A kind of automated loading mechanism of automatic coagulation analyzerTechnical field
The present invention relates to the field of medical instrument technology, and in particular to a kind of automatic loader of automatic coagulation analyzerStructure.
Background technique
Thrombus and hemostasis are important one of the functions of blood, and the formation and adjusting of thrombus and hemostasis, which constitute in blood, to be existedComplexity, function opposition blood coagulation system and anticoagulation system, they remain dynamic equilibrium by the adjusting of various coagulation factors,So that blood maintains normal fluid state under physiological status, not only do not spilt over except blood vessel, but also did not freezed solidly among blood vessel.Stopping blooding from the purpose of antithrombotic test is exactly to understand morbidity original from different sides, different links by the detection of various coagulation factorsCause, pathologic process, and then carry out the diagnosing and treating of disease.Blood coagulation analyzer is the special instrument of thrombus and blood hemostasis analysis, canA variety of thrombus and hemostasis index are detected, are mentioned for bleeding and thrombotic diseases diagnosis, thrombolysis and anticoagulant therapy detection and observation of curative effectValuable index has been supplied, has been equipment most basic used in current thrombus/hemostasis laboratory.Blood coagulation analyzer uses testDisk carries out blood coagulation test, and test disk holder is the important component of blood coagulation analyzer, test disk holder includesRule mechanism and handgrip mechanism, but there is problems in that first is that having centainly when with rule mechanism to the whereabouts posture of test panelRequired precision, test panel fall when cannot have biggish position deviation.But it is inclined that existing rule mechanism will appear test panelFrom the case where, to influence the crawl of test panel；Second is that existing handgrip mechanism common configuration is complicated, inconvenient to use, it cannotMeets the needs of people load test panel using handgrip.
Summary of the invention
In order to solve the problems in the existing technology, the present invention provides a kind of automatic dresses of automatic coagulation analyzerMounted mechanism has the characteristics that rule position is accurate, it is small to load risk.
Technical proposal that the invention solves the above-mentioned problems are as follows: a kind of automated loading mechanism of automatic coagulation analyzer, packetInclude rule mechanism, positioning mechanism, loader mechanism, testing agency, test panel；
Rule mechanism includes bottom of a cup, annular resilient cushion；
Bottom of a cup is equipped with location hole, and positioning holes center axis is overlapped with bottom of a cup central axis, and positioning hole subtracts equipped with annularShake pad, annular resilient cushion central axis are overlapped with positioning holes center axis；
Positioning mechanism is located at below rule mechanism, and positioning mechanism includes eccentric block, axle sleeve, stepper motor, eccentric block, positioningConnecting rod, positioning sleeve, motor rack, circuit board, square piece, the first optoelectronic switch, the second optoelectronic switch；
Stepper motor is fixed on motor rack, and step motor shaft passes through motor rack and is rotatablely connected by axle sleeve and eccentric block；The one end of eccentric block far from step motor shaft is rotatablely connected by pin and positioning linkage rod；The one end of positioning linkage rod far from eccentric block is logicalPin is crossed to be rotatablely connected with positioning sleeve；One end of the remotely located connecting rod of positioning sleeve passes through location hole；
The motion range of loader mechanism covers dropping place mechanism, testing agency；Loader mechanism includes staking, upper supporting plate, lidPlate, stabilizer blade, main slide-bar, fine and smooth axis, manipulator；
Cover board lower end surface is equipped with more stabilizer blades, and stabilizer blade is located on four angles of cover board；Cover board lower end surface is equipped with upper supporting plate；OnSupporting plate lower end surface is equipped with staking, and staking includes transverse slat, riser, and riser one end is connect with upper supporting plate, and the other end and transverse slat hang downDirectly be connected as a body structure；
Spindle motor is equipped with below staking, spindle motor is connect with transverse slat, and spindle motor axis passes through transverse slat, spindle motorAxis is equipped with nut seat, and nut seat is connect with spindle motor axle thread；Vertical-transmission block, vertical-transmission block are equipped with above nut seatIt is connect with nut seat；Vertical-transmission block is connected with sliding block far from one end of riser；
Fine and smooth axis passes through sliding block, and fine and smooth axis is connect with sliding block by linear bearing；Fine and smooth axis top and bottom are inserted into respectivelyIn upper fixed block and lower fixed block, upper fixed block and lower fixed block and fine and smooth axis connection；Lower fixed block passes through rolling bearing and crossPlate connection, lower fixed block are connect far from one end of staking with slide plate；Upper fixed block is connect with big belt wheel, and big belt wheel is located at upper solidDetermine above block, upper fixed block is connect far from one end of staking with slide plate；
Main slide-bar one end passes through sliding block, vertical-transmission block, and main slide-bar is connected by rolling bearing and sliding block, vertical-transmission blockIt connects；The main slide-bar other end is connect by linear bearing with upper supporting plate；Main slide-bar is equipped with big belt wheel, and big belt wheel is fixed on linear axisIt holds, big belt wheel and small pulley are driven by belt, and small pulley is connect with driving motor, and driving motor is fixed on riser；
Main slide-bar is equipped with hand rest, solution shank of the key, manipulator far from one end of sliding block, and solution shank of the key and handle are located at manipulatorTop and lower section, hand rest connect with main slide-bar, and solution shank of the key one end is connect with main slide-bar, and the other end is connected with ball screw；
Hand rest upper surface be equipped with the first mounting post, the second mounting post, third mounting post, the 4th mounting post, the first mounting post,Second mounting post, third mounting post, the 4th mounting post are located on four angles of hand rest；
Circular pressing plate is equipped between manipulator and solution shank of the key, circular pressing plate passes through third mounting post and the 4th mounting post；MachineTool hand includes the first robot arm, the second robot arm, and the first robot arm, the second robot arm are in same plane, and firstRobot arm, the second robot arm are located at front side and the rear side of main slide-bar；First robot arm passes through the first mounting post, theThree mounting posts, fastener pass through circular pressing plate and connect with third mounting post；Second robot arm passes through the second mounting post, the 4th peaceColumn is filled, fastener passes through circular pressing plate and connect with the 4th mounting post；
First boss is equipped in the middle part of first robot arm, first boss is arc structure, and first boss arc surface is equipped withMultiple first toothed projections, the first toothed projections surround first boss central axis annular array；First robot arm one end is setThere is the first handgrip, the first handgrip is arc structure；The first robot arm other end is equipped with electromagnet, electromagnet and the first mechanical branchArm connection；
Second boss is equipped in the middle part of second robot arm, second boss is arc structure, and second boss arc surface is equipped withMultiple second toothed projections, the second toothed projections surround second boss central axis annular array；Second robot arm one end is setThere is the second handgrip, the second handgrip is arc structure；The second robot arm other end is equipped with electromagnet pull rod, and electromagnet pull rod passes throughBracket is fixed on the second robot arm；First robot arm and the second robot arm pass through the first toothed projections and the second tooth formProtrusion engagement；
Testing agency includes top panel, lower panel, pillar, backing plate, two-way heating dish, disk seat, test panel；
Top panel lower end surface is equipped with pillar, on four angles of pillar plate located above；Lower panel passes through pillar, lower panel positionBelow top panel；Lower rod end face is connected with backing plate；
Lower panel is equipped with driving motor, and driving motor axis passes through lower panel and connect with the first synchronous pulley, and first is synchronousBelt wheel and the second synchronous pulley pass through toothed belt transmission；Second synchronous pulley is located on transmission shaft, and transmission shaft one end is same with secondStep wheel connection, the other end pass through lower panel, top panel and disk seat and connect；Transmission shaft and lower panel are rotatablely connected, transmission shaft with it is upperPanel rotation connection；
Top panel upper surface is equipped with pedestal, on four angles of pedestal plate located above；On two-way heating dish plate located aboveSide, two-way heating dish are connect with pedestal；
Two-way heating dish upper surface is equipped with the first placing groove, the second placing groove, and the first placing groove is circle；Second placing grooveFor cirque structure, the first placing groove is located in the second placing groove, the first placing groove central axis, the second placing groove central axisIt is overlapped with two-way heating dish central axis；
Disk seat is located in the second placing groove, and disk seat upper surface center position is equipped with limit film；Limit film upper surface is equipped withSlot, socket depth extend in disk seat；Multiple locating pieces are equipped with above disk seat, locating piece surrounds disk seat central axis circular arrayColumn；
Disk seat upper surface is equipped with tongue cap, and tongue cap is connect with disk seat；Tongue cap is equipped with strut kong, and strut kong section is ladderShape；Tongue cap is respectively arranged on the left side and the right side compression spring hole, and compression spring hole is connected to strut kong；
Limit film passes through tongue cap, and pressure spring plate is equipped with above limit film, and pressure spring plate passes through compression spring hole, and pressure spring plate and tongue cap connectIt connects；Tongue piece is equipped between pressure spring plate and limit film, tongue piece upper surface, lower end surface are abutted with tongue cap, limit film respectively；
Tongue piece is equipped with mounting groove close to one end of strut kong, and matching piece is connected in mounting groove, and matching piece is equipped with first and matchesConjunction face, the first mating surface are incline structure；
Compression bar is located in strut kong, and compression bar section is hierarchic structure, and compression bar lower end surface, which is equipped with, matches zygostyle, is equipped with zygostyleSecond mating surface, in zygostyle insertion mounting groove, the first mating surface is parallel with the second mating surface, the first mating surface and the second cooperationFace abuts；
Further, test panel is located above disk seat, and test panel includes mainboard, sample box, and mainboard is equipped with sample area, determinesPosition area, positioning area are located in sample area；Positioning area is equipped with mating groove, and mating groove central axis is overlapped with main plate center axis；Positioning area is equipped with multiple locating slots, and locating slot is circular configuration, and locating slot surrounds main plate center axis annular array, locating slotIt is corresponded with locating piece；Sample area is equipped with multiple sample cells, and sample cell surrounds main plate center axis annular array, locating slotIn sample cell, it is equipped with a sample box in each sample cell, sample box and mainboard are connected as a body structure.
Sample area is corresponding with the second placing groove, and sample box is inserted into the second placing groove；Positioning area is corresponding with the first placing groove,Locating piece is inserted into locating slot, and limit film is inserted into mating groove.
Further, rule mechanism further include chuck holder, standby Pan Cang, standby disk warehouse lid, aerial column, cylinder card, the first electromagnet,Second electromagnet；
Bottom of a cup lower end surface is equipped with more stabilizer blades, and stabilizer blade surrounds bottom of a cup central axis annular array；
Standby disk position in storehouse is connected between bottom of a cup and standby disk storehouse by multiple aerial columns above bottom of a cup；The standby lower part Pan Cang is equipped withTwo chuck holders, chuck holder is about standby Pan Cang bilateral symmetry；Chuck holder is equipped with the first electromagnet, the second electromagnet, the first electricityMagnet is located above the second electromagnet；First electromagnet is equipped with upper stop piece, and upper stop piece one end is connect with the first electromagnet, anotherEnd is across chuck holder, standby Pan Cang；Second electromagnet is equipped with lower stop piece, and lower stop piece one end is connect with the second electromagnet, the other endAcross chuck holder, standby Pan Cang；The standby lower part Pan Cang is set there are two cylinder card, and cylinder is positioned between two chuck holders；The standby upper surface Pan CangIt is rotatablely connected with standby disk warehouse lid.
Further, two-way heating dish lower end surface is equipped with auxiliary member, and auxiliary member is sector structure, and auxiliary member includes PeltierHeat insulating mattress, Peltier pressing plate, Peltier heat insulating mattress are located above Peltier pressing plate.
Further, bottom plate side is fixed with circuit board, and the first optoelectronic switch, the second optoelectronic switch are mounted on circuit boardOn, the first optoelectronic switch, circuit board, is electrically connected between stepper motor the second optoelectronic switch；Eccentric block is connected with positioning linkage rodOne end is fixed with square piece.
Further, the first mounting post and the line of the second mounting post are parallel with Y-direction, third mounting post and the 4th installationThe line of column is parallel with Y-direction.
Further, between the first robot arm and the second robot arm be equipped with spring, both ends of the spring respectively with the first machineTool support arm, the connection of the second robot arm.
Further, riser is equipped with limiting slot；Vertical-transmission block is connected with convex block, convex block insertion limit close to one end of riserIn the slot of position；Slide plate is equipped with sliding slot, and sliding block is inserted into sliding slot.
Further, compression bar upper surface is equipped with circular groove.
Further, annular resilient cushion is rubber material.
The present invention have the utility model has the advantages that
(1) present invention solves existing test panel gripping structure complexity, inconvenient problem with use, solves existing testThe low problem of disk rule positioning accuracy；
(2) by the way that positioning mechanism is arranged below rule mechanism, positioning accuracy is greatly improved, inclined using step motor controlHeart block, connection positioning linkage rod control positioning sleeve movement, forms piston structure between positioning sleeve and annular resilient cushion, positioning linkage rodRise and fall time is of short duration, greatlys save the rule time；Using annular resilient cushion, buffer protection is obtained when falling test panel,It is further ensured that the positioning accuracy of test panel rule simultaneously；
(3) loading and unloaded operation of test panel are completed by loader mechanism；Manipulator is completed in the side Z by spindle motorAdjusting to height, is rotated using spindle motor, and nut seat is mobile in Z-direction, thus drive main slide-bar mobile in Z-direction, instituteWith the application manipulator height can be adjusted, is ready for manipulator angular adjustment according to test panel in the height of Z-direction,Flexibility is high；The rotation of manipulator is completed by driving motor and belt transmission, the application can be according to manipulator and test panelBetween angle, drive manipulator to rotate using big belt wheel, the position completed between manipulator and test panel is adjusted, dynamic to grabIt is ready, whole operation process is simply, conveniently；The first robot arm and second is adjusted by electromagnet, electromagnet pull rodThe opening and closure of robot arm, to complete the clamping and release of test panel；Utilize matching for ball stud and circular grooveIt closes, guarantees that test panel can be loaded smoothly.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 is rule mechanism of the present invention and positioning mechanism structural schematic diagram (1).
Fig. 3 is rule mechanism of the present invention and positioning mechanism structural schematic diagram (2).
Fig. 4 is the enlarged drawing of part A in Fig. 3.
Fig. 5 is loader mechanism structural schematic diagram (1) of the present invention.
Fig. 6 is part B enlarged drawing in Fig. 5.
Fig. 7 is loader mechanism structural schematic diagram (2) of the present invention.
Fig. 8 is C portion enlarged drawing in Fig. 7.
Fig. 9 is loader mechanism structural schematic diagram (3) of the present invention.
Figure 10 is hand rest structural schematic diagram of the present invention.
Figure 11 is the first robot arm structural schematic diagram of the invention.
Figure 12 is the second robot arm structural schematic diagram of the invention.
Figure 13 is testing agency's perspective view (1) of the present invention.
Figure 14 is testing agency's perspective view (2) of the present invention.
Figure 15 is testing agency's partial sectional view (1) of the present invention.
Figure 16 is testing agency's cross-sectional view (2) of the present invention
Figure 17 is the explosive view of two-way heating dish of the present invention, test panel, disk seat, tongue cap.
Figure 18 is two-way heating plate structure diagram of the present invention.
Figure 19 is disk holder structure schematic diagram of the present invention.
Figure 20 is tongue cap structural schematic diagram of the present invention.
Figure 21 is pressure rod structure schematic diagram of the present invention.
Figure 22 is tongue piece structure schematic diagram of the present invention.
Figure 23 is test panel structural schematic diagram of the present invention.
In figure: 1- rule mechanism, 2- positioning mechanism, 3- loader mechanism, 4- testing agency, 5- test panel, 101- for Pan Cang,102- is for disk warehouse lid, 103- cards, and 104- makes somebody a mere figurehead column, 105- bottom of a cup, 106- chuck holder, 107- stabilizer blade, the first electromagnet of 108-,The second electromagnet of 110-, 111- upper stop piece, 112- lower stop piece, 201- stepper motor, 202- motor rack, 203- positioning linkage rod,204- positioning sleeve, 205- circuit board, 206- axle sleeve, 207- eccentric block, 208- square piece, 210- circuit board rack, 301- cover board, 302-Supporting leg, 303- upper supporting plate, 304- staking, 305- transverse slat, 306- riser, 307- limiting slot, 308- spindle motor, 309- nutSeat, 310- vertical-transmission block, 311- convex block, 312- sliding block, the fine and smooth axis of 313-, the upper fixed block of 314-, fixed block under 315-, 316-Big belt wheel, 317- sliding slot, 318- slide plate, the main slide-bar of 319-, 320- small pulley, 322- driving motor, 323- motor plate, 324- solutionShank of the key, 325- hand rest, 326- manipulator, the first mounting post of 327-, the second mounting post of 328-, 329- third mounting post, 330-Four mounting posts, 331- circular pressing plate, the first robot arm of 332-, the second robot arm of 333-, 334- first boss, 335- firstToothed projections, the first handgrip of 3336-, 337- electromagnet, 338- second boss, the second toothed projections of 339-, the second handgrip of 340-,341- electromagnet pull rod, 342- bracket, 343- ball stud, 401- top panel, 402- pillar, 403- lower panel, 404- backing plate,405- driving motor, the first synchronous pulley of 406-, the second synchronous pulley of 407-, 408- transmission shaft, 409- disk seat, 410- pedestal,411- two-way heating dish, 412- auxiliary member, 413- Peltier heat insulating mattress, the first placing groove of 414-, the second placing groove of 415-, 416-Limit film, 417- slot, 418- locating piece, 419- tongue cap, 420- strut kong, 421- compression spring hole, 422- pressure spring plate, 423- tonguePiece, 424- mounting groove, 425- matching piece, the first mating surface of 426-, 427- compression bar, 438- circular groove, 439- match zygostyle,The second mating surface of 440-, 442- mainboard, 443- sample box, the sample area 444-, 445- positioning area, 446- mating groove, 447- positioningSlot, 448- Peltier pressing plate.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further illustrated.
A kind of automated loading mechanism of automatic coagulation analyzer, including rule mechanism 1, positioning mechanism 2, loader mechanism 3,Testing agency 4；
Rule mechanism 1 includes chuck holder 106, standby disk storehouse 101, standby disk warehouse lid 102, bottom of a cup 105, the 104, first electricity of aerial columnMagnet 108, the second electromagnet 110；
105 lower end surface of bottom of a cup is equipped with more stabilizer blades 107, and stabilizer blade 107 surrounds 105 central axis annular array of bottom of a cup, stabilizer blade107 are connect with bottom of a cup 105 by fastener；Bottom of a cup 105 is equipped with location hole, positioning holes center axis and 105 central axis of bottom of a cupLine is overlapped, and positioning hole is equipped with annular resilient cushion, and annular resilient cushion central axis is overlapped with positioning holes center axis；
Standby disk storehouse 101 is located at 105 top of bottom of a cup, is equipped with multiple aerial columns 104 between standby disk storehouse 101 and bottom of a cup 105, makes somebody a mere figurehead104 both ends of column are connect with bottom of a cup 105, standby disk storehouse 101 by fastener respectively；Standby 101 lower part of disk storehouse sets that there are two chuck holders106, chuck holder 106 is connect with bottom of a cup 105 by fastener about standby 101 bilateral symmetry of disk storehouse, chuck holder 106；Chuck holder 106It is equipped with the first electromagnet 108, the second electromagnet 110, the first electromagnet 108 is located at 110 top of the second electromagnet, the first electromagnetismIron 108, the second electromagnet 110 are connect by fastener with chuck holder 106；First electromagnet 108 is equipped with upper stop piece 111,111 one end of upper stop piece is connect with the first electromagnet 108 by fastener, and the other end passes through chuck holder 106, standby disk storehouse 101, is utilizedThe opening and closing of first electromagnet 108 can drive upper stop piece 111 to move in chuck holder 106, standby disk storehouse 101, realize upper stop piece 111It is flexible；Second electromagnet 110 is equipped with lower stop piece 112,112 one end of lower stop piece and the second electromagnet 110 and is connected by fastenerIt connects, the other end passes through chuck holder 106, standby disk storehouse 101, lower stop piece 112 can be driven in card using the opening and closing of the second electromagnet 110It is moved in plate rail 106, standby disk storehouse 101, realizes the flexible of lower stop piece 112；Standby 101 lower part of disk storehouse sets that there are two cylinder card 103, cylinder cards103 is symmetrical about standby disk storehouse 101, and cylinder card 103 is located between two chuck holders 106；Standby 101 upper surface of disk storehouse and standby disk warehouse lid102 rotation connections；
The course of work of rule mechanism: the first electromagnet 108 is opened, and upper stop piece 111 is transported to the direction far from standby disk storehouse 101Dynamic, the second electromagnet 110 is closed, and lower stop piece 112 is moved to close to the direction in standby disk storehouse 101；Test panel falls into standby disk storehouse 101It is interior, it falls between two lower stop pieces 112, is then shut off the first solenoid valve 108, upper stop piece 111 is to close to the direction for disk storehouse 101Movement, can fall on the test panel fallen into originally to avoid the test panel newly fallen into, rule is caused to fail；Then second is openedSolenoid valve 110, lower stop piece 112 are moved to the direction far from standby disk storehouse 101, and test panel is fallen in bottom of a cup；Then it repeats above-mentionedProcess constantly completes rule movement；
Positioning mechanism 2 is located at 1 lower section of rule mechanism, and positioning mechanism 2 includes eccentric block 207, axle sleeve 206, stepper motor201, eccentric block 207, positioning linkage rod 203, positioning sleeve 204, motor rack 202, circuit board 205, the first optoelectronic switch, the second photoelectricitySwitch；
Stepper motor 201 is fixed on motor rack 202, and step motor shaft passes through motor rack 202 and passes through axle sleeve 206 and biasBlock 207 is rotatablely connected；The one end of eccentric block 207 far from step motor shaft is rotatablely connected by pin and positioning linkage rod 203；Positioning connectsThe one end of bar 203 far from eccentric block 207 is rotatablely connected by pin and positioning sleeve 204；The remotely located connecting rod 203 of positioning sleeve 204One end passes through location hole；
202 side of bottom plate is fixed with circuit board 205, and circuit board 205 is fixed on circuit board rack 210, the first optoelectronic switch,Second optoelectronic switch is mounted on circuit board 205, the first optoelectronic switch, the second optoelectronic switch, circuit board 205, stepper motor 201Between be electrically connected, for the first optoelectronic switch for protecting stepper motor, avoid stepper motor 201 moves past positioning sleeve 204Range, the second optoelectronic switch move stepper motor 201 before test panel is fallen and walk for marking zero-bit i.e. initial positionNumber is controlled, and positioning linkage rod 209 is raised to after highest and controls 1 rule of rule mechanism again；Eccentric block 207 and positioning linkage rod 203Connected one end is fixed with square piece 208, and in 201 motion process of stepper motor, eccentric block 207 is rotated, and square piece 208 also turns therewithIt is dynamic, optoelectronic switch 206 can be blocked in 208 rotation process of square piece, provides electric signal for circuit board 205；
Start stepper motor 201, stepper motor 201 rotate, drive eccentric block 207 rotate, bottom plate 202, eccentric block 207,Link mechanism is formed between positioning linkage rod 203, positioning sleeve 204, the rotation of eccentric block 207 drives positioning linkage rod 203 to swing, depending onPosition set 204 is moved in a straight line in vertical direction, forms piston structure between positioning sleeve 204 and annular resilient cushion；It is fallen in test panelWhen lower, start stepper motor 201 for positioning linkage rod 203 and be raised to highest point, is i.e. positioning sleeve 204 is raised to highest point, thus test panel 5When falling, it can guarantee the rule positioning accuracy of test panel 5 by location hole, positioning sleeve 204.
Loader mechanism 3 include staking 3304, upper supporting plate 303, cover board 301, stabilizer blade 2, main slide-bar 319, fine and smooth axis 313,Manipulator 326；
301 lower end surface of cover board is equipped with more supporting legs 302, and supporting leg 302 is located on four angles of cover board 301, supporting leg 302 and lidPlate 301 is connected by fastener；
301 lower end surface of cover board is equipped with upper supporting plate 303, and upper supporting plate 303 is connect with cover board 301 by fastener；Upper supporting plate 303Lower end surface is equipped with staking 3304, and staking 3304 includes transverse slat 305, riser 306, and 306 one end of riser passes through with upper supporting plate 303Fastener connection, the other end are vertically connected into a single integrated structure with transverse slat 305, and riser 306 is equipped with limiting slot 307；
Spindle motor 308 is equipped with below staking 3304, spindle motor 308 is connect by fastener with transverse slat 305, lead screw308 axis of motor passes through transverse slat 305, and 308 axis of spindle motor is equipped with nut seat 309, nut seat 309 and 308 axis spiral shell of spindle motorLine connection, nut seat 309 can move in a straight line on 308 axis of spindle motor；Vertical-transmission block is equipped with above nut seat 309310, vertical-transmission block 310 is connect by fastener with nut seat 309, and vertical-transmission block 310 is connected with close to one end of riser 306Convex block 311, convex block 311 are inserted into limiting slot 307, play guiding, position-limiting action along the movement of Z-direction for vertical-transmission block 310；Vertical-transmission block 310 is connected with sliding block 312 far from one end of riser 306；
Fine and smooth axis 313 passes through sliding block 312, and fine and smooth axis 313 is connect with sliding block 312 by linear bearing；Fine and smooth 313 upper end of axisIt is inserted into respectively with lower end in fixed block 314 and lower fixed block 315, upper fixed block 314 passes through clamp screw with lower fixed block 315Nail is connect with fine and smooth axis 313；Lower fixed block 315 is connect by rolling bearing with transverse slat 305, and lower fixed block 315 is far from staking3304 one end is connect with slide plate 318 by fastener；Upper fixed block 314 is connect with big belt wheel 316 by fastener, big belt wheel316 are located at upper 314 top of fixed block, and the one end of upper fixed block 314 far from staking 3304 and slide plate 318 are connected by fastenerIt connects；Slide plate 318 is equipped with sliding slot 317, and sliding block 312 is inserted into sliding slot 317, and sliding slot 317 is played for the linear motion of sliding block 312 and ledTo effect；
Main 319 one end of slide-bar passes through sliding block 312, vertical-transmission block 310, and main slide-bar 319 passes through rolling bearing and sliding block312, vertical-transmission block 310 connects；Main 319 other end of slide-bar is connect by linear bearing with upper supporting plate 303；On main slide-bar 319Equipped with big belt wheel 316, big belt wheel 316 is fixed on linear bearing, and big belt wheel 316 and small pulley 320 are driven by belt, small bandWheel 320 is connect with driving motor 322, and driving motor 322 is fixed on riser 306 by motor plate 323；
Manipulator 326 is completed in the adjusting of Z-direction height by spindle motor 308, is rotated using spindle motor 308, spiral shellBase 309 is mobile in Z-direction, to drive main slide-bar 319 mobile in Z-direction, so the application can be according to test panel in the side ZTo height, adjust the height of manipulator 326, be ready for 326 angular adjustment of manipulator；Pass through driving motor 322 and beltThe rotation of manipulator 326 is completed in transmission, and the application can utilize big belt wheel according to the angle between manipulator 326 and test panel316 drive manipulator 326 to rotate, and the position completed between manipulator 326 and test panel is adjusted, and are ready for grasping movement,Whole operation process is simply, conveniently；
Main slide-bar 319 far from sliding block 312 one end be equipped with hand rest 325, solution shank of the key 324, manipulator 326, solution shank of the key 324 withHandle is located at the top and lower section of manipulator 326, and hand rest 325 is connect by holding screw with main slide-bar 319；Solve shank of the key324 one end are connect by holding screw with main slide-bar 319, and the other end is connected with ball screw 343；
325 upper surface of hand rest is equipped with the first mounting post 327, the second mounting post 328, third mounting post 329, the 4th mounting post330, the first mounting post 327, the second mounting post 328, third mounting post 329, the 4th mounting post 330 are connected to hand rest 325Integral structure, the first mounting post 327, the second mounting post 328, third mounting post 329, the 4th mounting post 330 are located at hand restOn 325 four angles, the first mounting post 327 and the line of the second mounting post 328 are parallel with Y-direction, third mounting post 329 andThe line of four mounting posts 330 is parallel with Y-direction；
Circular pressing plate 331 is equipped between manipulator 326 and solution shank of the key 324, circular pressing plate 331 passes through third mounting post 329With the 4th mounting post 330；Manipulator 326 include the first robot arm 332, the second robot arm 333, the first robot arm 332,Second robot arm 333 is in same plane, and the first robot arm 332, the second robot arm 333 are located at main slide-bar 319Front side and rear side；First robot arm 332 passes through the first mounting post 327, third mounting post 329, and fastener passes through round pressurePlate 331 is connect with third mounting post 329；Second robot arm 333 passes through the second mounting post 328, the 4th mounting post 330, fasteningPart passes through circular pressing plate 331 and connect with the 4th mounting post 330；
First boss 334 is equipped in the middle part of first robot arm 332, first boss 334 is arc structure, first boss 334Arc surface is equipped with multiple first toothed projections 335, and the first toothed projections 335 surround 334 central axis circular array of first bossColumn；First robot arm, 332 one end is equipped with the first handgrip 336, and the first handgrip 336 is connected as a body with the first robot arm 332Structure, the first handgrip 336 are arc structure；First robot arm, 332 other end is equipped with electromagnet 337, and electromagnet 337 passes through tightFirmware is connect with the first robot arm 332；
Second boss 338 is equipped in the middle part of second robot arm 333, second boss 338 is arc structure, second boss 338Arc surface is equipped with multiple second toothed projections 339, and the second toothed projections 339 surround 338 central axis circular array of second bossColumn；Second robot arm, 333 one end is equipped with the second handgrip 340, and the second handgrip 340 is connected as a body with the second robot arm 333Structure, the second handgrip 340 are arc structure；Second robot arm, 333 other end is equipped with electromagnet pull rod 341, electromagnet pull rod341 are fixed on the second robot arm 333 by bracket 342；It is set between first robot arm 332 and the second robot arm 333There is spring, both ends of the spring is connect with the first robot arm 332, the second robot arm 333 respectively, the first robot arm 332 andTwo robot arms 333 are engaged by the first toothed projections 335 with the second toothed projections 339；
The opening of the first robot arm 332 and the second robot arm 333 is adjusted by electromagnet 337, electromagnet pull rod 341With closure；Being engaged using the first toothed projections 335 with the second toothed projections 339 makes the first robot arm 332 and the second mechanical branchThe movement of arm 333 keeps synchronizing；When electromagnet 337 and electromagnet pull rod 341 unclamp, the first robot arm 332 and the second machineTool support arm 333 opens, and manipulator 326 unclamps test panel at this time；When electromagnet 337 and electromagnet pull rod 341 suck, firstRobot arm 332 and the second robot arm 333 are closed, and manipulator 326 will test chuck clamping at this time；The movement model of manipulator 326Enclose covering rule mechanism 1, testing agency 4；
The course of work: electromagnet 337 and electromagnet pull rod 341 are unclamped, the first robot arm 332 and the second robot arm333 open；Further according to test panel in the position of Z-direction, manipulator 326 is adjusted in the position of Z-direction, starts spindle motor 308,Spindle motor 308 rotates, and drives nut seat 309 mobile in Z-direction, so that main slide-bar 319 is mobile in Z-direction, completes Z-direction tuneSection；According to the angle between test panel and manipulator 326, start driving motor 322, small pulley 320 drives big band by belt316 rotation of wheel, main slide-bar 319 rotate, and manipulator 326 is rotated with main slide-bar 319, completes the angle of test panel and manipulator 326It adjusts；Then electromagnet 337 is sucked with electromagnet pull rod 341, and the first robot arm 332 and the second robot arm 333 are closed, machineTool hand 326 will test chuck clamping；Then manipulator 326 is adjusted in the position of Z-direction, is adjusted the angle of manipulator 326, will be testedDisk is put into the position of needs；
Testing agency 4 includes top panel 401, lower panel 403, pillar 402, backing plate 404, two-way heating dish 411, disk seat409, test panel 5；
401 lower end surface of top panel is equipped with pillar 402, on four angles of the plate 401 located above of pillar 402, pillar 402 with it is upperPanel 401 is connected by fastener；Lower panel 403 passes through pillar 402,401 lower section of plate located above of lower panel 403；Pillar 402Lower end surface is connected with backing plate 404；
Lower panel 403 is equipped with driving motor 405, and 405 axis of driving motor passes through lower panel 403 and the first synchronous pulley406 connections, the first synchronous pulley 406 and the second synchronous pulley 407 pass through toothed belt transmission；Second synchronous pulley 407, which is located at, to be passedOn moving axis 408,408 one end of transmission shaft is connect with the second synchronizing wheel, and the other end passes through lower panel 403, top panel 401 and disk seat409 connections；Transmission shaft 408 is rotatablely connected by rolling bearing and lower panel 403, and transmission shaft 408 is by rolling bearing and abovePlate 401 is rotatablely connected；
401 upper surface of top panel is equipped with pedestal 410, on four angles of the plate 401 located above of pedestal 410, pedestal 410 with it is upperPanel 401 is connected as a body structure；
401 top of plate located above of two-way heating dish 411, two-way heating dish 411 are connect with pedestal 410 by fastener；Two-way heating dish 411 is outsourcing piece, and basic structure and function are the prior art, and the application is not described in detail；
411 lower end surface of two-way heating dish is equipped with auxiliary member 412, and auxiliary member 412 is connected by fastener and two-way heating dish 411It connects；Auxiliary member 412 is sector structure, and auxiliary member 412 includes Peltier heat insulating mattress 413, Peltier pressing plate 413, and Peltier is heat-insulatedPad is located at 413 top of Peltier pressing plate；
411 upper surface of two-way heating dish is equipped with the first placing groove 414, the second placing groove 415, and the first placing groove 414 is circleShape, 414 central axis of the first placing groove are overlapped with 411 central axis of two-way heating dish；Second placing groove 415 is circular ring shape knotStructure, the first placing groove 414 are located in the second placing groove 415,415 central axis of the second placing groove and 411 center of two-way heating dishAxis is overlapped；
Disk seat 409 is located in the second placing groove 415, and 409 upper surface center position of disk seat is equipped with limit film 416, limitPiece 416 and disk seat 409 are connected as a body structure；416 left and right ends of limit film are arc surface, 416 rear and front end end face of limit filmFor plane；416 upper surface of limit film is equipped with slot 417, and 417 depth of slot extends in disk seat 409；Disk seat 409 is equipped with aboveMultiple locating pieces 418, locating piece 418 surround 409 central axis annular array of disk seat；
409 upper surface of disk seat is equipped with tongue cap 419, and tongue cap 419 is connect by fastener with disk seat 409；Tongue cap 419 is equipped withStrut kong 420,420 central axis of strut kong are overlapped with 419 central axis of tongue cap, and 420 section of strut kong is ladder-like；Tongue cap419 are respectively arranged on the left side and the right side compression spring hole 421, and compression spring hole 421 is connected to strut kong 420；
Limit film 416 passes through tongue cap 419, and pressure spring plate 422 is equipped with above limit film 416, and pressure spring plate 422 passes through compression spring hole421, pressure spring plate 422 is connect by fastener with tongue cap 419；Tongue piece 423, tongue piece are equipped between pressure spring plate 422 and limit film 416423 are located in compression spring hole 421, and 423 upper surface of tongue piece, lower end surface are abutted with tongue cap 419, limit film 416 respectively；
Tongue piece 423 is equipped with mounting groove 424 close to one end of strut kong 420, is connected with matching piece 425 in mounting groove 424, cooperatesPart 425 is equipped with the first mating surface 426, and the first mating surface 426 is incline structure, is formed and is matched between matching piece 425 and tongue piece 423Close area；
Compression bar 427 is located in strut kong 420, and 427 section of compression bar is hierarchic structure, and 427 upper surface of compression bar is equipped with arc-shapedGroove 438；427 lower end surface of compression bar, which is equipped with, matches zygostyle 439, and the left and right sides of compression bar 427 is located at zygostyle 439, matches zygostyle439 are equipped with the second mating surface 440, are inserted into mounting groove 424 with zygostyle 439, the first mating surface 426 and the second mating surface 440In parallel, the first mating surface 426 is abutted with the second mating surface 440；
When compression bar 427 is by downward active force, compression bar 427 is moved downward, and the second mating surface 440 is along the first mating surface426 slide downwards, while compression bar 427 compresses pressure spring plate 422, deformation occurs for pressure spring plate 422 with elastic force；When downward active forceWhen disappearance, pressure spring plate 422 generates upward elastic force, and compression bar 427 is made to set back；
Test panel 5 is located at 409 top of disk seat, and test panel 5 includes mainboard 442, sample box 443, and mainboard 442 is equipped with sampleArea 444, positioning area 445, positioning area 445 are located in sample area 444；Positioning area 445 is equipped with mating groove 446, in mating groove 446Mandrel line is overlapped with 442 central axis of mainboard；Positioning area 445 is equipped with multiple locating slots 447, and locating slot 447 is circular configuration,Locating slot 447 surrounds 442 central axis annular array of mainboard, and locating slot 447 and locating piece 418 correspond；On sample area 444Equipped with multiple sample cells, sample cell surrounds 442 central axis annular array of mainboard, and locating slot 447 is located in sample cell, each sampleIt is equipped with a sample box 443 in product slot, sample box 443 and mainboard 442 are connected as a body structure；
Sample area 444 is corresponding with the second placing groove 414, and sample box 443 is inserted into the second placing groove 414；Positioning area 445 withFirst placing groove 414 is corresponding, and locating piece 418 is inserted into locating slot 447, and limit film 416 is inserted into mating groove 446；
Testing agency 4 drives transmission shaft 408 to rotate using driving motor 405 by toothed belt transmission, and disk seat 409 rotates,To which test panel 5 rotates；
5 loading process of test panel: being acted by the rule that rule mechanism 1 and positioning mechanism 2 complete test panel 5, guarantees to surveyTry the accurate of 5 drop-off positions of disk；Then test panel 5 is transferred to from rule mechanism 1 by testing agency 4 by loader mechanism 3, according toThe position of test panel 5 in rule mechanism 1 is respectively completed manipulator 326 in Z-direction and angle using spindle motor 308, driving motorThen the adjusting of degree controls the opening and closure of the first robot arm 332 and the second robot arm 333 using electromagnet 337, willTest panel 5 clamps；Further according to the position of 4 two-way heating dish of testing agency, test panel 5 and two-way are completed using spindle motor 308The adjusting of heating dish angle completes test panel 5 and two-way heating dish in the adjusting of Z-direction distance followed by spindle motor 308,Spindle motor 308 drives manipulator 326 constantly to decline, until ball stud 343 is pressed into circular groove 438, manipulator 326Stop falling, test panel 5 reaches correct installation site, unclamps manipulator 326 using electromagnet 337, test panel 5 is putUnder, sample box 443 is inserted into the second limiting slot, and locating piece 418 is inserted into locating slot 447, and limit film 416 is inserted into mating groove 446It is interior, complete loading process；Last spindle motor 308 drives manipulator 326 to rise to 5 top of test panel, wait it is to be detected after the completion ofIt is removed after being clamped test panel 5 using manipulator 326, completes uninstall process.
Many other changes and remodeling can be made by not departing from the spirit and scope of the present invention.It should be appreciated that the present invention is notIt is limited to specific embodiment, the scope of the present invention is defined by the following claims.