A laboratory robot system

Abstract

The present invention discloses a laboratory robot system, which relates to the field of automation equipment. By setting a fixed track route on the ceiling and side walls of the laboratory for the rail car to travel, it can cooperate with the ground patrol car to realize the multi-directional walking of the execution unit in the laboratory, and can reach any position of the laboratory without dead angles; at the same time, the fixed track routes on the ground of adjacent laboratories can be interconnected, and the execution unit can shuttle between different laboratories, achieving the effect of integrating the instruments and equipment and manual projects inside various laboratories, not only helping the laboratory staff to work and share the pressure, but also realizing the comprehensive automation operation of the laboratory, and improving the overall operation efficiency of the laboratory. At the same time, since the intervention of personnel is greatly reduced, the occurrence of experimental adverse events caused by human factors can be effectively avoided, and the quality of detection is guaranteed to a certain extent.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment, and in particular to a laboratory robot system. Background Art

[0002] In modern biological testing laboratories, testing lines have long been popular in major hospitals, and are widely loved by doctors and technicians for their fast speed, high throughput, and high degree of automation. However, in actual clinical testing work, because the assembly line equipment belongs to different manufacturers and there is no unified specification, it is impossible to integrate the assembly line, and thus it is impossible to establish an automated specimen logistics connection. In addition, the manual projects left behind by various departments for various reasons cannot be organically automated and integrated, wasting a lot of biological resources.

[0003] To sum up, the existing biological testing laboratory automation equipment has only solved the problem of a single node in the automation link, and has not yet completed the automation integration of the entire laboratory. Therefore, it is necessary to propose a laboratory robot system to integrate various laboratory instruments and equipment and manual projects to achieve comprehensive laboratory automation. Summary of the invention

[0004] The purpose of the present invention is to provide a laboratory robot system to solve the problem that the above-mentioned existing laboratory automation equipment cannot realize the integration of the entire laboratory automation.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a laboratory robot system, comprising:

[0007] An execution unit, the execution unit comprising a rail vehicle and an execution component disposed on the rail vehicle;

[0008] A fixed ground track route, which is composed of a plurality of track components arranged in an arrangement, and is distributed and installed on the laboratory ceiling and side walls, and the fixed ground track routes of adjacent laboratories can be interconnected; the track vehicle cooperates with the track components to enable the track vehicle to travel along the fixed ground track route in the space above the laboratory floor and between laboratories;

[0009] A ground line patrol vehicle, the ground line patrol vehicle is used to carry the execution unit and travel on the laboratory floor, and the ground line patrol vehicle can be connected with the track assembly on the ground fixed track route through a docking component to achieve the position switching of the execution unit between the ground line patrol vehicle and the ground fixed track route;

[0010] A control system is communicatively connected with the execution unit and the ground line patrol vehicle.

[0011] Optionally, the above-ground fixed track route includes a track cross-conversion mechanism, and the track cross-conversion mechanism includes:

[0012] At least two sections of the first fixed track located in the same plane and extending in mutually intersecting directions, any section of the first fixed track being formed by at least one group of the track components arranged in series in at least one row;

[0013] A cross-conversion mechanism, the cross-conversion mechanism includes a rotating movable rail unit, a rotating movable rail unit mounting base, a flat plate rotating motor and a first translation mechanism, the rotating movable rail unit is formed by at least one group of the rail components arranged in series, the rotating movable rail unit is arranged on one side of the rotating movable rail unit mounting base, the rotating movable rail unit mounting base is connected to the flat plate rotating motor, the flat plate rotating motor is used to drive the rotating movable rail unit mounting base to rotate so that the rotating movable rail unit is parallel to different first fixed rails; the first translation mechanism is installed at the intersection of all the first fixed rails, the flat plate rotating motor is connected to the first translation mechanism, the first translation mechanism is used to drive the flat plate rotating motor to move so that the rotating movable rail unit is docked with different first fixed rails to complete the cross-route conversion of the execution unit.

[0014] Optionally, the above-ground fixed track route further includes a track parallel conversion mechanism, and the track parallel conversion mechanism includes:

[0015] Two sections of second fixed rails located in the same plane and arranged in parallel and staggered manner, any section of the second fixed rail is formed by at least one group of the rail components arranged in series in at least one row;

[0016] A parallel conversion mechanism, the parallel conversion mechanism includes a movable track unit and a second translation mechanism, the movable track unit is composed of at least one group of track components arranged in series in at least one row, the second translation mechanism is arranged at the intersection of two sections of the second fixed track, the movable track unit is connected to the second translation mechanism and is parallel to the second fixed track, the second translation mechanism is used to drive the movable track unit to move so that the movable track unit can dock with different second fixed tracks to complete the parallel route conversion of the execution unit.

[0017] Optionally, both the first translation mechanism and the second translation mechanism are screw-slider mechanisms.

[0018] Optionally, the above-ground fixed track route further includes a track three-dimensional conversion mechanism, and the track three-dimensional conversion mechanism includes:

[0019] Two sections of third fixed rails, one of the two sections of the third fixed rails is arranged on the laboratory ceiling, and the other section of the third fixed rails is arranged on the laboratory side wall, the two sections of the third fixed rails are in a vertically intersecting state, and any one of the third fixed rails is composed of at least one group of the rail components arranged in series in at least one row;

[0020] A three-dimensional conversion mechanism, the three-dimensional conversion mechanism includes a lifting mechanism, a lifting support arm, a track three-dimensional movable motor and a three-dimensional movable track, the three-dimensional movable track is composed of at least one group of the track components arranged in series in at least one row, the lifting mechanism is arranged on the side wall of the laboratory and is located at the intersection of two sections of the third fixed track, one end of the lifting support arm is connected to the lifting mechanism, and the other end is connected to the three-dimensional movable track through the track three-dimensional movable motor, the track three-dimensional movable motor is used to drive the three-dimensional movable track to flip so that the three-dimensional movable track is parallel to different third fixed tracks, and the lifting mechanism is used to drive the three-dimensional movable track to rise and fall so that the three-dimensional movable track can dock with different third fixed tracks.

[0021] Optionally, the lifting mechanism is an elevator.

[0022] Optionally, the above-ground fixed track route includes an inter-laboratory travel mechanism, and the inter-laboratory travel mechanism includes:

[0023] A wall-penetrating window, wherein the wall-penetrating window is opened on the partition wall between adjacent laboratories;

[0024] A fourth fixed track, wherein the fourth fixed track is formed by at least one group of the track components arranged in series in at least one row, and the fourth fixed track is arranged at the top of the wall passage window, and is used to connect the ground fixed track routes of two adjacent laboratories;

[0025] An electric side-opening door is arranged at the wall-through window and is located below the fourth fixed track. The electric side-opening door is used to control the opening and closing of the wall-through window.

[0026] Optionally, the docking component is a ground line patrol vehicle docking platform, and the ground line patrol vehicle docking platform includes a fifth fixed rail, and the fifth fixed rail is composed of at least one group of rail components arranged in series in at least one row, and the fifth fixed rail is installed on the laboratory floor through a base, and is in a vertical cross state with the third fixed rail installed on the side wall of the laboratory, and the fifth fixed rail is connected to the third fixed rail installed on the side wall of the laboratory through the three-dimensional conversion mechanism.

[0027] Optionally, any one of the said track assemblies includes:

[0028] A track body, which is in a "U" - shaped structure, and grooves for the wheels of the track vehicle to roll are provided on the inner walls on both sides of the track body;

[0029] A rack, which is arranged on the bottom surface of the track body. A gear meshing with the rack and a gear drive device connected to the gear are provided on the bottom of the track vehicle;

[0030] A sticking recessed frame, which is arranged on the bottom surface of the track body and on both sides of the rack. An RFID radio frequency position identification tag is arranged in the sticking recessed frame; an RFID radio frequency position identification tag reading sensor capable of reading the RFID radio frequency position identification tag is arranged on the track vehicle to judge the position of the track vehicle;

[0031] A power - supply copper rail, which is arranged on the bottom surface of the track body through a power - supply copper - rail insulating support and on one side of the rack. The power - supply copper rail is used to charge the track vehicle;

[0032] A communication copper rail, which is arranged on the bottom surface of the track body through a communication - copper - rail insulating support and on the other side of the rack. The communication copper rail is used to realize the communication connection between the execution unit and the control system.

[0033] Optionally, a ground patrol - vehicle line is arranged on the laboratory floor. The ground patrol - vehicle line includes:

[0034] A patrol - vehicle line, on which RFID radio frequency position identification tags are arranged at intervals. An RFID radio frequency position identification tag reading sensor capable of identifying the RFID radio frequency position identification tags is arranged on the ground patrol vehicle to judge the position of the ground patrol vehicle;

[0035] A charging standby parking position for the ground patrol vehicle, which is communicated with the patrol - vehicle line. A track - vehicle charging device is arranged in the charging standby parking position for the ground patrol vehicle;

[0036] A docking parking position for the ground patrol vehicle, which is connected to the ground patrol - vehicle docking platform.

[0037] Optionally, the ground patrol vehicle includes:

[0038] A patrol - vehicle body, on which a vision - based obstacle - avoidance and QR - code recognition camera, a ground - patrol - vehicle ID recognition QR - code, an ultrasonic - radar obstacle - avoidance probe and a patrol sensor are arranged;

[0039] The sixth fixed rail is arranged on the top of the line patrol vehicle body, and the sixth fixed rail is composed of at least one group of rail components arranged in series in at least one row; docking positioning pin sockets are arranged outward on both sides of the sixth fixed rail, and the fifth fixed rail is provided with docking positioning pins that cooperate with the docking positioning pin sockets.

[0040] Optionally, the railcar body of the railcar is provided with a railcar ID plate, a railcar ID recognition QR code, an ultrasonic radar obstacle avoidance probe, and a visual obstacle avoidance and QR code recognition camera;

[0041] The execution assembly includes a mechanical arm installed on the rail vehicle and an actuator arranged at the end of the mechanical arm.

[0042] Optionally, the actuator is a suction cup assembly, a soft grasping assembly, a rigid four-claw assembly or a pipetting assembly.

[0043] Compared with the prior art, the present invention has achieved the following technical effects:

[0044] The laboratory robot system proposed by the present invention has a scientific and reasonable structure, is safe and convenient to use, and can cooperate with the ground patrol car by setting the ground fixed track route on the laboratory ceiling and side walls for the rail car to travel, so as to realize the multi-directional walking of the execution unit in the laboratory, and can reach any position in the laboratory without dead angles; at the same time, the ground fixed track routes of adjacent laboratories can be interconnected, so that the execution unit can shuttle between different laboratories, and achieve the effect of integrating the instruments and equipment and manual projects inside various laboratories, which not only helps the laboratory staff to work and share the pressure, but also realizes the comprehensive automation operation of the laboratory and improves the overall operation efficiency of the laboratory. At the same time, since the intervention of personnel is greatly reduced, the occurrence of experimental adverse events caused by human factors can be effectively avoided, and the quality of detection is guaranteed to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 It is a schematic diagram of the overall structure of the laboratory robot system disclosed in the embodiment of the present invention;

[0047] Figure 2 is a schematic structural diagram of a track assembly disclosed in an embodiment of the present invention;

[0048] Figure 3-1 is an exploded view of a track assembly disclosed in an embodiment of the present invention;

[0049] Figure 3-2 is a front view of a track assembly disclosed in an embodiment of the present invention;

[0050] Figure 3-3 is a top view of a track assembly disclosed in an embodiment of the present invention;

[0051] Figure 4 is a schematic structural diagram of a track cross-conversion mechanism disclosed in an embodiment of the present invention;

[0052] Figure 5-1 is a top view of a track cross-conversion structure disclosed in an embodiment of the present invention;

[0053] Figure 5-2 is a bottom view of the track cross-conversion structure disclosed in an embodiment of the present invention;

[0054] Figure 6 It is a structural schematic diagram of a track parallel conversion mechanism disclosed in an embodiment of the present invention;

[0055] Figure 7-1 is a top view of the track parallel conversion mechanism disclosed in an embodiment of the present invention;

[0056] Figure 7-2 is a bottom view of the track parallel conversion mechanism disclosed in an embodiment of the present invention;

[0057] Figure 8-1 It is a schematic diagram of the installation of the three-dimensional track conversion mechanism disclosed in the embodiment of the present invention when it is installed between the ceiling and the side wall;

[0058] Figure 8-2 It is a schematic diagram of the installation of the three-dimensional track conversion mechanism disclosed in the embodiment of the present invention when it is installed between the side wall and the ground;

[0059] Figure 9-1 It is a schematic diagram of the three-dimensional conversion process of the three-dimensional movable track in the three-dimensional track conversion mechanism located between the ceiling and the side wall disclosed in an embodiment of the present invention (the arrows in the figure indicate the position conversion steps of the three-dimensional movable track, and when the three-dimensional movable track is in different positions, the state of the end effector is also adjusted accordingly);

[0060] Figure 9-2 It is a schematic diagram of the stereoscopic conversion process of the stereoscopic movable track in the track stereoscopic conversion mechanism located between the side wall and the ground disclosed in an embodiment of the present invention (the arrows in the figure indicate the position conversion steps of the stereoscopic movable track, and when the stereoscopic movable track is in different positions, the state of the end effector is also adjusted accordingly);

[0061] Fig.10 It is a structural schematic diagram of a ground line patrol vehicle docking platform disclosed in an embodiment of the present invention;

[0062] Fig.11 It is a schematic diagram of the docking principle between the ground line patrol vehicle docking platform and the line patrol vehicle disclosed in the embodiment of the present invention;

[0063] Figure 11-1 It is a schematic diagram of a state in which the ground line patrol vehicle docking platform and the line patrol vehicle are docked and completed according to an embodiment of the present invention;

[0064] Fig.12 It is a structural schematic diagram of a ground line patrol vehicle disclosed in an embodiment of the present invention;

[0065] Figure 12-1 is an exploded view of a ground line patrol vehicle disclosed in an embodiment of the present invention;

[0066] Fig.13 It is a structural schematic diagram of a line mechanism of a ground line patrol vehicle disclosed in an embodiment of the present invention;

[0067] Fig.14 is a schematic diagram of a ground line patrol vehicle disclosed in an embodiment of the present invention running on a line;

[0068] Fig.15 is a schematic structural diagram of an inter-laboratory travel mechanism disclosed in an embodiment of the present invention;

[0069] Figure 15-1 It is a structural schematic diagram of the execution unit disclosed in the embodiment of the present invention when passing through the inter-laboratory travel mechanism;

[0070] Figure 15-2 It is a schematic diagram of the structure of the execution unit disclosed in the embodiment of the present invention after passing through the inter-laboratory travel mechanism;

[0071] Fig.16 is a schematic structural diagram of a mechanical arm in an execution unit disclosed in an embodiment of the present invention;

[0072] Fig.17 is a schematic structural diagram of a rail vehicle in an execution unit disclosed in an embodiment of the present invention;

[0073] Figure 17-1 is a bottom view of a rail vehicle in an execution unit disclosed in an embodiment of the present invention;

[0074] Fig.18 is a schematic diagram of the cooperation between the execution unit and the track disclosed in the embodiment of the present invention;

[0075] Fig.19 It is a schematic diagram of the coordination among the execution unit, the track assembly and the ground line patrol vehicle disclosed in the embodiment of the present invention.

[0076] Wherein, the accompanying drawings are marked as follows:

[0077] 1. Track assembly; 11. Rack; 12. RFID radio frequency location identification tag; 13. Power supply copper rail; 14. Communication copper rail; 15. Communication copper rail insulation support; 16. Power supply copper rail insulation support; 17. Track assembly mounting screws; 18. Track body;

[0078] 2. Track cross conversion mechanism; 21. Rotating movable track unit; 22. Flat rotating motor; 23. Rotating movable track unit mounting base; 24. Rotating movable track unit slide rail seat; 25. Rotating movable track unit lead screw motor; 26. Lead screw; 27. Slide rod; 28. Lead screw slide rod wall fixing seat; 29. ​​Fixed track;

[0079] 3. Track parallel conversion mechanism; 31. Screw motor of movable track unit; 32. Screw slide stabilizer seat of movable track unit; 33. Screw slide wall fixing seat; 34. Screw; 35. Movable track unit mounting base; 36. Movable track unit; 37. Slide; 38. Fixed track;

[0080] 4. Track three-dimensional conversion mechanism; 41. Fixed track; 42. Lift; 43. Lifting support arm; 44. Track three-dimensional moving motor; 45. Three-dimensional movable track;

[0081] 5. Ground patrol vehicle docking platform; 51. Track assembly; 52. Docking positioning pin; 53. Base; 54. Ground patrol vehicle docking parking space;

[0082] 6. Ground patrol vehicle; 60. Patrol sensor; 61. Track assembly; 62. Docking locating pin socket; 63. Patrol vehicle body; 64. Visual obstacle avoidance and QR code recognition camera; 65. Ground patrol vehicle ID recognition QR code; 66. Wireless charging coil; 67. Ultrasonic radar obstacle avoidance probe; 68. Motion motor and wheels; 69. RFID radio frequency location identification tag reading sensor;

[0083] 7. Ground patrol car line; 71. Wireless charging coil; 72. Ground patrol car charging standby parking space; 73. Ground patrol car docking parking space; 74. Patrol car line; 75. RFID radio frequency location identification tag; 76. Floor;

[0084] 8. Laboratory travel mechanism; 81. Fixed track; 82. Electric side door; 83. Partition wall; 84. Wall pass-through window;

[0085] 9. Execution unit; 901. End effector; 902. End effector adapter interface; 903. Sixth axis motor; 904. Fifth axis motor; 905. Secondary long arm; 906. Fourth axis motor; 907. Third axis motor; 908. Primary long arm; 909. Second axis motor; 910. First axis motor; 911. First axis motor stator base fixing screw; 912. First axis motor stator base; 913. Base fixing screw; 914. Robot arm base; 915. Railcar body; 916. Railcar road wheels; 917. Railcar ID recognition QR code; 918. Railcar ID plate; 919. Ultrasonic radar obstacle avoidance probe; 920. Visual obstacle avoidance and QR code recognition camera; 921. RFID radio frequency location identification tag reading sensor; 922. Communication copper rail contact spring group; 923. Power supply copper rail contact spring group; 924. Power motor transmission gear. DETAILED DESCRIPTION

[0086] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0087] One of the purposes of the present invention is to provide a laboratory robot system to solve the problem that existing laboratory automation equipment cannot realize the integration of the entire laboratory automation.

[0088] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0089] Embodiment 1

[0090] This embodiment provides a robot system for laboratory use, including a track assembly 1, a track crossover conversion mechanism 2, a track parallel conversion mechanism 3, a track three-dimensional conversion mechanism 4, a ground line-following vehicle docking platform 5, a ground line-following vehicle 6, a ground line-following vehicle line 7, an inter-laboratory traversing mechanism 8, and an execution unit 9. Among them, the track assembly 1 takes the track body 18 as the main framework. The track body 18 has a "U" - shaped structure, and grooves for the load-bearing wheels 916 of the track vehicle are provided on both inner walls; at the center of the bottom of the track body 18, a mounting slot for the rack 11 is provided, and the rack 11 can form a rigid connection with the track body 18 through the track assembly mounting screw 17; on both sides of the mounting slot of the rack 11 of the track body 18, two adhesive recessed frames for the RFID radio frequency position identification tags 12 are respectively provided, that is, a total of four adhesive recessed frames for the RFID radio frequency position identification tags 12 are provided in each track assembly 1, and four RFID radio frequency position identification tags 12 are adhered thereto; on one side of the rack 11 of the track body 18, such as the right side, a power supply copper rail 13 is provided, and the power supply copper rail 13 forms an insulated rigid connection with the track body 18 through the power supply copper rail insulating pillar 16; on the other side of the rack 11 of the track body 18, such as the left side, a communication copper rail 14 is provided, and the communication copper rail 14 forms an insulated rigid connection with the track body 18 through the communication copper rail insulating pillar 15; the track assembly 1 is installed on the wall or ceiling by the track assembly mounting screw 17. Except for the track assemblies 1 of the track crossover conversion mechanism 2, the track parallel conversion mechanism 3, and the track three-dimensional conversion mechanism 4, the remaining track assemblies 1 are on the wall or ceiling and are in a fixed state. Multiple track assemblies 1 are connected in series on the wall or ceiling to form a crisscrossed above-ground fixed track route.

[0091] In this embodiment, as shown in FIG. 5, the track crossover conversion mechanism 2 is installed in a groove on the wall or ceiling. The outside of the track crossover conversion mechanism 2 is a fixed track 29 (i.e., the aforementioned first fixed track) composed of the track assemblies 1. Four fixed tracks 29 intersect vertically to form a crossover intersection. The center of the track crossover conversion mechanism 2 is two sets of movable conversion mechanisms. The upper side of the rotating movable track unit 21 is connected to the flat plate rotating motor 22, the upper side of the flat plate rotating motor 22 is connected to the rotating movable track unit mounting base 23, and two rotating movable track unit slide rail seats 24 and a rotating movable track unit lead screw motor 25 are installed on the upper side of the rotating movable track unit mounting base 23. The rotating movable track unit slide rail seat 24 can slide with low resistance on the slide bar 27, and the rotating movable track unit lead screw motor 25 can move controllably on the lead screw 26. The lead screw 26 and the slide bar 27 are fixed to the wall or ceiling through the lead screw and slide bar wall fixing seat 28. Among them, the lead screw 26 and the corresponding lead screw and slide bar wall fixing seat 28 are in a rotational connection relationship, and the slide bar 27 and the corresponding lead screw and slide bar wall fixing seat 28 are in a non-rotatable connection relationship. Each (section) of the aforementioned fixed track 29 is preferably composed of two rows of track assemblies 1.

[0092] In this embodiment, as shown in Figure 7, the track parallel conversion mechanism 3 is installed in a groove on a wall or ceiling, and the front and rear sides of the track parallel conversion mechanism 3 are fixed tracks 38 (i.e., the aforementioned second fixed tracks) formed by the track assembly 1; the center of the track parallel conversion mechanism 3 is a set of movable conversion mechanisms, and two movable track units 36 are connected together with a movable track unit mounting base 35, and 8 movable track unit lead screw slide rod stabilizing seats 32 are installed on the movable track unit mounting base 35, which can perform low-resistance support and sliding with the slide rod 37 and the lead screw 34, and a movable track unit lead screw motor 31 is installed on the movable track unit mounting base 35, which can be controllably moved with the lead screw 34, and the lead screw 34 and the slide rod 37 are fixed to the wall or ceiling through a lead screw slide rod wall fixing seat 33, wherein the lead screw 34 and the corresponding lead screw slide rod wall fixing seat 33 are in a rotational connection relationship, and the slide rod 37 and the corresponding lead screw slide rod wall fixing seat 33 are in a non-rotatable connection relationship. Each of the aforementioned fixed rails (sections) 38 may be composed of a single row or two rows of rail components 1 .

[0093] In this embodiment, as shown in FIG8 , the track stereo conversion mechanism 4 is installed in the side wall, and the upper and lower sides of the track stereo conversion mechanism 4 are fixed tracks 41 (i.e., the aforementioned third fixed tracks) composed of track components 1, and two sections of fixed tracks 41 are arranged at the vertical intersection of the roof or ceiling and the side wall; the center of the track stereo conversion mechanism 4 is a set of movable conversion mechanisms, a flippable stereo movable track 45 is connected to the lifting support arm 43 through the track stereo movable motor 44, and the stereo movable track 45 can be flipped by the track stereo movable motor 44, and the lifting support arm 43 is connected to the elevator 42 in the side wall to realize the up and down movement of the track stereo conversion mechanism 4. Each of the aforementioned fixed tracks (sections) 41 can be composed of a single row or two rows of track components 1.

[0094] In this embodiment, the ground line patrol vehicle docking platform 5 is installed on the ground through a base 53. If the ground is paved with a floor, the ground line patrol vehicle docking platform 5 is installed on the floor through the base 53. A track component 51 (i.e., the aforementioned fifth fixed track) composed of a track component 1 is installed on the upper side of the base 53. Four docking positioning pins 52 are installed outward on both sides of the track component 51. The front floor of the ground line patrol vehicle docking platform 5 is a ground line patrol vehicle docking parking position 54.

[0095] In this embodiment, a track assembly 61 (i.e., the aforementioned sixth fixed track) composed of a track assembly 1 is installed on the top of the ground line patrol vehicle 6. Four docking positioning pin sockets 62 that match the docking positioning pins 52 are installed on both sides of the track assembly 61 in the outward direction. The lower side of the track assembly 61 is the line patrol vehicle body 63. Visual obstacle avoidance and QR code recognition cameras 64 are installed on the front and rear sides of the line patrol vehicle body 63. A ground line patrol vehicle ID recognition QR code 65 is pasted on the front and rear left sides of the line patrol vehicle body 63. Three ultrasonic radar obstacle avoidance probes 67 are installed on each of the four sides of the line patrol vehicle body 63. A wireless charging coil 66 is provided inside the line patrol vehicle body 63. A motion motor and wheels 68, an RFID radio frequency position identification tag reading sensor 69, and a line patrol sensor 60 are installed on the lower side of the line patrol vehicle body 63. The aforementioned track assembly 61 is composed of a single track assembly 1.

[0096] In this embodiment, the ground line patrol vehicle line 7 is installed on the ground. If the ground is paved with a floor, the ground line patrol vehicle line 7 is installed on the floor 76. The main body is the line patrol vehicle line 74. An RFID radio frequency position identification tag 75 is installed at the center of each section of the line patrol vehicle line 74. The ground line patrol vehicle line 7 also includes a ground line patrol vehicle docking parking position 73 and a ground line patrol vehicle charging standby parking position 72. A wireless charging coil 71 is installed in the center of the ground line patrol vehicle charging standby parking position 72. When the ground line patrol vehicle 6 moves to the ground line patrol vehicle charging standby parking position 72, the wireless charging coil 66 can cooperate with the wireless charging coil 71 to achieve charging and battery life.

[0097] In this embodiment, the inter-laboratory travel mechanism 8 is installed on the partition wall 83 of the adjacent laboratory, and a window is opened on the partition wall 83 as a wall travel window 84. A fixed track 81 (i.e., the aforementioned fourth fixed track) composed of a track assembly 1 is arranged in the window to connect with the track in the adjacent laboratory. Electric side doors 82 are installed on both sides of the wall travel window 84. When the electric side doors 82 are opened, the rail car can enter the adjacent laboratory along the track. The aforementioned fixed track 81 can be composed of a single row or two rows of track assemblies 1.

[0098] In this embodiment, the execution unit 9 is mainly composed of two parts: a robot arm and a rail car. The robot arm is preferably a six-axis robot arm, which is mainly composed of a robot arm base 914, a base fixing screw 913, a first axis motor stator base 912, a first axis motor stator base fixing screw 911, a first axis motor 910, a second axis motor 909, a primary long arm 908, a third axis motor 907, a fourth axis motor 906, a secondary long arm 905, a fifth axis motor 904, a sixth axis motor 903, an end effector adapter interface 902 and an end effector 901. The end effector 901 can be a suction cup assembly, a soft grasping assembly, a rigid four-claw assembly or a pipetting assembly, which is connected to the sixth-axis motor 903 through the end effector adapter interface 902, the sixth-axis motor 903 is connected to the fifth-axis motor 904, the fifth-axis motor 904 is connected to the fourth-axis motor 906 through the secondary long arm 905, the fourth-axis motor 906 is connected to the third-axis motor 907, the third-axis motor 907 is connected to the second-axis motor 909 through the primary long arm 908, the second-axis motor 909 is connected to the first-axis motor 910, the first-axis motor stator base 912 is connected to the robot arm base 914 through the first-axis motor stator base fixing screw 911, the robot arm base 914 is connected to the rail car body 915 through the base fixing screw 913, and the rail car There are 6 railcar road wheels 916 on each side of the car body 915, a railcar ID plate 918 is pasted on the middle of the front and rear sides of the railcar body 915, a railcar ID identification QR code 917 is pasted on the right part of the front and rear sides of the railcar body 915, an ultrasonic radar obstacle avoidance probe 919 and a visual obstacle avoidance and QR code recognition camera 920 are installed on the left part of the front and rear sides of the railcar body 915, a power motor transmission gear 924 is installed at the center of the lower side of the railcar body 915, two RFID radio frequency position identification tag reading sensors 921 are installed on the left and right sides of the power motor transmission gear 924, a power supply copper rail contact spring group 923 is installed on the right outer side of the lower side of the railcar body 915, and a communication copper rail contact spring group 922 is installed on the left outer side of the lower side of the railcar body 915.

[0099] The above-mentioned laboratory robot system is specifically a collaborative robot system for laboratory automation, and its working principle is as follows:

[0100] (I) Operation principle of connection between track and execution unit 9: track assembly 1 is the basic component unit of track circuits such as rotating movable track unit 21, movable track unit 36, three-dimensional movable track 45, track assembly 51, track assembly 61, etc. The track structures such as rotating movable track unit 21, movable track unit 36, three-dimensional movable track 45, track assembly 51, track assembly 61 are all seamlessly connected in series with at least one track assembly 1. When working, the track vehicle body 915 of the execution unit 9 will always be located on the track assembly 1 to move or stop, such as Figure 2 , Fig.17 , Fig.18 As shown, the rail vehicle road wheels 916 can roll in the grooves on both sides of the track body 18 and bear pressure, the power motor transmission gear 924 is meshed with the rack 11, and the rail vehicle body 915 is displaced and stopped by rotating the power motor transmission gear 924. The power supply copper rail contact spring group 923 is composed of two groups of three elastic copper springs, which can produce elastic contact with the power supply copper rail 13 to achieve power supply. The two copper rails on the power supply copper rail 13 can provide 24V DC power supply to achieve the power demand of the execution unit 9. The communication copper rail contact spring group 922 is composed of two groups of three elastic copper springs, which can produce elastic contact with the communication copper rail 14 to achieve communication connection. The two copper rails on the communication copper rail 14 can realize serial communication to achieve the communication demand of the execution unit 9 and the central control system. The RFID radio frequency position identification tag reading sensor 921 can read the position code when the execution unit 9 passes through the RFID radio frequency position identification tag 12 on the track component 1 to determine the position of the execution unit 9.

[0101] (II) Operation principle of the robot arm in the execution unit 9: The upper part of the execution unit 9 is the robot arm, which is the core component of the whole system and can replace manpower to realize automated experimental operations. Its execution component is the end effector 901, which can replace human fingers to realize fine operations. The end effector 901 can be replaced and designed and modified for different operation objects and purposes. The end effector 901 can be physically and electrically connected to the robot arm through the end effector adapter interface 902. The robot arm adopts a double long arm 6-axis design, which can realize fine movement with 6 degrees of freedom. The sixth axis motor 903 controls the end effector 901. Movement, the fifth-axis motor 904 controls the movement of the sixth-axis motor 903, the fifth-axis motor 904 is connected to the secondary long arm 905, the fourth-axis motor 906 can control the movement of the fifth-axis motor 904 through the secondary long arm 905, the third-axis motor 907 controls the movement of the fourth-axis motor 906, the third-axis motor 907 is connected to the primary long arm 908, the second-axis motor 909 controls the movement of the third-axis motor 907 through the primary long arm 908, the first-axis motor 910 controls the movement of the second-axis motor 909, the stator of the first-axis motor 910 is installed on the first-axis motor stator base 912, and the structure of the robotic arm is realized through the connection between the motor and the long arm.

[0102] (III) Obstacle avoidance principle of execution unit: The lower half of the execution unit 9 is the rail vehicle part, and the left side of the front and rear of the rail vehicle body 915 is equipped with an obstacle avoidance system of the execution unit 9 consisting of an ultrasonic radar obstacle avoidance probe 919 and a visual obstacle avoidance and two-dimensional code recognition camera 920. The ultrasonic radar obstacle avoidance probe 919 can monitor foreign objects or other execution units invading the front and rear of the running track through the ultrasonic ranging principle to prevent collision accidents. The visual obstacle avoidance and two-dimensional code recognition camera 920 can identify other execution units on the same track in front and behind it through a wide-angle lens to determine the relative position. It can also visually monitor objects outside the track to prevent collision accidents.

[0103] (IV) Obstacle avoidance principle of ground patrol vehicle: The front and rear sides of the patrol vehicle body 63 of the ground patrol vehicle 6 are equipped with visual obstacle avoidance and QR code recognition cameras 64. The wide-angle lens can monitor obstacles in the running route to prevent collisions. It can also identify other running ground patrol vehicles and determine their relative positions. Three ultrasonic radar obstacle avoidance probes 67 are installed on each side of the patrol vehicle body 63. The ultrasonic ranging principle can be used to determine the distance of obstacles around, thereby calculating the best running route.

[0104] (V) Principle of patrol and charging of ground line patrol vehicles: A patrol sensor 60 is installed at the bottom of the patrol vehicle body 63 of the ground line patrol vehicle 6, which can identify the patrol vehicle line 74 on the ground line patrol vehicle line 7 and move along the patrol vehicle line 74. An RFID radio frequency position identification tag reading sensor 69 is installed at the bottom of the patrol vehicle body 63. It can locate and judge the location by reading the position information on the RFID radio frequency position identification tag 75 installed in the ground line patrol vehicle line 7 and patrol vehicle line 74. By obtaining signals from the patrol sensor 60 and the RFID radio frequency position identification tag reading sensor 69, the motion motor and the wheel 68 are driven to move the ground line patrol vehicle 6. A wireless charging coil 66 is also provided inside the bottom surface of the patrol vehicle body 63. When the ground line patrol vehicle 6 moves to the ground line patrol vehicle charging standby parking position 72 in the ground line patrol vehicle line 7, the ground line patrol vehicle 6 can be wirelessly charged through the wireless charging coil 71.

[0105] (VI) Docking principle between ground patrol vehicle and ground patrol vehicle docking platform: Fig.11As shown, the line patrol sensor 60 and the RFID radio frequency position identification tag reading sensor 69 installed at the bottom of the line patrol vehicle body 63 of the ground line patrol vehicle 6 identify the ground line patrol vehicle line 7, determine the position, and finally guide the ground line patrol vehicle 6 into the ground line patrol vehicle docking parking position 73. When approaching, the ultrasonic radar obstacle avoidance probe 67 on the front side of the ground line patrol vehicle 6 will perform ultrasonic ranging on the base 53 of the ground line patrol vehicle docking platform 5, and use the visual obstacle avoidance and QR code recognition camera 64 on the front side of the ground line patrol vehicle 6 to determine whether it is aligned with the ground line patrol vehicle docking platform 5. After confirming the alignment, the ground line patrol vehicle 6 will slowly approach the ground line patrol vehicle docking platform 5 until the docking positioning pin 52 on the ground line patrol vehicle docking platform 5 is inserted into the docking positioning pin socket 62 on the ground line patrol vehicle 6. The docking indicates success, and the ground line patrol vehicle 6 stops moving and locks the current position. At this time, the execution unit 9 can be transferred from the ground line patrol vehicle docking platform 5 to the ground line patrol vehicle 6 or from the ground line patrol vehicle 6 to the ground line patrol vehicle docking platform 5.

[0106] (VII) The principle of transferring the execution unit from the ground line patrol vehicle docking platform to the ground line patrol vehicle: When the execution unit 9 moves to the ground line patrol vehicle docking platform 5, and the ground line patrol vehicle 6 also completes the docking with the ground line patrol vehicle docking platform 5, the execution unit 9 can be moved from the ground line patrol vehicle docking platform 5 to the track assembly 61 on the ground line patrol vehicle 6 and complete the locking. At this time, the ground line patrol vehicle 6 completes the binding with the execution unit 9 to form a combination, evacuates the ground line patrol vehicle docking platform 5, and performs independent work. The reverse transfer is the reverse process.

[0107] (VIII) Principle of inter-laboratory movement of execution units: Fig.15 As shown, when the execution unit 9 moves to the vicinity of the inter-laboratory travel mechanism 8, the ultrasonic radar obstacle avoidance probe 919 on the execution unit 9 will judge the distance and slow down or stop the power motor transmission gear 924. At this time, the electric side door 82 on the inter-laboratory travel mechanism 8 will open to both sides, exposing the wall travel window 84. When the ultrasonic radar obstacle avoidance probe 919 on the execution unit 9 judges that there is no obstacle ahead, it accelerates or runs the power motor transmission gear 924 and passes through the wall travel window 84 along the fixed track 81 to realize the execution unit's inter-laboratory travel. After the execution unit 9 passes through the inter-laboratory travel mechanism 8, the electric side door 82 of the inter-laboratory travel mechanism 8 is automatically closed.

[0108] (IX) Principle of three-dimensional conversion of execution unit: as shown in Figure 8, Figure 9-1 and Figure 9-2As shown, when the execution unit 9 needs to move and convert from two mutually perpendicular tracks, the track three-dimensional conversion mechanism 4 needs to be used. First, the three-dimensional movable track 45 of the track three-dimensional conversion mechanism 4 is first parallel to the fixed track 41 at the entry end, and the execution unit 9 enters the three-dimensional movable track 45 through the fixed track 41 at the entry end and is locked. The three-dimensional movable track 45 will be vertically moved by the elevator 42 under the support of the lifting support arm 43. At the same time, the track three-dimensional moving motor 44 will also rotate the three-dimensional movable track 45. After rotating 90 degrees, it will continue to be vertically moved by the elevator 42 to the fixed track 41 at the exit end and docked parallel to it. After docking, the execution unit 9 will exit the track three-dimensional conversion mechanism 4 through the fixed track 41 at the exit end to complete the three-dimensional conversion. During the rotation and vertical movement of the track three-dimensional conversion mechanism 4, the mechanical arm in the execution unit 9 will make corresponding posture adjustments to avoid collision.

[0109] (10) Principle of track parallel conversion mechanism: Figure 6 As shown in Figure 7, when the execution unit 9 needs to be transferred from one track to another parallel track, the track parallel conversion mechanism 3 is required. The execution unit 9 first moves from the fixed track 38 into the movable track unit 36, and then the movable track unit 36 ​​is driven by the movable track unit lead screw motor 31 on the movable track unit mounting base 35, and moves along the lead screw 34. When the movable track unit 36 ​​moves to another parallel track and docks with it, the execution unit 9 moves out of the movable track unit 36 ​​to complete the track parallel conversion.

[0110] (XI) Principle of track cross conversion mechanism: Figure 4 As shown in Figure 5, when the execution unit 9 needs to pass through multiple tracks that intersect with each other, a track cross conversion mechanism 2 is required. The execution unit 9 first passes through the fixed track 29 at the entry end and enters the rotating movable track unit 21. Then the rotating movable track unit 21 moves along the screw 26 through the rotating movable track unit lead screw motor 25 on the rotating movable track unit mounting base 23 on the flat rotating motor 22. While moving, the flat rotating motor 22 will also drive the rotating movable track unit 21 to rotate. When the rotation moves to the fixed track 29 at the exit end, it stops, and the execution unit 9 drives out of the rotating movable track unit 21 to complete the cross track conversion.

[0111] Compared with the prior art, the collaborative robot system for laboratory automation proposed in this technical solution has a scientific and reasonable structure, is safe and convenient to use, and has the following specific beneficial effects:

[0112] 1. The system can improve the automation level of the laboratory, greatly reduce the intervention of personnel, effectively avoid the occurrence of adverse events caused by human factors, and ensure the quality of detection to a certain extent. Through the high-speed indoor logistics system and intelligent specimen classification detection logic, the specimen turnover time and reporting time can be significantly shortened, especially for the detection of emergency and emergency specimens, which can gain precious rescue time for critically ill patients, thereby improving the overall operation efficiency of the laboratory. It is especially suitable for biological testing laboratories and can realize the comprehensive automation of biological testing laboratories in the biological industry.

[0113] 2. An end effector that can be replaced according to the purpose of use is used. The end effector is the forefront of the robot arm's specific operation of experimental equipment and devices. It can be understood as a person's fingers and palms. Different operation modes are designed according to different operation objects and applications. For this reason, the end effector is modularly designed, and the end effector's overall interface adopts a unified design, which can be used to connect different end effector components. The end effector is specifically designed for specific experiments and operations. There are two types: pneumatic and electric. It can be further divided into suction cup components, soft grasping components, rigid four-claw components, pipetting components, etc. according to function and form.

[0114] 3. The hierarchical operation logic is adopted to divide the specimens into three types according to their urgency, namely emergency and emergency examination specimens (emergency department, blood matching, emergency infectious disease examination, emergency biochemistry examination, emergency blood routine examination, emergency myocardial enzyme examination, etc.), important and precious specimens (cerebrospinal fluid, bone marrow, concentrated juice, tissue block, alveolar lavage fluid, pleural effusion, etc.), and ordinary daytime specimens (ordinary blood samples, sputum, urine, etc.). According to the classification, when there is an operation conflict, the emergency and emergency examination specimens are executed with the highest priority to ensure the timely issuance of the report. Important and precious specimens are executed first, because this type of specimen is difficult to obtain, or re-sampling may cause more serious harm and greater pain to the patient. Finally, ordinary daytime specimens are tested. When encountering a situation where one blood test is multiple, if it is a non-urgent test item, it can be tested in sequence according to the order of specimen time and test process. If there is an urgent test item, it will be tested in different charge. For example, after centrifugation, serum specimens can be divided into multiple tubes and sent to different production lines for simultaneous testing to shorten the TAT time.

[0115] 4. Use a 6-axis robotic arm with mature technology and high flexibility. The robotic arm is the basis for the main body to perform multi-degree-of-freedom movements. The current prototype design is based on a 6-axis robotic arm, which is also a relatively mature design among the existing industrial robots. It can enable the robotic arm to move flexibly and meet the needs of daily work production and testing.

[0116] 5. The collaborative operation of the ground fixed track system (installed on the wall or ceiling) and the ground line patrol system avoids the problem that some experiments and tests cannot be carried out smoothly due to the existence of blind spots in the operation of the simple ground system or ceiling track system. A free switching system between the ceiling track system and the ground line patrol system is specially designed to achieve the collaborative work of the two systems, making the collaborative robot system for the entire laboratory automation more flexible and the integration of various laboratory equipment smoother.

[0117] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A laboratory robot system, characterized in that: Including: An execution unit, which includes a rail vehicle and an execution component arranged on the rail vehicle; A fixed ground track route, the fixed ground track route is composed of a plurality of track components arranged, the fixed ground track route is distributed and installed on the ceiling and side walls of the laboratory, and the fixed ground track routes of adjacent laboratories can be interconnected; the track vehicle cooperates with the track components to enable the track vehicle to travel along the fixed ground track route in the space above the laboratory floor and between laboratories; the fixed ground track route includes a track cross-conversion mechanism, a track parallel conversion mechanism, a track three-dimensional conversion mechanism and an inter-laboratory travel mechanism, the track cross-conversion mechanism includes a cross-conversion mechanism and at least two sections of the first fixed track located in the same plane and whose extension directions intersect with each other, any A section of the first fixed track is composed of at least one group of the track components arranged in series in at least one row; the cross-conversion mechanism includes a rotating movable track unit, a rotating movable track unit mounting base, a flat rotating motor and a first translation mechanism, the rotating movable track unit is composed of at least one group of the track components arranged in series, the rotating movable track unit is arranged on one side of the rotating movable track unit mounting base, the rotating movable track unit mounting base is connected to the flat rotating motor, and the flat rotating motor is used to drive the rotating movable track unit mounting base to rotate so that the rotating movable track unit is parallel to different first fixed tracks; the first translation mechanism is installed on all the At the intersection of the first fixed rails, the flat plate rotating motor is connected to the first translation mechanism, and the first translation mechanism is used to drive the flat plate rotating motor to move so that the rotating movable rail unit can dock with different first fixed rails to complete the cross-route conversion of the execution unit; the rail parallel conversion mechanism includes a parallel conversion mechanism and two sections of second fixed rails located in the same plane and arranged in parallel and staggered manner, and any section of the second fixed rail is composed of at least one group of rail components arranged in at least one row in series; the parallel conversion mechanism includes a movable rail unit and a second translation mechanism, and the movable rail unit is composed of at least one group of rail components arranged in at least one row in series, and the second plane The translation mechanism is arranged at the intersection of two sections of the second fixed track, the movable track unit is connected to the second translation mechanism and is parallel to the second fixed track, and the second translation mechanism is used to drive the movable track unit to move so that the movable track unit can dock with different second fixed tracks to complete the parallel route conversion of the execution unit; the track three-dimensional conversion mechanism includes a three-dimensional conversion mechanism and two sections of the third fixed track, one of the two sections of the third fixed track is arranged on the laboratory ceiling, and the other is arranged on the side wall of the laboratory, the two sections of the third fixed track are in a vertically crossed state, and any one of the third fixed tracks is composed of at least one group of the track components arranged in series in at least one row;The three-dimensional conversion mechanism includes a lifting mechanism, a lifting support arm, a track three-dimensional moving motor and a three-dimensional movable track. The three-dimensional movable track is composed of at least one group of the track components arranged in series in at least one row. The lifting mechanism is arranged on the side wall of the laboratory and is located at the intersection of two sections of the third fixed track. One end of the lifting support arm is connected to the lifting mechanism, and the other end is connected to the three-dimensional movable track through the track three-dimensional moving motor. The track three-dimensional moving motor is used to drive the three-dimensional movable track to flip so that the three-dimensional movable track is parallel to different third fixed tracks. The lifting mechanism is used to drive the three-dimensional movable track The track is raised and lowered so that the three-dimensional movable track can be docked with the different third fixed tracks; the inter-laboratory travel mechanism includes a wall travel window, a fourth fixed track and an electric side-opening door, the wall travel window is opened on the partition wall between adjacent laboratories, the fourth fixed track is composed of at least one group of track components arranged in series in at least one column, the fourth fixed track is arranged at the top of the wall travel window, and is used to connect the ground fixed track routes of two adjacent laboratories, the electric side-opening door is arranged at the wall travel window and is located below the fourth fixed track, and the electric side-opening door is used to control the opening and closing of the wall travel window; A ground line patrol vehicle, which is used to load the execution unit to move on the laboratory floor. The ground line patrol vehicle can be connected to the rail component on the above-ground fixed rail route through a docking component to realize the position switching of the execution unit between the ground line patrol vehicle and the above-ground fixed rail route; A control system, which is communicatively connected to the execution unit and the ground line patrol vehicle.

2. The laboratory robot system according to claim 1, characterized in that: The docking component is a ground line patrol vehicle docking platform. The ground line patrol vehicle docking platform includes a fifth fixed rail, which is formed by at least one group of the rail components arranged in series in at least one column. The fifth fixed rail is installed on the laboratory floor through a base and is in a perpendicular cross state with the third fixed rail installed on the laboratory side wall. The fifth fixed rail and the third fixed rail installed on the laboratory side wall are connected through the three-dimensional conversion mechanism.

3. The laboratory robot system according to any one of claims 1 to 2, characterized in that: Any one of the rail components includes: A rail body, which has a "U" - shaped structure, and the inner walls on both sides of the rail body are provided with grooves for the wheels of the rail vehicle to roll; A rack, which is arranged on the bottom surface of the rail body. A gear meshing with the rack and a gear drive device connected to the gear are arranged on the bottom of the rail vehicle; A sticking concave frame, which is arranged on the bottom surface of the rail body and on both sides of the rack. An RFID radio frequency position identification tag is arranged in the sticking concave frame; an RFID radio frequency position identification tag reading sensor capable of reading the RFID radio frequency position identification tag is arranged on the rail vehicle to judge the position of the rail vehicle; A power supply copper rail, which is arranged on the bottom surface of the rail body through a power supply copper rail insulating support and is on one side of the rack. The power supply copper rail is used to charge the rail vehicle; A communication copper rail, which is arranged on the bottom surface of the rail body through a communication copper rail insulating support and is on the other side of the rack. The communication copper rail is used to realize the communication connection between the execution unit and the control system.

4. The laboratory robot system according to claim 2, characterized in that: A ground line patrol vehicle line is arranged on the laboratory floor. The ground line patrol vehicle line includes: A line patrol vehicle line, on which RFID radio frequency position identification tags are arranged at intervals. An RFID radio frequency position identification tag reading sensor capable of identifying the RFID radio frequency position identification tag is arranged on the ground line patrol vehicle to judge the position of the ground line patrol vehicle; A ground line patrol vehicle charging standby parking position, which is communicated with the line patrol vehicle line. A rail vehicle charging device is arranged in the ground line patrol vehicle charging standby parking position; A ground line patrol vehicle docking parking position, which is connected to the ground line patrol vehicle docking platform.

5. The laboratory robot system according to claim 3, characterized in that: The ground line patrol vehicle includes: A line patrol vehicle body, wherein the line patrol vehicle body is provided with a visual obstacle avoidance and QR code recognition camera, a ground line patrol vehicle ID recognition QR code, an ultrasonic radar obstacle avoidance probe and a line patrol sensor; The sixth fixed rail is arranged on the top of the line patrol vehicle body, and the sixth fixed rail is composed of at least one group of rail components arranged in series in at least one row; docking positioning pin sockets are arranged outward on both sides of the sixth fixed rail, and the fifth fixed rail is provided with docking positioning pins that cooperate with the docking positioning pin sockets.

6. The laboratory robot system according to claim 1, characterized in that: The railcar body of the railcar is provided with a railcar ID plate, a railcar ID recognition QR code, an ultrasonic radar obstacle avoidance probe and a visual obstacle avoidance and QR code recognition camera; the execution component includes a mechanical arm installed on the railcar and an actuator arranged at the end of the mechanical arm.

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