CN209858589U - Detection driving device - Google Patents
Detection driving device Download PDFInfo
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- CN209858589U CN209858589U CN201920419179.2U CN201920419179U CN209858589U CN 209858589 U CN209858589 U CN 209858589U CN 201920419179 U CN201920419179 U CN 201920419179U CN 209858589 U CN209858589 U CN 209858589U
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Abstract
The utility model discloses a detect drive arrangement, the device is including pressing from both sides cup mechanism and with the lift actuating mechanism, rotary driving mechanism and the horizontal driving mechanism that press from both sides cup mechanism and link to each other, presss from both sides cup mechanism and is in under lift, rotation and horizontal driving mechanism's the cooperation drive, press from both sides and get and unload and detect cup to each station. The utility model discloses a detect the full automation that the cup got cup, dress cup among the blood coagulation data testing process.
Description
Technical Field
The utility model relates to a thrombelastogram appearance especially relates to a detection drive arrangement of thrombelastogram appearance.
Background
The thrombus elastometer is a medical instrument used for detecting whether blood can be normally coagulated, before performing an operation, the blood coagulation data of a patient generally needs to be detected through the thrombus elastometer, whether the blood coagulation process of the patient is normal is judged according to the detected blood coagulation data, the patient can be operated only under the condition that the blood can be normally coagulated, if the blood coagulation process is abnormal, the blood of the patient cannot be normally coagulated in the operation process, so that the hemostasis is difficult, and the life of the patient is possibly threatened.
The detection of the physical properties of blood clots is based on the following principle: a specially made cylindrical blood cup, which is stationary and contains blood, is rotated at a low speed of 4.75 degrees and the movement of the blood sample is detected by a test rod immersed in the blood sample. After the fibrin platelet complex adheres the cup and the test rod together, the rotational force generated by the rotation of the cup can be transmitted to the test rod in the blood sample. The strength of the fibrin platelet complex can affect the amplitude of the motion of the test rod so that a strong blood clot can synchronize the motion of the needle with the motion of the cup. The amplitude of the movement of the measuring rod is therefore directly related to the strength of the blood clot that has formed. When the blood clot is retracted or dissolved, the connection between the detection rod and the blood clot is released, the movement of the cup is not transmitted to the detection rod any longer, and the rotation of the detection rod is detected by the sensor.
When the existing thromboelastogram instrument detects blood coagulation data, cups need to be taken and filled manually, a large amount of time of detection personnel needs to be consumed, the labor intensity of blood coagulation data detection is high, and the detection efficiency is low.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's defect, provide a realization get the cup, adorn the automatic thrombelastogram appearance detection drive arrangement of cup action.
In order to achieve the above object, the utility model provides a following technical scheme: a detection driving device comprises a cup clamping mechanism, a lifting driving mechanism, a rotary driving mechanism and a horizontal driving mechanism which are connected with the cup clamping mechanism, wherein,
the lifting driving mechanism is used for driving the cup clamping mechanism to do lifting motion in a first direction;
the rotary driving mechanism is used for driving the cup clamping mechanism to do rotary motion in a second direction perpendicular to the first direction;
the horizontal driving mechanism is used for driving the cup clamping mechanism to horizontally move in the second direction;
the cup clamping mechanism is driven by the lifting, rotating and horizontal driving mechanism in a matching manner, and is used for clamping and unloading the detection cup to each station.
Preferably, the cup clamping mechanism comprises a cup clamping mounting seat, and a first driving source, a clamping jaw assembly and a return elastic piece which are arranged on the cup clamping mounting seat, wherein the first driving source moves back and forth in the horizontal direction; the clamping jaw component is pushed forwards and backwards by abutting against the clamping jaw component, so that the other end of the clamping jaw component is opened; the elastic component that resets links to each other with clamping jaw assembly, and drive clamping jaw assembly's the other end closure resets, first driving source and the elastic component that resets cooperation drive clamping jaw assembly snatch or loosen and detect the cup.
Preferably, the lifting driving mechanism comprises a mounting frame, a second driving source, a driving steering assembly and a screw rod, wherein the second driving source is fixed on the mounting frame and is connected with the driving steering assembly; the screw rod is arranged on the mounting frame, is connected with the driving steering assembly and rotates under the driving of the driving steering assembly; the screw rod is connected with the cup clamping mechanism, and the screw rod drives the cup clamping mechanism to do lifting motion in the first direction while rotating.
Preferably, the lifting driving mechanism further comprises at least one lifting guide rod fixed on the mounting frame, and the cup clamping mechanism is connected with the lifting guide rod and lifts along the lifting guide rod.
Preferably, the cup clamping mechanism further comprises a sensor which is arranged on the cup clamping mounting seat and is close to the clamping jaw assembly, and the sensor is used for detecting the state that the clamping jaw assembly clamps the detection cup.
Preferably, the rotating driving mechanism comprises a third driving source and a rotating shaft connected with the third driving source, the rotating shaft is fixedly connected with the mounting frame of the lifting driving mechanism, and the cup clamping mechanism is driven by the lifting driving mechanism to rotate in the second direction.
Preferably, the horizontal driving mechanism comprises a fourth driving source, a driving screw rod connected with the fourth driving source, and a sliding block connected with the driving screw rod, the sliding block is connected with the cup clamping mechanism, and the driving cup clamping mechanism moves horizontally in the second direction.
Preferably, the clamping jaw assembly comprises two clamping arms, one ends of the two clamping arms are intersected, and the other ends of the two clamping arms form a clamping jaw.
Preferably, the cup clamping mechanism further comprises a sensor mounted on the cup clamping mounting seat and arranged close to the clamping jaw assembly.
Preferably, the lifting driving mechanism further comprises at least one lifting guide rod vertically fixed on the mounting frame for guiding, and the cup clamping mechanism is connected with the lifting guide rod.
The utility model has the advantages that: the utility model realizes the full automation of cup taking and cup loading of the detection cup in the blood coagulation data detection process by detecting the driving device (namely the mechanical arm), and is matched with stations such as a liquid taking and detection channel, so as to realize the automation of the blood coagulation data detection process, replace the manual operation mode, reduce the labor intensity of the blood coagulation data detection and reduce the production cost; and the manipulator has reliable operation, high repetition rate and low error rate, and improves the detection precision.
Drawings
Fig. 1 is a schematic perspective view of the present invention (without a rotation driving mechanism) with different angles;
FIG. 2 is a schematic view of the whole three-dimensional mechanism of the present invention except for the horizontal driving mechanism;
FIG. 3 is a schematic top view of the structure of FIG. 2;
FIG. 4 is a schematic perspective view of the assembled cup clamping mechanism and the elevating driving mechanism of the present invention;
fig. 5 is a schematic view of the working flow of the device of the present invention.
Reference numerals:
1. the device comprises a cup clamping mechanism 11, a cup clamping mounting seat 12, a first driving source 14, a clamping jaw assembly 141, a clamping arm 142, a clamping arm 15, a reset elastic piece 16, a sensor 2, a lifting driving mechanism 21, a mounting frame 22, a second driving source 23, a screw rod 24, a worm 25, a turbine 26, a lifting guide rod 3, a rotary driving mechanism 31, a third driving source 32, a rotating shaft 4, a horizontal driving mechanism 41, a fourth driving source 42, a driving screw rod 43, a sliding block 5, a detection cup 6 and a mounting plate.
Detailed Description
The technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention.
The utility model discloses a detect drive arrangement presss from both sides cup mechanism and a plurality of actuating mechanism with this mechanism matched with through the setting, realizes the blood coagulation data testing in-process, gets the full automatization of action such as cup, dress cup, unload the cup.
With reference to fig. 1 and 2, the embodiment of the present invention discloses a detection driving device, which comprises a cup clamping mechanism 1, a lifting driving mechanism 2, a rotation driving mechanism 3 and a horizontal driving mechanism 4, wherein the cup clamping mechanism 1 is driven by the lifting, rotation and horizontal driving mechanisms 2, 3 and 4 to clamp and unload a detection cup 5 to each station (not shown), and the station includes a cup tray, a detection channel, a liquid feeding device, a waste collecting station, etc.
As shown in fig. 3 and 4, the cup clamping mechanism 1 is used for clamping and unloading the detection cup 5, and in this embodiment, it specifically includes a cup clamping mounting seat 11, a first driving source 12, a clamping jaw assembly 14 and a return elastic member 15, wherein the first driving source 12 is fixed on the cup clamping mounting seat 11, and it moves back and forth in the horizontal direction; the clamping jaw assembly 14 is mounted on the clamping cup mounting seat 11, and clamps or unloads the detection cup 5 under the action of the first driving source 12, and in practice, the first driving source 12 can adopt an electromagnet. In this embodiment, the clamping jaw assembly 14 includes two clamping arms 141 and 142, one end of the two clamping arms 141 and 142 intersects with each other, and the other end forms a clamping jaw. The first driving source 12 moves towards the direction close to the clamping jaw assembly 14, abuts against one end of the clamping jaw assembly 14 and drives the other end of the clamping jaw assembly 14 to open. The elastic return element 15 is disposed between the two clamping arms 141, 142 at the other end of the clamping jaw assembly 14, and is configured to provide an elastic return force for retracting the other ends of the two clamping arms 141, 142.
Preferably, the cup clamping mechanism 1 further includes a sensor 16 mounted on the cup clamping mount 11 and disposed near the gripper assembly 14, for detecting a state that the gripper assembly 14 clamps the inspection cup 5, such as whether to clamp the inspection cup 5.
As shown in fig. 1, fig. 2 and fig. 4, the lifting driving mechanism 2 is connected to the cup clamping mechanism 1, and is configured to drive the cup clamping mechanism 1 to perform lifting movement in a first direction, which is vertical to the top and bottom in this embodiment. The lifting driving mechanism 2 specifically comprises an installation frame 21, a second driving source 22, a driving and steering assembly and a screw 23, wherein the second driving source 22 is fixedly installed on the installation frame 21 and connected with the driving and steering assembly, and in the implementation, the second driving source 22 can also adopt a motor; the driving steering assembly is used for converting the axial rotation of the driving shaft of the second driving source 22 into radial rotation, in the embodiment, the driving steering assembly comprises a worm 24 connected with the driving shaft of the second driving source 22 and a turbine 25 engaged with the worm 24, and the turbine 25 is sleeved on the screw 23 and is in threaded fit connection with the screw 23; the screw 23 is vertically mounted on the mounting frame 21 and is driven by the turbine 25 to rotate in the horizontal direction; the screw 23 is connected with the cup clamping mounting seat 11 of the cup clamping mechanism 1 in a screw-thread fit manner, if the screw 23 rotates, the cup clamping mounting seat 11 is driven to move up and down in the vertical direction, the clamping jaw assembly 14 is driven to move up and down in the vertical direction synchronously, and the height of the detection cup 5 on the clamping jaw assembly 14 is adjusted to a required height.
Preferably, the lifting driving mechanism 2 further comprises at least one lifting guide rod 26 vertically fixed on the mounting frame 21 for guiding, and the cup clamping mechanism 1 is connected to the lifting guide rod 26, specifically, the cup clamping mounting seat 11 of the cup clamping mechanism 1 penetrates through the lifting guide rod 26 and is driven by the screw 23 to perform a vertical lifting motion along the lifting guide rod 26.
In the present embodiment, the elevation driving mechanism 2 and the rotation driving mechanism 3 are integrally mounted on the same mounting plate 6, wherein the elevation driving mechanism 2 is fixed above the mounting plate 6, and the rotation driving mechanism 3 is fixed below the mounting plate 6.
As shown in fig. 2, the rotation driving mechanism 3 is connected to the cup clamping mechanism 1, specifically to the mounting plate 6, and is configured to drive the whole lifting driving mechanism 2 to rotate in a second direction perpendicular to the first direction through the mounting plate 6, where the second direction is a horizontal direction, so as to synchronously drive the cup clamping mechanism 1 connected to the lifting driving mechanism 2 to rotate in the horizontal direction, and thus, the cup clamping mechanism 1 is rotated and moved to a desired position.
In this embodiment, the rotation driving mechanism 3 specifically includes a third driving source 31 and a rotating shaft 32 connected to the third driving source 31, in implementation, the third driving source 31 may also be a motor, the rotating shaft 32 is fixedly connected to the lifting driving mechanism 2, specifically to the mounting plate 6, and drives the lifting driving mechanism 2 fixed to the mounting plate 6 by driving the mounting plate 6 to rotate in the horizontal direction, so that the lifting driving mechanism 2 synchronously drives the cup clamping mechanism 1 connected thereto to rotate in the horizontal direction.
The horizontal driving mechanism 4 is connected to the cup clamping mechanism 1, and is specifically fixedly connected to the mounting plate 6, and is configured to drive the cup clamping mechanism 1 to move horizontally in the second direction (i.e., the horizontal direction). Specifically, in this embodiment, the horizontal driving mechanism 4 includes a fourth driving source 41, a driving screw 42 and a sliding block 43, wherein, during implementation, the fourth driving source 41 may also adopt a motor, the driving screw 42 is connected to the fourth driving source 41, the sliding block 43 is slidably mounted on the driving screw 42, the upper end of the sliding block 43 is fixedly connected to the mounting plate 6, the driving screw 42 drives the sliding block 43 to horizontally move under the driving of the fourth driving source 41, the sliding block 43 drives the rotation driving mechanism 3, the lifting driving mechanism 2 and the cup clamping mechanism 1 integrated on the mounting plate 6 to integrally slide in the horizontal direction, and the cup clamping mechanism 1 is driven to the corresponding station in the horizontal direction.
As shown in fig. 5, the work flow of the embodiment of the present invention includes:
and S1, the cup clamping mechanism 1 moves to a cup plate (not shown) bearing the detection cup 5 to clamp the detection cup 5 under the matching drive of the horizontal and lifting drive mechanisms 4 and 2, and takes the clamped detection cup 5 off the cup plate.
Specifically, the cup clamping mechanism 1 is driven by the horizontal driving mechanism 4 to move to the position above the cup tray, so that the two clamping arms 141 and 142 of the cup clamping mechanism 1 are aligned with the detection cup 5 to be taken, after the alignment, the first driving source 12 of the cup clamping mechanism 1 pushes the clamping jaw assembly 14 to open the two clamping arms 141 and 142 of the clamping jaw assembly 14, and meanwhile, the cup lifting driving mechanism 2 drives the cup clamping mechanism 1 to descend, so that the cup wall of the detection cup 5 is located between the two clamping arms 141 and 142, and then the two clamping arms 141 and 142 are folded under the elastic action of the reset elastic member 15 to clamp the cup wall of the detection cup 5, so that the process of clamping the detection cup 5 on the cup tray is realized.
After the detection cup 5 is clamped, the cup clamping mechanism 1 is driven by the lifting driving mechanism 2 to lift upwards, so that the clamped detection cup 5 is separated from the cup plate, and the process of taking the clamped detection cup 5 down from the cup plate is realized.
And S2, the cup clamping mechanism 1 moves the detection cup 5 to a detection channel (not shown) under the matched driving of the rotating and lifting driving mechanisms 3 and 2, and unloads the detection cup 5 to the detection channel.
Specifically, after step S1, the cup clamping mechanism 1 is driven by the rotation driving mechanism 3 to rotate from above the cup tray to the corresponding detection channel, so that the detection cup 5 is aligned with the cup containing hole (not shown) on the detection channel, which correspondingly carries the detection cup 5, and then driven by the elevation driving mechanism 3 to move downward, so that the detection cup 1 is carried in the cup containing hole. Then the cup clamping mechanism 1 pushes the clamping jaw assembly 14 under the driving of the first driving source 12, so that the two clamping arms 141 and 142 of the clamping jaw assembly 14 are opened, the detection cup 5 is released, then the cup clamping mechanism 1 is driven by the rotary driving mechanism 3 to rotate and move to other positions (positions which do not influence the work of the detection channel), and the cup covering process is waited for by the detection channel.
S3, after the cover of the detecting cup 5 is separated, the cup clamping mechanism 1 takes the detecting cup 5 from the detecting channel and transfers the detecting cup to a liquid adding station (not shown) to add blood and reagent respectively under the matching drive of the lifting, rotating and horizontal driving mechanisms 2, 3 and 4.
Specifically, detection channel has gone up the bowl cover process after, and the bowl cover that detects in the cup 5 is taken off from detecting cup 5, and detection channel will detect cup 5 and move to after treating the liquid feeding state, presss from both sides cup mechanism 1 and begins work: the detection device is driven by a rotary driving mechanism 3 to rotate and move to a detection channel to enable a clamping jaw assembly 14 to be aligned with a detection cup 5, then a cup clamping mechanism 1 is driven by a first driving source 12 to push the clamping jaw assembly 14 to enable two clamping arms 141 and 142 of the clamping jaw assembly 14 to be opened, meanwhile, a lifting driving mechanism 2 drives the cup clamping mechanism 1 to descend to enable a cup wall of the detection cup 5 to be located between the two clamping arms 141 and 142, and then the two clamping arms 141 and 142 are folded under the elastic action of a reset elastic piece 15 to clamp the cup wall of the detection cup 5, so that the process of clamping the detection cup 5 on the detection channel is achieved.
After the detection cup 5 is clamped, the cup clamping mechanism 1 is driven by the lifting driving mechanism 2 to lift upwards, so that the clamped detection cup 5 is separated from the cup containing hole of the detection channel, and the process of taking the clamped detection cup 5 down from the detection channel is realized.
Then the cup clamping mechanism 1 transfers the detection cup 5 to the liquid adding station to add blood and reagent respectively under the matching drive of the rotary driving mechanism 3 and the horizontal driving mechanism 4.
S4, after the blood and the reagent are added into the detecting cup 5, the cup clamping mechanism 1 clamps the detecting cup 5 to move to the detecting channel under the matching driving of the rotating, lifting and horizontal driving mechanisms 3, 2 and 4, and unloads the detecting cup 5 to the detecting channel to prepare for detection.
Specifically, after the blood and the reagent are added into the detection cup 5, the cup clamping mechanism 1 transfers the detection cup 5 to the detection channel under the driving of the rotation driving mechanism 3 and the horizontal driving mechanism 4, so that the detection cup 5 is aligned with the cup containing hole on the detection channel, then the cup clamping mechanism 1 moves downwards under the driving of the lifting driving mechanism 2, so that the detection cup 5 falls into the cup containing hole, then the cup clamping mechanism 1 pushes the clamping jaw assembly 14 under the driving of the first driving source 12, so that the two clamping arms 141 and 142 of the clamping jaw assembly 14 are opened, the two clamping arms 141 and 142 are closed and reset under the elastic action of the reset elastic piece 15, meanwhile, the lifting driving mechanism 2 drives the clamping arms 141 and 142 of the cup clamping mechanism 1 to firstly rise above the detection cup 5, then descend to press and press the detection cup 5 to be fixed in the cup containing hole, then the rotation driving mechanism 3 drives the cup clamping mechanism 1 to rotate and move to other positions (positions which do not influence the work of the detection channel), waiting for detection of blood clotting data.
Further:
and S5, after the detection is finished, the cup clamping mechanism 1 unloads the detection cup 5 to a waste collecting station (not shown) under the matched driving of the rotating, lifting and horizontal driving mechanisms 3, 2 and 4.
The processes of how the rotation, lifting and horizontal driving mechanisms 3, 2 and 4 work together and how the cup clamping mechanism 1 works to unload the detection cups to the waste material collecting station can refer to the descriptions of the above-mentioned steps S1 to S4, and are not described herein again. In addition, the coordination process of the three mechanisms of the rotation, lifting and horizontal driving mechanisms 3, 2 and 4 in the above-mentioned S1 to S5 is not limited to the above-mentioned operation sequence, and may be implemented as long as the process required to be implemented in each step is implemented.
The technical contents and features of the present invention have been disclosed as above, however, those skilled in the art can still make various substitutions and modifications based on the teaching and disclosure of the present invention without departing from the spirit of the present invention, therefore, the protection scope of the present invention should not be limited to the contents disclosed in the embodiments, but should include various substitutions and modifications without departing from the present invention, and should be covered by the claims of the present patent application.
Claims (10)
1. A detection driving device is characterized by comprising a cup clamping mechanism, a lifting driving mechanism, a rotary driving mechanism and a horizontal driving mechanism which are connected with the cup clamping mechanism, wherein,
the lifting driving mechanism is used for driving the cup clamping mechanism to do lifting motion in a first direction;
the rotary driving mechanism is used for driving the cup clamping mechanism to do rotary motion in a second direction perpendicular to the first direction;
the horizontal driving mechanism is used for driving the cup clamping mechanism to horizontally move in the second direction;
the cup clamping mechanism is driven by the lifting, rotating and horizontal driving mechanism in a matching manner, and is used for clamping and unloading the detection cup to each station.
2. The detection driving device according to claim 1, wherein the cup clamping mechanism comprises a cup clamping mounting seat, and a first driving source, a clamping jaw assembly and a return elastic member which are arranged on the cup clamping mounting seat, wherein the first driving source moves back and forth in a horizontal direction; the clamping jaw component is pushed forwards and backwards by abutting against the clamping jaw component, so that the other end of the clamping jaw component is opened; the elastic component that resets links to each other with clamping jaw assembly, and drive clamping jaw assembly's the other end closure resets, first driving source and the elastic component that resets cooperation drive clamping jaw assembly snatch or loosen and detect the cup.
3. The detection driving device according to claim 1, wherein the elevation driving mechanism includes a mounting frame, a second driving source, a driving steering assembly, and a screw, the second driving source being fixed to the mounting frame and connected to the driving steering assembly; the screw rod is arranged on the mounting frame, is connected with the driving steering assembly and rotates under the driving of the driving steering assembly; the screw rod is connected with the cup clamping mechanism, and the screw rod drives the cup clamping mechanism to do lifting motion in the first direction while rotating.
4. The detection driving device as claimed in claim 3, wherein the lifting driving mechanism further comprises at least one lifting guide rod fixed on the mounting frame, and the cup clamping mechanism is connected with the lifting guide rod and is lifted along the lifting guide rod.
5. The inspection driving apparatus as claimed in claim 2, wherein the cup clamping mechanism further comprises a sensor mounted on the cup clamping mount and disposed near the gripper assembly for detecting a state in which the gripper assembly clamps the inspection cup.
6. The detection driving device as claimed in claim 3, wherein the rotation driving mechanism comprises a third driving source, a rotation shaft connected to the third driving source, the rotation shaft is fixedly connected to the mounting frame of the lifting driving mechanism, and the cup clamping mechanism is rotated in the second direction by the lifting driving mechanism.
7. The detection driving device according to claim 1, wherein the horizontal driving mechanism comprises a fourth driving source, a driving screw connected to the fourth driving source, and a slider connected to the driving screw, the slider is connected to the cup clamping mechanism, and the driving cup clamping mechanism moves horizontally in the second direction.
8. The detection driving device as claimed in claim 2, wherein the clamping jaw assembly comprises two clamping arms, one end of each of the two clamping arms is intersected with the other end of each of the two clamping arms to form a clamping jaw.
9. The inspection drive of claim 2, wherein the clamp cup mechanism further comprises a sensor mounted on the clamp cup mount and disposed proximate the jaw assembly.
10. The detection driving device as claimed in claim 3, wherein the lifting driving mechanism further comprises at least one lifting guide rod vertically fixed on the mounting frame for guiding, and the cup clamping mechanism is connected with the lifting guide rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920419179.2U CN209858589U (en) | 2019-03-29 | 2019-03-29 | Detection driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920419179.2U CN209858589U (en) | 2019-03-29 | 2019-03-29 | Detection driving device |
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| Publication Number | Publication Date |
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| CN209858589U true CN209858589U (en) | 2019-12-27 |
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| CN201920419179.2U Active CN209858589U (en) | 2019-03-29 | 2019-03-29 | Detection driving device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110018320A (en) * | 2019-03-29 | 2019-07-16 | 赫安仕科技（苏州）有限公司 | A kind of detection driving device and driving method |
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2019
- 2019-03-29 CN CN201920419179.2U patent/CN209858589U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110018320A (en) * | 2019-03-29 | 2019-07-16 | 赫安仕科技（苏州）有限公司 | A kind of detection driving device and driving method |
| WO2020200045A1 (en) * | 2019-03-29 | 2020-10-08 | 赫安仕科技（苏州）有限公司 | Detection drive device and drive method |
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