Manipulator grabbing device based on in-vitro diagnostic reagent

Abstract

The utility model provides a manipulator gripping device based on in-vitro diagnostic reagents, which belongs to the technical field of in-vitro diagnostic reagents and comprises a base, a rotary table is rotatably connected to the base, a lifting slideway is fixedly connected to the rotary table, and a telescopic arm is slidably connected to the lifting slideway; a grabbing hand is arranged at the end part of the telescopic arm; s5, the PV210 controller obtains a control instruction sent by the upper computer, is in communication connection with the rotation driving assembly and the lifting driving assembly through the motion driving assembly and controls rotation of the rotary table and lifting of the telescopic arm; and S5, the PV210 controller controls a grabbing hand to grab the in-vitro diagnostic reagent. And the camera obtains and displays video information of the operation process of the grabbing hand. The in-vitro diagnostic reagent grabbing device can grab in-vitro diagnostic reagents at multiple angles and in multiple directions, and meets the use requirements of multiple scenes. And the requirements of the medical field on reagent grabbing and operation can be met, and high applicability and practicability are achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of in vitro diagnostic reagents, and particularly relates to a manipulator grasping device for in vitro diagnostic reagents. Background Art

[0002] With the continuous development of medical technology, in vitro diagnostic reagents are increasingly widely used in medical diagnosis. In the automated processing of in vitro diagnostic reagents, the manipulator grasping device is one of the important automated devices. Among them, in some detection areas of different in vitro diagnostic reagents such as pathogenic pathogens / pathogenic bacteria antigens, antibodies, and nucleic acids, medical manipulators can be used to replace medical staff to pick up, liberating medical staff from repetitive mechanical labor, and medical staff do not directly contact pathogenic samples, realizing self-protection for medical staff and ensuring the safety of medical staff during work.

[0003] However, traditional manipulator grasping devices have great limitations in angle, azimuth control, and precision control. They can often only perform grasping at a single angle or direction, unable to meet the multi-angle and multi-azimuth grasping of in vitro diagnostic reagents, resulting in great limitations in the use of manipulators for grasping. Moreover, existing manipulators cannot effectively control the grasping force, easily causing the in vitro diagnostic reagents to be grasped insecurely and fall and be damaged, or causing damage to the in vitro diagnostic reagents due to excessive force. This limits the use of manipulators for grasping in vitro diagnostic reagents. Content of the Utility Model

[0004] The utility model provides a manipulator grasping device for in vitro diagnostic reagents, which can meet the multi-angle and multi-azimuth grasping of in vitro diagnostic reagents and meet the requirements of multi-scenario use.

[0005] The manipulator grasping device includes: a base, a turntable rotatably connected to the base, a lifting slideway fixedly connected to the turntable, and a telescopic arm slidably connected to the lifting slideway; a grasping hand is arranged at the end of the telescopic arm; a control mechanism is installed on the base; the turntable is connected with a rotation driving component, and the lifting slideway is connected with a lifting driving component for driving the telescopic arm to lift and lower; a grip force sensing component and a camera are installed on the grasping hand;

[0006] The control mechanism includes: an S5PV210 controller, a storage module, a touch display screen, a communication module, and a motion driving component;

[0007] The S5PV210 controller is communicatively connected with the host computer through the communication module, obtains the control instructions sent by the host computer, and is communicatively connected with the rotation driving component and the lifting driving component respectively through the motion driving component to respectively control the rotation of the turntable and the lifting and lowering of the telescopic arm;

[0008] The S5PV210 controller communicates with the grip force sensing component to obtain the grip force information of the gripper and controls the gripper to grasp in vitro diagnostic reagents.

[0009] The S5PV210 controller communicates with the camera to obtain video information during the operation of the gripper and displays the video information by communicating with the touch display screen.

[0010] The S5PV210 controller communicates with the storage module to store the operation information of the device and the control instructions sent by the host computer.

[0011] Furthermore, it should be noted that the rotation drive assembly is provided with a first 86BYGH450B stepper motor and a rotation main gear.

[0012] The bottom of the turntable extends into the base, and a driven rotation gear is connected to the bottom end of the turntable.

[0013] The rotation main gear is installed on the output shaft of the first 86BYGH450B stepper motor, and the rotation main gear is meshed with the driven rotation gear.

[0014] Furthermore, it should be noted that a rotation angle sensor is installed on the turntable; the motion drive assembly includes: a first THB6128 motor control circuit.

[0015] The S5PV210 controller communicates with the rotation angle sensor to obtain the rotation angle information of the turntable.

[0016] The S5PV210 controller communicates with the first 86BYGH450B stepper motor through the first THB6128 motor control circuit to control the operation of the first 86BYGH450B stepper motor.

[0017] Furthermore, it should be noted that the lifting drive assembly is provided with a second 86BYGH450B stepper motor and a lifting gear.

[0018] A rack adapted to the lifting gear is provided on the lifting slideway.

[0019] The second 86BYGH450B stepper motor and the lifting gear are respectively installed on the telescopic arm, the output shaft of the second 86BYGH450B stepper motor is fixedly connected to the lifting gear, and the lifting gear is meshed with the rack.

[0020] Furthermore, it should be noted that a plurality of position sensors are installed on the lifting slideway; the motion drive assembly further includes: a second THB6128 motor control circuit.

[0021] The S5PV210 controller communicates with the position sensors to obtain the lifting height information of the telescopic arm.

[0022] The S5PV210 controller is communicatively connected to the second 86BYGH450B stepper motor through the second THB6128 motor control circuit to control the operation of the second 86BYGH450B stepper motor.

[0023] Furthermore, it should be noted that the storage module includes: the K4X1G163PC-FGC8 memory and the K9F2G08U memory.

[0024] Furthermore, it should be noted that the camera uses the LS-IPK15 intelligent camera or the Ezviz C6C wireless network high-definition monitor camera;

[0025] The touch display screen uses the AT070TN83V1 liquid crystal touch screen.

[0026] Furthermore, it should be noted that the S5PV210 controller is communicatively connected to the camera through the 88W8687 chip and the SPI bus.

[0027] Furthermore, it should be noted that the grip force sensing component includes: the yzc1b pressure sensor and the LFC2 operational amplifier;

[0028] The yzc1b pressure sensor is communicatively connected to the S5PV210 controller through the LFC2 operational amplifier.

[0029] The communication module uses the Siemens S7-300 module.

[0030] From the above technical solutions, it can be seen that the present utility model has the following advantages:

[0031] The manipulator grasping device for in vitro diagnostic reagents provided by the present utility model can control the rotation of the turntable and the lifting of the telescopic arm through the communication connection between the S5PV210 controller and the rotary drive assembly and the lifting drive assembly. It can also combine the horizontal telescoping of the telescopic arm to meet the grasping of in vitro diagnostic reagents from multiple angles and directions, meeting the use requirements of multiple scenarios.

[0032] The grip force sensing component can monitor and adjust the grasping force of the grasping hand to ensure the precise grasping of in vitro diagnostic reagents, avoiding reagent damage or slipping caused by improper grasping force. It also obtains and displays the video information of the operation process of the grasping hand through the camera, enabling users to monitor the operation process of the manipulator in real time, discover problems in a timely manner and handle them, improving the reliability and safety of the operation. The communication connection between the S5PV210 controller and the storage module enables the device to record and store operation information and control instructions sent by the host computer, facilitating subsequent data analysis and traceability.

[0033] The present utility model also realizes remote control of the manipulator, making the operation more flexible and convenient, and capable of improving work efficiency. A clue interface is provided by the touch display screen, enabling the user to intuitively view the operating status of the manipulator gripping device. It can meet the requirements for reagent gripping and operation in the medical field, and has high applicability and practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the present utility model, the accompanying drawings required in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0035] Figure 1 FIG. is a schematic diagram of a manipulator gripping device for in vitro diagnostic reagents;

[0036] Figure 2 FIG. is a schematic diagram of an embodiment of a manipulator gripping device for in vitro diagnostic reagents;

[0037] Figure 3 FIG. is a schematic diagram of another embodiment of a manipulator gripping device for in vitro diagnostic reagents. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] In order to make the objectives, features, and advantages of the present utility model more obvious and understandable, the technical solutions in the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the specific embodiments. Obviously, the embodiments described below are only some embodiments of the present utility model, rather than all embodiments. Based on the embodiments in this patent, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this patent.

[0039] As Figure 1 and Figure 2 shown, the manipulator gripping device for in vitro diagnostic reagents provided by the present utility model includes: a base 1, a turntable 2 is rotatably connected to the base 1, a lifting slideway 3 is fixedly connected to the turntable 2, and a telescopic arm 4 is slidably connected to the lifting slideway 3; a gripping hand 5 is provided at the end of the telescopic arm 4. Of course, according to actual needs, the manipulator gripping device can also be configured in the structural form as Figure 3 shown, and the specific structural form is not limited.

[0040] In this embodiment, a control mechanism is installed on the base 1; the turntable is connected to a rotation drive assembly, the lifting slideway 3 is connected to a lifting drive assembly for driving the telescopic arm 4 to lift; a grip force sensing assembly and a camera are installed on the gripping hand 5.

[0041] The control mechanism of the present utility model includes: an S5PV210 controller, a storage module, a touch display screen, a communication module, and a motion drive assembly.

[0042] To fully illustrate the implementation manner of the present utility model, the camera can adopt an LS-IPK15 intelligent camera or a Fluorite C6C wireless network high-definition monitor camera. The touch display screen adopts an AT070TN83V1 liquid crystal touch screen. The communication module adopts a Siemens S7-300 module.

[0043] In this application, the S5PV210 controller is communicatively connected to the host computer through the communication module, obtains the control instructions sent by the host computer, and is communicatively connected to the rotation drive assembly and the lifting drive assembly through the motion drive assembly respectively to control the rotation of the turntable and the lifting of the telescopic arm 4.

[0044] It should be noted that the communication module adopts a Siemens S7-300 module. The Siemens S7-300 module constitutes an external PLC module of the device, receives the control signal sent by the host computer through the I / O interface, and realizes the sequential actions of grasping, fixing, detecting, and recycling the in vitro diagnostic reagent. Here, the user can manually control the grasping device of the manipulator to perform the operations of grasping, fixing, detecting, and recycling the in vitro diagnostic reagent through the host computer. Of course, according to actual needs, relevant methods can also be defined to realize the automatic operation process of the grasping device of the manipulator for the in vitro diagnostic reagent. The specific operation process is not limited here.

[0045] The S5PV210 controller is communicatively connected to the grip force sensing assembly to obtain the grasping force information of the grasping hand and control the grasping hand to grasp the in vitro diagnostic reagent.

[0046] Optionally, the in vitro diagnostic reagent can be an instrument, appliance, reagent kit, reagent bottle, etc.

[0047] The S5PV210 controller is communicatively connected to the camera to obtain the video information during the operation process of the grasping hand, and is communicatively connected to the touch display screen to display the video information.

[0048] In this embodiment, the LED control interface and data interface of the S5PV210 controller are respectively connected to the control port and data port of the AT070TN83V1 liquid crystal touch screen to realize the display of video information.

[0049] Exemplarily, the camera uses an LS-IPK15 intelligent camera. The LS-IPK15 intelligent camera communicates with the S5PV210 controller through an 88W8687 chip and uses the SPI bus. The 88W8687 chip can be set as a slave device, and the S5PV210 controller can be set as a master device. The serial data output port SDO of the 88W8687 chip is connected to the MISO port of the S5PV210 controller, the serial data input port SDI is connected to the MOSI port of the S5PV210 controller, the clock CLK port is connected to the clock CLK port of the S5PV210 controller, and the output trigger port SINTN is connected to the external interrupt of the S5PV210 controller. The ENT2 port and the chip select CS port are connected to the NSS0 port of the S5PV210 controller to realize the communication between the S5PV210 controller and the LS-IPK15 intelligent camera, enabling the S5PV210 controller to obtain the image data of the in vitro diagnostic reagent grasping process.

[0050] In this embodiment, the S5PV210 controller is communicatively connected to the storage module, storing the operating information of the storage device and the control instructions sent by the host computer.

[0051] Optionally, the storage module includes a K4X1G163PC-FGC8 memory and a K9F2G08U memory. Specifically, the storage module can be composed of two K4X1G163PC-FGC8 memories connected to form a 4Gb-capacity SDRAM and one K9F2G08U memory connected to form a 16Gb-capacity NAND Flash to meet the internal data storage needs of the device.

[0052] In this embodiment, the rotation drive assembly is provided with a first 86BYGH450B stepping motor and a rotation main gear; the bottom of the turntable extends into the base 1, and a driven rotation gear is connected to the bottom end of the turntable; the rotation main gear is installed on the output shaft of the first 86BYGH450B stepping motor, and the rotation main gear is meshed with the driven rotation gear.

[0053] Furthermore, a corner sensor is installed on the turntable; the motion drive assembly includes a first THB6128 motor control circuit; the S5PV210 controller communicates with the corner sensor to obtain the rotation angle information of the turntable; the S5PV210 controller communicates with the first 86BYGH450B stepping motor through the first THB6128 motor control circuit to control the operation of the first 86BYGH450B stepping motor.

[0054] The lifting drive assembly of the present utility model is provided with a second 86BYGH450B stepper motor and a lifting gear; a rack adapted to the lifting gear is provided on the lifting slideway 3; the second 86BYGH450B stepper motor and the lifting gear are respectively installed on the telescopic arm 4, the output shaft of the second 86BYGH450B stepper motor is fixedly connected to the lifting gear, and the lifting gear is meshed and connected with the rack.

[0055] A plurality of position sensors are installed on the lifting slideway 3; the motion drive assembly further includes: a second THB6128 motor control circuit; the S5PV210 controller obtains the lifting height information of the telescopic arm 4 by communicating with the position sensors; the S5PV210 controller is communicatively connected to the second 86BYGH450B stepper motor through the second THB6128 motor control circuit to control the operation of the second 86BYGH450B stepper motor.

[0056] The telescopic movement of the telescopic arm 4 of the present utility model can be driven by a hydraulic cylinder or a pneumatic cylinder. The grasping and releasing of the grasping hand can also be driven by a motor. The grasping hand can adopt a clamping method, and the shape of the grasping hand can be set according to the outer shape of the in vitro diagnostic reagent.

[0057] The grip force sensing assembly of this embodiment includes: a yzc1b pressure sensor and an LFC2 operational amplifier; the yzc1b pressure sensor is communicatively connected to the S5PV210 controller through the LFC2 operational amplifier.

[0058] Specifically, the yzc1b pressure sensor can be used in conjunction with a resistance strain gauge to form a bridge circuit. The output port of the bridge circuit is connected to the input port of the LFC2 operational amplifier, and the output port of the LFC2 operational amplifier is connected to the AIN1 port of the S5PV210 controller to realize the monitoring of the force for grasping the reagent and meet the requirements for grasping the in vitro diagnostic reagent.

[0059] The manipulator grasping device for in vitro diagnostic reagents provided by the present utility model can be implemented in hardware, software, firmware, or any combination thereof. The various features described as modules, units, or components can be implemented together in an integrated logic device or separately as discrete but interoperable logic devices or other hardware devices. In some cases, the various features of the electronic circuit can be implemented as one or more integrated circuit devices, such as an integrated circuit chip or a chipset.

[0060] If implemented in hardware, the present utility model relates to a device, for example, it can be used as a processor or an integrated circuit device, such as an integrated circuit chip or a chipset. Alternatively or additionally, if implemented in software or firmware, the technology can be realized at least partially by a computer-readable data storage medium, including instructions, which, when executed, cause a processor to execute one or more of the above methods. For example, the computer-readable data storage medium can store instructions such as those executed by the processor.

[0061] In the description and claims of the present utility model and the above-mentioned drawings, the terms "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present utility model described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0062] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to the embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A manipulator grasping device for in vitro diagnostic reagents, comprising: The base is rotatably connected to a turntable, the turntable is fixedly connected to a lifting slide, and the lifting slide is slidably connected to a lifting and retracting arm; a grabber is arranged at the end of the lifting and retracting arm; the base is characterized in that a control mechanism is installed on the base; the turntable is connected to a rotating drive assembly, and the lifting slide is connected to a lifting drive assembly for driving the lifting and retracting arm to rise and fall; the grabber is installed with a grip sensor assembly and a camera; The control mechanism includes: S5PV210 controller, storage module, touch screen, communication module and motion drive components; The S5PV210 controller communicates with the host computer through the communication module to obtain the control instructions sent by the host computer, and communicates with the rotation drive component and the lifting drive component through the motion drive component to control the rotation of the turntable and the lifting and retracting arm respectively; The S5PV210 controller communicates with the grip force sensor component to obtain the gripping force information of the gripper and control the gripper to grasp the in vitro diagnostic reagent; The S5PV210 controller acquires video information of the gripper's operation process by communicating with the camera, and displays the video information by communicating with the touch screen. The S5PV210 controller is connected to the storage module for communication, and stores the operating information of the storage device and the control instructions sent by the host computer.

2. The manipulator grasping device for in vitro diagnostic reagents according to claim 1, characterized in that: The rotary drive assembly is provided with a first 86BYGH450B stepper motor and a rotary main gear; The bottom of the turntable extends to the inside of the base, and the bottom end of the turntable is connected to a slave rotating gear; The rotating main gear is installed on the output shaft of the first 86BYGH450B stepper motor, and the rotating main gear is meshed and connected with the slave rotating gear.

3. The manipulator grasping device for in vitro diagnostic reagents according to claim 2, characterized in that: A rotation angle sensor is installed on the turntable; the motion drive assembly includes: a first THB6128 motor control circuit; The S5PV210 controller obtains the rotation angle information of the turntable by communicating with the rotation angle sensor; The S5PV210 controller is connected to the first 86BYGH450B stepper motor through the first THB6128 motor control circuit to control the operation of the first 86BYGH450B stepper motor.

4. The manipulator grasping device for in vitro diagnostic reagents according to claim 1, characterized in that: The lifting drive assembly is provided with a second 86BYGH450B stepper motor and a lifting gear; A rack matching the lifting gear is provided on the lifting slide; The second 86BYGH450B stepper motor and the lifting gear are respectively installed on the lifting and retracting arm, the output shaft of the second 86BYGH450B stepper motor is fixedly connected with the lifting gear, and the lifting gear is meshed with the rack.

5. The manipulator grasping device for in vitro diagnostic reagents according to claim 4, characterized in that: A plurality of position sensors are installed on the lifting slide; the motion drive assembly also includes: a second THB6128 motor control circuit; The S5PV210 controller obtains the lifting height information of the telescopic arm by communicating with the position sensor; The S5PV210 controller is connected to the second 86BYGH450B stepper motor through the second THB6128 motor control circuit to control the operation of the second 86BYGH450B stepper motor.

6. The manipulator grasping device for in vitro diagnostic reagents according to claim 1 or 2, characterized in that: The storage modules include: K4X1G163PC-FGC8 memory and K9F2G08U memory.

7. The manipulator grasping device for in vitro diagnostic reagents according to claim 1 or 2, characterized in that: The camera uses LS-IPK15 smart camera, or EZVIZ C6C wireless network high-definition monitoring camera; The touch display screen uses AT070TN83V1 LCD touch screen.

8. The manipulator grasping device for in vitro diagnostic reagents according to claim 1 or 2, characterized in that: The S5PV210 controller communicates with the camera through the 88W8687 chip and the SPI bus.

9. The manipulator grasping device for in vitro diagnostic reagents according to claim 1 or 2, characterized in that: The grip force sensing components include: yzc1b pressure sensor and LFC2 op amp; The yzc1b pressure sensor is connected to the S5PV210 controller through the LFC2 op amp.

10. The manipulator grasping device for in vitro diagnostic reagents according to claim 1 or 2, characterized in that: The communication module adopts Siemens S7-300 module.

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