A fully automatic thromboelastography instrument

Abstract

The present invention belongs to the field of medical equipment technology, and particularly relates to a fully automatic thrombelastograph, comprising a housing and a work platform, the work platform including a tube placement mechanism for placing sample tubes required for thrombelastograph detection; a robotic arm mechanism for performing actions on the sample tubes; a shaking mechanism for shaking the sample tubes after the actions have been performed; a plurality of self-positioning polymorphic mechanisms for positioning and rotationally controlling the shaken sample tubes; a detection mechanism for detecting the positioned and rotationally controlled sample tubes to generate an elastograph curve; and a control device for controlling the actions of the robotic arm mechanism, the shaking mechanism, the self-positioning polymorphic mechanism, and the detection mechanism. The present invention can solve the problem of low efficiency of existing thrombelastographs during use and their inability to meet the needs of users with a large number of channels.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical equipment, and in particular relates to a fully automatic thrombelastograph. Background Art

[0002] Thromboelastograph is an analyzer that monitors the coagulation process from the entire dynamic process of platelet aggregation, coagulation, fibrinolysis, etc. It is mainly used to monitor and analyze the coagulation state of blood samples, thereby playing an auxiliary role in assessing the patient's clinical hemostasis symptoms.

[0003] Currently, users of thrombelastographs usually include hospitals or biological research and development centers. When purchasing or using thrombelastographs, they have high requirements for the accuracy, stability, and ease of operation of the thrombelastographs. Especially in hospitals, multiple channels may be tested simultaneously at one time. The number of channels of current thrombelastographs is not large, with 8 / 12 / 16 channels being the most common. A single project of the thrombelastograph is time-consuming. When the number of channels is small, it cannot meet the needs of users with high demand such as hospitals. At the same time, most existing thrombelastographs require manual operation during use. When the demand is high, the efficiency of personnel is also low. Summary of the Invention

[0004] The technical problem solved by the present invention is to provide a fully automatic thrombelastograph to solve the problem that the existing thrombelastographs are inefficient when in use and cannot meet the needs of users with a large number of channels.

[0005] The basic solution provided by the present invention is a fully automatic thromboelastogram, comprising a housing and a working platform, wherein the housing is fixed to the working platform and has an openable and closable cover; the working platform comprises:

[0006] The tube placement mechanism is located on the surface of the work platform and is used to place the sample tubes required during the thromboelastography test;

[0007] a robotic arm mechanism, located above the work platform, for performing actions on the sample tube;

[0008] The shaking mechanism is located on the surface of the work platform and is used to shake the sample tube after the action is performed;

[0009] Several self-positioning polymorphic mechanisms are located above the working platform and are used to position and rotate the sample tubes after shaking.

[0010] a detection mechanism, located on the self-positioning polymorphic mechanism, for detecting the sample tube under positioning and rotation control and generating an elastic graph curve;

[0011] The control device includes a controller, which is electrically connected to the mechanical arm mechanism, the shaking mechanism, the self-positioning polymorphic mechanism and the detection mechanism, and is used to control the actions of the mechanical arm mechanism, the shaking mechanism, the self-positioning polymorphic mechanism and the detection mechanism.

[0012] Furthermore, the self-positioning polymorphic mechanism includes a motor 1, a screw 1, a sliding module, a sample assembly module, a rotation module and a lifting module. The screw 1 is connected to the drive shaft of the motor 1, the sample assembly module is connected to the screw 1, and the sample tube is placed on the sample assembly module; the sliding module is located at the bottom of the sample assembly module, the lifting module is located below the sliding module and performs lifting movements, and the rotation module is located at the bottom of the lifting module and rotates the sample tube placed on the sample assembly module.

[0013] Furthermore, the sample assembly module includes a cup placing block, a positioning block and a connecting shaft. The cup placing block is connected to the lead screw. A cup placing seat is provided at the front end of the cup placing block. One end of the connecting shaft is fixedly connected to the bottom of the cup placing seat, and the other end is fixedly connected to the positioning block.

[0014] The sliding module includes a slide rail and a slider. The slider moves linearly on the slide rail, and the cup placing block is installed on the slider.

[0015] Furthermore, the jacking module includes a second motor, a second screw, a mounting block, a jacking block and a jacking seat, the second screw is connected to the drive shaft of the second motor, the mounting block is connected to the second screw, the mounting block is also fixedly connected to the jacking block, and a movable hole is opened at the front end of the jacking block;

[0016] The lifting seat includes a driven slot that cooperates with the positioning block and a positioning rod that is integrally formed with the driven slot. The driven slot is arranged on the top of the lifting block, and the positioning rod is located in the movable hole 1. The positioning rod is hollow inside and has a V-shaped slot on the side.

[0017] Furthermore, the rotation module includes a fixed seat, a rotating rod, a brushless motor, a cam, a rocking rod and a connecting piece. The fixed seat is located at the bottom of the lifting block. The front end of the fixed seat is provided with a second movable hole corresponding to the first movable hole. The rotating rod is located in the second movable hole, and the bottom is connected to one end of the rocking rod through a connecting piece. The rotating rod is provided with a limiting column that cooperates with the V-shaped groove on the positioning rod. The other end of the rocking rod is connected to the cam.

[0018] The cam includes a direct-acting wheel and a transmission wheel. The direct-acting wheel is eccentrically connected to the driving shaft of the brushless motor. The transmission wheel contacts the circumference of the direct-acting wheel. The rocking arm is connected to the transmission wheel.

[0019] Furthermore, the detection mechanism includes a detection unit and a timing drive module, the detection unit includes a suspension needle, a suspension wire, a suspension needle seat, a suspension wire seat, an upper slider, a lower slider and a magnet unit, one end of the suspension needle is fixedly connected to the top of the suspension needle seat, and the other end is connected to a clamping block, the suspension wire seat is T-shaped, hollow inside, and a V-shaped bayonet is opened on the top, and the clamping block is located in the V-shaped bayonet; the magnet unit includes an upper magnet sheet, a lower magnet sheet and a circuit board, the upper magnet sheet and the lower magnet sheet are both located on the suspension needle seat, and the circuit board is located between the upper magnet sheet and the lower magnet sheet and does not move with the suspension needle seat;

[0020] One end of the suspension needle is fixedly connected to the bottom of the suspension needle seat, and the other end is a free end. The upper slider and the lower slider are hollow inside, and a slide groove is provided on the opposite side. The lower slider is T-shaped, and the suspension needle passes through the upper slider and the lower slider;

[0021] The timing drive module includes a drive block, a motor three and a screw three. The drive block is hollow inside and has protrusions on the top and bottom surfaces that cooperate with the slide groove. The protrusions include a front convexity and a rear convexity. The height of the rear convexity is greater than the height of the front convexity, and the front convexity and the rear convexity are smoothly connected. The suspension needle passes through the hollow part inside the drive block. One end of the screw three is connected to the drive block, and the other end is connected to the drive shaft of the motor three.

[0022] Furthermore, the robotic arm mechanism includes a robotic arm and an execution module, the execution module includes an X-axis execution unit, a Y-axis execution unit and a Z-axis execution unit, and the robotic arm moves along the X-axis, Y-axis and Z-axis under the action of the X-axis execution unit, the Y-axis execution unit and the Z-axis execution unit.

[0023] Furthermore, the robotic arm includes robotic arm 1, robotic arm 2 and robotic arm 3, and the robotic arm 1, robotic arm 2 and robotic arm 3 are all controlled by independent execution modules; the execution module controls robotic arm 1, robotic arm 2 and robotic arm 3 to perform actions on the X-axis, Y-axis and Z-axis under the control of the controller.

[0024] Furthermore, the shaking mechanism includes a motor four, a driving wheel, a driven wheel, a transmission belt, a flip seat and a sample tube positioning module. The driving wheel is installed on the drive shaft of the motor four, the driven wheel is connected to the driving wheel through a transmission belt, and the driven wheel is connected to the flip seat through a transmission shaft. The sample tube positioning module is located in front of the flip seat, and the sample tube positioning module is used to position the sample tube that needs to be shaken.

[0025] The principle and advantage of the present invention are: in order to solve the problem that the existing thrombelastograph has low efficiency due to the low number of channels and cannot meet user needs well, the fully automatic thrombelastograph in this application includes a tube placement mechanism, a robotic arm mechanism, a shaking mechanism, a self-positioning multi-state mechanism, a detection mechanism and a control device. The tube placement mechanism can place a large number of samples or sample tubes of multiple types, and the robotic arm mechanism can perform actions on the placed samples or sample tubes, such as adding samples, mixing, and clearing. The shaking mechanism can shake the samples in the sample tubes, and the self-positioning multi-state mechanism can realize simultaneous positioning and rotation control of multiple sample tubes, increase the number of channels, improve efficiency, and cooperate with the detection mechanism to solve the problem that the existing thrombelastograph has low efficiency and cannot meet user needs well. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the appearance of an embodiment of the present invention;

[0027] Figure 2 Schematic diagram of the overall structure of an embodiment of the present invention;

[0028] Figure 3 Schematic diagram of the overall structure of the self-positioning polymorphic mechanism and the detection mechanism according to an embodiment of the present invention;

[0029] Figure 4 A schematic structural diagram of a self-positioning polymorphic mechanism according to an embodiment of the present invention;

[0030] Figure 5 A schematic side structural diagram of a self-positioning polymorphic mechanism according to an embodiment of the present invention;

[0031] Figure 6 A schematic diagram of a self-positioning polymorphic mechanism extending according to an embodiment of the present invention;

[0032] Figure 7 Schematic diagram of the structure of the detection mechanism of an embodiment of the present invention;

[0033] Figure 8 is a schematic plan view of a detection unit according to an embodiment of the present invention;

[0034] Figure 9A Schematic diagram A of the structure of the detection unit during the driving process in an embodiment of the present invention;

[0035] Figure 9B Schematic diagram B of the structure of the detection unit during the driving process according to an embodiment of the present invention;

[0036] Figure 9C Schematic diagram C of the structure of the detection unit during the driving process according to an embodiment of the present invention;

[0037] Figure 10 Schematic diagram of the structure of the shaking mechanism according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The following is further described in detail through specific implementation methods:

[0039] The symbols in the drawings of the specification include: housing 1, cover 101, display screen 102, work platform 2, tube placement mechanism 3, robotic arm mechanism 4, shaking mechanism 5, motor 4 501, driving wheel 502, driven wheel 503, transmission belt 504, flip seat 505, sample tube positioning module 506, self-positioning polymorphic mechanism 6, motor 1 601, screw 1 602, sliding module 603, slide rail 1 6031, slider 1 6032, sample assembly module 604, cup placement block 6041, positioning block 6042, connecting shaft 6043, rotation module 605, fixing seat 6051, rotating rod 6052, brushless motor 6 053, cam 6054, rocking arm 6055, connecting piece 6056, lifting module 606, motor 2 6061, screw 2 6062, mounting block 6063, lifting block 6064, lifting seat 6065, driven slot 6065A, positioning rod 6065B, detection unit 7, suspension wire 701, suspension needle 702, suspension wire seat 703, suspension needle seat 704, upper slider 705, lower slider 706, magnet unit 707, upper magnet sheet 7071, lower magnet sheet 7072, circuit board 7073, card block 708, timing drive module 8, drive block 801, motor 3 802, screw 3 803.

[0040] Currently, users of thrombelastographs usually include hospitals or biological research and development centers. When purchasing or using thrombelastographs, they have high requirements for the accuracy, stability, and ease of operation of the thrombelastographs. Especially in hospitals, multiple channels may be tested simultaneously at one time. The number of channels of current thrombelastographs is not large, with 8 / 12 / 16 channels being the most common. A single project of the thrombelastograph is time-consuming. When the number of channels is small, it cannot meet the needs of users with high demand such as hospitals. At the same time, most existing thrombelastographs require manual operation during use. When the demand is high, the efficiency of personnel is also low.

[0041] The embodiment is basically as follows Figure 1 and Figure 2 As shown: A fully automatic thromboelastogram, comprising a housing 1 and a working platform 2, wherein the housing 1 is fixed to the working platform 2 and is provided with an openable and closable cover 101; the working platform 2 comprises a tube placement mechanism 3, a robotic arm mechanism 4, a shaking mechanism 5, a plurality of self-positioning multi-state mechanisms 6, a detection mechanism, and a control device; wherein:

[0042] The tube placement mechanism 3 is installed on the surface of the work platform 2 and is used to place the sample tubes required during the thromboelastography detection process. In this embodiment, the tube placement mechanism 3 includes multiple placement slots, specifically, a sample cup placement slot, a placement slot for mixing blood samples and reagents, a placement slot filled with needle washing solution, various types of Tip head placement slots, a penicillin bottle placement slot and a blood sample placement slot, etc. The placement slots set in this application are independent placement slots that can be removed and placed, and can be replaced according to experimental requirements.

[0043] like Figure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown, the self-positioning polymorphic mechanism 6 is provided in multiple in the present application, and the corresponding detection mechanism used in conjunction with the self-positioning polymorphic mechanism 6 is also provided in multiple, specifically 12 groups are provided in the present application, two in each group; the self-positioning polymorphic mechanism 6 includes a motor 1 601, a screw 1 602, a sliding module 603, a sample assembly module 604, a rotation module 605 and a lifting module 606, wherein the screw 1 602 is connected to the driving shaft of the motor 1 601, and the sample assembly module 604 is connected to the screw 1 602, so that when the motor 1 601 rotates, the screw 1 602 rotates synchronously, and the sample assembly module 604 is connected to the screw 1 602, so that the sample assembly module 604 makes a linear motion on the screw 1 602, and the sample tube is placed on the sample assembly module 604 at the same time.

[0044] In this embodiment, the sample assembly module 604 includes a cup placing block 6041, a positioning block 6042 and a connecting shaft 6043. The cup placing block 6041 is connected to the screw 1 602. The front end of the cup placing block 6041, that is, facing the free end of the screw 1 602, is provided with a cup placing seat, which is used to place the sample tube or sample cup. One end of the connecting shaft 6043 is fixedly connected to the bottom of the cup placing seat, and the other end is connected to the positioning block 6042. The positioning block 6042 is cylindrical and has relative cross sections cut along the axial direction of the positioning block 6042.

[0045] The bottom of the sample assembly module 604 is slidably connected to the sliding module 603. In this application, the sliding module 603 includes a slide rail 6031 and a slider 6032. The slider 6032 performs linear motion on the slide rail 6031, and the cup placing block 6041 is installed on the slider 6032. In this way, when the motor 601 drives the screw 602 to rotate, the slider 6032 and the slide rail 6031 can guide the movement of the cup placing block 6041, so that the cup placing block 6041 can extend and retract linearly to receive the sample tube or sample cup. In addition, one end of the slide rail 6031 is fixed to the motor base on which the motor 601 is installed.

[0046] The lifting module 606 is located below the sliding module 603 and is not connected to the sliding module 603. Figure 4 As shown, the lifting module 606 includes a second motor 6061, a second screw 6062, a mounting block 6063, a lifting block 6064 and a lifting seat 6065. The second screw 6062 is connected to the drive shaft of the second motor 6061, the mounting block 6063 is connected to the second screw 6062, and the mounting block 6063 is also fixedly connected to the lifting block 6064. The front end of the lifting block 6064 is provided with a movable hole 1, and the movable hole 1 in this application corresponds to the position of the cup holder; the lifting seat 6065 includes a positioning block 6042. The driven slot 6065A is fitted with the jacking block 6064, specifically the driven slot 6065A that fits with the cross-section of the positioning block 6042 and allows the positioning block 6042 to extend, and the positioning rod 6065B is integrally formed with the driven slot 6065A. The driven slot 6065A is arranged at the top of the jacking block 6064, and the positioning rod 6065B is located in the movable hole one. The positioning rod 6065B is hollow inside and has a V-shaped slot on the side; the jacking module 606 also includes a slide rail two, and the mounting block 6063 is also slidably connected to the slide rail two.

[0047] In this embodiment, the slide rail 2 and the motor 2 6061 are both arranged vertically. The motor 2 6061 drives the screw 2 6062 to rotate. The mounting block 6063 performs lifting motion under the guiding positioning action of the slide rail 2 and the driving action of the screw 2 6062. The lifting block 6064 connected to the mounting block 6063 is also driven to perform lifting motion. The lifting seat 6065 connected to the lifting block 6064 is also driven to perform lifting motion.

[0048] The rotating module 605 is located at the bottom of the lifting module 606. The rotating module 605 includes a fixed seat 6051, a rotating rod 6052, a brushless motor 6053, a cam 6054, a rocking arm 6055, and a connecting piece 6056. The fixed seat 6051 is located at the bottom of the lifting block 6064. The front end of the fixed seat 6051 is provided with a movable hole 2 corresponding to the movable hole 1. The rotating rod 6052 is located in the movable hole 2, and the bottom is fixedly connected to one end of the rocking arm 6055 via a connecting piece 6056. The rotating rod 6052 is provided with a limiting column that cooperates with the bottom of the V-shaped groove on the positioning rod 6065B. The other end of the rocking arm 6055 is connected to the cam 6054.

[0049] The cam 6054 includes a linear wheel and a transmission wheel. The linear wheel is eccentrically connected to the drive shaft of the brushless motor 6053. The transmission wheel contacts the circumference of the linear wheel. The rocking arm 6055 is connected to the transmission wheel.

[0050] In this embodiment, the driving shaft of the brushless motor 6053 and the eccentric arrangement of the direct-acting wheel of the cam 6054 enable the direct-acting wheel to rotate while the transmission wheel swings slightly on the circumference of the direct-acting wheel, thereby driving the rocking arm 6055 to swing. When the rocking arm 6055 swings, the rotating rod 6052 is connected to the rocking arm 6055 through the connecting member 6056. In this application, the connecting member 6056 is an L-shaped two-way joint. The rocking action of the rocking arm 6055 causes the connecting member 6056 to rotate, and the rotation of the connecting member 6056 drives the rotating rod 6052 to rotate. In this application, the rotation angle of the rotating rod 6052 is within ±4°45′.

[0051] Specifically, the implementation process of self-positioning polymorphism in the present application is as follows: motor 1 601 drives the cup placing block 6041 to extend to receive the sample tube or sample cup. During the extension process, the cross-section of the positioning block 6042 fits with the slot opening of the driven slot 6065A, so that the slot opening of the driven slot 6065A remains consistent after the positioning block 6042 is extended, ensuring that the positioning block 6042 can still be accurately positioned after retracting after being extended. After receiving the sample tube or sample cup, motor 1 601 drives the cup placing block 6041 to retract, so that the axis of the positioning block 6042 coincides with the driven slot 6065A. At this time, the bottom surface of the positioning block 6042 does not contact the surface inside the driven slot 6065A, and the limit column of the rotating rod 6052 is located at the top of the V-shaped slot on the positioning rod 6065B, so that the driven slot 6065A and the positioning block 6042 will not rotate with the rotating rod 6052.

[0052] After the cup placing block 6041 retracts into place, the lifting module 606 is started, causing the driven slot 6065A to rise, and the bottom of the V-shaped slot on the positioning rod 6065B on the driven slot 6065A cooperates with the limiting column of the rotating rod 6052, and the upper surface inside the driven slot 6065A contacts the bottom surface of the positioning block 6042. When the test is to be performed, the rotating module 605 rotates with the rotation of the rotating rod 6052, driving the driven slot 6065A to rotate, and driving the positioning block 6042 to rotate. The rotation of the positioning block 6042 drives the cup placing base to rotate, and then drives the sample tube or sample cup on the cup placing base to rotate.

[0053] After the self-positioning polymorphic mechanism 6 positions the sample tube or sample cup, the self-positioning polymorphic mechanism 6 can be controlled to rise through other lifting mechanisms, so that the hanging needle 702 in the detection mechanism is inserted into the sample tube or sample cup. In the present application, the motor 601, the screw 602, the sample assembly module 604, and the lifting module 606 can be lifted and lowered through the cooperation of the motor and the screw. To this end, the middle part of the lifting block 6064 in the lifting module 606 is slidably connected to the fixed seat 6051 of the rotating module 605 through a guide column to realize this function.

[0054] like Figure 7 and Figure 8 As shown, the detection mechanism includes a detection unit 7 and a timing drive module 8, the detection unit 7 includes a suspending needle 702, a suspending wire 701, a suspending needle seat 704, a suspending wire seat 703, an upper slider 705, a lower slider 706 and a magnet unit 707, one end of the suspending wire 701 is fixedly connected to the top of the suspending needle seat 704, and the other end is connected to the clamping block 708, the suspending wire seat 703 is T-shaped, hollow inside, and a V-shaped bayonet is opened on the top, and the clamping block 708 is located in the V-shaped bayonet; the magnet unit 707 includes an upper magnet sheet 7071, a lower magnet sheet 7072 and a circuit board 7073, the upper magnet sheet 7071 and the lower magnet sheet 7072 are both sleeved on the suspending needle seat 704, the circuit board 7073 is located between the upper magnet sheet 7071 and the lower magnet sheet 7072 and does not move with the suspending needle seat 704;

[0055] One end of the suspension needle 702 is fixedly connected to the bottom of the suspension needle seat 704, and the other end is a free end. The upper slider 705 and the lower slider 706 are hollow inside, and a slide groove is provided on the opposite side. The lower slider 706 is T-shaped, and the suspension needle 702 passes through the upper slider 705 and the lower slider 706;

[0056] The timing drive module 8 includes a drive block 801, a motor three 802 and a screw three 803. The drive block 801 is hollow inside and has protrusions on the top and bottom surfaces that cooperate with the slide groove. The protrusions include a front protrusion and a rear protrusion. The height of the rear protrusion is greater than the height of the front protrusion, and the front protrusion and the rear protrusion are smoothly connected. Compared with the slide grooves of the upper slider 705 and the lower slider 706, the sliding time of the protrusion on the lower slider 706 is longer than the sliding time of the protrusion on the upper slider 705. Specifically, the slide groove process of the upper slider 705 is one quarter longer than the slide groove process of the lower slider 706; the suspension needle 702 passes through the hollow inside the drive block 801, one end of the screw three 803 is connected to the drive block 801, and the other end is connected to the drive shaft of the motor three 802.

[0057] In this embodiment, the block 708 connected to one end of the suspension wire 701 is located in the V-shaped bayonet of the suspension wire seat 703. When the timing drive module 8 is in the initial stage, as shown in FIG. Figure 9A As shown, at this time, the suspension wire 701 is in a free state, and the timing driving module 8 does not interfere with the movement of the suspension wire 701. At this time, the corresponding detection action can be performed, and the suspension needle 702 passes through the cup cover and is inserted into the sample tube or sample cup.

[0058] When the driving block 801 of the timing driving module 8 is located Figure 9BWhen the suspending needle seat 704 is in the position shown, the protrusion of the driving block 801 pushes the upper slider 705 upward. In this embodiment, a limit block cooperating with the upper slider 705 is provided on the suspending needle seat 704. The upper slider 705 lifts the suspending needle seat 704 through the limit block, thereby pushing the block 708 of the suspending wire 701 out of the suspending wire seat 703, thereby fixing and protecting the suspending wire 701. At this time, the detection action and the cup cover action on the suspending needle 702 can also be performed;

[0059] like Figure 9C As shown, when the driving block 801 continues to move, because the sliding time of the protrusion on the lower slider 706 is longer than the sliding time of the protrusion on the upper slider 705, when the protrusion of the driving block 801 gradually slides out of the sliding groove of the lower slider 706, the driving block 801 pushes the lower slider 706 downward, and because the lower slider 706 is T-shaped, the cup cover is detached from the hanging needle 702, thereby automatically removing the cup cover.

[0060] Similarly, to achieve detection, when the hanging needle 702 is inserted into the sample tube or sample cup, the rotation of the sample tube or sample cup will cause the angle of the hanging needle 702 to change accordingly. The upper magnet sheet 7071 and the lower magnet sheet 7072 installed on the hanging needle seat 704 perform magnetic field cutting on the middle circuit board 7073, and the generated signal is transmitted to the control device for processing, thereby realizing the drawing of the thromboelastogram.

[0061] When the sample tube and sample cup are placed on the sample assembly module 604, they are pre-processed by the robotic arm mechanism 4 and the shaking mechanism 5, wherein the robotic arm mechanism 4 includes a robotic arm and an execution module, and the execution module includes an X-axis execution unit, a Y-axis execution unit and a Z-axis execution unit. The robotic arm moves along the X-axis, Y-axis and Z-axis under the action of the X-axis execution unit, the Y-axis execution unit and the Z-axis execution unit.

[0062] The robotic arms include robotic arm 1, robotic arm 2 and robotic arm 3, and the robotic arm 1, robotic arm 2 and robotic arm 3 are all controlled by independent execution modules; the execution modules control robotic arm 1, robotic arm 2 and robotic arm 3 to perform actions on the X-axis, Y-axis and Z-axis under the control of the controller.

[0063] like Figure 10 As shown, the shaking mechanism 5 includes a motor 4 501, a driving wheel 502, a driven wheel 503, a transmission belt 504, a flip seat 505 and a sample tube positioning module 506. The driving wheel 502 is installed on the driving shaft of the motor 4 501, the driven wheel 503 is connected to the driving wheel 502 through the transmission belt 504, and the driven wheel 503 is connected to the flip seat 505 through the transmission shaft. The sample tube positioning module 506 is located in front of the flip seat 505, and the sample tube positioning module 506 is used to position the sample tube that needs to be shaken.

[0064] In this embodiment, the X-axis execution unit, the Y-axis execution unit and the Z-axis execution unit can realize X-axis direction movement, Y-axis direction movement and Z-axis direction movement through a combination of a motor, a lead screw and a slide rail. The first robot arm, the second robot arm and the third robot arm can realize corresponding functions such as grabbing, placing, tip head liquid extraction, and cleaning of the sample cup or sample tube. This application does not impose any restrictions, and those skilled in the art can realize it. After the sample tube positioning module 506 of the shaking mechanism 5 fixes the sample tube or sample cup, the motor four 501 drives the active wheel 502 to drive the driven wheel 503 to realize the flipping of the flip seat 505, thereby achieving the purpose of shaking.

[0065] The control device includes a controller, a display screen 102 and control buttons. In the present application, the controller is electrically connected to the robotic arm mechanism 4, the shaking mechanism 5, the self-positioning polymorphic mechanism 6 and the detection mechanism. The controller is used to control the actions of the robotic arm mechanism 4, the shaking mechanism 5, the self-positioning polymorphic mechanism 6 and the detection mechanism; the display screen 102 and the control buttons are electrically connected to the controller, the display screen 102 displays the thromboelastogram transmitted back by the detection mechanism, and the control buttons realize the control of the fully automatic thromboelastogram.

[0066] The above are only embodiments of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme are not described in detail here. Ordinary technicians in the field are aware of all common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the field can improve and implement this scheme in combination with their own abilities under the inspiration given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A fully automatic thromboelastograph, characterized by: It comprises a shell and a working platform, wherein the shell is fixed on the working platform and is provided with an openable and closable cover; The working platform includes: The tube placement mechanism is located on the surface of the work platform and is used to place the sample tubes required during the thromboelastography test; a robotic arm mechanism, located above the work platform, for performing actions on the sample tube; The shaking mechanism is located on the surface of the work platform and is used to shake the sample tube after the action is performed; Several self-positioning polymorphic mechanisms are located above the working platform and are used to position and rotate the sample tubes after shaking. a detection mechanism, located on the self-positioning polymorphic mechanism, for detecting the sample tube under positioning and rotation control and generating an elastic graph curve; The control device includes a controller, the controller is electrically connected to the mechanical arm mechanism, the shaking mechanism, the self-positioning multi-state mechanism and the detection mechanism, and the controller is used to control the actions of the mechanical arm mechanism, the shaking mechanism, the self-positioning multi-state mechanism and the detection mechanism; The self-positioning multi-state mechanism includes a motor 1, a lead screw 1, a sliding module, a sample assembly module, a rotating module, and a lifting module. The lead screw 1 is connected to the drive shaft of the motor 1, and the sample assembly module is connected to the lead screw 1. The sample tube is placed on the sample assembly module; the sliding module is located at the bottom of the sample assembly module, the lifting module is located below the sliding module and performs lifting and lowering movements, and the rotating module is located at the bottom of the lifting module and rotates the sample tube placed on the sample assembly module; The detection mechanism includes a detection unit and a timing drive module. The detection unit includes a suspension needle, a suspension wire, a suspension needle seat, a suspension wire seat, an upper slider, a lower slider and a magnet unit. One end of the suspension needle is fixedly connected to the top of the suspension needle seat, and the other end is connected to a clamping block. The suspension wire seat is T-shaped, hollow inside, and has a V-shaped bayonet on the top, and the clamping block is located in the V-shaped bayonet; the magnet unit includes an upper magnet sheet, a lower magnet sheet and a circuit board. The upper magnet sheet and the lower magnet sheet are both located on the suspension needle seat. The circuit board is located between the upper magnet sheet and the lower magnet sheet and does not move with the suspension needle seat. One end of the suspension needle is fixedly connected to the bottom of the suspension needle seat, and the other end is a free end. The upper slider and the lower slider are hollow inside, and a slide groove is provided on the opposite side. The lower slider is T-shaped, and the suspension needle passes through the upper slider and the lower slider; The timing drive module includes a drive block, a motor three and a screw three. The drive block is hollow inside and has protrusions on the top and bottom surfaces that cooperate with the slide groove. The protrusions include a front convexity and a rear convexity. The height of the rear convexity is greater than the height of the front convexity, and the front convexity and the rear convexity are smoothly connected. The suspension needle passes through the hollow part inside the drive block. One end of the screw three is connected to the drive block, and the other end is connected to the drive shaft of the motor three.

2. The fully automatic thromboelastograph according to claim 1, characterized in that: The sample assembly module includes a cup placing block, a positioning block and a connecting shaft. The cup placing block is connected to a lead screw. A cup placing seat is provided at the front end of the cup placing block. One end of the connecting shaft is fixedly connected to the bottom of the cup placing seat, and the other end is fixedly connected to the positioning block. The sliding module includes a slide rail and a slider. The slider moves linearly on the slide rail, and the cup placing block is installed on the slider.

3. The fully automatic thromboelastograph according to claim 2, characterized in that: The jacking module includes a second motor, a second screw, a mounting block, a jacking block and a jacking seat, wherein the second screw is connected to the drive shaft of the second motor, the mounting block is connected to the second screw, and the mounting block is also fixedly connected to the jacking block, and a movable hole is opened at the front end of the jacking block; The lifting seat includes a driven slot that cooperates with the positioning block and a positioning rod that is integrally formed with the driven slot. The driven slot is arranged on the top of the lifting block, and the positioning rod is located in the movable hole 1. The positioning rod is hollow inside and has a V-shaped slot on the side.

4. The fully automatic thromboelastograph according to claim 3, characterized in that: The rotation module includes a fixed seat, a rotating rod, a brushless motor, a cam, a rocking rod and a connecting piece. The fixed seat is located at the bottom of the lifting block. The front end of the fixed seat is provided with a second movable hole corresponding to the first movable hole. The rotating rod is located in the second movable hole, and the bottom is connected to one end of the rocking rod through a connecting piece. The rotating rod is provided with a limiting column that cooperates with the V-shaped groove on the positioning rod. The other end of the rocking rod is connected to the cam. The cam includes a direct-acting wheel and a transmission wheel. The direct-acting wheel is eccentrically connected to the driving shaft of the brushless motor. The transmission wheel contacts the circumference of the direct-acting wheel. The rocking arm is connected to the transmission wheel.

5. The fully automatic thromboelastograph according to claim 1, characterized in that: The robotic arm mechanism includes a robotic arm and an execution module, the execution module includes an X-axis execution unit, a Y-axis execution unit and a Z-axis execution unit, and the robotic arm moves along the X-axis, Y-axis and Z-axis under the action of the X-axis execution unit, the Y-axis execution unit and the Z-axis execution unit.

6. The fully automatic thromboelastograph according to claim 5, characterized in that: The robotic arm includes robotic arm 1, robotic arm 2 and robotic arm 3, and the robotic arm 1, robotic arm 2 and robotic arm 3 are all controlled by independent execution modules; the execution module controls robotic arm 1, robotic arm 2 and robotic arm 3 to perform actions on the X axis, Y axis and Z axis under the control of the controller.

7. The fully automatic thromboelastograph according to claim 1, characterized in that: The shaking mechanism includes a motor four, a driving wheel, a driven wheel, a transmission belt, a flip seat and a sample tube positioning module. The driving wheel is installed on the driving shaft of the motor four, the driven wheel is connected to the driving wheel through a transmission belt, and the driven wheel is connected to the flip seat through a transmission shaft. The sample tube positioning module is located in front of the flip seat and is used to position the sample tube that needs to be shaken.

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