WO2020200045A1 - 一种检测驱动装置及驱动方法 - Google Patents

一种检测驱动装置及驱动方法 Download PDF

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Publication number
WO2020200045A1
WO2020200045A1 PCT/CN2020/081458 CN2020081458W WO2020200045A1 WO 2020200045 A1 WO2020200045 A1 WO 2020200045A1 CN 2020081458 W CN2020081458 W CN 2020081458W WO 2020200045 A1 WO2020200045 A1 WO 2020200045A1
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WIPO (PCT)
Prior art keywords
cup
detection
clamping
drive
driving
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PCT/CN2020/081458
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English (en)
French (fr)
Inventor
肖健
胡喜
陈杰年
王涛
姜峰
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赫安仕科技（苏州）有限公司
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Priority to EP20783283.3A priority Critical patent/EP3943949B1/en
Publication of WO2020200045A1 publication Critical patent/WO2020200045A1/zh

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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
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • 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
    • G01N33/86—Chemical analysis of biological material, e.g. blood, urine; Testing involving biospecific ligand binding methods; Immunological testing involving blood coagulating time or factors, or their receptors
    • 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
    • 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
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0406—Individual bottles or tubes
    • 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
    • G01N2035/046—General conveyor features
    • G01N2035/0465—Loading or unloading the conveyor

Definitions

  • the invention relates to a thrombus elasticity chart instrument, in particular to a detection driving device and a detection method of the thrombus elasticity chart instrument.
  • Thromboelastometer is a medical device used to detect whether blood can coagulate normally. It is generally necessary to test the patient's blood coagulation data through the thromboelastometer before performing the operation, and determine the patient's blood coagulation based on the detected blood coagulation data Whether the process is normal, the patient can be operated on only when the blood can clot normally. If the blood clotting process is abnormal, the patient's blood will not be able to clot normally during the operation, resulting in difficulty in hemostasis, which may endanger the patient's life.
  • the physical characteristics of blood clot detection are based on the following principle: a special static cylindrical blood cup that contains blood, rotates at a low speed at an angle of 4.75, and detects the movement of the blood sample through a detection rod immersed in the blood sample. After the fibrin platelet complex adheres the cup and the detection rod, the rotational force generated by the rotation of the cup can be transmitted to the detection rod in the blood sample.
  • the strength of the fibrin platelet complex can affect the amplitude of the movement of the detection rod, so that a strong blood clot can synchronize the movement of the needle with the movement of the cup. Therefore, the movement amplitude of the measuring rod is directly related to the strength of the formed blood clot.
  • the current thromboelastography instrument needs to manually take the cup and fill the cup when detecting the blood coagulation data, which requires a lot of time for the inspector, resulting in high labor intensity and efficiency in detecting blood coagulation data. low.
  • the purpose of the present invention is to overcome the defects of the prior art and provide a detection driving device and a detection method of a thrombus elasticity chart instrument that realizes the automation of cup taking and cup loading actions.
  • a detection drive device including a cup clamping mechanism and a lifting drive mechanism, a rotation drive mechanism and a horizontal drive mechanism connected to the cup clamping mechanism, wherein,
  • the lifting driving mechanism is used to drive the cup clamping mechanism to perform lifting motion in a first direction
  • the rotary drive mechanism is used to drive the cup clamping mechanism to make a rotary motion in a second direction perpendicular to the first direction;
  • the horizontal drive mechanism is used to drive the cup clamping mechanism to move horizontally in the second direction
  • the cup clamping mechanism is driven by the lifting, rotating and horizontal driving mechanism to clamp and unload the detection cup to each station.
  • the clamping cup mechanism includes a clamping cup mounting seat and a first driving source, a clamping jaw assembly and a reset elastic member mounted on the clamping cup mounting seat, and the first driving source moves back and forth in a horizontal direction; It abuts against the clamping jaw assembly to push the clamping jaw assembly back and forth to open the other end of the clamping jaw assembly; the reset elastic member is connected with the clamping jaw assembly, and the other end of the driving clamping jaw assembly is closed and reset, and the first driving source Cooperate with the reset elastic member to drive the clamping jaw assembly to grab or loosen the detection cup.
  • the lifting drive mechanism includes a mounting frame, a second drive source, a drive steering assembly, and a screw.
  • the second drive source is fixed on the mounting frame and connected with the drive steering assembly;
  • the screw is mounted on the mounting frame and It is connected with the drive steering assembly and rotates under the drive of the drive steering assembly; the screw is connected with the cup clamping mechanism, and while rotating, it drives the cup clamping mechanism to move up and down in the first direction.
  • the lifting driving mechanism further includes at least one lifting guide rod fixed on the mounting frame, and the cup clamping mechanism is connected to the lifting guide rod and moves up and down along the lifting guide rod.
  • the cup clamping mechanism further includes a sensor installed on the clamping cup mounting seat and arranged close to the clamping jaw assembly for detecting the state of the clamping jaw assembly clamping the detection cup.
  • the rotation driving mechanism includes a third driving source, a rotation shaft connected to the third driving source, the rotation shaft being fixedly connected to the mounting frame of the lifting driving mechanism, and the lifting driving mechanism drives the cup clamping mechanism in the second Rotate in the direction.
  • the horizontal drive mechanism includes a fourth drive source, a drive screw connected to the fourth drive source, and a slider connected to the drive screw.
  • the slider is connected to the cup clamping mechanism, and the drive clamping mechanism is in the first Move horizontally in both directions.
  • a detection driving method including:
  • the cup clamping mechanism is driven by the horizontal and lifting driving mechanism to move to the cup tray carrying the detection cup to clamp the detection cup, and remove the clamped detection cup from the cup tray;
  • the cup clamping structure moves the detection cup to the detection channel under the cooperation of the rotation and lifting driving mechanism, and unloads the detection cup to the detection channel;
  • the cup clamping mechanism After adding blood and reagents to the detection cup, the cup clamping mechanism is driven by the rotation, lifting and horizontal driving mechanism to clamp the detection cup and move it to the detection channel, and unload the detection cup on the channel, preparing Detection.
  • the cup clamping mechanism is driven by the rotation, lifting and horizontal driving mechanism to unload the detection cup to the waste collection station.
  • the process of clamping and unloading the detection cup by the clamping cup mechanism includes: the first driving source pushes the clamping jaw assembly to open the other end of the clamping jaw assembly, and the detection cup is contained in the clamping jaw assembly, and then resetting The detection cup is closed and clamped by the elastic drive of the elastic member, and when unloading, the first driving source pushes the clamping jaw assembly to open the other end of the clamping jaw assembly, so that the detection cup is unloaded from the clamping jaw assembly, and then the clamping jaws The component is reset under the elastic drive of the reset elastic member.
  • the present invention realizes the complete automation of the cup taking and cup filling of the detection cup in the blood coagulation data detection process through the detection driving device (ie, the manipulator), and cooperates with the liquid taking, detection channel and other stations to realize blood
  • the automation of the coagulation data detection process replaces manual operation, reduces the labor intensity of detecting blood coagulation data, reduces production costs; and the manipulator runs reliably, has a high repetition rate, a low error rate, and improves detection accuracy.
  • Figure 1 is a three-dimensional schematic diagram of the present invention (not including a rotation drive mechanism) at different angles;
  • Figure 2 is a schematic diagram of the overall three-dimensional mechanism of the present invention except for the horizontal drive mechanism;
  • Figure 3 is a schematic top view of the structure of Figure 2;
  • FIG. 4 is a schematic diagram of the three-dimensional structure of the cup clamping mechanism and the lifting drive mechanism of the present invention after being assembled;
  • Figure 5 is a schematic flow chart of the method of the present invention.
  • Cup clamping mechanism 11, clamping cup mounting seat, 12, first drive source, 14, clamping jaw assembly, 141, pointed arm, 142, pointed arm, 15, reset elastic piece, 16, sensor, 2. lifting Drive mechanism, 21, mounting frame, 22, second drive source, 23, screw, 24, worm, 25, turbine, 26, lift guide rod, 3. rotary drive mechanism, 31, third drive source, 32, rotating shaft , 4. Horizontal drive mechanism, 41, fourth drive source, 42, drive screw, 43, slider, 5, detection cup, 6, mounting plate.
  • the detection driving device and driving method disclosed in the present invention are provided with a cup clamping mechanism and a plurality of driving mechanisms that cooperate with the mechanism to realize the actions of taking cups, loading cups, and unloading cups during blood coagulation data detection. Fully automated.
  • a detection drive device disclosed in the embodiment of the present invention includes a cup clamping mechanism 1, a lifting drive mechanism 2, a rotation drive mechanism 3, and a horizontal drive mechanism 4.
  • the cup clamping mechanism 1 is lifting, Under the coordinated drive of the rotating and horizontal driving mechanisms 2, 3, 4, the detection cup 5 is clamped and unloaded to various stations (not shown), which include cups and trays, detection channels, liquid filling, waste collection stations, etc.
  • the cup clamping mechanism 1 is used to clamp and unload the detection cup 5.
  • it specifically includes a clamping cup mounting seat 11, a first driving source 12, and a clamping jaw assembly 14.
  • the reset elastic member 15 wherein the first driving source 12 is fixed on the clamping cup mounting seat 11 and moves back and forth in the horizontal direction; the clamping jaw assembly 14 is mounted on the clamping cup mounting seat 11, which is in the first driving source 12 Under the action of, the detection cup 5 is clamped or unloaded.
  • the first driving source 12 can be an electromagnet.
  • the clamping jaw assembly 14 includes two pointed arms 141, 142, one end of the two clamping arms 141, 142 crosses, and the other end forms a clamping jaw.
  • the first driving source 12 moves in a direction close to the clamping jaw assembly 14 and abuts against an end crossing the clamping jaw assembly 14 to drive the other end of the clamping jaw assembly 14 to open.
  • the reset elastic member 15 is arranged between the two clamping arms 141, 142 at the other end of the clamping jaw assembly 14, and is used to provide a reset elastic force that causes the other ends of the two clamping arms 141, 142 to retract together. When implemented, the reset elastic member 15 can adopt spring.
  • the cup clamping mechanism 1 further includes a sensor 16 mounted on the clamping cup mounting seat 11 and arranged close to the clamping jaw assembly 14 for detecting the state of the clamping jaw assembly 14 clamping the detection cup 5, such as whether it is clamped or not. Cup 5.
  • a sensor 16 mounted on the clamping cup mounting seat 11 and arranged close to the clamping jaw assembly 14 for detecting the state of the clamping jaw assembly 14 clamping the detection cup 5, such as whether it is clamped or not. Cup 5.
  • the lifting drive mechanism 2 is connected to the cup clamping mechanism 1, and is used to drive the cup clamping mechanism 1 to move up and down in a first direction.
  • the first direction is up and down.
  • the lifting drive mechanism 2 specifically includes a mounting frame 21, a second drive source 22, a drive steering assembly, and a screw 23.
  • the second drive source 22 is fixedly mounted on the mounting frame 21 and connected to the drive steering assembly.
  • the second drive The source 22 can also use a motor; the drive steering assembly is used to convert the axial rotation of the drive shaft of the second drive source 22 into radial rotation.
  • the drive steering assembly includes a drive shaft connected to the second drive source 22
  • the worm 24 and the worm wheel 25 engaged with the worm 24.
  • the worm wheel 25 is sleeved on the screw 23 and is threadedly connected with the screw 23;
  • the screw 23 is installed vertically on the mounting frame 21 and is horizontally driven by the turbine 25
  • the screw 23 is connected to the clamping cup mounting seat 11 of the clamping cup mechanism 1, if a threaded connection can be used, the screw 23 rotates while driving the clamping cup mounting seat 11 to move up and down in the vertical direction, and then synchronize
  • the clamping jaw assembly 14 is driven to move up and down in the vertical direction, and the detection cup 5 on the clamping jaw assembly 14 is adjusted to a desired height.
  • the lifting driving mechanism 2 further includes at least one lifting guide rod 26 for guiding the function of being vertically fixed on the mounting frame 21, and the cup clamping mechanism 1 is connected to the lifting guide rod 26, specifically the cup clamping mechanism 1
  • the clamping cup mounting seat 11 passes through the lifting guide rod 26, and is driven by the screw 23 to perform a vertical lifting movement along the lifting guide rod 26.
  • the lifting drive mechanism 2 and the rotation drive mechanism 3 are both integrated and installed on the same mounting plate 6, wherein the lifting drive mechanism 2 is fixed above the mounting plate 6, and the rotation drive mechanism 3 is fixed to the mounting plate 6 below.
  • the rotary drive mechanism 3 is connected to the cup clamping mechanism 1, specifically connected to the mounting plate 6, for driving the entire lifting drive mechanism 2 through the mounting plate 6 in a second direction perpendicular to the first direction.
  • the second direction here is the horizontal direction
  • the cup clamping mechanism 1 connected with the lifting drive mechanism 2 is driven to rotate in the horizontal direction synchronously, so that the cup clamping mechanism 1 rotates to a desired position.
  • the rotary drive mechanism 3 specifically includes a third drive source 31 and a rotating shaft 32 connected to the third drive source 31.
  • the third drive source 31 can also be a motor.
  • the rotating shaft 32 and the lifting drive mechanism 2 The fixed connection, specifically fixed connection with the above-mentioned mounting plate 6. By driving the mounting plate 6 to rotate in the horizontal direction, the lifting drive mechanism 2 fixed on the mounting plate 6 is driven, and the lifting drive mechanism 2 is synchronously driven to connect to it The cup clamping mechanism 1 rotates in the horizontal direction.
  • the horizontal drive mechanism 4 is connected to the cup clamping mechanism 1, specifically fixedly connected to the above-mentioned mounting plate 6, for driving the cup clamping mechanism 1 to move horizontally in the second direction (ie, the horizontal direction).
  • the horizontal drive mechanism 4 includes a fourth drive source 41, a drive screw 42 and a slider 43.
  • the fourth drive source 41 can also be a motor, which drives the screw 42 and the fourth
  • the driving source 41 is connected, the sliding block 43 is slidably mounted on the driving screw 42, and the upper end of the sliding block 43 is fixedly connected with the mounting plate 6.
  • the driving screw 42 is driven by the fourth driving source 41 to drive the sliding block 43 in the horizontal direction
  • the slider 43 drives the rotary drive mechanism 3, the lifting drive mechanism 2 and the cup clamping mechanism 1 integrated on the mounting plate 6 to slide in a horizontal direction, and drives the cup clamping mechanism 1 to the corresponding station in the horizontal direction. Place.
  • a detection driving method including:
  • the cup clamping mechanism 1 is driven by the horizontal and lifting driving mechanisms 4, 2 to move to the cup tray (not shown) carrying the detection cup 5 to clamp the detection cup 5, and the clamped detection cup 5 Remove from the cup and tray.
  • the cup clamping mechanism 1 is driven by the horizontal drive mechanism 4 to move to the top of the cup tray, so that the two clamping arms 141, 142 of the cup clamping mechanism 1 are aligned with the detection cup 5 to be taken.
  • the cup clamping mechanism The first driving source 12 of 1 pushes the clamping jaw assembly 14 to open the two clamping arms 141 and 142 of the clamping jaw assembly 14.
  • the lifting driving mechanism 2 drives the clamping cup mechanism 1 to descend, so that the cup wall of the detection cup 5 is located on both sides.
  • the two clamping arms 141, 142 will then gather and tighten the cup wall of the detection cup 5 under the elastic action of the reset elastic member 15 to realize the process of clamping and picking the detection cup 5 on the cup tray.
  • the cup clamping mechanism 1 rises upward under the driving of the lifting drive mechanism 2, so that the clamped detection cup 5 is separated from the cup tray, and the clamped detection cup 5 is removed from the cup tray. the process of.
  • the cup clamping mechanism 1 moves the detection cup 5 to the detection channel (not shown) under the cooperation of the rotation and lifting drive mechanisms 3 and 2, and unloads the detection cup 5 to the detection channel.
  • the cup clamping mechanism 1 is driven by the rotary drive mechanism 3 to rotate from above the cup tray to the corresponding detection channel, so that the detection cup 5 is aligned with the corresponding detection cup 5 on the detection channel.
  • the cup hole (not shown in the figure) is then moved downward under the driving of the lifting driving mechanism 3 so that the detection cup 1 is carried into the cup hole.
  • the clamping cup mechanism 1 pushes the clamping jaw assembly 14 under the drive of the first driving source 12 to open the two clamping arms 141 and 142 of the clamping jaw assembly 14 to loosen the detection cup 5, and then rotate the driving mechanism 3 to drive the clamping cup
  • the mechanism 1 rotates and moves to other positions (positions that do not affect the working of the detection channel), and waits for the detection channel to perform the cup lid process.
  • the cup clamping mechanism 1 starts to work: It is firstly rotated and moved to the detection channel under the drive of the rotary drive mechanism 3, so that the clamping jaw assembly 14 is aligned with the detection cup 5.
  • the clamping cup mechanism 1 is driven by the first driving source 12 to push the clamping jaw assembly 14 to make
  • the two clamping arms 141, 142 of the clamping jaw assembly 14 are opened, and the lifting drive mechanism 2 drives the clamping mechanism 1 to descend, so that the cup wall of the detection cup 5 is located between the two clamping arms 141, 142, and then the two clamping arms 141 and 142 shrink and tighten the cup wall of the detection cup 5 under the elastic action of the reset elastic member 15 to realize the process of clamping and taking the detection cup 5 on the detection channel.
  • the cup clamping mechanism 1 is driven by the lifting drive mechanism 2 to lift up, so that the clamped detection cup 5 is separated from the cup hole of the detection channel, and the clamped detection cup 5 is removed from the detection The process of removing from the channel.
  • the cup clamping mechanism 1 is driven by the rotation drive mechanism 3 and the horizontal drive mechanism 4 to transfer the detection cup 5 to the filling station for adding blood and reagents respectively.
  • the cup clamping mechanism 1 is driven by the rotation drive mechanism 3 and the horizontal drive mechanism 4 to move the detection cup 5 to the detection channel, so that the detection cup 5 is aligned with the detection The cup holding hole on the channel, then the cup clamping mechanism 1 is driven by the lifting drive mechanism 2 to move downward, so that the detection cup 5 falls into the cup hole, and then the cup clamping mechanism 1 is driven by the first driving source 12 Push the clamping jaw assembly 14 to open the two clamping arms 141, 142 of the clamping jaw assembly 14.
  • the two clamping arms 141, 142 are retracted and reset under the elastic action of the reset elastic member 15, and the lifting driving mechanism 2 drives the clamping cup mechanism at the same time
  • the clamping arms 141, 142 of 1 first rise to the top of the detection cup 5, and then descend and compress the detection cup 5 to fix it in the cup hole, and then the rotating drive mechanism 3 drives the clamping cup mechanism 1 to rotate and move to other positions (not affecting The position where the detection channel works), waiting for the detection of blood coagulation data.
  • the driving method further includes:

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Abstract

一种检测驱动装置及驱动方法，装置包括夹杯机构(1)及与夹杯机构(1)相连的升降驱动机构(2)、旋转驱动机构(3)和水平驱动机构(4)，夹杯机构(1)在升降驱动机构(2)、旋转驱动机构(3)和水平驱动机构(4)的配合驱动下，夹取和卸载检测杯(5)到各个工位。有益效果：实现了血凝数据检测过程中检测杯(5)取杯、装杯的完全自动化。

Description

一种检测驱动装置及驱动方法 技术领域
本发明涉及一种血栓弹力图仪，尤其是涉及一种血栓弹力图仪的检测驱动装置及检测方法。
背景技术
血栓弹力仪是一种用于检测血液是否能够正常凝结的医疗器械，在进行手术前一般都需要通过血栓弹力仪对患者的血凝数据进行检测，根据检测出的血凝数据判断患者的血液凝结过程是否正常，只有在血液能够正常凝结的情况下才能对患者进行手术，如果血液凝结过程存在异常，手术过程中患者的血液将无法正常凝结，导致止血困难，很可能危及患者的生命。
检测血凝块的物理特性基于以下原理：一特制静止盛有血液的圆柱形盛血杯，以4.75的角度低速旋转，通过一根浸泡在血样中的检测杆来检测血样的运动。纤维蛋白血小板复合物将杯和检测杆粘在一起后，杯旋转所产生的旋转力能传递至血样中的检测杆。纤维蛋白血小板复合物的强度能影响检测杆运动的幅度，以致强硬的血凝块能使针的运动与杯的运动同步进行。因此，测量杆的运动幅度与已形成的血凝块的强度有直接关系。当血凝块回缩或溶解时，检测杆与血凝块的联结解除，杯的运动不再传递给检测杆，检测杆的旋转则由传感器检测。
目前的血栓弹力图仪，在对血凝数据进行检测时，需要通过手动的方式取杯、装杯等，这需要耗费检测人员大量的时间，造成检测血凝数据的劳动强度较大，检测效率低。
发明内容
本发明的目的在于克服现有技术的缺陷，提供一种实现取杯、装杯动作自动化的血栓弹力图仪检测驱动装置和检测方法。
为实现上述目的，本发明提出如下技术方案：一种检测驱动装置，包括夹杯机构及与夹杯机构相连的升降驱动机构、旋转驱动机构和水平驱动机构，其中，
所述升降驱动机构用于驱动夹杯机构在第一方向上做升降运动；
所述旋转驱动机构用于驱动夹杯机构在垂直于第一方向的第二方向上做旋转运动；
所述水平驱动机构用于驱动夹杯机构在所述第二方向上做水平移动；
所述夹杯机构在所述升降、旋转和水平驱动机构的配合驱动下，夹取和卸载检测杯到各个工位。
优选地，所述夹杯机构包括夹杯安装座及安装在所述夹杯安装座上的第一驱动源、夹爪组件和复位弹性件，所述第一驱动源在水平方向上前后移动；其与夹爪组件相抵接前后推动夹爪组件，使夹爪组件的另一端张开；所述复位弹性件与夹爪组件相连，驱动夹爪组件的另一端闭合复位，所述第一驱动源和复位弹性件配合驱动夹爪组件抓取或松开检测杯。
优选地，所述升降驱动机构包括安装框架、第二驱动源、驱动转向组件和螺杆，所述第二驱动源固定于安装框架上且与驱动转向组件相连；所述螺杆安装于安装框架上且与驱动转向组件相连，在驱动转向组件的驱动下转动；所述螺杆与夹杯机构相连，其转动的同时驱动夹杯机构在第一方向上做升降运动。
优选地，所述升降驱动机构还包括至少一根固定于安装框架上的升降导杆，所述夹杯机构与升降导杆相连，沿所述升降导杆升降。
优选地，所述夹杯机构还包括安装于所述夹杯安装座上且靠近夹爪组件设置的感应器，用于检测夹爪组件夹取检测杯的状态。
优选地，所述旋转驱动机构包括第三驱动源、与第三驱动源相连的转 动轴，所述转动轴与升降驱动机构的安装框架相固定连接，通过升降驱动机构带动夹杯机构在第二方向上旋转。
优选地，所述水平驱动机构包括第四驱动源、与第四驱动源相连的驱动丝杆、与驱动丝杆相连的滑块，所述滑块与夹杯机构相连，驱动夹杯机构在第二方向上做水平移动。
本发明还揭示了另外一种技术方案：一种检测驱动方法，包括：
S1，夹杯机构在所述水平和升降驱动机构的配合驱动下，移动到承载检测杯的杯盘处夹取住检测杯，并将夹取的检测杯从杯盘上取下；
S2，夹杯架构在所述旋转和升降驱动机构的配合驱动下，将检测杯移动到检测通道处，并将检测杯卸装到检测通道上；
S3，在检测杯的杯盖脱离后，夹杯机构在所述升降、旋转和水平驱动机构的配合驱动下，从检测通道上取下检测杯并移送到加液工位处分别加血液和试剂；
S4，在检测杯内加完血液和试剂后，夹杯机构在所述旋转、升降和水平驱动机构的配合驱动下，夹取检测杯移动到检测通道上，并将检测杯卸装通道上，准备检测。
优选地，S5，在检测结束后，夹杯机构在所述旋转、升降和水平驱动机构的配合驱动下，卸载检测杯到废料收集工位。
优选地，所述夹杯机构夹取和卸载检测杯的过程包括：第一驱动源推动夹爪组件，使夹爪组件的另一端张开，将检测杯容纳于夹爪组件内，之后在复位弹性件的弹性驱动下闭合夹取住检测杯，并在卸载时，第一驱动源推动夹爪组件，使夹爪组件的另一端张开，使检测杯从夹爪组件上卸载，之后夹爪组件在复位弹性件的弹性驱动下复位。
本发明的有益效果是：本发明通过检测驱动装置(即机械手)，实现血凝数据检测过程中检测杯取杯、装杯的完全自动化，且与取液、检测通道等工位配合，实现血凝数据检测过程的自动化，代替了人工操作的方式， 降低了检测血凝数据的劳动强度，降低生产成本；且机械手运行可靠，重复率高，出错率低，提高检测精度。
附图说明
图1是本发明(不包含旋转驱动机构)不同角度的立体结构示意图；
图2是本发明除水平驱动机构外的整体立体机构示意图；
图3是图2的俯视结构示意图；
图4是本发明夹杯机构和升降驱动机构组装后的立体结构示意图；
图5是本发明方法的流程示意图。
附图标记：
1、夹杯机构，11、夹杯安装座，12、第一驱动源，14、夹爪组件，141、尖臂，142、尖臂，15、复位弹性件，16、感应器，2、升降驱动机构，21、安装框架，22、第二驱动源，23、螺杆，24、蜗杆，25、涡轮，26、升降导杆，3、旋转驱动机构，31、第三驱动源，32、转动轴，4、水平驱动机构，41、第四驱动源，42、驱动丝杆，43、滑块，5、检测杯，6、安装板。
具体实施方式
下面将结合本发明的附图，对本发明实施例的技术方案进行清楚、完整的描述。
本发明所揭示的一种检测驱动装置和驱动方法，通过设置夹杯机构和与该机构相配合的多个驱动机构，实现血凝数据检测过程中，取杯、装杯、卸杯等动作的全自动化。
结合图1、图2所示，本发明实施例所揭示的一种检测驱动装置，包括夹杯机构1、升降驱动机构2、旋转驱动机构3和水平驱动机构4，夹杯机构1在升降、旋转和水平驱动机构2、3、4的配合驱动下，夹取和卸载检测杯5到各个工位(图未示)，工位包括杯盘、检测通道、加液、废料收集工位等。
结合图3和图4所示，夹杯机构1用于实现对检测杯5的夹取和卸载，本实施例中，其具体包括夹杯安装座11、第一驱动源12、夹爪组件14和复位弹性件15，其中，第一驱动源12固定于夹杯安装座11上，其在水平方向上前后移动；夹爪组件14安装于夹杯安装座11上，其在第一驱动源12的作用下夹取或卸载检测杯5，实施时，第一驱动源12可采用电磁铁。本实施例中，夹爪组件14包括两个尖臂141、142，两个夹臂141、142的一端相交叉，另一端形成夹爪。第一驱动源12向靠近夹爪组件14方向移动，并与夹爪组件14相交叉的一端相抵接后驱动夹爪组件14另一端张开。复位弹性件15设置在夹爪组件14另一端的两个夹臂141、142之间，用于提供使两个夹臂141、142另一端往回收拢的复位弹性力，实施时，复位弹性件15可采用弹簧。
优选地，夹杯机构1还包括安装于夹杯安装座11上且靠近夹爪组件14设置的感应器16，用于检测夹爪组件14夹取检测杯5的状态，如是否夹取住检测杯5。
结合图1、图2及图4所示，升降驱动机构2与夹杯机构1相连，用于驱动夹杯机构1在第一方向上做升降运动，本实施例中，第一方向即为上下竖直方向。升降驱动机构2具体包括安装框架21、第二驱动源22、驱动转向组件和螺杆23，其中，第二驱动源22固定安装于安装框架21上且与驱动转向组件相连，实施时，第二驱动源22也可采用电机；驱动转向组件用于将第二驱动源22的驱动轴的轴向转动转换成径向转动，本实施例中，驱动转向组件包括与第二驱动源22的驱动轴相连的蜗杆24和与蜗杆24相配合啮合的涡轮25，涡轮25套设在螺杆23上且与螺杆23螺纹配合连接；螺杆23竖直安装于安装框架21上，且在涡轮25的驱动下在水平方向上进行转动；螺杆23又与夹杯机构1的夹杯安装座11相连，如可采用螺纹配合连接，螺杆23转动的同时驱动夹杯安装座11在竖直方向上做升 降运动，进而同步带动夹爪组件14在竖直方向上做升降运动，调整夹爪组件14上的检测杯5到所需的高度。
优选地，升降驱动机构2还包括至少一根竖直固定于安装框架21上的用于起导向作用的升降导杆26，夹杯机构1与升降导杆26相连，具体为夹杯机构1的夹杯安装座11穿过升降导杆26，在螺杆23的驱动下沿升降导杆26做竖直方向的升降运动。
另外，本实施例中，升降驱动机构2和旋转驱动机构3均集成安装到同一安装板6上，其中，升降驱动机构2固定于该安装板6的上方，旋转驱动机构3固定于该安装板6的下方。
如图2所示，旋转驱动机构3与夹杯机构1相连，具体与上述安装板6相连，用于通过安装板6驱动整个升降驱动机构2在垂直于上述第一方向的第二方向上做旋转运动，这里的第二方向即为水平方向，进而同步带动与升降驱动机构2相连的夹杯机构1在水平方向上旋转，使夹杯机构1旋转移动到所需位置处。
本实施例中，旋转驱动机构3具体包括第三驱动源31、与第三驱动源31相连的转动轴32，实施时，第三驱动源31也可采用电机，转动轴32与升降驱动机构2的相固定连接，具体与上述安装板6相固定连接，通过驱动安装板6在水平方向的旋转，驱动固定于安装板6上的升降驱动机构2，进而由升降驱动机构2同步带动与其相连接的夹杯机构1在水平方向上的旋转。
水平驱动机构4与夹杯机构1相连，具体与上述安装板6相固定连接，用于驱动夹杯机构1在上述第二方向(即水平方向)上做水平移动。具体地，本实施例中，水平驱动机构4包括第四驱动源41、驱动丝杆42和滑块43，其中，实施时，第四驱动源41也可采用电机，驱动丝杆42与第四驱动源41相连，滑块43滑动安装于驱动丝杆42上，且滑块43上端与安装板6固定相连，驱动丝杆42在第四驱动源41的驱动下带动滑块43在水 平方向上做水平移动，滑块43带动集成在安装板6上的旋转驱动机构3、升降驱动机构2和夹杯机构1整体进行水平方向的滑动，在水平方向上带动夹杯机构1到相应的工位处。
如图5所示，本发明实施例所揭示的另外一种技术方案：一种检测驱动方法，包括：
S1，夹杯机构1在水平和升降驱动机构4、2的配合驱动下，移动到承载检测杯5的杯盘(图未示)处夹取住检测杯5，并将夹取的检测杯5从杯盘上取下。
具体地，夹杯机构1在水平驱动机构4的带动下移动到杯盘上方，使夹杯机构1的两个夹臂141、142对准所要取的检测杯5，对准后，夹杯机构1的第一驱动源12推动夹爪组件14，使夹爪组件14的两个夹臂141、142张开，同时升降驱动机构2驱动夹杯机构1下降，使检测杯5的杯壁位于两个夹臂141、142之间，之后两个夹臂141、142在复位弹性件15的弹性作用下收拢加紧住检测杯5的杯壁，实现夹取住杯盘上检测杯5的过程。
夹取住检测杯5后，夹杯机构1在升降驱动机构2的驱动下向上升，使夹取的检测杯5从杯盘上脱离，实现将夹取的检测杯5从杯盘上取下的过程。
S2，夹杯机构1在旋转和升降驱动机构3、2的配合驱动下，将检测杯5移动到检测通道(图未示)处，并将检测杯5卸装到检测通道上。
具体地，在上述步骤S1后，夹杯机构1在旋转驱动机构3的驱动下从杯盘上方旋转移动到相应的检测通道处，使检测杯5对准检测通道上相应承载检测杯5的盛杯孔(图未示)，之后再在升降驱动机构3的驱动下向下移动使检测杯1承载到盛杯孔内。之后夹杯机构1在第一驱动源12的驱动下推动夹爪组件14，使夹爪组件14的两个夹臂141、142张开，松开检测杯5，之后旋转驱动机构3驱动夹杯机构1旋转移动到其他位置(不影响 检测通道工作的位置)处，等待检测通道进行上杯盖过程。
S3，在检测杯5的杯盖脱离后，夹杯机构1在升降、旋转和水平驱动机构2、3、4的配合驱动下，从检测通道上取下检测杯5并移送到加液工位(图未示)处分别加血液和试剂。
具体地，检测通道进行完上杯盖过程后，检测杯5中的杯盖从检测杯5中脱离开，且检测通道将检测杯5运行到待加液状态后，夹杯机构1开始工作：其首先在旋转驱动机构3的驱动下旋转移动到检测通道处，使夹爪组件14对准检测杯5，之后，夹杯机构1在第一驱动源12的驱动下推动夹爪组件14，使夹爪组件14的两个夹臂141、142张开，同时升降驱动机构2驱动夹杯机构1下降，使检测杯5的杯壁位于两个夹臂141、142之间，之后两个夹臂141、142在复位弹性件15的弹性作用下收拢加紧住检测杯5的杯壁，实现夹取住检测通道上检测杯5的过程。
夹取住检测杯5后，夹杯机构1在升降驱动机构2的驱动下向上升，使夹取的检测杯5从检测通道的盛杯孔内脱离，实现将夹取的检测杯5从检测通道上取下的过程。
之后夹杯机构1在旋转驱动机构3和水平驱动机构4的配合驱动下，移送检测杯5到加液工位处分别加血液和试剂。
S4，在检测杯5内加完血液和试剂后，夹杯机构1在旋转、升降和水平驱动机构3、2、4的配合驱动下，夹取检测杯5移动到检测通道上，并将检测杯5卸装到检测通道上，准备检测。
具体地，在检测杯5内加完血液和试剂后，夹杯机构1在旋转驱动机构3和水平驱动机构4的配合驱动下，移送检测杯5到检测通道处，使检测杯5对准检测通道上的盛杯孔，之后夹杯机构1在升降驱动机构2的驱动下向下移动，使检测杯5落入到盛杯孔内，之后夹杯机构1在第一驱动源12的驱动下推动夹爪组件14，使夹爪组件14的两个夹臂141、142张开，两个夹臂141、142在复位弹性件15的弹性作用下收拢复位，同时升 降驱动机构2驱动夹杯机构1的夹臂141、142先上升到检测杯5的上方，再下降压紧检测杯5使其固定到盛杯孔内，之后旋转驱动机构3驱动夹杯机构1旋转移动到其他位置(不影响检测通道工作的位置)处，等待血凝数据的检测。
更进一步地，所述驱动方法还包括：
S5,在检测结束后，夹杯机构1在旋转、升降和水平驱动机构3、2、4的配合驱动下，卸载检测杯5到废料收集工位(图未示)。
这里的旋转、升降和水平驱动机构3、2、4如何配合工作及夹杯机构1自身如何工作实现卸载检测杯到废料收集工位的过程可参照上述S1～S4的描述，这里不做赘述。且需要说明的是，上述S1～S5中旋转、升降和水平驱动机构3、2、4这三个机构的配合过程不限于上述所描述的动作顺序，只要实现每个步骤所需实现的过程即可。
本发明的技术内容及技术特征已揭示如上，然而熟悉本领域的技术人员仍可能基于本发明的教示及揭示而作种种不背离本发明精神的替换及修饰，因此，本发明保护范围应不限于实施例所揭示的内容，而应包括各种不背离本发明的替换及修饰，并为本专利申请权利要求所涵盖。

Claims (9)

  1. 一种检测驱动装置，其特征在于，包括夹杯机构及与夹杯机构相连的升降驱动机构、旋转驱动机构和水平驱动机构，其中，
    所述升降驱动机构用于驱动夹杯机构在第一方向上做升降运动；
    所述旋转驱动机构用于驱动夹杯机构在垂直于第一方向的第二方向上做旋转运动；
    所述水平驱动机构用于驱动夹杯机构在所述第二方向上做水平移动；
    所述夹杯机构在所述升降、旋转和水平驱动机构的配合驱动下，夹取和卸载检测杯到各个工位。
  2. 根据权利要求1所述的检测驱动装置，其特征在于，所述夹杯机构包括夹杯安装座及安装在所述夹杯安装座上的第一驱动源、夹爪组件和复位弹性件，所述第一驱动源在水平方向上前后移动；其与夹爪组件相抵接前后推动夹爪组件，使夹爪组件的另一端张开；所述复位弹性件与夹爪组件相连，驱动夹爪组件的另一端闭合复位，所述第一驱动源和复位弹性件配合驱动夹爪组件抓取或松开检测杯。
  3. 根据权利要求1所述的检测驱动装置，其特征在于，所述升降驱动机构包括安装框架、第二驱动源、驱动转向组件和螺杆，所述第二驱动源固定于安装框架上且与驱动转向组件相连；所述螺杆安装于安装框架上且与驱动转向组件相连，在驱动转向组件的驱动下转动；所述螺杆与夹杯机构相连，其转动的同时驱动夹杯机构在第一方向上做升降运动。
  4. 根据权利要求3所述的检测驱动装置，其特征在于，所述升降驱动机构还包括至少一根固定于安装框架上的升降导杆，所述夹杯机构与升降导杆相连，沿所述升降导杆升降。
  5. 根据权利要求2所述的检测驱动装置，其特征在于，所述夹杯机构还包括安装于所述夹杯安装座上且靠近夹爪组件设置的感应器，用于检测夹 爪组件夹取检测杯的状态。
  6. 根据权利要求3所述的检测驱动装置，其特征在于，所述旋转驱动机构包括第三驱动源、与第三驱动源相连的转动轴，所述转动轴与升降驱动机构的安装框架相固定连接，通过升降驱动机构带动夹杯机构在第二方向上旋转。
  7. 根据权利要求1所述的检测驱动装置，其特征在于，所述水平驱动机构包括第四驱动源、与第四驱动源相连的驱动丝杆、与驱动丝杆相连的滑块，所述滑块与夹杯机构相连，驱动夹杯机构在第二方向上做水平移动。
  8. 一种基于权利要求2～7任意一项所述的检测驱动装置的驱动方法，其特征在于，所述方法包括：
    S1，夹杯机构在所述水平和升降驱动机构的配合驱动下，移动到承载检测杯的杯盘处夹取住检测杯，并将夹取的检测杯从杯盘上取下；
    S2，夹杯机构在所述旋转和升降驱动机构的配合驱动下，将检测杯移动到检测通道处，并将检测杯卸装到检测通道上；
    S3，在检测杯的杯盖脱离后，夹杯机构在所述升降、旋转和水平驱动机构的配合驱动下，从检测通道上取下检测杯并移送到加液工位处分别加血液和试剂；
    S4，在检测杯内加完血液和试剂后，夹杯机构在所述旋转、升降和水平驱动机构的配合驱动下，夹取检测杯移动到检测通道上，并将检测杯卸装通道上，准备检测；
    S5，在检测结束后，夹杯机构在所述旋转、升降和水平驱动机构的配合驱动下，卸载检测杯到废料收集工位。
  9. 根据权利要求8所述的检测驱动方法，其特征在于，所述夹杯机构夹取和卸载检测杯的过程包括：第一驱动源推动夹爪组件，使夹爪组件的另一端张开，将检测杯容纳于夹爪组件内，之后在复位弹性件的弹性驱动下闭合夹取住检测杯，并在卸载时，第一驱动源推动夹爪组件，使夹爪组件 的另一端张开，使检测杯从夹爪组件上卸载，之后夹爪组件在复位弹性件的弹性驱动下复位。
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