CN201921909509U CN210742712U CN 210742712 U CN210742712 U CN 210742712U CN 201921909509 U CN201921909509 U CN 201921909509U CN 210742712 U CN210742712 U CN 210742712U
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Abstract
The utility model discloses a triaxial motion control ware and medical equipment, this triaxial motion control ware includes: the control end of the main controller is connected with the input end of the three-axis stepping motor control chip, and the output end of the three-axis stepping motor control chip is connected with the controlled ends of the three stepping motor drive circuits; the output ends of the three stepping motor driving circuits are correspondingly connected with the three stepping motors one by one; the three-axis stepping motor control chip converts motion parameter control signals of three stepping motors output by the main controller into pulse signals and direction signals and outputs the pulse signals and the direction signals to three stepping motor driving circuits so as to drive the corresponding three stepping motors to work synchronously and drive the load to move coordinately on an X axis, a Y axis and a Z axis, so that the load moves from an initial position to a target position along a straight line or a curve. The utility model discloses a drive load is linear motion or curvilinear motion.
Description
Technical Field
The utility model relates to a motor control technical field, in particular to triaxial motion controller and medical equipment.
Background
At present, medical equipment mostly depends on manual operation in the aspect of diagnosis, so that more time is needed in the analysis and diagnosis process, inconvenience is often brought to the work of medical staff, and meanwhile, the medical diagnosis result, such as a long detection period, is also artificially influenced. Therefore, more and more motion platforms are applied to medical equipment, the motion controller is used for realizing precise driving control on the platforms, manual operation of the medical equipment is converted into automatic precise operation, and the working efficiency of medical staff is improved.
However, the conventional motion controller, for example, a three-axis motion controller, can only independently control the motion platform in three directions, i.e., X axis, Y axis, and Z axis, so that it is impossible to simultaneously move the motion platform in three directions in the XYZ axis, i.e., only sequentially move the motion platform in a certain direction, and finally reach the target position.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a triaxial motion controller and medical equipment aims at realizing that drive step motor control load is at X axle, Y axle, the epaxial coordinated movement of Z to drive load and be linear motion or curvilinear motion.
The utility model provides a triaxial motion controller, which is applied to medical equipment, wherein the medical equipment comprises three stepping motors and three loads driven by the stepping motors; the three-axis motion controller includes: the control end of the main controller is connected with the input end of the three-axis stepping motor control chip, and the output end of the three-axis stepping motor control chip is connected with the controlled ends of the three stepping motor drive circuits; the output ends of the three stepping motor driving circuits are correspondingly connected with the three stepping motors one by one; wherein,
the three-axis stepping motor control chip is used for converting the motion parameter control signals of the three stepping motor motions output by the main controller into pulse signals and direction signals and then outputting the pulse signals and the direction signals;
and the three stepping motor driving circuits are used for driving the corresponding three stepping motors to synchronously work when receiving the pulse signals and the direction signals so as to drive the load to coordinately move on an X axis, a Y axis and a Z axis and enable the load to move from an initial position to a target position along a straight line or a curve.
Optionally, the three-axis motion controller further includes CMOS image sensors, the number and positions of the CMOS image sensors are set corresponding to the three stepping motors, and the output ends of the CMOS image sensors are connected to the main controller.
Optionally, the main controller is an FPGA, and an ARM processor is integrated therein;
and the ARM processor is in communication connection with an external memory through a mini-SATA interface.
Optionally, at least one of the stepping motor driving circuits is a TMC26X type double full bridge driving chip.
Optionally, the three-axis stepping motor control chip is a TMC4 type controller.
Optionally, the three-axis motion controller further includes an SPI interface, and the main controller is in communication connection with the three-axis stepping motor control chip through the SPI interface.
Optionally, the three-axis motion controller further includes a power conversion circuit, and an output end of the power conversion circuit is connected to the power end of the main controller, the power end of the three-axis stepper motor control chip, and the power input ends of the three stepper motor driving circuits, respectively, so as to allow the main controller, the three-axis stepper motor control chip, and the three stepper motor driving circuits to operate.
Optionally, the triaxial motion controller further includes a USB interface, a serial interface, an HDMI, an LVDS interface, and an ethernet card interface, where the USB interface is used to connect the main controller and an external USB memory, and is used for the main controller to read data of the external USB memory; the serial interface is used for connecting the main controller with communication equipment externally connected with an RS-232 protocol in a communication way; the Ethernet card interface is used for connecting the main controller with communication equipment externally connected with a TCP/IP protocol in a communication way; the HDMI and the LVDS interface are used for being in communication connection with an external display screen.
The utility model discloses still provide a medical equipment, including three step motor, three step motor driven load reaches as above triaxial motion controller, triaxial motion controller's three step motor drive circuit's output and three step motor one-to-one is connected.
Optionally, the medical device is any one of a body fluid analyzer, a biochemical analyzer, a medical titrator, a full-automatic assay mobile platform, a microscope, an electron magnifier, a blood analyzer, and a gene analyzer.
The utility model is provided with a main controller, a three-axis stepper motor control chip and three stepper motor driving circuits, the main controller outputs the parameters of the three stepper motor motion, such as distance, speed, acceleration, direction, etc. to the three-axis stepper motor control chip through a communication interface, the three-axis stepper motor control chip carries out internal processing after receiving the relevant parameters to convert the distance into the number of pulses, convert the speed and the acceleration into the pulse frequency, convert the direction parameters of the stepper motor into high-level or low-level signals, and output the pulse signals and the direction signals to the three stepper motor driving circuits, so that the corresponding stepper motor driving circuits convert the pulses and the direction signals into the corresponding rotation angles, speeds and steering signals of the three stepper motors to drive the corresponding stepper motors to work, and then the stepping motor is driven to control the load to move on the X axis, the Y axis and the Z axis in a coordinated manner. The utility model discloses a drive step motor control load is at X axle, Y axle, the epaxial coordinated movement of Z to linear motion or curvilinear motion are done to the drive load. The utility model provides a triaxial motion controller only can realize moving platform at X axle, Y axle or the three direction independent control of Z axle, also can only move certain direction in proper order, finally reaches the target position, realizes that three direction removes simultaneously on XYZ axle, and leads to being applied to medical equipment in, problem that work efficiency is low.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a circuit structure block diagram of an embodiment of the three-axis motion controller of the present invention;
fig. 2 is a circuit structure diagram of an embodiment of the three-axis motion controller of the present invention.
The reference numbers illustrate:
the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a triaxial motion control ware is applied to medical equipment.
The medical equipment can be any one of a body fluid analyzer, a biochemical analyzer, a medical titrator, a full-automatic testing mobile platform, a microscope, an electronic magnifier, a blood analyzer and a gene analyzer. With the continuous development of medical electronic informatization, the demand of medical staff on automatic medical analysis and diagnosis is continuously strengthened, and novel diagnosis and treatment means and diagnosis technologies such as intelligent medical treatment, mobile medical treatment, remote medical treatment and the like are continuously emerged, the traditional mechanical medical analysis and diagnosis equipment is replaced by more and more advanced automatic intelligent equipment, and in recent years, the full-automatic intelligent medical equipment continuously keeps a rapid growth situation and becomes an important engine for promoting economic growth and pulling medical industry. As an important medical electronic market in the world, the medical electronic industry of China continuously breaks through in the aspects of technology and products, a series of policies for promoting the development of the industry are continuously released, the localization process of medical equipment is accelerated, and the pace of extending the medical equipment to the basic level is also accelerated. Meanwhile, fully automatic medical equipment such as smart medical treatment and ambulatory medical treatment is put into practical use. In the aspect of diagnosis, because the conventional medical equipment needs manual operation of instruments, more time is needed in the analysis and diagnosis process, which often brings inconvenience to the work of medical staff, and also brings artificial influence to medical diagnosis results, such as longer detection period. Therefore, more and more motion platforms are applied to medical equipment, the motion controller is used for realizing precise driving control on the platforms, manual operation of the medical equipment is converted into automatic precise operation, and the working efficiency of medical staff is improved. However, the conventional motion controller, for example, a three-axis motion controller, can only independently control the motion platform in three directions, i.e., X axis, Y axis, and Z axis, so that it is impossible to simultaneously move the motion platform in three directions in the XYZ axis, i.e., only sequentially move the motion platform in a certain direction, and finally reach the target position.
In order to solve the above problem, referring to fig. 1 and 2, in an embodiment of the present invention, the three-axis motion controller includes: the control system comprises a main controller 10, a three-axis stepping motor control chip 20 and three stepping motor drive circuits 30, wherein the control end of the main controller 10 is connected with the input end of the three-axis stepping motor control chip 20, and the output end of the three-axis stepping motor control chip 20 is connected with the controlled ends of the three stepping motor drive circuits 30; the output ends of the three stepping motor driving circuits 30 are connected with the three stepping motors in a one-to-one correspondence manner; wherein,
the triaxial stepper motor control chip 20 is configured to convert the three motion parameter control signals of the stepper motor motion output by the main controller 10 into pulse signals and direction signals, and output the pulse signals and the direction signals;
the three stepping motor driving circuits 30 are configured to drive the corresponding three stepping motors to work synchronously when receiving the pulse signal and the direction signal, so as to drive the load to move in coordination on an X axis, a Y axis, and a Z axis, so that the load moves from an initial position to a target position along a straight line or a curve.
In this embodiment, the main controller 10 may be a microprocessor such as a DSP, a single chip, an FPGA, or the like, and the present embodiment may be an FPGA, the FPGA is a dual-core processor, and an ARM processor is further integrated in the FPGA, and the ARM processor may be in communication connection with an external memory through a mini-SATA interface. The external memory may be a double rate synchronous dynamic random access memory.
The FPGA can be realized by adopting an ALTERA or Cyclone series FPGA as data processing. It can be understood that the FPGA serves as a microprocessor, and those skilled in the art can control the three stepping motors by integrating some hardware circuits and software programs or algorithms in the FPGA, so as to control the three stepping motors to drive the loads to make circular motion, linear motion, or curvilinear motion. In some embodiments, the main controller 10 can also be implemented by a control chip integrated with an FPGA and an ARM processor, which are not limited herein. The main controller 10 outputs the parameters of the three stepping motors such as the movement distance, speed, acceleration, direction and the like to the three-axis stepping motor control chip 20 through the communication interface, the three-axis stepping motor control chip 20 receives a control instruction from the main controller 10, and the main controller 10 performs read-write operation on the register and the RAM of the three-axis stepping motor control chip 20 by sending and receiving a data packet with a fixed length. The three stepping motors are respectively an X-axis stepping motor M1, a Y-axis stepping motor M2 and a Z-axis stepping motor M3, the X-axis stepping motor M1, the Y-axis stepping motor M2 and the Z-axis stepping motor M3 are used for driving the load to move on an X axis, a Y axis and a Z axis, or the X-axis stepping motor M1, the Y-axis stepping motor M2 and the Z-axis stepping motor M3 drive the load to do linear motion on the X axis, the Y axis and the Z axis.
The tri-axial stepper motor control chip 20 may be implemented by using a stepper motor control chip of TMC4 series, such as TMC428, TMC429, etc. The triaxial stepper motor control chip 20 typically has integrated therein an external serial interface, a waveform generator and pulse generator, a micro-stepping unit, a multi-port RAM controller, and an interrupt controller. The register is used for storing the overall configuration parameters and the motion parameters of the motor, and the on-chip RAM is used for storing the configuration and the microstep table of the driving serial interface. The motion parameters comprise the current position, the target position, the maximum speed, the maximum acceleration, the current proportion, the parameters of a waveform generator and a pulse generator, the micro-step subdivision resolution and the like of each motor. After the driving serial interface is initialized, the driving serial interface can automatically work, and the main controller 10 writes the position and the speed into a specified register to control the stepping motor to work. The waveform generator can process the motion parameters stored in the register and calculate the motion speed curve of the motor so as to drive the corresponding three stepping motors to work synchronously, further drive the load to move coordinately on an X axis, a Y axis and a Z axis, and enable the load to move from an initial position to a target position along a straight line or a curve. The pulse generator generates a step pulse according to the velocity calculated by the waveform generator. When the stepping pulse is generated, the driving serial interface automatically sends a data packet to the stepping motor driver to drive the stepping motor.
Some or all of the three stepping motor driving circuits 30 can be implemented by using a dual full bridge driving chip of TMC26X series. The MOSFET full-bridge circuit is integrated in the chip and used for controlling the corresponding MOSFET in the MOSFET full-bridge circuit to work according to the stepping pulse output by the triaxial stepping motor control chip 20 so as to output power to the corresponding stepping motor and drive the stepping motor to work. It can be understood that the double full-bridge driving chip is also integrated with short circuit, over-temperature, under-voltage, overload and other protection functions. The double full-bridge driving chip has the characteristics of low current consumption and high efficiency, can work in an environment with the temperature of over 100 ℃, for example, can work at a high temperature of 105 ℃, and can drive each phase of load working with a large current of up to 8A to work. And an internal DAC module is provided, so that the micro-step adjustment and intelligent control functions can be realized, and the cooling speed of the stepping motor and the driver can be improved. The three stepping motor drive circuits are respectively denoted as an X-axis stepping motor drive circuit 31, a Y-axis stepping motor drive circuit 32, and a Z-axis stepping motor drive circuit 33.
The utility model discloses a three-axis motion controller has set up main control unit 10, three-axis step motor control chip 20 and three step motor drive circuit 30, main control unit 10 exports the distance of three step motor motion, speed, acceleration, direction isoparametric to three-axis step motor control chip 20 through communication interface, three-axis step motor control chip 20 carries out internal processing after above-mentioned relevant parameter that receives and turns into the pulse number to the distance, convert speed and acceleration into pulse frequency, and convert the direction parameter of step motor into the level signal of high level or low level, and export pulse signal and direction signal to three step motor drive circuit 30, so that corresponding step motor drive circuit 30 converts pulse and direction signal into the turned angle, speed, turn signal that three step motor correspond, in order to drive corresponding step motor and work, and then the stepping motor is driven to control the load to move on the X axis, the Y axis and the Z axis in a coordinated manner. The utility model discloses a drive step motor control load is at X axle, Y axle, the epaxial coordinated movement of Z to linear motion or curvilinear motion are done to the drive load. The utility model provides a triaxial motion controller only can realize moving platform at X axle, Y axle or the three direction independent control of Z axle, also can only move certain direction in proper order, finally reaches the target position, realizes that three direction removes simultaneously on XYZ axle, and leads to being applied to medical equipment in, problem that work efficiency is low.
It can be understood that, in the above embodiment, the main controller 10, the three-axis stepper motor control chip 20 and the three stepper motor driving circuits 30 may be disposed on one circuit board, or may be disposed on two circuit boards, and when disposed on one circuit board, the three-axis stepper motor control chip is implemented by using an integrated chip, which may improve the integration level of the three-axis motion controller, and is beneficial to reducing the area of the PCB board. When the three-axis motion controller is arranged on the two circuit boards, the stepping motor driving chips with different performances can be configured according to different power requirements so as to support different power configurations, so that the three-axis motion controller is strong in modularization, and the pain of the three-axis motion controller is improved.
Referring to fig. 1 and 2, in an alternative embodiment, the three-axis motion controller further includes three CMOS image sensors 40, the number and positions of which are corresponding to the three stepping motors, and an output terminal of the CMOS image sensor 40 is connected to the main controller 10.
In this embodiment, the number of the CMOS image sensors 40 may be one or three, and in this embodiment, the number of the CMOS image sensors 40 may be three, where the positions of the three CMOS image sensors 40 are set corresponding to the stepping motors, and the acquired images of the stepping motors are output to the main controller 10 through the communication parallel bus, so that the main controller 10 processes the images acquired by the CMOS image sensors 40 and outputs corresponding control signals to the three-axis stepping motor control chip 20.
Referring to fig. 1 and 2, in an alternative embodiment, the three-axis motion controller further includes an SPI interface 50, and the main controller 10 is communicatively connected to the three-axis stepper motor control chip 20 through the SPI interface 50.
In this embodiment, the SPI interface 50 has a selection signal input port CS, a synchronous clock signal input port SCLK, which is a data input port SDI, and a data output port SDO, and the communication connection between the main controller 10 and the triaxial stepper motor control chip 20 is realized through the above ports. It can be understood that, in this embodiment, the main controller 10 outputs the control command through four ports of the SPI interface 50, and realizes the communication connection with the three-axis stepper motor control chip 20, and there is no need to provide control ports respectively connected with the motor driving circuits, so that the use of the control ports of the main controller 10 is reduced, and the resource occupancy rate of the main controller 10 is effectively reduced.
Referring to fig. 1 and 2, in an alternative embodiment, the three-axis motion controller further includes a power conversion circuit 60, and an output terminal of the power conversion circuit 60 is respectively connected to the power terminal of the main controller 10, the power terminal of the three-axis stepper motor control chip 20, and the power input terminals of the three stepper motor driving circuits 30, so as to enable the main controller 10, the three-axis stepper motor control chip 20, and the three stepper motor driving circuits 30 to operate.
In this embodiment, the power conversion circuit 60 may be a DC-DC conversion circuit, or may also be an AC-DC conversion circuit, and this embodiment may be selected as a DC-DC conversion circuit, an input power source of the DC-DC conversion circuit may be 36V, 25V, 12V, or 5V, and the DC-DC conversion circuit converts the power source into voltages, such as 5V or 3.3V, for the main controller 10, the three-axis stepper motor control chip 20, and the three stepper motor driving circuits 30 to operate, so as to provide an operating power source for the circuit module.
Referring to fig. 1 and fig. 2, in an alternative embodiment, the three-axis motion controller further includes a USB interface 70, a serial interface 80, an HDMI (not shown), an LVDS interface (not shown), and an ethernet card interface 90, where the USB interface 70 is used to connect the main controller 10 and an external USB memory, and is used for the main controller 10 to read data of the external USB memory; the serial interface 80 is used for connecting the main controller 10 with a communication device of an external RS-232 protocol in a communication way; the ethernet card interface 90 is used for connecting the main controller 10 to a communication device of an external TCP/IP protocol in a communication manner.
In this embodiment, the USB interface 70 may be used to connect other module components of the medical device, and may also be connected to a PC, and the USB interface 70 may be used to enable the main controller 10 to read data of the PC, or the PC may transmit data to the main controller 10 through the USB interface 70, so as to implement communication connection between the main controller 10 and the PC, and may also implement electrical connection between the power conversion circuit 60 and an external power source through the USB interface 70, and supply power to other circuit modules of the triaxial motion controller through the USB interface 70. The ethernet card interface 90 is connected with a network cable, so that the upper computer can be connected with the main controller 10 to realize communication, the main controller 10 is configured with data, the upper computer can browse parameter data set by the main controller 10 through the ethernet card interface 90, and the ethernet card interface 90 can be realized by optionally adopting an RTL8019AS module. The serial interface 80 is used to communicatively couple the host controller 10 to a communication device that is external to the RS-232 protocol.
The embodiment can also be in communication connection with an external display screen and a touch screen through the HDMI and the LVDS interface. In addition, the embodiment can also be provided with a key circuit module and the like for connection so as to realize the setting and display of the parameters of the stepping motor.
The utility model also provides a medical equipment, including three step motor, three step motor driven load reaches as above triaxial motion controller. The detailed structure of the three-axis motion controller can refer to the above embodiments, and is not described herein; it can be understood that, because the utility model discloses used above-mentioned triaxial motion controller among the medical equipment, consequently, the utility model discloses medical equipment's embodiment includes all technical scheme of the whole embodiments of above-mentioned triaxial motion controller, and the technological effect that reaches is also identical, no longer gives unnecessary details here.
The output ends of three stepping motor driving circuits of the three-axis motion controller are connected with the three stepping motors in a one-to-one correspondence mode.
In the above embodiments, the medical device is any one of a body fluid analyzer, a biochemical analyzer, a medical titrator, a full-automatic testing mobile platform, a microscope, an electronic magnifier, a blood analyzer, and a gene analyzer.
The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.
Claims (10)
1. A three-axis motion controller is applied to medical equipment, wherein the medical equipment comprises three stepping motors and three loads driven by the stepping motors; wherein the three-axis motion controller comprises: the control end of the main controller is connected with the input end of the three-axis stepping motor control chip, and the output end of the three-axis stepping motor control chip is connected with the controlled ends of the three stepping motor drive circuits; the output ends of the three stepping motor driving circuits are correspondingly connected with the three stepping motors one by one; wherein,
the three-axis stepping motor control chip is used for converting the motion parameter control signals of the three stepping motor motions output by the main controller into pulse signals and direction signals and then outputting the pulse signals and the direction signals;
and the three stepping motor driving circuits are used for driving the corresponding three stepping motors to synchronously work when receiving the pulse signals and the direction signals so as to drive the load to coordinately move on an X axis, a Y axis and a Z axis and enable the load to move from an initial position to a target position along a straight line or a curve.
2. The three-axis motion controller of claim 1, further comprising CMOS image sensors, the number and positions of which are arranged corresponding to three of the stepping motors, and the output terminals of which are connected to the main controller.
3. The three-axis motion controller of claim 1, wherein the master controller is an FPGA with an ARM processor integrated therein;
and the ARM processor is in communication connection with an external memory through a mini-SATA interface.
4. The three-axis motion controller as claimed in claim 1, wherein at least one of the stepper motor driver circuits is a TMC26X type dual full bridge driver chip.
5. The three-axis motion controller of claim 4, wherein the three-axis stepper motor control chip is a TMC4 type controller.
6. The three-axis motion controller of claim 1, further comprising an SPI interface, the master controller communicatively coupled to the three-axis stepper motor control chip via the SPI interface.
7. The three-axis motion controller according to any one of claims 1 to 6, further comprising a power conversion circuit, wherein an output terminal of the power conversion circuit is connected to a power supply terminal of the main controller, a power supply terminal of the three-axis stepper motor control chip and power supply input terminals of the three stepper motor driving circuits, respectively, for the operation of the main controller, the three-axis stepper motor control chip and the three stepper motor driving circuits.
8. The tri-axial motion controller according to any one of claims 1 to 6, further comprising a USB interface, a serial interface, an HDMI, an LVDS interface and an Ethernet card interface, wherein the USB interface is used for connecting the main controller and an external USB memory, and is used for the main controller to read data of the external USB memory; the serial interface is used for connecting the main controller with communication equipment externally connected with an RS-232 protocol in a communication way; the Ethernet card interface is used for connecting the main controller with communication equipment externally connected with a TCP/IP protocol in a communication way; the HDMI and the LVDS interface are used for being in communication connection with an external display screen.
9. A medical device comprising three stepping motors, three loads driven by the stepping motors, and the three-axis motion controller according to any one of claims 1 to 8, wherein the output terminals of the three stepping motor driving circuits of the three-axis motion controller are connected to the three stepping motors in a one-to-one correspondence.
10. The medical device according to claim 9, wherein the medical device is any one of a body fluid analyzer, a biochemical analyzer, a medical titrator, a full-automatic assay moving platform, a microscope, an electron magnifier, a blood analyzer, and a gene analyzer.
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| CN201921909509.2U CN210742712U (en) | 2019-11-06 | 2019-11-06 | Triaxial motion controller and medical equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022027930A1 (en) * | 2020-08-04 | 2022-02-10 | 睿科集团(厦门)股份有限公司 | Multi-functional motor controller and double-electric claw motor controller using same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022027930A1 (en) * | 2020-08-04 | 2022-02-10 | 睿科集团(厦门)股份有限公司 | Multi-functional motor controller and double-electric claw motor controller using same |
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