Truss structure-based rotary heart stent refueling device and working method thereof

Abstract

The present invention belongs to the field of material replacement structures, and specifically relates to a turntable-type heart stent replacement device based on a truss structure and a working method thereof. The device includes a spiral feeding mechanism, a rotary feeding mechanism, a clamping and capping mechanism, a shifting mechanism, a detection platform, a three-dimensional positioning mechanism and a rotary manipulator. There are two detection platforms, and the two detection platforms can perform detection at the same time, which improves the detection efficiency. A three-dimensional positioning mechanism is provided above the workbench, and a rotary manipulator is provided on the three-dimensional positioning mechanism to complete the transfer action of the heart stent and the container during the detection process. The spiral feeding mechanism, the rotary feeding mechanism, the clamping and capping mechanism, the three-dimensional positioning mechanism, the shifting mechanism and the detection platform are all connected to the control system, and the control system sends instructions in sequence to enable the material replacement device to complete the detection action in sequence, thereby realizing the automation of the detection device, improving the detection efficiency, and reducing the detection error caused by human operation.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of refueling structure, and particularly relates to a rotary disc type heart stent refueling device based on a truss structure and a working method thereof. BACKGROUND

[0002] A heart stent is a commonly used medical instrument in a heart intervention operation, and is required to have a very high manufacturing quality due to the importance of the heart stent. Therefore, a quality detection of "zero defect" must be ensured. A heart stent surface defect visual detection platform detects the surface condition of the heart stent by means of an electron microscope. Currently, such products already exist on the market. However, in the process of checking the heart stent, the feeding and discharging of the heart stent completely rely on manual operation, and the detection efficiency is low and the detection error caused by manual operation is easy to occur. Therefore, an automatic refueling equipment for heart stent detection is urgently needed. SUMMARY

[0003] The application aims to overcome the above-mentioned deficiencies, and provides a rotary disc type heart stent refueling device based on a truss structure. The device has a high degree of automation, improves the detection efficiency, and reduces the detection error caused by manual operation.

[0004] In order to achieve the above-mentioned purpose, the technical scheme adopted by the application is as follows:

[0005] The rotary disc type heart stent refueling device based on the truss structure comprises a workbench, a spiral feeding mechanism arranged on the workbench, a rotary feeding mechanism in communication with the spiral feeding mechanism, a clamping cap mechanism arranged beside the rotary feeding mechanism, a first detection platform and a second detection platform arranged on the two sides of the rotary feeding mechanism respectively, a first shifting mechanism arranged between the rotary feeding mechanism and the first detection platform, a first temporary placement table arranged between the rotary feeding mechanism and the first shifting mechanism, a second shifting mechanism arranged between the rotary feeding mechanism and the second detection platform, a second temporary placement table arranged between the rotary feeding mechanism and the second shifting mechanism, a three-dimensional positioning mechanism arranged above the workbench, and a rotary mechanical hand arranged on the three-dimensional positioning mechanism.

[0006] The clamping cap mechanism comprises a first support, a z-axis linear transmission structure arranged on the first support, a clamping mechanical hand module and a cap screwing jaw structure module arranged on the z-axis linear transmission structure, the clamping mechanical hand module comprises a first clamping mechanical hand and a second clamping mechanical hand, the cap screwing jaw structure module comprises a first cap screwing jaw structure and a second cap screwing jaw structure, the cap screwing jaw structure module is connected with the z-axis linear transmission structure through a rotating mechanism, and the clamping mechanical hand module and the cap screwing jaw structure module are located above the rotary feeding mechanism.

[0007] The spiral feeding mechanism, the rotary feeding mechanism, the clamping cap mechanism, the three-dimensional positioning mechanism, the shifting mechanism and the detection platform are all connected with a control system.

[0008] The spiral feeding mechanism includes a accommodating bin, which is connected to a feeding inlet of a spiral conveying shaft through a feeding slide, and the spiral conveying shaft is connected to a first motor through a transmission device.

[0009] The rotary feeding mechanism includes a feeding turntable, which is connected to the second motor through a transmission device. A placement groove is provided on the feeding turntable, and the placement groove is located at the discharge port of the spiral conveying shaft.

[0010] The z-axis linear transmission structure includes a base slide rail, a third motor, a limiter, a bearing seat and a slide rail are arranged on the base slide rail, the output end of the third motor is connected to one end of the first screw rod, the other end of the first screw rod is connected to the bearing seat, a bearing is arranged between the bearing seat and the first screw rod, a first slide is arranged on the first screw rod, and the first slide is located on the slide rail.

[0011] The rotating mechanism includes a horizontal bearing seat, which is fixedly arranged on the first slide, and a fifth motor is arranged on the horizontal bearing seat, and the fifth motor is connected to the rotating connecting rod through a third coupling, and a first cover-screwing clamp structure and a second cover-screwing clamp structure are fixedly arranged on the rotating connecting rod, and the first cover-screwing clamp structure and the second cover-screwing clamp structure are the same, and the first cover-screwing clamp structure includes a connecting rod, and a fourth motor and a clamp base are arranged on the connecting rod, and the output end of the fourth motor is connected to the second screw rod, and a screw rod seat is arranged on the second screw rod, and the screw rod seat is connected to the cover-screwing clamp through the second clamp rod, and the clamp base is connected to the cover-screwing clamp through the first clamp rod.

[0012] A first clamping manipulator and a second clamping manipulator are provided on the horizontal bearing seat. The first clamping manipulator and the second clamping manipulator have the same structure. The first clamping manipulator and the second clamping manipulator are both provided with a sixth motor.

[0013] The three-dimensional positioning mechanism includes a second bracket, which is fixed on the workbench. An X-axis linear module is provided on the second bracket. The X-axis linear module is located above the clamping and capping mechanism. The X-axis linear module is connected to the Y-axis linear module through a sliding device. The Y-axis linear module is connected to the Z-axis linear module through a sliding device. A rotary manipulator is provided on the Z-axis linear module.

[0014] The second support comprises an X-axis first support and an X-axis second support, the X-axis first support is provided with an X-axis linear module, the X-axis linear module comprises a seventh motor, the seventh motor is connected with a ball screw through a second coupling, the ball screw is provided with a second sliding table, the X-axis first support is provided with two sliding rails, the X-axis second support is provided with one sliding rail, the sliding rails on the X-axis first support and the X-axis second support are parallel to the ball screw, the second sliding table is connected with a y-axis linear module, the y-axis linear module is provided with a sliding block, the sliding block on the y-axis linear module is located on the sliding rail of the X-axis linear module, the y-axis linear module and a z-axis linear module have the same structure as the X-axis linear module, and the sliding table of the y-axis linear module is fixedly connected with the sliding table of the z-axis linear module.

[0015] The shifting mechanism comprises a linear screw module, the linear screw module is provided with an eighth motor, the output end of the eighth motor is connected with an eighth screw rod, the eighth screw rod is provided with an eighth sliding table, the eighth sliding table is provided with a sliding block swinging mechanism, the sliding block swinging mechanism is provided with a ninth motor and a swinging connecting rod.

[0016] A working method of a rotary disc type heart stent reloading device based on a truss structure, comprising the following steps:

[0017] S1. The spiral feeding mechanism (2) feeds the heart stent (7) and the containing box as a whole to the rotary feeding mechanism (3), and the rotary feeding mechanism (3) rotates to the corresponding station;

[0018] S2. The z-axis linear transmission structure (404) drives the clamping cap rotating mechanism (4) to move downward until the heart stent (7) and the containing box as a whole are located in the mechanical hand of the first clamping mechanical hand (428), the first clamping mechanical hand (428) cooperates with the first cap screwing jaw structure (430) to complete the opening of the containing box (701) and the containing box cover (702), the first clamping mechanical hand (428) releases the containing box (701), and the z-axis linear transmission structure (404) drives the clamping cap rotating mechanism (4) to retreat to the original position;

[0019] S3. The rotary mechanical hand (504) grabs the containing box (701) and places the containing box (701) on the first detection platform (801), the first shifting mechanism (608) cooperates with the rotary mechanical hand (504) to pull out the containing box (701), the rotary mechanical hand (504) places the containing box (701) on the first temporary placing table, and meanwhile the first detection platform (801) starts to detect the heart stent (7);

[0020] S4. Repeat step S1, the cap screwing jaw structure module (403) rotates one hundred and eighty degrees around the Z axis, the first cap screwing jaw structure (430) and the second cap screwing jaw structure (431) are transposed, the z-axis linear transmission structure (404) drives the clamping cap mechanism (4) to move downward until the heart stent (7) and the containing box are located in the mechanical hand inside the first clamping mechanical hand (428), the first clamping mechanical hand (428) cooperates with the second cap screwing jaw structure (431) to complete the containing box (701) and the containing box cover (702) opening, the first clamping mechanical hand (428) releases the containing box (701), the z-axis linear transmission structure (404) drives the clamping cap mechanism (4) to retreat to the original position;

[0021] S5. The rotary mechanical hand (504) grabs the containing box (701) and places the containing box (701) on the second detection platform (802), the second shifting mechanism (609) cooperates with the rotary mechanical hand (504) to pull out the containing box (701), the rotary mechanical hand (504) places the containing box (701) on the second temporary placement table, and the second detection platform (802) starts detecting the heart stent (7);

[0022] S6. After the first detection platform (801) completes the detection of the heart stent (7), the rotary mechanical hand (504) grabs the containing box (701) on the first temporary placement table and cooperates with the first shifting mechanism (608) to push the heart stent (7) into the containing box (701), the rotary mechanical hand (504) places the containing box (701) and the detected heart stent (7) on the rotary feeding mechanism (3), the first clamping mechanical hand (428) cooperates with the first cap screwing jaw structure (430) to complete the cap screwing and retreats to the original position, and the rotary mechanical hand (504) retreats to the original position;

[0023] S7. Repeat step S1, the cap screwing jaw structure module (403) rotates one hundred and eighty degrees around the Z axis, the first cap screwing jaw structure (430) and the second cap screwing jaw structure (431) are transposed, and steps S2 and S3 are repeated;

[0024] S8. After the second detection platform (802) completes the detection of the heart stent (7), the rotary mechanical hand (504) grabs the containing box (701) on the second temporary placement table and cooperates with the second shifting mechanism (609) to push the heart stent (7) into the containing box (701), the rotary mechanical hand (504) places the containing box (701) and the detected heart stent (7) on the rotary feeding mechanism (3), the second clamping mechanical hand (429) cooperates with the first cap screwing jaw structure (430) to complete the cap screwing and retreats to the original position, and the rotary mechanical hand (504) retreats to the original position;

[0025] S9. Repeat steps S4, S5, S6, S7, S8, S4 until the detection of the heart stent (7) is completed.

[0026] Compared with the prior art, the present application has the following beneficial effects:

[0027] The present application comprises a workbench, a spiral feeding mechanism is arranged on the workbench, the spiral feeding mechanism is communicated with a rotary feeding mechanism, and the spiral feeding mechanism can continuously and automatically feed the heart stent to be detected to the rotary feeding mechanism, thereby improving the automation level of the device. A clamping cap screwing mechanism is arranged beside the rotary feeding mechanism, which is used to open or screw the containing box and the containing box cover, thereby replacing manual operation, improving the detection efficiency, and avoiding detection errors caused by manual operation. A first detection platform and a second detection platform are arranged on the two sides of the rotary feeding mechanism, respectively, and the first detection platform and the second detection platform can simultaneously detect, thereby further improving the detection efficiency. A first shifting mechanism is arranged between the rotary feeding mechanism and the first detection platform, and a second shifting mechanism is arranged between the rotary feeding mechanism and the second detection platform, and the shifting mechanism is used to assist in completing the feeding and discharging of the heart stent. A first temporary placement table is arranged between the rotary feeding mechanism and the first shifting mechanism, and a second temporary placement table is arranged between the rotary feeding mechanism and the second shifting mechanism, and the temporary placement table is used for temporarily placing the containing box during the detection process. A three-dimensional positioning mechanism is arranged above the workbench, and a rotary mechanical hand is arranged on the three-dimensional positioning mechanism, which is used to complete the rotating movement of the heart stent and the containing box during the detection process. The clamping cap screwing mechanism comprises a first support, a z-axis linear transmission structure is arranged on the first support, a clamping mechanical hand module and a cap screwing jaw structure module are arranged on the z-axis linear transmission structure, the z-axis linear transmission structure is used to realize the up-and-down movement of the clamping mechanical hand module and the cap screwing jaw structure module, and interference between the clamping mechanical hand module and the cap screwing jaw structure module and the rotary mechanical hand is prevented. The clamping mechanical hand module comprises a first clamping mechanical hand and a second clamping mechanical hand, the cap screwing jaw structure module comprises a first cap screwing jaw structure and a second cap screwing jaw structure, and the cap screwing jaw structure module is connected with the z-axis linear transmission structure through a rotating mechanism, so that the first cap screwing jaw structure and the second cap screwing jaw structure can alternately work, thereby improving the automation level of the device. The clamping mechanical hand module and the cap screwing jaw structure module are located above the rotary feeding mechanism. The spiral feeding mechanism, the rotary feeding mechanism, the clamping cap screwing mechanism, the three-dimensional positioning mechanism, the shifting mechanism and the detection platform are connected with a control system, the control system sends instructions in sequence to make the device complete detection actions in turn, and the automation of the detection device is realized.

[0028] Further, the spiral feeding mechanism comprises a containing bin, all the heart stents to be detected are placed in the containing bin, and the subsequent manual feeding step is omitted. The containing bin is communicated with a feeding inlet of a spiral conveying shaft through a feeding slide, the spiral conveying shaft is used to realize the feeding of the heart stent to the rotary feeding mechanism, and the spiral conveying shaft is connected with a first motor through a transmission device.

[0029] Further, the z-axis linear transmission structure realizes transmission through the first screw rod, has high transmission precision, and is provided with the first sliding table and the sliding rail, and has good transmission stability.

[0030] Further, the three-dimensional positioning mechanism comprises a second support fixedly arranged on the workbench, and an X-axis linear module arranged on the second support and located above the cap screwing mechanism.

[0031] The whole detection process of the method is controlled by the control system, the spiral feeding mechanism and the rotary feeding mechanism are used for continuous feeding, the clamping cap screwing mechanism is used for opening or screwing the containing box and the containing box cover, the rotary manipulator on the three-dimensional positioning mechanism is used for completing the grabbing and rotating action of the heart stent support and the containing box, the shifting mechanism is used for assisting feeding and discharging, and the first detection platform and the second detection platform are used for completing the detection of the heart stent. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a schematic view of the heart stent and the containing box of the present application;

[0033] Figure 2 It is a structural schematic view of the spiral feeding mechanism of the present application;

[0034] Figure 3 It is a structural schematic view of the rotary feeding mechanism of the present application;

[0035] Figure 4 It is a structural schematic view of the cap screwing gripper of the present application;

[0036] Figure 5 It is a structural schematic view of the clamping manipulator of the present application;

[0037] Figure 6 It is a structural schematic view of the z-axis linear transmission structure of the present application;

[0038] Figure 7 It is a structural schematic view of the cap screwing mechanism of the present application;

[0039] Figure 8 It is a structural schematic view of the three-dimensional positioning mechanism of the present application;

[0040] Figure 9 Structure diagram of X-axis linear module of the present application;

[0041] Figure 10 Structure diagram of shifting mechanism of the present application;

[0042] Figure 11 Structure diagram of slider oscillating mechanism of the present application;

[0043] Figure 12 Structure diagram of spring damping device of the present application;

[0044] Figure 13 Structure diagram of overall three-dimensional structure of the present application.

[0045] Wherein, 1, workbench; 2, spiral feeding mechanism; 201, first motor; 202, first coupling; 203, first speed reducer; 208, feeding slide; 209, spiral conveying shaft; 211, containing bin; 3, rotary feeding mechanism; 301, second motor; 302, second coupling; 303, second speed reducer; 304, turntable support; 305, transmission bevel gear; 312, feeding turntable; 313, placing groove; 4, clamping cap mechanism; 401, first support; 402, clamping mechanical hand module; 403, cap screwing clamp jaw structure module; 404, z-axis linear transmission structure; 405, rotating mechanism; 406, third motor; 407, bottom plate slide rail; 408, stopper; 409, bearing seat; 410, bearing; 411, first sliding table; 413, first lead screw; 414, slide rail; 415, fourth motor; 416, connecting rod; 417, clamp jaw base; 418, first clamp jaw connecting rod; 419, cap screwing clamp jaw; 420, second lead screw; 421, lead screw seat; 423, second clamp jaw connecting rod; 424, rotating connecting rod; 425, horizontal bearing seat; 426, third coupling; 427, fifth motor; 428, first clamping mechanical hand; 429, second clamping mechanical hand; 430, first cap screwing clamp jaw structure; 431, second cap screwing clamp jaw structure; 432, sixth motor; 433, clamp jaw support plate; 434, turntable; 435, third clamp jaw connecting rod; 436, fourth clamp jaw connecting rod; 437, screw; 438, spring; 439, clamp jaw; 5, three-dimensional positioning mechanism; 501, X-axis linear module; 502, y-axis linear module; 503, z-axis linear module; 504, rotary mechanical hand; 506, second support; 507, X-axis first support; 508, X-axis second support; 509, sliding device; 510, seventh motor; 511, second coupling; 512, ball screw; 513, second sliding table; 601, swing connecting rod; 602, linear lead screw module; 603, eighth motor; 604, eighth lead screw; 605, eighth sliding table; 606, slider swing mechanism; 607, ninth motor; 608, first shifting mechanism; 609, second shifting mechanism; 610, tenth motor; 611, swing slider; 612, swing slide rod; 613, swing connecting rod shaft; 614, slider swing mechanism rack; 615, swing turntable; 616, spring damping device; 7, heart stent; 701, containing box; 702, containing box cover; 801, first detection platform; 802, second detection platform. DETAILED DESCRIPTION

[0046] The application will be further described below in conjunction with the drawings.

[0047] As Figure 7 And Figure 13As shown, the gantry structure based rotary heart stent refueling device comprises a workbench 1, the workbench 1 is provided with a spiral feeding mechanism 2, the spiral feeding mechanism 2 is communicated with a rotary feeding mechanism 3, a clamping screw cap mechanism 4 is arranged beside the rotary feeding mechanism 3, a first detection platform 801 and a second detection platform 802 are arranged on both sides of the rotary feeding mechanism 3 respectively, a first shifting mechanism 608 is arranged between the rotary feeding mechanism 3 and the first detection platform 801, a first temporary placement table is arranged between the rotary feeding mechanism 3 and the first shifting mechanism 608, a second shifting mechanism 609 is arranged between the rotary feeding mechanism 3 and the second detection platform 802, a second temporary placement table is arranged between the rotary feeding mechanism 3 and the second shifting mechanism 609, a three-dimensional positioning mechanism 5 is arranged above the workbench 1, and a rotary mechanical hand 504 is arranged on the three-dimensional positioning mechanism 5.

[0048] The clamping screw cap mechanism 4 comprises a first support 401, the first support 401 is provided with a z-axis linear transmission structure 404, the z-axis linear transmission structure 404 is provided with a clamping mechanical hand module 402 and a screw cap jaw structure module 403, the clamping mechanical hand module 402 comprises a first clamping mechanical hand 428 and a second clamping mechanical hand 429, the screw cap jaw structure module 403 comprises a first screw cap jaw structure 430 and a second screw cap jaw structure 431, the screw cap jaw structure module 403 is connected with the z-axis linear transmission structure 404 through a rotating mechanism 405, and the clamping mechanical hand module 402 and the screw cap jaw structure module 403 are located above the rotary feeding mechanism 3.

[0049] The spiral feeding mechanism 2, the rotary feeding mechanism 3, the clamping screw cap mechanism 4, the three-dimensional positioning mechanism 5, the shifting mechanism 6 and the detection platform 8 are all connected with a control system.

[0050] Preferably, the application comprises a workbench 1, a spiral feeding mechanism 2 is arranged on the workbench 1, the spiral feeding mechanism 2 is communicated with a rotary feeding mechanism 3, the spiral feeding mechanism 2 can continuously and automatically feed the heart stent 7 to be detected to the rotary feeding mechanism 3, and the automation level of the device is improved. A clamping cap rotating mechanism 4 is arranged beside the rotary feeding mechanism 3, which is used to open or tighten the containing box 701 and the containing box cover 702, replacing manual operation, improving the detection efficiency, and avoiding detection errors caused by manual operation. A first detection platform 801 and a second detection platform 802 are arranged on the two sides of the rotary feeding mechanism 3 respectively, the first detection platform 801 and the second detection platform 802 can simultaneously detect, and the detection efficiency is further improved. A first shifting mechanism 608 is arranged between the rotary feeding mechanism 3 and the first detection platform 801, and a second shifting mechanism 609 is arranged between the rotary feeding mechanism 3 and the second detection platform 802, the shifting mechanism is used to assist the feeding and discharging of the heart stent 7, and avoids unsuccessful feeding of the heart stent 7. A first temporary placement table is arranged between the rotary feeding mechanism 3 and the first shifting mechanism 608, and a second temporary placement table is arranged between the rotary feeding mechanism 3 and the second shifting mechanism 609, the temporary placement table is used for temporary placement of the containing box 701 during detection, and after the rotary mechanical hand 504 places the containing box 701 being detected on the temporary placement table, the next operation can be performed. A three-dimensional positioning mechanism 5 is arranged above the workbench 1, the three-dimensional positioning mechanism 5 is provided with a rotary mechanical hand 504, which is used to complete the clamping, shifting and placing of the heart stent 7 and the containing box 701 during detection. The clamping cap rotating mechanism 4 comprises a first support 401, the first support 401 is provided with a z-axis linear transmission structure 404, the z-axis linear transmission structure 404 is provided with a clamping mechanical hand module 402 and a cap screwing jaw structure module 403, the z-axis linear transmission structure 404 is used to realize the up-down movement of the clamping mechanical hand module 402 and the cap screwing jaw structure module 403, and prevents the clamping mechanical hand module 402 and the cap screwing jaw structure module 403 from interfering with the rotary mechanical hand 504. The clamping mechanical hand module 402 comprises a first clamping mechanical hand 428 and a second clamping mechanical hand 429, the cap screwing jaw structure module 403 comprises a first cap screwing jaw structure 430 and a second cap screwing jaw structure 431, the cap screwing jaw structure module 403 is connected with the z-axis linear transmission structure 404 through a rotating mechanism 405, and can realize the alternate operation of the first cap screwing jaw structure 430 and the second cap screwing jaw structure 431, improve the automation level of the device, and the cap screwing jaw structure cooperates with the clamping mechanical hand to realize the tightening and opening of the containing box 701 and the containing box cover 702. The clamping mechanical hand module 402 and the cap screwing jaw structure module 403 are located above the rotary feeding mechanism 3. The spiral feeding mechanism 2, the rotary feeding mechanism 3, the clamping cap rotating mechanism 4, the three-dimensional positioning mechanism 5, the shifting mechanism 6 and the detection platform 8 are all connected with a control system, the control system sends instructions in sequence to make the feeding device complete the detection actions in turn, and realizes the automation of the detection device.

[0051] Further, as shown in Figure 1 The heart stent 7 is the component to be detected of the device, and is placed in the containing box 701. After the containing box 701 is screwed with the containing box cover 702, the heart stent 7 is placed in the containing box 701, forming protection.

[0052] As shown in Figure 2 The spiral feeding mechanism 2 includes a containing bin 211. The containing bin 211 is communicated with the feeding inlet of the spiral conveying shaft 209 through the feeding slide 208. The spiral conveying shaft 209 is connected with the first motor 201 through a transmission device.

[0053] Preferably, the spiral feeding mechanism 2 includes the containing bin 211. All the heart stents 7 to be detected are placed in the containing bin 211, so that the subsequent manual feeding step is omitted. The containing bin 211 is communicated with the feeding inlet of the spiral conveying shaft 209 through the feeding slide 208. The spiral conveying shaft 209 realizes feeding of the heart stent 7 to the rotary feeding mechanism 3. The spiral conveying shaft 209 is connected with the first motor 201 through a transmission device.

[0054] Further, the first motor 201 is connected with the first speed reducer 203 through the first coupling 202. The first speed reducer 203 is connected with the spiral conveying shaft 209 through a belt transmission device.

[0055] As shown in Figure 3 The rotary feeding mechanism 3 includes a feeding turntable 312. The feeding turntable 312 is connected with the second motor 301 through a transmission device. The feeding turntable 312 is provided with a placing groove 313. The placing groove 313 is located at the discharging port of the spiral conveying shaft 209.

[0056] Preferably, the second motor 301 is connected with the second speed reducer 303 through the second coupling 302. The second speed reducer 303 is connected with the feeding turntable 312 through the transmission bevel gear 305. The feeding turntable 312 is arranged on the turntable support 304.

[0057] Further, the transmission process of the heart stent 7 is as follows: the heart stent 7 enters the feeding channel of the spiral conveying shaft 209 from the containing bin 211 through the feeding slide 208. The spiral conveying shaft 209 feeds the heart stent 7 into the placing groove 313 of the feeding turntable 312, completing the feeding process.

[0058] As shown in Figure 6As shown, the z-axis linear transmission structure 404 includes a bottom plate slide rail 407, a third motor 406 disposed on the bottom plate slide rail 407, a limit stop 408, a bearing seat 409, and a slide rail 414, an output end of the third motor 406 is connected to one end of a first lead screw 413, the other end of the first lead screw 413 is connected to the bearing seat 409, a bearing 410 is disposed between the bearing seat 409 and the first lead screw 413, a first sliding table 411 is disposed on the first lead screw 413, and the first sliding table 411 is located on the slide rail 414.

[0059] Preferably, the z-axis linear transmission structure 404 drives the first lead screw 413 to rotate through the third motor 406, thereby driving the first sliding table 411 to move, realizing high-precision transmission, and the first sliding table 411 moves up and down while driving the clamping mechanical hand module 402 and the cap screwing jaw structure module 403 to move up and down at the same time. The slide rail 414 is provided at the same time to ensure the stability during transmission. The limit stop 408 is used to limit the range of the first sliding table 411 moving up and down.

[0060] As shown in Figure 7 and Figure 4 The rotating mechanism 405 includes a horizontal bearing seat 425 fixedly arranged on the first sliding table 411, a fifth motor 427 is arranged on the horizontal bearing seat 425, the fifth motor 427 is connected to a rotating connecting rod 424 through a third coupling 426, a first cap screwing jaw structure 430 and a second cap screwing jaw structure 431 are fixedly arranged on the rotating connecting rod 424, the first cap screwing jaw structure 430 and the second cap screwing jaw structure 431 are the same structure, the first cap screwing jaw structure 430 includes a connecting rod 416, a fourth motor 415 and a jaw base 417 are arranged on the connecting rod 416, an output end of the fourth motor 415 is connected to a second lead screw 420, a lead screw seat 421 is arranged on the second lead screw 420, the lead screw seat 421 is connected to a cap jaw 419 through a second jaw connecting rod 423, and the jaw base 417 is connected to the cap jaw 419 through a first jaw connecting rod 418.

[0061] Further, the fifth motor 427 can drive the rotating connecting rod 424 to rotate, thereby realizing the exchange of positions of the first cap screwing jaw structure 430 and the second cap screwing jaw structure 431.

[0062] Further, the fourth motor 415 can drive the second lead screw 420 to rotate, thereby driving the lead screw seat 421 to move up and down, when the lead screw seat 421 moves downward, the cap jaw 419 is pushed open through the second jaw connecting rod 423, and when the lead screw seat 421 moves upward, the cap jaw 419 is closed through the second jaw connecting rod 423.

[0063] As shown in Figure 5As shown, the horizontal bearing seat 425 is provided with a first clamping mechanical hand 428 and a second clamping mechanical hand 429, the first clamping mechanical hand 428 and the second clamping mechanical hand 429 are the same structure, and the first clamping mechanical hand 428 and the second clamping mechanical hand 429 are both provided with a sixth motor 432.

[0064] Preferably, the first clamping mechanical hand 428 comprises a clamping jaw support plate 433, the clamping jaw support plate 433 is provided with a turntable 434, the turntable 434 is connected with the sixth motor 432 through a transmission shaft, the turntable 434 is connected with two fourth clamping jaw connecting rods 436 through a third clamping jaw connecting rod 435, the fourth clamping jaw connecting rod 436 is connected with a clamping jaw 439, the clamping jaw 439 is fixed on the clamping jaw support plate 433 through a screw 437, the clamping jaw 439 can rotate around the screw 437, and the clamping jaws 439 are provided with a spring 438.

[0065] Further, the working process of the first clamping mechanical hand 428 is that the sixth motor 432 drives the turntable 434 to rotate, the turntable 434 drives the fourth clamping jaw connecting rod 436 and the clamping jaw 439 through the third clamping jaw connecting rod 435, so as to realize the clamping and releasing actions of the first clamping mechanical hand 428.

[0066] As shown, Figure 8 The three-dimensional positioning mechanism 5 comprises a second support 506, the second support 506 is fixedly arranged on the workbench 1, the second support 506 is provided with an X-axis linear module 501, the X-axis linear module 501 is located above the clamping cap screwing mechanism 4, the X-axis linear module 501 is connected with a y-axis linear module 502 through a sliding device, the y-axis linear module 502 is connected with a z-axis linear module 503 through a sliding device, and the z-axis linear module 503 is provided with a rotary mechanical hand 504.

[0067] Preferably, the three-dimensional positioning mechanism 5 comprises a second support 506, the second support 506 is fixedly arranged on the workbench 1, the second support 506 is provided with an X-axis linear module 501, the X-axis linear module 501 is located above the clamping cap screwing mechanism 4, so as to prevent the rotary mechanical hand 504 from interfering with the device on the workbench 1, the X-axis linear module 501 is connected with a y-axis linear module 502 through a sliding device, the y-axis linear module 502 is connected with a z-axis linear module 503 through a sliding device, so as to realize the movement of the rotary mechanical hand 504 in the three-dimensional space and complete various clamping movements. The z-axis linear module 503 is provided with a rotary mechanical hand 504. The rotary mechanical hand 504 can rotate around the X-axis direction, so as to realize the vertical and horizontal position adjustment of the heart stent 7.

[0068] Further, the sliding device between the X-axis linear module 501, the y-axis linear module 502 and the z-axis linear module 503 is a ball screw 512 and a second sliding table 513, and the motor drives the ball screw 512 to rotate, so as to drive the second sliding table 513 to move.

[0069] As shown in Figure 8 and Figure 9 , the second support 506 includes an X-axis first support 507 and an X-axis second support 508, the X-axis first support 507 is provided with an X-axis linear module 501, the X-axis linear module 501 includes a seventh motor 510, the seventh motor 510 is connected with a ball screw 512 through a second coupling 511, the ball screw 512 is provided with a second sliding table 513, the X-axis first support 507 is provided with two slide rails, the X-axis second support 508 is provided with one slide rail, and the slide rails on the X-axis first support 507 and the X-axis second support 508 are parallel to the ball screw 512. The second sliding table 513 is connected with a y-axis linear module 502, the y-axis linear module 502 is provided with a sliding block, the sliding block on the y-axis linear module 502 is located on the slide rail of the X-axis linear module 501, the y-axis linear module 502 and a z-axis linear module 503 have the same structure as the X-axis linear module 501, and the sliding table of the y-axis linear module 502 is fixedly connected with the sliding table of the z-axis linear module 503.

[0070] Preferably, the ball screw 512 is provided with a bearing seat at both ends, the slide rails on the X-axis first support 507 and the X-axis second support 508 are at the same height, the y-axis linear module 502 is connected with the slide rails on the X-axis first support 507 and the X-axis second support 508 through the sliding table, and the z-axis linear module 503 is located between the X-axis first support 507 and the X-axis second support 508.

[0071] As shown in Figure 10 , Figure 11 and Figure 12 , the first shifting mechanism 608 and the second shifting mechanism 609 are the same, the first shifting mechanism 608 includes a linear screw module 602, the linear screw module 602 is provided with an eighth motor 603, the output end of the eighth motor 603 is connected with an eighth screw rod 604, the eighth screw rod 604 is provided with an eighth sliding table 605, the eighth sliding table 605 is provided with a sliding block swing mechanism 606, the sliding block swing mechanism 606 is provided with a ninth motor 607 and a swing connecting rod 601.

[0072] Further, the eighth motor 603 drives the eighth sliding table 605 to move horizontally through the eighth screw rod 604, and the ninth motor 607 drives the swing connecting rod 601 to swing up and down through the sliding block swing mechanism 606.

[0073] Further, the slider swing mechanism 606 comprises a slider swing mechanism frame 614, the swing turntable 615 is arranged on the slider swing mechanism frame 614, the swing turntable 615 is connected with the tenth motor 610 through a shaft coupling, the swing slider 611 is arranged on the swing turntable 615, the swing slider 611 is connected with the swing connecting rod shaft 613 through the swing slide rod 612, the swing connecting rod shaft 613 is connected with the swing connecting rod 601, the slider swing mechanism frame 614 is arranged on the swing mechanism base, and the swing mechanism base is arranged on the eighth sliding table 605. When the tenth motor 610 drives the swing turntable 615 to rotate, the swing slider 611 slides left and right on the swing slide rod 612, and simultaneously drives the swing connecting rod 601 to swing up and down through the swing slide rod 612.

[0074] Further, the swing connecting rod 601 is provided with a spring damping device 616 at the end, which reduces the damage to the heart stent 7 caused by excessive force when the swing connecting rod 601 contacts the heart stent 7, and plays a role of shock absorption and buffering.

[0075] A working method of a rotary table type heart stent reloading device based on a truss structure, comprising the following steps:

[0076] S1. The spiral feeding mechanism 2 feeds the heart stent 7 and the containing box as a whole to the rotary feeding mechanism 3, and the rotary feeding mechanism 3 rotates to the corresponding station;

[0077] S2. The z-axis linear transmission structure 404 drives the clamping cap screwing mechanism 4 to move downward until the heart stent 7 and the containing box as a whole are located in the mechanical hand of the first clamping mechanical hand 428, then the first clamping mechanical hand 428 clamps the containing box 701, the first cap screwing clamp jaw structure 430 clamps the containing box cap 702 and screws the cap, so that the containing box 701 and the containing box cap 702 are separated, the first clamping mechanical hand 428 releases the containing box 701, and the z-axis linear transmission structure 404 drives the clamping cap screwing mechanism 4 to retreat to the original position;

[0078] S3. The rotary mechanical hand 504 moves to the opened containing box 701 and clamps the opened containing box 701, the rotary mechanical hand 504 moves upward along the Z-axis to draw out the containing box 701 from the rotary feeding mechanism 3, the rotary mechanical hand 504 moves the containing box 701 to the first detection platform 801, rotates the containing box 701 by ninety degrees in the moving process, and places the containing box 701 on the first detection platform 801, then the first shifting mechanism 608 fixes the heart stent 7 on the first detection platform 801, the rotary mechanical hand 504 draws out the containing box 701 and places it on the first temporary placing table, and simultaneously the first detection platform 801 starts to detect the heart stent 7;

[0079] S4. Repeat step S1, the cap screwing jaw structure module 403 rotates one hundred and eighty degrees around the Z axis, the first cap screwing jaw structure 430 and the second cap screwing jaw structure 431 are transposed, the z-axis linear transmission structure 404 drives the clamping and cap screwing mechanism 4 to move downward until the stent 7 and the containing box are located in the inside of the mechanical hand of the first clamping mechanical hand 428, then the first clamping mechanical hand 428 clamps the containing box 701, the second cap screwing jaw structure 431 grabs the containing box cover 702 and screws the cap, so that the containing box 701 and the containing box cover 702 are separated, the first clamping mechanical hand 428 releases the containing box 701, the z-axis linear transmission structure 404 drives the clamping and cap screwing mechanism 4 to retreat to the original position;

[0080] S5. The rotary mechanical hand 504 moves to the open containing box 701 and grabs the open containing box 701, the rotary mechanical hand 504 moves upward along the Z axis to pull out the containing box 701 from the rotary feeding mechanism 3, the rotary mechanical hand 504 moves the containing box 701 to the second detection platform 802, rotates the containing box 701 by ninety degrees during the movement, after the containing box 701 is placed on the second detection platform 802, the second shifting mechanism 609 fixes the stent 7 on the second detection platform 802, after the rotary mechanical hand 504 pulls out the containing box 701, it is placed on the second temporary placement table, and at the same time, the second detection platform 802 starts to detect the stent 7;

[0081] S6. After the first detection platform 801 completes the detection of the stent 7, the rotary mechanical hand 504 pulls out the containing box 701 on the first temporary placement table and places it on the first detection platform 801, the first shifting mechanism 608 pushes the stent 7 into the containing box 701, the rotary mechanical hand 504 places the containing box 701 and the detected stent 7 on the rotary feeding mechanism 3, the z-axis linear transmission structure 404 drives the clamping and cap screwing mechanism 4 to move downward until the stent 7 and the containing box are located in the inside of the mechanical hand of the first clamping mechanical hand 428, then the first clamping mechanical hand 428 clamps the containing box 701, the first cap screwing jaw structure 430 aligns the containing box cover 702 with the containing box 701 and screws the cap, the first cap screwing jaw structure 430 and the first clamping mechanical hand 428 are released, the clamping and cap screwing mechanism 4 retreats to the original position, and the rotary mechanical hand 504 retreats to the original position;

[0082] S7. Repeat step S1, the cap screwing jaw structure module 403 rotates one hundred and eighty degrees around the Z axis, the first cap screwing jaw structure 430 and the second cap screwing jaw structure 431 are transposed, repeat steps S2 and S3;

[0083] S8. After the second detection platform 802 completes the detection of the heart stent 7, the rotary manipulator 504 pulls out the containing box 701 on the second temporary placement table and places it on the second detection platform 802, the second shifting mechanism 609 pushes the heart stent 7 into the containing box 701, the rotary manipulator 504 places the containing box 701 and the detected heart stent 7 on the rotary feeding mechanism 3, the z-axis linear transmission structure 404 drives the clamping screw cap mechanism 4 to move downward until the heart stent 7 and the containing box are located inside the manipulator of the second clamping manipulator 429, then the second clamping manipulator 429 clamps the containing box 701, the first screw cap jaw structure 430 aligns the containing box cap 702 with the containing box 701 and tightens it, the second screw cap jaw structure 431 and the second clamping manipulator 429 are loosened, the clamping screw cap mechanism 4 returns to the original position, and the rotary manipulator 504 returns to the original position;

[0084] S9. Repeat steps S4, S5, S6, S7, S8, S4 until the detection of the heart stent 7 is completed.

[0085] Preferably, the entire detection process of the method of the present application is controlled by the control system to ensure the orderly cooperation of each component during operation, improve the stability of the device during operation, improve the automation level of the device, and reduce the inspection errors and labor costs caused by human operation. The spiral feeding mechanism 2 and the rotary feeding mechanism 3 are used for continuous feeding, the clamping screw cap mechanism 4 is used for opening or tightening the containing box 701 and the containing box cap 702, the rotary manipulator 504 on the three-dimensional positioning mechanism 5 is used for completing the grabbing and transferring of the heart stent 7 and the containing box 701, the shifting mechanism is used for assisting feeding and discharging, the first detection platform 801 and the second detection platform 802 are used for completing the detection of the heart stent 7, and during the entire working process, the two detection platforms detect simultaneously, the mechanisms cooperate with each other and work in turn, thereby completing the detection of the heart stent 7, and in addition, the entire working process is reciprocating and cyclic, and all heart stents can be detected at one time, with high automation degree and detection efficiency.

[0086] In conclusion, the above is only a preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A turntable-type heart stent replacement device based on a truss structure, characterized in that: The invention comprises a workbench (1), wherein a spiral feeding mechanism (2) is provided on the workbench (1), the spiral feeding mechanism (2) is connected to a rotary feeding mechanism (3), a clamping and capping mechanism (4) is provided next to the rotary feeding mechanism (3), a first detection platform (801) and a second detection platform (802) are provided on both sides of the rotary feeding mechanism (3), a first shifting mechanism (608) is provided between the rotary feeding mechanism (3) and the first detection platform (801), a first temporary placement platform is provided between the rotary feeding mechanism (3) and the first shifting mechanism (608), a second shifting mechanism (609) is provided between the rotary feeding mechanism (3) and the second detection platform (802), a second temporary placement platform is provided between the rotary feeding mechanism (3) and the second shifting mechanism (609), a three-dimensional positioning mechanism (5) is provided above the workbench (1), and a rotary manipulator (504) is provided on the three-dimensional positioning mechanism (5); The clamping and capping mechanism (4) comprises a first bracket (401), a z-axis linear transmission structure (404) is provided on the first bracket (401), a clamping manipulator module (402) and a capping clamping claw structure module (403) are provided on the z-axis linear transmission structure (404), the clamping manipulator module (402) comprises a first clamping manipulator (428) and a second clamping manipulator (429), the capping clamping claw structure module (403) comprises a first capping clamping claw structure (430) and a second capping clamping claw structure (431), the capping clamping claw structure module (403) is connected to the z-axis linear transmission structure (404) via a rotating mechanism (405), and the clamping manipulator module (402) and the capping clamping claw structure module (403) are located above the rotating feeding mechanism (3); The spiral feeding mechanism (2), the rotary feeding mechanism (3), the clamping and capping mechanism (4), the three-dimensional positioning mechanism (5), the shifting mechanism (6) and the detection platform (8) are all connected to the control system; The spiral feeding mechanism (2) includes a receiving chamber (211), the receiving chamber (211) is connected to a feeding inlet of a spiral conveying shaft (209) via a feeding slideway (208), and the spiral conveying shaft (209) is connected to a first motor (201) via a transmission device; The rotary feeding mechanism (3) comprises a feeding turntable (312), the feeding turntable (312) being connected to the second motor (301) via a transmission device, and a placement groove (313) being provided on the feeding turntable (312), the placement groove (313) being located at the discharge port of the spiral conveying shaft (209).

2. The turntable-type heart stent replacement device based on a truss structure according to claim 1, characterized in that: The z-axis linear transmission structure (404) includes a base plate slide rail (407), a third motor (406), a limiter (408), a bearing seat (409) and a slide rail (414) arranged on the base plate slide rail (407), an output end of the third motor (406) is connected to one end of a first screw rod (413), the other end of the first screw rod (413) is connected to the bearing seat (409), a bearing (410) is arranged between the bearing seat (409) and the first screw rod (413), a first slide (411) is arranged on the first screw rod (413), and the first slide (411) is located on the slide rail (414).

3. The turntable-type heart stent replacement device based on a truss structure according to claim 1, characterized in that: The rotating mechanism (405) includes a horizontal bearing seat (425), the horizontal bearing seat (425) is fixedly arranged on the first slide (411), a fifth motor (427) is arranged on the horizontal bearing seat (425), the fifth motor (427) is connected to the rotating connecting rod (424) through a third coupling (426), a first cover screwing clamping structure (430) and a second cover screwing clamping structure (431) are fixedly arranged on the rotating connecting rod (424), and the first cover screwing clamping structure (430) and the second cover screwing clamping structure (431) are fixedly arranged on the rotating connecting rod (424). ) has the same structure, the first capping jaw structure (430) includes a connecting rod (416), a fourth motor (415) and a jaw base (417) are provided on the connecting rod (416), the output end of the fourth motor (415) is connected to the second screw rod (420), the second screw rod (420) is provided with a screw rod base (421), the screw rod base (421) is connected to the capping jaw (419) through the second jaw connecting rod (423), and the jaw base (417) is connected to the capping jaw (419) through the first jaw connecting rod (418).

4. The turntable-type heart stent replacement device based on a truss structure according to claim 3, characterized in that: A first clamping manipulator (428) and a second clamping manipulator (429) are provided on the horizontal bearing seat (425); the first clamping manipulator (428) and the second clamping manipulator (429) have the same structure; and a sixth motor (432) is provided on both the first clamping manipulator (428) and the second clamping manipulator (429).

5. The turntable-type heart stent replacement device based on a truss structure according to claim 1, characterized in that: The three-dimensional positioning mechanism (5) comprises a second bracket (506), the second bracket (506) being fixedly arranged on the workbench (1), an X-axis linear module (501) being arranged on the second bracket (506), the X-axis linear module (501) being located above the clamping and capping mechanism (4), the X-axis linear module (501) being connected to the Y-axis linear module (502) via a sliding device, the Y-axis linear module (502) being connected to the Z-axis linear module (503) via a sliding device, and a rotary manipulator (504) being arranged on the Z-axis linear module (503).

6. The truss structure-based turntable heart stent replacement device according to claim 5, characterized in that: The second bracket (506) includes an X-axis first bracket (507) and an X-axis second bracket (508), an X-axis linear module (501) is provided on the X-axis first bracket (507), the X-axis linear module (501) includes a seventh motor (510), the seventh motor (510) is connected to a ball screw (512) via a second coupling (511), a second slide (513) is provided on the ball screw (512), two slide rails are provided on the X-axis first bracket (507), one slide rail is provided on the X-axis second bracket (508), and the X-axis first bracket (507) is provided with a slide rail. The slide rails on the first bracket (507) and the second bracket (508) of the X-axis are parallel to the ball screw (512), the second slide (513) is connected to the y-axis linear module (502), and a slider is provided on the y-axis linear module (502). The slider on the y-axis linear module (502) is located on the slide rail of the X-axis linear module (501). The y-axis linear module (502) and the z-axis linear module (503) have the same structure as the X-axis linear module (501), and the slide of the y-axis linear module (502) is fixedly connected to the slide of the z-axis linear module (503).

7. The turntable-type heart stent replacement device based on a truss structure according to claim 1, characterized in that: The shifting mechanism (6) comprises a linear screw module (602), an eighth motor (603) is provided on the linear screw module (602), an output end of the eighth motor (603) is connected to an eighth screw (604), an eighth slide (605) is provided on the eighth screw (604), a slider swing mechanism (606) is provided on the eighth slide (605), and a ninth motor (607) and a swing connecting rod (601) are provided on the slider swing mechanism (606).

8. A method for operating the truss structure-based turntable heart stent replacement device according to claim 1, characterized in that: The following steps are involved: S1. The spiral feeding mechanism (2) transports the heart stent (7) and the container box as a whole to the rotary feeding mechanism (3), and the rotary feeding mechanism (3) rotates to the corresponding station; S2. The z-axis linear transmission structure (404) drives the clamping and capping mechanism (4) to move downward until the heart stent (7) and the container box are located inside the first clamping manipulator (428). The first clamping manipulator (428) cooperates with the first capping jaw structure (430) to complete the opening of the container box (701) and the container box cover (702). The first clamping manipulator (428) releases the container box (701), and the z-axis linear transmission structure (404) drives the clamping and capping mechanism (4) to return to its original position. S3. The rotary manipulator (504) grabs the container (701) and places the container (701) on the first detection platform (801). The first shifting mechanism (608) cooperates with the rotary manipulator (504) to extract the container (701). The rotary manipulator (504) places the container (701) on the first temporary placement platform. At the same time, the first detection platform (801) starts to detect the heart stent (7). S4. Repeat step S1, the cover screwing jaw structure module (403) rotates 180 degrees around the Z axis, the first cover screwing jaw structure (430) and the second cover screwing jaw structure (431) are swapped, the Z axis linear transmission structure (404) drives the clamping and screwing cap mechanism (4) to move downward until the heart stent (7) and the container box are located inside the manipulator of the first clamping manipulator (428), the first clamping manipulator (428) cooperates with the second cover screwing jaw structure (431) to complete the opening of the container box (701) and the container box cover (702), the first clamping manipulator (428) releases the container box (701), and the Z axis linear transmission structure (404) drives the clamping and screwing cap mechanism (4) to return to its original position; S5. The rotary manipulator (504) grabs the container (701) and places the container (701) on the second detection platform (802). The second shifting mechanism (609) cooperates with the rotary manipulator (504) to extract the container (701). The rotary manipulator (504) places the container (701) on the second temporary placement platform. At the same time, the second detection platform (802) starts to detect the heart stent (7). S6. After the first inspection platform (801) completes the inspection of the heart stent (7), the rotary manipulator (504) grabs the container box (701) on the first temporary placement platform and cooperates with the first shifting mechanism (608) to push the heart stent (7) into the container box (701). The rotary manipulator (504) places the container box (701) and the inspected heart stent (7) on the rotary feeding mechanism (3). The first clamping manipulator (428) cooperates with the first capping jaw structure (430) to complete the capping and then returns to its original position. The rotary manipulator (504) returns to its original position. S7. Repeat step S1, rotate the cover-tightening jaw structure module (403) 180 degrees around the Z axis, swap the positions of the first cover-tightening jaw structure (430) and the second cover-tightening jaw structure (431), and repeat steps S2 and S3; S8. After the second inspection platform (802) completes the inspection of the heart stent (7), the rotary manipulator (504) moves the container box (701) on the second temporary placement table and cooperates with the second shifting mechanism (609) to push the heart stent (7) into the container box (701). The rotary manipulator (504) places the container box (701) and the inspected heart stent (7) on the rotary feeding mechanism (3). The second clamping manipulator (429) cooperates with the first capping jaw structure (430) to complete the capping and then returns to its original position. The rotary manipulator (504) returns to its original position. S9. Repeat steps S4, S5, S6, S7, S8, and S4 until the heart stent (7) is detected.

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