Robotic system

Abstract

The present disclosure provides a robot system, which can be used to perform an injection operation on an operating object in a limiting fence, and includes: a chassis part, which can move to a specified position based on a navigation and positioning system; a robot, which is connected to the chassis part through a supporting mechanism, and the robot achieves multi-degree-of-freedom movement by receiving a control signal; an operating mechanism, which is connected to the robot, the operating mechanism includes an injection part, and the robot controls the injection part of the operating mechanism to move to a preset position through multi-degree-of-freedom movement, so as to perform an injection operation on the operating object in a high-pressure needle-free manner.

Description

Technical Field

[0001] The present disclosure belongs to the field of robot technology, and in particular, relates to a robot system. Background Art

[0002] Existing traditional artificial immunization has problems such as frequent replacement of needles for each pig, broken needles affecting meat quality, missed immunization and cross-infection that reduce the survival rate of pigs.

[0003] In the prior art, when artificially immunizing boars or sows, operators can only insert the needle into the body of the boar or sow with one hand and inject the medicine, which is a large workload; it is difficult for a single operator to reach the standard of injecting 500 pigs every half day, which affects the efficiency of immunization. Moreover, under the high-intensity immunization process, needle pricks may injure personnel, increase pig stress, and multiple injections may easily lead to cross infection. At the same time, there are certain technical requirements for injections, and manual injections are likely to cause confusion in records and data is difficult to preserve.

[0004] Therefore, how to effectively perform injection operations on pigs in the confinement pens has become an urgent problem to be solved. Summary of the invention

[0005] In order to solve at least one of the above technical problems, the present disclosure provides a robot system.

[0006] According to one aspect of the present disclosure, a robot system is provided, which can be used to perform an injection operation on an operation object in a limiting fence, comprising:

[0007] A chassis part, wherein the chassis part can be moved to a specified position based on a navigation and positioning system;

[0008] A robot, wherein the robot is connected to the chassis portion via a supporting mechanism, and the robot realizes multi-degree-of-freedom motion by receiving a control signal;

[0009] An operating mechanism is connected to the robot, the operating mechanism includes an injection part, and the robot controls the injection part of the operating mechanism to move to a preset position through multi-degree-of-freedom motion so as to perform an injection operation on the operation object in a high-pressure needle-free manner.

[0010] According to the robot system of at least one embodiment of the present disclosure, the operating mechanism includes an image acquisition device, which acquires the injection position by performing image acquisition and image recognition on the operating object and sends it to the robot. The robot moves the injection part of the operating mechanism to the injection position through multi-degree-of-freedom movement.

[0011] According to the robot system of at least one embodiment of the present disclosure, the operating mechanism includes a sensor assembly, and the sensor assembly includes a force sensor and a multi-point laser ranging sensor. The force sensor obtains the external force generated by the movement of the operating object on the force sensor, and the force sensor obtains the positional relationship between the injection part and the operating object based on the acceleration corresponding to the external force. The multi-point laser ranging sensor is used to obtain the positional relationship between the injection part and the operating object, so that the control system of the robot generates an injection control signal and transmits it to the robot, so that the robot performs the injection operation.

[0012] According to the robot system of at least one embodiment of the present disclosure, the injection part includes:

[0013] A liquid storage portion, the liquid storage portion is used to contain injection liquid;

[0014] A high-pressure needle-free injection unit, wherein the liquid storage unit is connected to the high-pressure needle-free injection unit through a liquid delivery pipeline, one end of the high-pressure needle-free injection unit is a high-pressure needle-free syringe, and the other end of the high-pressure needle-free injection unit is a high-pressure gas inlet.

[0015] According to the robot system of at least one embodiment of the present disclosure, the injection liquid is transmitted to the high-pressure needle-free injection part through the liquid delivery pipeline, and the injection liquid is atomized and injected into the operation object by the action of high-pressure gas.

[0016] According to the robot system of at least one embodiment of the present disclosure, the operating mechanism includes a fixed base plate, and the fixed base plate is used to support the injection part.

[0017] According to the robot system of at least one embodiment of the present disclosure, the operating mechanism includes an injection switch, which is connected to the high-pressure needle-free injection part, and the injection switch is used to control the start and stop of the injection operation.

[0018] According to the robot system of at least one embodiment of the present disclosure, the operating mechanism includes an injection operation control part, and the injection operation control part is used to control the injection switch.

[0019] According to the robot system of at least one embodiment of the present disclosure, the injection operation control unit includes:

[0020] An injection switch operating part, wherein the injection switch operating part is connected to the injection switch by being engaged, and the injection switch is triggered by depressing the injection switch operating part;

[0021] A cylinder is connected to the injection switch operating part through a connecting shaft, so that the injection switch operating part is activated by the action of the cylinder.

[0022] According to the robot system of at least one embodiment of the present disclosure, the injection switch operating part is provided with a guide shaft, and the guide shaft is slidably disposed in a guide hole of the fixed base plate so that the injection switch operating part and the fixed base plate can approach or move away from each other.

[0023] According to the robot system of at least one embodiment of the present disclosure, a first cylinder position detection switch, a second cylinder position detection switch, a first air pipe joint and a second air pipe joint are provided on the cylinder, and the position of the piston in the cylinder is detected by the first cylinder position detection switch and the second cylinder position detection switch; and the cylinder is actuated by providing high-pressure gas to the first air pipe joint or the second air pipe joint.

[0024] According to the robot system of at least one embodiment of the present disclosure, the image acquisition device includes a camera and a camera protection frame, the camera protection frame is arranged outside the camera and at least partially surrounds the camera, and the camera and the camera protection frame are connected to the robot via a first connecting component.

[0025] According to the robot system of at least one embodiment of the present disclosure, the first connecting component includes a first fixed rod, a second fixed rod, a third fixed block and a fourth fixed block, the image acquisition device is connected to the third fixed block through the first fixed rod, one end of the second fixed rod is connected to the third fixed block, the other end of the second fixed rod is connected to the fourth fixed block, and the fourth fixed block is connected to the connecting plate of the robot.

[0026] According to the robot system of at least one embodiment of the present disclosure, the operating mechanism includes a floating mechanism, and the floating mechanism includes:

[0027] A floating guide shaft, the other end of which is connected to the fixed bottom plate through a force sensor; the other end of which is slidably disposed in a guide hole of the connecting plate;

[0028] a locking block, the locking block being fixed to one end of the floating guide shaft to prevent the floating guide shaft from being separated from the second linear bearing; and

[0029] The elastic component is configured to keep the fixing base plate and the connecting plate at positions away from each other.

[0030] According to the robot system of at least one embodiment of the present disclosure, the force sensor is fixed to the fixed base plate via a force sensor fixing block, and the floating mechanism is connected to the force sensor via the force sensor fixing block.

[0031] According to the robot system of at least one embodiment of the present disclosure, when the force sensor detects abnormal movement of the operating object, the floating mechanism absorbs the kinetic energy of the operating object based on the elastic component, so that the floating mechanism protects the robot and the operating mechanism.

[0032] According to the robot system of at least one embodiment of the present disclosure, a multi-point laser ranging sensor protection frame is arranged outside the multi-point laser ranging sensor, and the sensor protection frame at least partially surrounds the multi-point laser ranging sensor, and the multi-point laser ranging sensor is connected to the fixed base plate through a second connecting component.

[0033] According to the robot system of at least one embodiment of the present disclosure, the second connecting component includes a third fixed rod, a fourth fixed rod, a fifth fixed block and a sixth fixed block, the multi-point laser ranging sensor is connected to the fifth fixed block through the third fixed rod, one end of the fourth fixed rod is connected to the fifth fixed block, and the other end of the fourth fixed rod is connected to the fixed base plate through the sixth fixed block.

[0034] According to the robot system of at least one embodiment of the present disclosure, the multi-point laser ranging sensor protection frame is connected to the sensor fixing plate, and the sensor fixing plate is connected to the third fixing rod.

[0035] According to the robot system of at least one embodiment of the present disclosure, the support mechanism forms a receiving space for receiving at least some of the components of the composite robot for performing the injection operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0037] Figure 1 It is a schematic diagram of the overall structure of a robot system according to one embodiment of the present disclosure.

[0038] Figure 2 Schematic diagram of the structure of a robot of a robot system according to one embodiment of the present disclosure.

[0039] Figure 3 It is one of the structural schematic diagrams of the operating mechanism of the robot system according to one embodiment of the present disclosure.

[0040] Figure 4 is a schematic structural diagram of a high-pressure needle-free injection unit of a robot system according to an embodiment of the present disclosure.

[0041] Figure 5 This is the second structural schematic diagram of the operating mechanism of the robot system according to one embodiment of the present disclosure.

[0042] Figure 6 is a schematic structural diagram of a floating mechanism of a robot system according to an embodiment of the present disclosure.

[0043] Figure 7 This is the third structural schematic diagram of the operating mechanism of the robot system according to an embodiment of the present disclosure.

[0044] Description of Reference Numerals

[0045] 10 Robotic System

[0046] 11 Chassis

[0047] 12 Support mechanism

[0048] 13 Robot

[0049] 131 Connecting plate

[0050] 14 Operating mechanism

[0051] 141 Injection Department

[0052] 1411 Liquid Storage Department

[0053] 1412 High-pressure needle-free injection department

[0054] 14121 High-pressure needle-free syringe

[0055] 14122 High pressure gas inlet

[0056] 1413 Liquid transport pipeline

[0057] 142 Fixed base plate

[0058] 1421 First fixed block

[0059] 1422 Second fixed block

[0060] 1423 High-pressure needle-free injection unit fixing plate

[0061] 143 Injection operation control unit

[0062] 1431 Injection Switch

[0063] 1432 Injection switch operating unit

[0064] 1433 Guide shaft

[0065] 1434 No.1 Linear Bearing

[0066] 1435 Connecting shaft

[0067] 1436 Cylinder

[0068] 14361 First cylinder position detection switch

[0069] 14362 Second cylinder position detection switch

[0070] 14363 First air pipe connector

[0071] 14364 Second air pipe connector

[0072] 144 Image acquisition device

[0073] 1441 Camera

[0074] 1442 Camera protection frame

[0075] 145 Force Sensor

[0076] 1451 Force sensor fixing block

[0077] 146 Multi-point laser ranging sensor

[0078] 1461 Sensor protection frame

[0079] 1462 Sensor fixing plate

[0080] 147 Floating mechanism

[0081] 1471 Floating guide shaft

[0082] 1472 Locking block

[0083] 1473 Second linear bearing

[0084] 1474 Elastic parts

[0085] 1475 First Gasket

[0086] 1476 Second gasket

[0087] 148 First connection component

[0088] 1481 First fixed rod

[0089] 1482 Second fixing rod

[0090] 1483 Third fixed block

[0091] 1484 Fourth fixed block

[0092] 149 Second connection component

[0093] 1491 Third connecting rod

[0094] 1492 Fourth connecting rod

[0095] 1493 Fifth fixed block

[0096] 1494 Sixth fixed block

[0097] 15 Limit fence

[0098] 16 Operation objects. DETAILED DESCRIPTION

[0099] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0100] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0101] Unless otherwise specified, the exemplary embodiments / embodiments shown will be understood as providing exemplary features of various details of some ways in which the technical concept of the present disclosure can be implemented in practice. Therefore, unless otherwise specified, the features of the various embodiments / embodiments can be combined, separated, interchanged and / or rearranged without departing from the technical concept of the present disclosure.

[0102] The use of cross-hatching and / or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise specified, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process sequence can be performed in a different order than described. For example, two successively described processes can be performed substantially simultaneously or in an order opposite to the described order. In addition, the same figure numbers represent the same components.

[0103] When a component is referred to as being "on" or "over," "connected to," or "coupled to" another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being "directly on," "directly connected to," or "directly coupled to" another component, there are no intervening components. For this purpose, the term "connected" may refer to a physical connection, an electrical connection, etc., with or without intervening components.

[0104] For descriptive purposes, the present disclosure may use spatially relative terms such as "under," "beneath," "under," "down," "over," "upper," "above," "higher," and "side (e.g., in a "sidewall")," to describe the relationship of one component to another (other) component as shown in the accompanying drawings. The spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the accompanying drawings. For example, if the device in the accompanying drawings is turned over, components described as "under" or "beneath" other components or features would subsequently be positioned "over" the other components or features. Thus, the exemplary term "under" can encompass both the "above" and "below" orientations. Furthermore, the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0105] The terms used here are for the purpose of describing specific embodiments, and are not intended to be restrictive. As used here, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, it is explained that there are stated features, integral bodies, steps, operations, parts, assemblies and / or their groups, but it is not excluded that there are or add one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups. It should also be noted that, as used here, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values ​​and / or the values ​​provided that will be recognized by those of ordinary skill in the art.

[0106] Figure 1 It is a schematic diagram of the overall structure of a robot system according to one embodiment of the present disclosure. Figure 2 is a schematic structural diagram of a robot of a robot system according to an embodiment of the present disclosure. Figure 3 It is one of the structural schematic diagrams of the operating mechanism of the robot system according to one embodiment of the present disclosure. Figure 4is a schematic structural diagram of a high-pressure needle-free injection unit of a robot system according to an embodiment of the present disclosure. Figure 5 This is the second structural schematic diagram of the operating mechanism of the robot system according to one embodiment of the present disclosure. Figure 6 is a schematic structural diagram of a floating mechanism of a robot system according to an embodiment of the present disclosure. Figure 7 This is the third structural schematic diagram of the operating mechanism of the robot system according to an embodiment of the present disclosure.

[0107] Combined with the following Figures 1 to 7 The structure and working principle of the robot system 10 disclosed in the present invention are described in detail.

[0108] like Figure 1 As shown, the present disclosure provides a robot system 10 , in particular, a composite robot system for performing injection operations, which may include a chassis portion 11 , a support mechanism 12 , a robot 13 and an operating mechanism 14 .

[0109] The robot system 10 of the present disclosure is mainly applicable to injection operations of animals raised in a limiting fence 15 scene. The present disclosure uses pigs raised in the limiting fence 15 as an example to illustrate the injection process of the robot system of the present disclosure.

[0110] like Figure 1 As shown, according to a preferred embodiment of the present disclosure, the chassis part 11 can be moved to a designated position based on a navigation and positioning system, and the chassis part 11 is used to provide movement power for the movement of the entire robot system 10 .

[0111] The chassis 11 of the robot system 10 can be navigated based on different types of navigation and positioning systems according to different application scenarios, such as magnetic stripe navigation, QR code navigation, laser SLAM navigation, visual SLAM navigation, UWB positioning (ultra-wideband indoor positioning) or Beidou GPS positioning navigation.

[0112] In the actual use environment of the chassis 11 in a pig farm, due to environmental restrictions and narrow terrain, preferably, the steering drive mode of the chassis 11 adopts a single steering wheel, a double steering wheel, a differential wheel or a Mecanum wheel.

[0113] like Figure 1 As shown, the support mechanism 12 of the robot system 10 is used to connect the chassis 11 and the robot 13, and form a certain accommodation space for accommodating parts of the robot system 10, such as: a robot control box, an industrial control host, electrical components, etc.

[0114] like Figure 1As shown, the robot 13 is arranged on the support mechanism 12, and the robot 13 can realize multi-degree-of-freedom motion by receiving control signals. Preferably, the robot 13 used in the present disclosure is a seven-degree-of-freedom force-controlled collaborative robot. Those skilled in the art should understand that the robot 13 is not limited to this type of robot. Those skilled in the art can choose other types of collaborative robots capable of human-machine interaction, all of which fall within the protection scope of the present disclosure.

[0115] like Figure 1 As shown, the operating mechanism 14 is connected to the robot 13 and is held by the robot 13 . Preferably, the operating mechanism 14 is a multi-degree-of-freedom motion control operating mechanism, and the robot 13 can perform injection operations on the operating object 16 in the limiting fence 15 through the multi-degree-of-freedom motion control operating mechanism 14 .

[0116] For the robot system of each of the above embodiments, preferably, Figure 3 and Figure 4 As shown, the operating mechanism 14 includes an injection unit 141, and the injection unit 141 includes a liquid storage unit 1411 and a high-pressure needle-free injection unit 1412. The liquid storage unit 1411 is arranged above the high-pressure needle-free injection unit 1412 and is parallel to the high-pressure needle-free injection unit 1412, and an injection switch 1431 is arranged below the high-pressure needle-free injection unit 1412. According to a preferred embodiment of the present disclosure, the injection switch 1431 is arc-shaped.

[0117] The liquid storage part 1411 is used to contain injection liquid, and the liquid storage part 1411 is connected to the high-pressure needle-free injection part 1412 through the liquid delivery pipe 1413, and the injection liquid is transmitted to the high-pressure needle-free injection part 1412 through the liquid delivery pipe 1413. One end of the high-pressure needle-free injection part 1412 is a high-pressure needle-free syringe 14121, and the other end is a high-pressure gas inlet 14122. The high-pressure needle-free injection part 1412 is a cavity structure, and the high-pressure gas entering the above cavity structure atomizes the injection liquid of the high-pressure needle-free syringe 14121 flowing into the high-pressure needle-free injection part 1412, and under the action of the high-pressure gas, the atomized drug liquid enters the body of the operation object 16 in the form of tiny particles, thereby realizing the injection operation.

[0118] According to a preferred embodiment of the present disclosure, the operating mechanism 14 includes a fixed base plate 142, which is used to support the injection part 141, one side of the high-pressure needle-free injection part 1412 is fixed to the fixed base plate 142 by a first fixed block 1421, and the other side of the high-pressure needle-free injection part 1412 is fixed to the fixed base plate 142 by a second fixed block 1422.

[0119] like Figure 3As shown, a high-pressure needle-free injection unit fixing plate 1423 is provided on the side where the high-pressure needle-free injection unit 1412 is fixed by the first fixing block 1421. The high-pressure needle-free injection unit fixing plate 1423 is used to fix one end of the high-pressure needle-free injection unit 1412 close to the high-pressure gas inlet 14122 to increase the stability of the high-pressure needle-free injection unit 1412.

[0120] Preferably, reference Figure 3 The operating mechanism 14 includes an injection operation control unit 143 , and the injection operation control unit 143 is used to control the injection switch 1431 .

[0121] Preferably, the injection operation control part 143 includes an injection switch operation part 1432 and a cylinder 1436 .

[0122] According to a preferred embodiment of the present disclosure, the injection switch 1431 is arc-shaped, and the injection switch 1431 is connected to the high-pressure needle-free injection part 1412 .

[0123] The injection switch operating part 1432 is preferably a trigger block, and the injection switch operating part 1432 is embedded with the injection switch 1431 . By triggering the injection switch operating part 1432 , the injection switch 1431 is triggered to control the start and stop of the injection operation of the injection part 141 .

[0124] refer to Figure 3 Preferably, the injection switch operating part 1432 is provided with a guide shaft 1433, and the guide shaft 1433 can be slidably disposed in a guide hole of the fixed base plate 142, so that the injection switch operating part 1432 and the fixed base plate 142 can approach or move away from each other.

[0125] More preferably, a first linear bearing 1434 may be provided in the guide hole of the fixed base plate 142 to support the guide shaft 1433 through the first linear bearing 1434 to reduce the friction between the guide shaft 1433 and the fixed base plate 142 .

[0126] The injection switch operating part 1432 is connected to the connecting shaft 1435, and the connecting shaft 1435 can be connected to the cylinder 1436 and driven by the cylinder 1436 so that the connecting shaft 1435 can move linearly. At this time, the piston rod of the cylinder 1436 can pass through the fixed base plate 142 of the operating mechanism 14 and be connected to the connecting shaft 1435.

[0127] The injection switch operating part 1432 is formed with a groove, and the connecting shaft 1435 passes through the groove and cooperates with the groove, so that the connecting shaft 1435 can pull the injection switch operating part 1432.

[0128] Moreover, when the injection switch operating part 1432 rotates around the guide shaft 1433, the connecting shaft 1435 can be separated from the injection switch operating part 1432.

[0129] Preferably, the inner wall surface of the groove is formed in a step shape, and the portion with a larger opening size of the stepped groove is located far away from the fixed base plate 142, that is, the portion with a smaller opening size of the stepped groove is located close to the fixed base plate 142; accordingly, the connecting shaft 1435 is formed as a stepped shaft, and the portion with a larger diameter of the connecting shaft 1435 cooperates with the portion with a larger opening size of the stepped groove, and the portion with a smaller diameter of the connecting shaft 1435 cooperates with the portion with a smaller opening size of the stepped groove, so that the connecting shaft 1435 can pull the injection switch operating part 1432 to operate.

[0130] like Figure 3 As shown, the cylinder 1436 includes a first cylinder position detection switch 14361, a second cylinder position detection switch 14362, a first gas pipe joint 14363, and a second gas pipe joint 14364. When high-pressure gas is provided to the first gas pipe joint 14363 or the second gas pipe joint 14364, the piston of the cylinder 1436 can move, pulling the connecting shaft 1435 so that the injection switch operating part 1432 is pressed, thereby triggering the injection switch 1431.

[0131] Preferably, the position of the piston in the cylinder is detected by the first cylinder position detection switch 14361 and the second cylinder position detection switch 14362, so as to determine whether the injection switch 1431 is triggered. The first gas pipe joint 14363 is used to introduce high-pressure gas, and the second gas pipe joint 14364 is used to discharge high-pressure gas. The injection switch operating part 1432 is triggered by the compression of the high-pressure gas, and the injection switch operating part 1432 is released by the discharge of the high-pressure gas.

[0132] For the robot system 10 in each of the above embodiments, preferably, Figure 5 As shown, the operating mechanism 14 includes an image acquisition device 144 . Preferably, the image acquisition device 144 includes a camera 1441 and a camera protection frame 1442 .

[0133] The camera protection frame 1442 is disposed outside the camera 1441 and at least partially surrounds the camera 1441 . The camera protection frame 1442 is used to protect the camera 1441 and prevent the camera 1441 from being damaged due to violent movement of the operating object 16 .

[0134] refer to Figure 5Preferably, the camera 1441 is connected to the robot 13 via a first connecting component 148 , wherein the first connecting component 148 includes a first fixing rod 1481 , a second fixing rod 1482 , a third fixing block 1483 and a fourth fixing block 1484 .

[0135] One end of the first fixed rod 1481 is connected to the camera 1441 and the camera protection frame 1442, the other end of the first fixed rod 1481 passes through the third fixed block 1483 and is connected to the third fixed block 1483, one end of the second fixed rod 1482 passes through the third fixed block 1483 and is connected to the third fixed block 1483, the other end of the second fixed rod 1482 passes through the fourth fixed block 1484 and is connected to the fourth fixed block 1484, and the fourth fixed block 1484 is connected to the connecting plate 131 of the robot 13 through a nut.

[0136] refer to Figure 5 One end of the connecting plate 131 of the robot 13 is connected to the robot 13 , and the other end is connected to the operating mechanism 14 .

[0137] According to a preferred embodiment of the present disclosure, the control system of the robot 13 controls the image acquisition device 144 to perform image acquisition and image recognition on the operation object 16 to locate the position information of the limit bar 15, the position information of the operation object 16 in the limit bar 15, and the posture information of the operation object 16 in the limit bar 15, so as to generate injection position information for the injection operation and send it to the robot 13.

[0138] When the posture of the operating object 16 in the limiting fence 15 is suitable for the injection operation, the injection position information of the operating object 16 acquired by the image acquisition device 144 is sent to the robot 13. Based on the injection position information of the operating object 16, the robot 13 performs multi-degree-of-freedom movement to move the injection part 141 of the operating mechanism 14 to the injection position on the operating object 16.

[0139] For the robot system 10 in each of the above embodiments, preferably, Figure 3 and Figure 7 As shown, the operating mechanism 14 includes a sensor assembly, which includes a force sensor 145 and a multi-point laser ranging sensor 146 .

[0140] refer to Figure 7 , wherein the force sensor 145 is fixed to the fixed base plate 142 of the operating mechanism 14 through the force sensor fixing block 1451, the force sensor 145 is used to collect the external force generated by the movement of the operating object 16 on the force sensor 145, and the force sensor 145 determines the positional relationship between the injection part 141 and the operating object 16 based on the acceleration corresponding to the external force, and the robot 13 controls the movement of the operating mechanism 14 so that the injection part 141 moves to the injection position on the operating object 16.

[0141] According to a preferred embodiment of the present disclosure, Figure 3 As shown, the multi-point laser ranging sensor 146 of the present disclosure is connected to the fixed base plate 142 of the operating mechanism 14 through a second connecting component 149 .

[0142] A sensor protection frame 1461 is disposed outside the multi-point laser ranging sensor 146 . The sensor protection frame 1461 at least partially surrounds the multi-point laser ranging sensor 146 and is connected to the multi-point laser ranging sensor. The sensor protection frame 1461 is connected to a sensor fixing plate 1462 .

[0143] refer to Figure 3 Preferably, the second connecting assembly 149 includes a third connecting rod 1491, a fourth connecting rod 1492, a fifth fixed block 1493 and a sixth fixed block 1494, one end of the third connecting rod 1491 is connected to the sensor protection frame 1461, the other end of the third connecting rod 1491 passes through the fifth fixed block 1493 and is connected to the fifth fixed block 1493; one end of the fourth connecting rod 1492 passes through the fifth fixed block 1493 and is connected to the fifth fixed block 1493, the other end of the fourth connecting rod 1492 passes through the sixth fixed block 1494 and is connected to the sixth fixed block 1494, and the sixth fixed block 1494 is fixed to the fixed base plate 142 of the operating mechanism 14.

[0144] refer to Figure 3 The multi-point laser ranging sensor 146 disclosed in the present invention is used to detect whether the injection position obtained based on the image acquisition device 144 is an accurate position. The multi-point laser ranging sensor 146 emits a laser to the injection position. The multi-point laser ranging sensor 146 can receive the position information of at least three points returned in the area of ​​the injection position, and judge whether the injection posture of the high-pressure needle-free syringe 14121 of the injection part 141 is perpendicular to the injection plane on the operation object 16 through the position information of at least three points.

[0145] When the force value fed back by the force sensor 145 exceeds the preset value, it is determined that the injection part 141 contacts the operating object 16, and when the multi-point laser ranging sensor 146 detects that the injection posture of the high-pressure needle-free syringe 14121 is perpendicular to the injection plane on the operating object 16, the injection operation control part 143 is started to perform the injection operation; when it is detected that the injection posture of the high-pressure needle-free syringe 14121 is not perpendicular to the injection plane on the operating object 16, the control system of the robot 13 generates a no-injection control signal and sends it to the robot 13, and the robot 13 readjusts the angle of the operating mechanism 14 until the high-pressure needle-free syringe 14121 is perpendicular to the injection plane on the operating object 16.

[0146] For the robot system 10 in each of the above embodiments, preferably, Figure 6 and Figure 7 As shown, the operating mechanism 14 also includes a floating mechanism 147.

[0147] One end of the floating mechanism 147 is connected to the fixed base plate 142 , the other end of the floating mechanism 147 is connected to one end of the connecting plate 131 , and the other end of the connecting plate 131 is connected to the robot 13 , so that the operating mechanism 14 can be connected to the robot 13 in a floating manner.

[0148] In the present disclosure, the floating mechanism 147 includes a floating guide shaft 1471 and a locking fixed block 1472, one end of the floating guide shaft 1471 is connected to the fixed base plate 142, preferably, one end of the floating guide shaft 1471 is connected to the fixed base plate 142 through the force sensor 145, for example, one end of the floating guide shaft 1471 is connected to the force sensor fixed block 1451, and the force sensor fixed block 1451 is connected to the fixed base plate 142 through the force sensor 145, so as to detect the contact force between the operating mechanism 14 and the operating object 16 through the force sensor 145.

[0149] The other end of the floating guide shaft 1471 can be slidably disposed in the guide hole of the connecting plate 131 , so that the distance between the fixed base plate 142 and the connecting plate 131 can be changed, that is, the fixed base plate 142 can approach or move away from the connecting plate 131 .

[0150] A second linear bearing 1473 is disposed in the guide hole of the connecting plate 131 . The second linear bearing 1473 is used to support the floating guide shaft 1471 and reduce the friction between the floating guide shaft 1471 and the connecting plate 131 .

[0151] The floating guide shaft 1471 is provided with an elastic component 1474, so that the fixed base plate 142 and the connecting plate 131 are kept at positions away from each other by the elastic component 1474. Preferably, the elastic component 1474 comprises a spring, which is sleeved on the outside of the floating guide shaft 1471, and one end of the spring is mounted on the second linear bearing 1473 or the connecting plate, and the other end is mounted on the fixed base plate 142.

[0152] A locking block 1472 is installed at one end of the floating guide shaft 1471 close to the second linear bearing 1473 , and the locking block 1472 is used to prevent the floating guide shaft 1471 from detaching from the second linear bearing 1473 .

[0153] Preferably, a first gasket 1475 is disposed between the locking block 1472 and the second linear bearing 1473 , and the first gasket 1475 can be formed as a buffer gasket between the second linear bearing 1473 and the locking block 1472 . A second gasket 1476 is disposed between the second linear bearing 1473 and the elastic component 1474 .

[0154] When the operating object 16 in the limiting fence 15 moves abnormally, for example, the movement amplitude is too large, the floating mechanism 147 absorbs the kinetic energy of the operating object 16 based on the elastic component 1474 , and the floating mechanism 147 protects the robot 13 and the operating mechanism 14 .

[0155] When the image acquisition device 144 and the force sensor 145 work simultaneously, and the force sensor 145 detects that the movement amplitude of the operating object 16 in the limit fence 15 exceeds the working limit of the robot system 10, the control system of the robot 13 controls the robot 13 and the operating mechanism 14 to withdraw and restart the above detection and injection operation process.

[0156] When the robot system 10 of the present invention completes the injection operation on the operating object 16 in the limit bar 15, the image acquisition device 144 is driven to the starting position by the robot's control system and takes a picture of the injection position. The success of the injection operation is confirmed based on the posture changes and skin color feature changes of the operating object 16 before and after the injection operation. If the injection operation fails, the robot system 10 restarts the above injection detection and operation process (different from the previous injection position). Preferably, the injection operation is not performed more than twice. If two injections fail, the current limit bar 15 is skipped and an alarm signal is generated.

[0157] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments / methods or examples. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0158] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0159] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A robot system capable of performing an injection operation on an operating object within a limiting fence, characterized in that: include: A chassis part, wherein the chassis part can be moved to a specified position based on a navigation and positioning system; A robot, the robot being connected to the chassis portion via a supporting mechanism, the robot realizing multi-degree-of-freedom motion by receiving a control signal; and An operating mechanism, the operating mechanism is connected to the robot, the operating mechanism includes an injection part, the robot controls the injection part of the operating mechanism to move to a preset position through multi-degree-of-freedom motion, so as to perform an injection operation on the operation object in a high-pressure needle-free manner; the injection part includes a liquid storage part and a high-pressure needle-free injection part, the liquid storage part is used to contain injection liquid; the liquid storage part is connected to the high-pressure needle-free injection part through a liquid delivery pipeline, one end of the high-pressure needle-free injection part is a high-pressure needle-free syringe, and the other end of the high-pressure needle-free injection part is a high-pressure gas inlet; the injection liquid is transmitted to the high-pressure needle-free injection part through the liquid delivery pipeline, and the injection liquid is atomized and injected into the operation object through the action of the high-pressure gas; Wherein, the operating mechanism further comprises a fixed bottom plate and an injection operation control part; the fixed bottom plate is used to support the injection part; the injection operation control part comprises an injection switch, an injection switch operating part and a cylinder; the injection switch is connected to the high-pressure needle-free injection part of the injection part, and the injection switch is used to control the start and stop of the injection operation; the injection switch operating part is connected to the injection switch by interlocking, and the injection switch is triggered by depressing the injection switch operating part; the cylinder is connected to the injection switch operating part by a connecting shaft, so that the injection switch operating part is depressed by the action of the cylinder; The injection switch operating part is provided with a guide shaft, and the guide shaft is slidably arranged in the guide hole of the fixed base plate, so that the injection switch operating part and the fixed base plate can approach or move away from each other; the injection switch operating part is connected to a connecting shaft, and the connecting shaft is connected to the cylinder and driven by the cylinder so that the connecting shaft can move linearly; The switch operating part is formed with a groove, the connecting shaft passes through the groove and cooperates with the groove, so that the connecting shaft can pull the switch operating part; when the switch operating part rotates around the guide shaft, the connecting shaft can be separated from the switch operating part.

2. The robot system according to claim 1, characterized in that: The operating mechanism includes an image acquisition device, which acquires the injection position by performing image acquisition and image recognition on the operating object and sends it to the robot. The robot moves the injection part of the operating mechanism to the injection position through multi-degree-of-freedom movement.

3. The robot system according to claim 2, characterized in that: The operating mechanism includes a sensor assembly, and the sensor assembly includes a force sensor and a multi-point laser ranging sensor. The force sensor obtains the external force generated by the movement of the operating object on the force sensor, and the force sensor obtains the positional relationship between the injection part and the operating object based on the acceleration corresponding to the external force. The multi-point laser ranging sensor is used to obtain the positional relationship between the injection part and the operating object, so that the control system of the robot generates an injection control signal and transmits it to the robot, so that the robot performs the injection operation.

4. The robot system according to claim 1, characterized in that: The cylinder is provided with a first cylinder position detection switch, a second cylinder position detection switch, a first air pipe joint and a second air pipe joint. The position of the piston in the cylinder is detected by the first cylinder position detection switch and the second cylinder position detection switch; and the cylinder is actuated by providing high-pressure gas to the first air pipe joint or the second air pipe joint.

5. The robot system according to claim 2, characterized in that: The image acquisition device includes a camera and a camera protection frame. The camera protection frame is arranged outside the camera and at least partially surrounds the camera. The camera and the camera protection frame are connected to the robot through a first connecting component.

6. The robot system according to claim 5, characterized in that: The first connecting component includes a first fixing rod, a second fixing rod, a third fixing block and a fourth fixing block. The image acquisition device is connected to the third fixing block through the first fixing rod, one end of the second fixing rod is connected to the third fixing block, the other end of the second fixing rod is connected to the fourth fixing block, and the fourth fixing block is connected to the connecting plate of the robot.

7. The robot system according to claim 1, characterized in that: The operating mechanism includes a floating mechanism, and the floating mechanism includes: A floating guide shaft, the other end of which is connected to the fixed bottom plate through a force sensor; the other end of which is slidably disposed in a guide hole of the connecting plate; a locking block, the locking block being fixed to one end of the floating guide shaft to prevent the floating guide shaft from being separated from the second linear bearing; and The elastic component is configured to keep the fixing base plate and the connecting plate at positions away from each other.

8. The robot system according to claim 7, characterized in that: The force sensor is fixed to the fixed base plate through a force sensor fixing block, and the floating mechanism is connected to the force sensor through the force sensor fixing block.

9. The robot system according to claim 8, characterized in that: When the force sensor detects that the operation object moves abnormally, the floating mechanism absorbs the kinetic energy of the operation object based on the elastic component, so that the floating mechanism plays a protective role for the robot and the operation mechanism.

10. The robot system according to claim 3, characterized in that: A multi-point laser ranging sensor protection frame is arranged outside the multi-point laser ranging sensor, and the sensor protection frame at least partially surrounds the multi-point laser ranging sensor. The multi-point laser ranging sensor is connected to the fixed base plate through a second connecting component.

11. The robot system according to claim 10, characterized in that: The second connecting assembly includes a third fixing rod, a fourth fixing rod, a fifth fixing block and a sixth fixing block. The multi-point laser ranging sensor is connected to the fifth fixing block via the third fixing rod, one end of the fourth fixing rod is connected to the fifth fixing block, and the other end of the fourth fixing rod is connected to the fixed base plate via the sixth fixing block.

12. The robot system according to claim 11, characterized in that: The multi-point laser ranging sensor protection frame is connected to the sensor fixing plate, and the sensor fixing plate is connected to the third fixing rod.

13. The robot system according to claim 1, characterized in that: The support mechanism forms a receiving space for receiving at least some of the components of the robot system for performing the injection operation.

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