Human-computer interaction device and human-computer interaction system

Abstract

The application discloses a human-computer interaction device and a human-computer interaction system. The human-computer interaction device comprises a support seat, a storage rack, a protective door and a driving assembly. The storage rack is installed on the support seat and is used for storing materials. The protective door is located on at least one side of the storage rack and is used for isolating personnel who need to take or place materials on the storage rack from a mobile robot. The driving assembly is connected to the protective door and is used for driving the protective door to move relative to the storage rack so as to shield or expose the storage rack. The personnel who need to take or place materials and the mobile robot who need to take or place materials are isolated by the protective door. When the personnel take or place materials on the storage rack, the mobile robot is limited to take or place materials on the storage rack. When the mobile robot takes or places materials on the storage rack, the personnel are limited to take or place materials on the storage rack. Therefore, the mobile robot and the personnel can be physically isolated, so that the experimental interference coefficient can be reduced, and the safety coefficient of experimental personnel can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical equipment, and in particular to a man-machine interaction device and a man-machine interaction system. BACKGROUND

[0002] Currently, using mobile robots to carry goods has become a choice for many industries. For example, in the medical or chemical industry, automated guided vehicles (AGVs) are increasingly used. In particular, in experimental scenarios, AGV cars are often used in combination with mechanical arms. Experimental sites generally have automated experimental areas and personnel activity areas. The AGV car is generally active in the automated experimental area, and the experimental personnel are generally active in the personnel activity area. During the experiment, the automated experimental area and the personnel activity area often need to exchange experimental materials.

[0003] Generally, experimental materials are manually sent into or taken out of the automated experimental area by experimental personnel. When the experimental personnel enter the automated experimental area, they may interfere with the operation of the equipment in the area, such as interfering with the movement route of the mobile robot, causing the experiment to fail. In addition, the mobile robot may collide with the experimental personnel, endangering the safety of the experimental personnel. SUMMARY

[0004] The purpose of the present application is to provide a man-machine interaction device and a man-machine interaction system, which can physically separate the automated experimental area from the experimental personnel, thereby reducing the experimental interference coefficient and improving the safety coefficient of the experimental personnel.

[0005] The first aspect of the present application provides a man-machine interaction device, comprising: a support seat, a storage rack, a protective door, and a driving assembly; the storage rack is installed on the support seat, and the storage rack is used to store materials; the protective door is located on at least one side of the storage rack, and the protective door is used to separate the personnel who need to take or place materials on the storage rack from the mobile robot. The driving assembly is connected to the protective door, and the driving assembly is used to drive the protective door to move relative to the storage rack to shield or expose the storage rack.

[0006] In some embodiments, the protective door is installed on the side of the storage rack facing the mobile robot; and / or, the protective door is installed on the side of the storage rack away from the mobile robot.

[0007] In some embodiments, the man-machine interaction device further comprises a safety grating, and the safety grating is installed on the storage rack; the safety grating is used to detect whether there is personnel or a mobile robot taking or placing materials on the storage rack.

[0008] In some embodiments, the human-computer interaction device further comprises a transmission assembly connected to the protective door, and the transmission assembly is in transmission connection with the driving assembly, and the driving assembly drives the transmission assembly to operate so as to drive the protective door to move relative to the storage rack.

[0009] In some embodiments, the storage rack comprises two oppositely arranged mounting plates and a plurality of spaced storage partitions, the two mounting plates are fixedly arranged on the support base; the storage partitions are located between the two mounting plates, and the opposite ends of the storage partitions are fixedly connected to the two mounting plates; the transmission assembly is mounted on the side of the mounting plate away from the storage partitions, and the driving assembly is mounted on the support base or the mounting plate; one side of the protective door is connected to the transmission assembly to shield or expose the storage partitions.

[0010] In some embodiments, the transmission assembly comprises a first track and a sliding block, the first track is fixed on the surface of the mounting plate away from the storage partitions, and the length direction of the first track is parallel to the height direction of the support base; the sliding block is in sliding connection with the first track, and one side of the sliding block is fixedly connected to the protective door; the driving assembly is used to drive the sliding block to move along the first track.

[0011] In some embodiments, the transmission assembly further comprises a first synchronous wheel, a second synchronous wheel, a transmission belt and a clamping plate; the first synchronous wheel and the second synchronous wheel are both in rotary connection with the surface of the mounting plate away from the storage partitions, and are spaced apart along the length direction of the first track; the transmission belt is wound around the first synchronous wheel and the second synchronous wheel; the clamping plate is fixedly connected to the sliding block, and at least part of the transmission belt is fixedly connected to the clamping plate; the second synchronous wheel is connected to the driving assembly, and the driving assembly is used to drive the second synchronous wheel to rotate, so as to drive the transmission belt to move, the transmission belt to synchronously rotate the first synchronous wheel and the second synchronous wheel, and the clamping plate and the sliding block to move along the first track.

[0012] In some embodiments, the transmission assembly further comprises a second track, a sliding wheel, a counterweight block and a counterweight traction rope; the second track is fixed on the surface of the mounting plate away from the storage partitions, and the second track is spaced apart parallel to the first track; the sliding wheel is in rotary connection with the surface of the mounting plate away from the storage partitions, and is coaxial with the first synchronous wheel; the counterweight block is in sliding connection with the second track, one end of the counterweight traction rope is fixedly connected to the counterweight block, and the other end of the counterweight traction rope is fixedly connected to the clamping plate after passing through the sliding wheel; when the clamping plate moves along the first track, the clamping plate drives the counterweight traction rope to drive the counterweight block to move along the second track, and the moving directions of the clamping plate and the counterweight block are opposite.

[0013] In some embodiments, the number of transmission assemblies is two, the two transmission assemblies are separately arranged on the side of the two mounting plates away from the storage partitions, and the two transmission assemblies are respectively connected to the opposite sides of the protective door; the two transmission assemblies are respectively connected to the driving assembly, and the driving assembly drives the two transmission assemblies to synchronously operate, so as to simultaneously drive the protective door to move.

[0014] In some embodiments, the driving assembly comprises a driving shaft and a driving member; the driving member is mounted on the support base; the driving shaft is mounted between the two mounting plates; the two ends of the driving shaft pass through the two mounting plates and are fixedly connected with the two transmission assemblies; the driving member is connected with the driving shaft, and the driving member is used to rotate the driving shaft to drive the two transmission assemblies to operate synchronously.

[0015] In some embodiments, the driving assembly further comprises a first driving wheel, a second driving wheel and a driving belt; the first driving wheel is fixedly connected with the output shaft of the driving member; the second driving wheel is fixedly connected with the driving shaft, and the driving belt is arranged around the first driving wheel and the second driving wheel; the driving member drives the first driving wheel to rotate, so as to move the driving belt, and the driving belt drives the second driving wheel to rotate, and the second driving wheel drives the driving shaft to rotate.

[0016] In some embodiments, the storage partition comprises a storage plate, the storage plate is located between the two mounting plates, and the opposite ends of the storage plate are fixedly connected with the two mounting plates; a plurality of storage stations are arranged on the storage plate at intervals, and the storage stations are used to store materials.

[0017] In some embodiments, the storage partition further comprises a positioning member mounted on each storage station, and the positioning member is used to limit the materials in the storage station.

[0018] In some embodiments, the storage partition further comprises a detection sensor, an indicator light and a controller; the detection sensor and the indicator light are electrically connected with the controller; each storage station is provided with a detection area, the detection sensor is mounted in the detection area, and the indicator light is mounted around the detection area; the detection sensor is used to detect whether the storage station is placed with materials and the placement state of the materials; and the controller is used to receive the sensing signal fed back by the detection sensor and control the indicator light to emit corresponding indication signals according to the sensing signal.

[0019] In some embodiments, the support base comprises a support plate, a bottom plate and a side plate connecting the support plate and the bottom plate, and the support plate, the bottom plate and the side plate enclose a containing chamber; the storage rack and the protection door are located on the support plate, and the containing chamber is used to place the electric control equipment of the human-machine interaction device; the side plate is provided with an interaction door located on the side of the side plate away from the mobile robot.

[0020] In some embodiments, the human-machine interaction device further comprises a display screen mounted on the support base or the storage rack, and the display screen is used to display the state of the human-machine interaction device and / or for personnel operation.

[0021] In some embodiments, the human-machine interaction device further comprises a code scanning device mounted on the support base or the storage rack, and the code scanning device is used to scan the identification code of the material to be stored to obtain the information of the material to be stored.

[0022] In some embodiments, the human-machine interaction device further comprises a positioning assembly installed on the support seat or the storage rack, and the positioning assembly is configured to position the human-machine interaction device by the mobile robot.

[0023] In some embodiments, the positioning assembly comprises a three-axis calibration support, three identification code calibration plates, and three identification codes, the three-axis calibration support is installed on the support seat or the storage rack; the three-axis calibration support comprises X-direction connecting plates, Y-direction connecting plates, and Z-direction connecting plates which are perpendicular to each other, one end of the Y-direction connecting plate is fixedly connected to the X-direction connecting plate, and the other end of the Y-direction connecting plate is fixedly connected to one end of the Z-direction connecting plate; the three identification code calibration plates are respectively located on two ends of the X-direction connecting plate and the other end of the Z-direction connecting plate; each identification code calibration plate is internally provided with an identification code, and the identification code is located on the side facing the mobile robot, and the identification code is configured to position the human-machine interaction device by the mobile robot.

[0024] The second aspect of the present application provides a human-machine interaction system, comprising: a mobile robot and any one of the human-machine interaction devices according to the first aspect of the present application; the mobile robot is in communication connection with the human-machine interaction device; and the protective door separates the personnel taking and placing materials on the storage rack from the mobile robot.

[0025] The human-machine interaction device provided by the present application separates the personnel needing to take and place materials from the mobile robot needing to take and place materials by the protective door. The personnel is limited to take and place materials on the storage rack when the personnel takes and places materials on the storage rack. The personnel is limited to take and place materials on the storage rack when the mobile robot takes and places materials on the storage rack. In this way, the personnel and the mobile robot can be isolated in time and space when taking and placing materials on the human-machine interaction device. Therefore, the mobile robot located in the automated experiment area and the personnel located in the personnel activity area can be physically separated by the human-machine interaction device, so as to reduce the experiment interference coefficient and improve the safety coefficient of the experiment personnel. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the embodiments will be briefly introduced as follows.

[0027] Figure 1 is a structural schematic diagram of the human-machine interaction device provided by the embodiments of the present application in a first state;

[0028] Figure 2 is a structural schematic diagram of the human-machine interaction device provided by the embodiments of the present application in a second state;

[0029] Figure 3 is Figure 1 is a partial structural schematic diagram of the human-machine interaction device shown in FIG. 6;

[0030] Figure 4 isFigure 1 Another structural diagram of the human-computer interaction device shown in the figure;

[0031] Figure 5 yes Figure 2 A partially enlarged schematic diagram of the human-computer interaction device shown in the image;

[0032] Figure 6 yes Figure 1 A partially enlarged schematic diagram of a portion of the structure of the human-computer interaction device shown in the image;

[0033] Figure 7 yes Figure 1 A partially enlarged schematic diagram of another part of the structure of the human-computer interaction device shown in the figure;

[0034] Figure 8 yes Figure 4 A partially enlarged schematic diagram of a portion of the structure of the human-computer interaction device shown in the image;

[0035] Figure 9 This is a schematic diagram of the human-computer interaction system provided in the embodiments of this application. Detailed Implementation

[0036] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0037] refer to Figures 1 to 4 The human-computer interaction device 1000 provided in this application embodiment includes a support base 100, a storage shelf 200, a protective door 300, and a drive assembly 500. The storage shelf 200 is mounted on the support base 100 and is used to store materials. The protective door 300 is located on one side of the storage shelf 200 and is used to separate personnel who need to retrieve materials from the storage shelf 200 from the mobile robot.

[0038] The drive assembly 500 is connected to the protective door 300. The drive assembly 500 is used to drive the protective door 300 to move relative to the storage shelf 200 to cover or expose the storage shelf 200.

[0039] The human-computer interaction device 1000 provided in this embodiment of the application isolates personnel who need to retrieve or place materials from mobile robots that need to retrieve or place materials by setting up a protective door 300. This ensures that when personnel are retrieving or placing materials on the storage shelf 200, the mobile robot's retrieving or placing materials on the storage shelf 200 is restricted. Conversely, when the mobile robot is retrieving or placing materials on the storage shelf 200, personnel's retrieving or placing materials on the storage shelf 200 is restricted. This ensures that personnel and mobile robots are isolated in time and space when retrieving or placing materials on the human-computer interaction device. Therefore, it can prevent mobile robots from harming personnel, ensuring personnel safety; it can also prevent personnel from interfering with the mobile robot, reducing experimental interference factors.

[0040] It can be understood that in the laboratory, there are personnel activity areas and mobile robot activity areas, and the mobile robot generally does not enter the personnel activity area, and the personnel generally does not enter the mobile robot activity area. The human-computer interaction device is located between the personnel activity area and the mobile robot activity area. Therefore, the mobile robot located in the automated experiment area and the personnel located in the personnel activity area can be physically separated by the human-computer interaction device, so as to reduce the experiment interference coefficient and also improve the safety coefficient of the experimental personnel.

[0041] In some embodiments, the protective door 300 is installed on the side of the storage rack 200 away from the mobile robot, that is, the protective door 300 is installed on the side of the storage rack 200 facing the personnel activity area. Therefore, when personnel need to take or place materials on the storage rack 200, the protective door 300 is opened to expose the storage rack 200 to the personnel, so as to facilitate the personnel to take or place materials on the storage rack 200, and at the same time, the mobile robot needs to be restricted to take or place materials on the storage rack 200. When the personnel finish taking or placing materials, the protective door 300 is closed to shield the storage rack 200 from the personnel, and at this time, the mobile robot can take or place materials on the storage rack 200.

[0042] The driving assembly 500 controls the opening and closing of the protective door 300. It can be understood that when the protective door 300 is arranged on the side of the storage rack 200 away from the mobile robot, the driving assembly 500 can not be arranged, and the protective door 300 is manually opened or closed by the personnel.

[0043] Figure 1 In the human-computer interaction device 1000 shown in FIG. 1, the protective door 300 is in a closed state, and the protective door 300 shields the storage rack 200 from the personnel, and at this time, the mobile robot such as an AGV can place or take materials on the side of the storage rack 200 away from the protective door 300. Figure 2 In the human-computer interaction device 1000 shown in FIG. 1, the protective door 300 is in an open state, so that the storage rack 200 is exposed to the personnel from the shielding state to the exposed state, so as to facilitate the experimental personnel to take or place materials on the storage rack 200, and at this time, the mobile robot such as an AGV is restricted to place or take materials on the storage rack 200. Therefore, the mobile robot can be prevented from injuring the experimental personnel, ensuring the personal safety of the experimental personnel and improving the safety coefficient; and the personnel can be prevented from interfering with the mobile robot, reducing the experimental interference factors.

[0044] In other embodiments, the guard door 300 is installed on the side of the storage rack 200 facing the mobile robot. In this way, when a person is operating on the storage rack 200, the guard door 300 is in a closed state to separate the storage rack 200 and the mobile robot, and the mobile robot cannot operate on the storage rack 200. After the person finishes operating on the storage rack 200, the guard door 300 is opened to expose the storage rack 200, so that the mobile robot can operate on the storage rack 200.

[0045] In other embodiments, the side of the storage rack 200 facing the mobile robot is provided with a guard door 300, and the side of the storage rack 200 facing away from the mobile robot is also provided with a guard door 300. When a person needs to take or place materials on the storage rack 200, the guard door 300 on the side facing away from the mobile robot is opened, so that the storage rack 200 is exposed relative to the personnel activity area, to facilitate the person to take or place materials; at the same time, the guard door 300 on the side facing the mobile robot is closed, so that the guard door 300 separates the storage rack 200 and the mobile robot; thereby ensuring the safety of the person. When the person finishes taking or placing materials, the guard door 300 on the side facing away from the mobile robot is closed, so that the storage rack 200 is blocked relative to the personnel activity area; the guard door 300 on the side facing the mobile robot is opened, so that the storage rack 200 is in an exposed state relative to the mobile robot, to facilitate the mobile robot to take or place materials, while ensuring that the person cannot operate when the mobile robot takes or places materials, thereby ensuring the safety of the person.

[0046] In some embodiments, the human-machine interaction device further comprises a safety grating installed on the storage rack 200; the safety grating is used to detect whether a person or a mobile robot is taking or placing materials on the storage rack 200. When the guard door 300 exposes the storage rack 200 and the safety grating detects that a person is taking or placing materials on the storage rack 200, the controller restricts the mobile robot from taking or placing materials on the storage rack 200 based on the signal change of the safety grating. Specifically, the signal of the safety grating changes and is fed back to the controller, and the controller issues an instruction for controlling the mobile robot, so that the mobile robot cannot take or place materials on the storage rack 200. By providing the safety grating, it is ensured that the mobile robot will not approach the storage rack 200 when the person is taking or placing materials on the storage rack 200, thereby ensuring the safety of the person. In other embodiments, when the guard door 300 is installed on the side of the storage rack 200 facing away from the mobile robot, the mobile robot is controlled by detecting whether the guard door 300 is opened. Specifically, when the guard door 300 exposes the storage rack 200, the controller receives a signal that the guard door 300 is opened, and then controls the mobile robot to not operate on the storage rack 200.

[0047] When the guard door 300 blocks the storage rack 200 and the safety grating detects that a person is taking or placing materials on the storage rack 200, the controller limits the opening of the guard door 300 and limits the mobile robot from taking or placing materials on the storage rack 200 based on the signal change of the safety grating. Specifically, the signal of the safety grating changes and is fed back to the controller, and the controller issues an instruction for controlling the mobile robot to prevent the mobile robot from taking or placing materials on the storage rack 200, and for controlling the guard door 300 to remain in a closed state. By setting the safety grating, it is ensured that the mobile robot will not approach the storage rack 200 when a person is taking or placing materials on the storage rack 200, and the safety of the person is ensured. When the guard door 300 is opened and the mobile robot is taking or placing materials on the storage rack 200, the signal of the safety grating changes and is fed back to the controller, and the controller issues an instruction for controlling the alarm to alarm to prompt the person not to take or place materials on the storage rack 200.

[0048] In some embodiments, the human-computer interaction device further comprises a transmission assembly 400, the driving assembly 500 is in transmission connection with the transmission assembly 400, and the transmission assembly 400 is connected with the guard door 300; the driving assembly 500 is used to drive the transmission assembly 400 to act, so that the transmission assembly 400 drives the guard door 300 to move relative to the storage rack 200 to block or expose the storage rack 200.

[0049] In some embodiments, the guard door 300, the transmission assembly 400 and the driving assembly 500 are all installed on the storage rack 200. Specifically, the guard door 300 is in sliding connection with the storage rack 200, the driving assembly 500 is in transmission connection with the transmission assembly 400, and the transmission assembly 400 is connected with the guard door 300. The driving assembly 500 drives the transmission assembly 400 to act, so that the transmission assembly 400 drives the guard door 300 to slide along the height direction of the support base 100, so that the guard door 300 can block or expose the storage rack 200.

[0050] In other embodiments, the guard door 300 can slide along the width direction of the support base 100. Alternatively, one side of the guard door 300 is connected with the storage rack 200 through a hinge, and the other side of the guard door 300 can rotate relative to the storage rack 200, thereby exposing or blocking the storage rack 200. Alternatively, the guard door 300 comprises two pairs of door plates, one side of one door plate is hinged to one side of the storage rack 200, and the other side can rotate relative to the storage rack 200; one side of the other door plate is hinged to the other side of the storage rack 200, and the other side can rotate relative to the storage rack 200.

[0051] In other embodiments, the protective door 300 can also be installed on the support base 100. For example, a door frame is arranged on the support base 100, and the protective door 300, the transmission assembly 400 and the driving assembly 500 can all be arranged on the door frame. The driving assembly 500 drives the transmission assembly 400 to operate, so as to drive the protective door 300 to move relative to the door frame.

[0052] In some embodiments, the storage rack 200 includes two oppositely arranged mounting plates and a plurality of spaced storage partitions 200A. The two mounting plates are fixedly arranged on the support base 100. The transmission assembly 400 is mounted on the mounting plate, and the driving assembly 500 is mounted on the support base 100 or the mounting plate. The storage partition 200A is located between the two mounting plates, and the opposite ends of the storage partition 200A are fixedly connected to the two mounting plates, respectively. The opposite sides of the protective door 300 are slidingly connected to one side of the two mounting plates, respectively, so as to cover or expose the storage partition 200A. The two mounting plates are a first mounting plate 141 and a second mounting plate 151, respectively.

[0053] In this application, at least one mounting plate (i.e., the first mounting plate 141 and / or the second mounting plate 151) is provided with the transmission assembly 400 on the side away from the storage partition 200A.

[0054] Referring to Figure 3 and Figure 6 simultaneously, the transmission assembly 400 includes a first track 401 and a sliding block 406. The first track 401 is fixedly arranged on the surface of the mounting plate away from the storage partition 200A. The length direction of the first track 401 is parallel to the height direction of the support base 100, i.e., parallel to the length direction of the mounting plate. The sliding block 406 is slidingly connected to the first track 401 and fixedly connected to one side of the protective door 300. The driving assembly 500 is used to drive the sliding block 406 to move along the first track 401. When the driving assembly 500 drives the sliding block 406 to slide along the first track 401, the sliding block 406 drives the protective door 300 to slide along the height direction of the support base 100, so that the protective door 300 can cover or expose the storage rack 200.

[0055] In some embodiments, the transmission assembly 400 further comprises a first synchronous wheel 403, a second synchronous wheel 404, a transmission belt 405, and a clamping plate 407. The first synchronous wheel 403 and the second synchronous wheel 404 are rotatably connected to the surface of the mounting plate away from the storage partition 200A and are arranged along the length direction of the first track 401. The transmission belt 405 is arranged around the first synchronous wheel 403 and the second synchronous wheel 404. The clamping plate 407 is fixedly connected to the sliding block 406, and at least part of the transmission belt 405 is fixedly connected to the clamping plate 407. The second synchronous wheel 404 is connected to the driving assembly 500, and the driving assembly 500 is configured to drive the second synchronous wheel 404 to rotate, so as to move the transmission belt 405, the transmission belt 405 synchronously rotates the first synchronous wheel 403 and the second synchronous wheel 404, and the clamping plate 407 and the sliding block 406 move along the first track 401. In turn, the protective door 300 connected to the sliding block 406 slides along the height direction of the support base 100.

[0056] In some embodiments, the transmission assembly 400 further comprises a second track 402, a sliding wheel, a counterweight block 408, and a counterweight traction rope. The second track 402 is fixed to the surface of the mounting plate away from the storage partition 200A, and the length direction of the second track 402 is parallel to the height direction of the support base 100. The sliding wheel is rotatably connected to the surface of the mounting plate away from the storage partition 200A and coaxial with the first synchronous wheel 403.

[0057] The counterweight block 408 is slidably connected to the second track 402. One end of the counterweight traction rope is fixedly connected to the counterweight block 408, and the other end of the counterweight traction rope is fixedly connected to the clamping plate 407 after passing through the sliding wheel. When the clamping plate 407 moves along the first track 401, the clamping plate 407 drives the counterweight block 408 to move along the second track 402 through the counterweight traction rope, and the moving directions of the clamping plate 407 and the counterweight block 408 are opposite, i.e., the moving directions of the protective door 300 and the counterweight block 408 are opposite.

[0058] The sliding wheel can be a single sliding wheel, which can be installed on the same rotating shaft as the first synchronous wheel 403, or can not be coaxial with the first synchronous wheel 403, but the first synchronous wheel 403 is connected to the sliding wheel through a connecting member, so that the sliding wheel can synchronously rotate with the first synchronous wheel 403. The sliding wheel can also be a pulley set composed of at least two pulleys, which are connected through a traction rope. At least one of the pulleys can be connected to the first synchronous wheel 403 or the second synchronous wheel 404, so that the pulley set can rotate with the first synchronous wheel 403 or the second synchronous wheel 404. In this embodiment, the sliding wheel is coaxially arranged with the first synchronous wheel 403, which can save installation space, make the structure compact, and also can realize the movement of the counterweight block 408 by using only a single sliding wheel, thereby reducing the cost.

[0059] The weight of the counterweight 408 is slightly less than the sum of the weight of the protective door 300 and the sliding block 406. When the protective door 300 is opened, the driving assembly 500 outputs an upward thrust to push the protective door 300 upwards, and at the same time, the counterweight 408 descends to achieve the counterweight effect. Conversely, when the protective door 300 is closed, the driving assembly 500 outputs a downward pull to pull the protective door 300 downwards, and at the same time, the counterweight 408 rises to achieve the counterweight effect. In view of safety and manual operation in the case of power failure, the counterweight 408 is added, which greatly increases the safety of use and the convenience of maintenance. On the one hand, the power required when the driving assembly 500 is driven can be reduced, the size of the driving assembly 500 is reduced, and the structure is more compact. On the other hand, the risk of sudden falling of the protective door 300 in the case of accidental power failure can be prevented, safety interlocking in the case of accidental power failure is achieved, and manual lifting is easy during maintenance, which is convenient to operate.

[0060] In some embodiments, the first track 401 and the second track 402 are both long strips and are fixed on the mounting plate. The first track 401 and the second track 402 are parallel to each other and have a spacing therebetween. The length direction of the first track 401 and the second track 402 is parallel to the height direction of the support seat 100. The first track 401 and the second track 402 can be fixed on the mounting plate by bolts or other fasteners, or can be fixed on the mounting plate by welding or other methods.

[0061] The first synchronous wheel 403 is rotatably connected to the mounting plate. Specifically, the mounting plate is fixed with a first connecting shaft, and the first synchronous wheel 403 is installed on the first connecting shaft and can rotate around the first connecting shaft. The second synchronous wheel 404 is rotatably connected to the mounting plate. Specifically, the mounting plate is fixed with a second connecting shaft, and the second synchronous wheel 404 is installed on the second connecting shaft. The driving assembly 500 is connected with the second connecting shaft, and the driving assembly 500 drives the second connecting shaft to rotate, and the second connecting shaft drives the second synchronous wheel 404 to rotate. The first synchronous wheel 403 and the second synchronous wheel 404 are arranged in the height direction of the support seat 100, and the first synchronous wheel 403 is located on the upper side of the second synchronous wheel 404. The conveyor belt 405 is a closed loop, and the conveyor belt 405 is wound on the first synchronous wheel 403 and the second synchronous wheel 404. The first synchronous wheel 403 and the second synchronous wheel 404 are located between the first track 401 and the second track 402, so that the conveyor belt 405 is located between the first track 401 and the second track 402.

[0062] Reference is made to Figure 7The sliding block 406 is a rectangular plate body, is installed on the first track 401, and can slide along the first track 401. The sliding block 406 is provided with a downwardly recessed mounting groove 406a for mounting the clamping plate 407. The clamping plate 407 includes a fixed block 407a and a clamping block 407b, both of which are rectangular plate bodies. One side surface of the clamping block 407b is fixedly connected to one side end surface of the fixed block 407a. The clamping block 407b is provided with a clamping groove 407c and a connecting groove 407d. The clamping groove 407c penetrates through the clamping block 407b in the height direction of the support seat 100, so as to pass through the conveying belt 405. The connecting groove 407d is used for connecting the counterweight traction rope. The fixed block 407a is installed in the mounting groove 406a of the sliding block 406 and is fixedly connected to the sliding block 406. The fixed block 407a can be fixed in the mounting groove 406a by bolts or welding. At least part of the conveying belt 405 is located in the clamping groove 407c and is fixed in the clamping groove 407c. At least part of the conveying belt 405 is fixedly connected to the clamping plate 407 by bolts.

[0063] The sliding wheel is rotatably connected to the mounting plate. The sliding wheel is specifically installed on the first connecting shaft and can rotate synchronously with the first synchronous wheel 403. The counterweight block 408 is installed on the second track 402 and can slide along the second track 402. The counterweight traction rope is wound on the sliding wheel. One end of the counterweight traction rope is fixedly connected to the counterweight block 408. The other end of the counterweight traction rope is fixed in the connecting groove 407d of the clamping block 407b after winding around the sliding wheel. The counterweight traction rope is specifically a steel wire rope.

[0064] In some embodiments, when the driving assembly 500 drives the second synchronous wheel 404 to rotate clockwise, the second synchronous wheel 404 drives the conveying belt 405 to move clockwise, and the conveying belt 405 drives the first synchronous wheel 403 and the sliding wheel to rotate clockwise. At this time, the clamping plate 407 connected to the conveying belt 405 moves upward with the movement of the conveying belt 405, the clamping plate 407 drives the sliding block 406 to move upward, and the sliding block 406 drives the protective door 300 to move upward through the connecting piece 409. At the same time that the protective door 300 moves upward, the sliding wheel rotates clockwise, and at the same time that the clamping plate 407 moves upward, the counterweight traction rope can be driven to move clockwise, so that the counterweight block 408 moves downward under the action of gravity. Thus, the opening of the protective door 300 is realized.

[0065] When the driving assembly 500 drives the second synchronous wheel 404 to rotate counterclockwise, the second synchronous wheel 404 drives the conveying belt 405 to move counterclockwise, and the conveying belt 405 drives the first synchronous wheel 403 and the sliding wheel to rotate counterclockwise. At this time, the clamping plate 407 connected with the conveying belt 405 moves downward with the movement of the conveying belt 405, and the clamping plate 407 drives the sliding block 406 to move downward, and the sliding block 406 drives the protective door 300 to move upward through the connecting piece 409. At the same time, the sliding wheel rotates counterclockwise when the protective door 300 moves downward, and the clamping plate 407 moves downward, which can drive the counterweight traction rope to move counterclockwise, so as to make the counterweight block 408 move upward. Thus, the closing of the protective door 300 is realized.

[0066] In some embodiments, with reference to Figure 4 The driving assembly 500 includes a driving shaft and a driving member 505; the driving member 505 is installed on the support seat 100; the driving shaft is installed between two mounting plates; the end of the driving shaft is fixedly connected with the second synchronous wheel 404 through the mounting plate; the driving member 505 is connected with the driving shaft, and the driving member 505 is used to drive the driving shaft to rotate, so as to drive the second synchronous wheel 404 to rotate. The driving member 505 can be a motor, a pneumatic cylinder or the like.

[0067] In some embodiments, the driving member 505 is a motor, and the motor includes a body and an output shaft, and the output shaft is connected with the driving shaft through a shaft coupling. After the motor is started, the body of the motor drives the output shaft to start rotating, so as to drive the driving shaft to rotate, and the driving shaft drives the second synchronous wheel 404 to rotate.

[0068] In some embodiments, the driving assembly 500 further includes a first driving wheel 506, a second driving wheel 507 and a driving belt 508. The first driving wheel 506 is fixedly connected with the output shaft of the driving member 505; the second driving wheel 507 is fixedly connected with the driving shaft, and the driving belt 508 is arranged around the first driving wheel 506 and the second driving wheel 507. The driving member 505 drives the first driving wheel 506 to rotate, so as to drive the driving belt 508 to move, and the driving belt 508 drives the second driving wheel 507 to rotate, and the second driving wheel 507 drives the driving shaft to rotate.

[0069] After the motor is started, the body of the motor drives the output shaft to start rotating, so as to drive the first driving wheel 506 to rotate, and the first driving wheel 506 drives the second driving wheel 507 to rotate through the driving belt 508. The second driving wheel 507 drives the driving shaft to rotate, and the driving shaft drives the second synchronous wheel 404 to rotate.

[0070] In some embodiments, the number of transmission assemblies 400 is two, and the two transmission assemblies 400 are respectively arranged on the sides of the two mounting plates (the first mounting plate 141 and the second mounting plate 151) away from the storage compartment, and the two transmission assemblies 400 are respectively connected to the opposite sides of the protective door 300. In other words, the first mounting plate 141 and the second mounting plate 151 are both connected with the transmission assembly 400. At this time, the driving assembly 500 further includes two supports 501 and a shaft coupling 504. The driving shaft includes a first driving shaft 502 and a second driving shaft 503, and the two supports 501 are both fixed between the two mounting plates (the first mounting plate 141 and the second mounting plate 151). Specifically, one end of one support 501 is fixed on the support seat 100, and the other end is rotatably connected to the first driving shaft 502, thereby supporting the first driving shaft 502 and preventing the first driving shaft 502 from being bent and deformed. One end of the other support 501 is fixed on the support seat 100, and the other end is rotatably connected to the second driving shaft 503, thereby supporting the second driving shaft 503 and preventing the second driving shaft 503 from being bent and deformed. The shaft coupling 504 is connected to one end of the first driving shaft 502 and one end of the second driving shaft 503. The other end of the first driving shaft 502 penetrates one of the mounting plates (the first mounting plate 141) and is fixedly connected to the second synchronous wheel 404 of one of the transmission assemblies 400. The other end of the second driving shaft 503 penetrates the other mounting plate (the second mounting plate 151) and is fixedly connected to the second synchronous wheel 404 of the other transmission assembly 400.

[0071] Therefore, after the motor is started, the body driving output shaft of the motor starts to rotate in the first direction to drive the first driving wheel 506 to rotate. The first driving wheel 506 drives the second driving wheel 507 to rotate through the driving belt 508. The second driving wheel 507 drives the second driving shaft 503 to rotate. The second driving shaft 503 drives the first driving shaft 502 to rotate through the shaft coupling 504. The two sides of the protective door 300 are respectively connected to one of the transmission assemblies 400, so that the two sides of the protective door 300 can be synchronously driven, and the sliding of the protective door 300 is relatively stable.

[0072] In other embodiments, the first driving shaft 502 and the second driving shaft 503 are integrally formed into one driving shaft, one end of the driving shaft passes through the first mounting plate 141 and is fixedly connected with the second synchronous wheel 404 of one of the transmission assemblies 400. The other end of the driving shaft passes through the second mounting plate 151 and is fixedly connected with the second synchronous wheel 404 of the other of the transmission assemblies 400. At this time, the motor is running, and the output shaft of the motor drives the driving shaft to rotate, so that the driving shaft drives the two second synchronous wheels 404 to rotate synchronously. Considering the capacity of the storage rack 200, the width of the storage rack 200 is set to be large, that is, the spacing between the two mounting plates is wide. If a complete driving shaft is used to connect the two mounting plates, the thin driving shaft is easy to deform and bend, and the thick driving shaft needs to increase the output power of the driving part 505. Therefore, two driving shafts are arranged and connected through a shaft coupling, which can avoid the problem that the long driving shaft is easy to deform, and can appropriately reduce the output power of the driving part 505.

[0073] It can be understood that two driving assemblies 500 can be arranged to drive two transmission assemblies 400 to operate one by one. In order to ensure the smooth movement of the protection door 300, the clock synchronization of the two driving assemblies 500 needs to be ensured.

[0074] In other embodiments, only one mounting plate (the first mounting plate 141 or the second mounting plate 151) is connected with the transmission assembly 400. At this time, the driving assembly 500 only includes a driving part and a driving shaft, the driving part is fixed to the side of the mounting plate close to the storage partition 200A, one end of the driving shaft is connected with the driving part, and the other end of the driving shaft passes through the mounting plate and is connected with the second synchronous wheel.

[0075] In some embodiments, the storage rack 200 further includes two guard plates, the two guard plates are respectively connected with the sides of the two mounting plates away from the storage partition 200A; the guard plates and the mounting plates enclose an installation space, and the transmission assembly 400 is located in the installation space.

[0076] Specifically, the two guard plates are a first guard plate 142 and a second guard plate 152, the first mounting plate 141 and the first guard plate 142 are connected to form a first support column 140, and the first mounting plate 141 and the first guard plate 142 are both L-shaped plate bodies. The first mounting plate 141 and the first guard plate 142 are fixedly connected and enclose a first installation space 143. The first installation space 143 is used to install one transmission assembly 400.

[0077] The second mounting plate 151 and the second guard plate 152 are connected to form the second support column 150. The second mounting plate 151 and the second guard plate 152 are both L-shaped plate bodies, and the second mounting plate 151 and the second guard plate 152 are fixedly connected and form a second mounting space 153. The second mounting space 153 is used for mounting another transmission assembly 400. The first support column 140 and the second support column 150 are both fixedly connected to the storage partition 200A.

[0078] In some embodiments, with reference to Figure 5 The storage partition 200A includes a storage plate 210, which is a rectangular plate body. The storage plate 210 is located between the two mounting plates (the first mounting plate 141 and the second mounting plate 151), and the opposite ends of the storage plate 210 are fixedly connected to the two mounting plates, respectively. A plurality of storage stations 250 are arranged on the storage plate 210 at intervals. Each storage station 250 can hold at least one container such as a test tube, a solvent bottle, or a tray (such as a test tube tray, a solvent bottle tray, etc.) with the capacity.

[0079] In some embodiments, the storage partition 200A further includes a positioning member 220 mounted on each storage station 250. Two positioning members 220 are arranged at intervals on each storage station 250. In some specific embodiments, when the storage station 250 is used to store a tray, the positioning member 220 can be a positioning pin, which is used to cooperate with a positioning hole at the bottom of the tray to make the position of the tray consistent each time it is stored. In other specific embodiments, when the storage station 250 is used to store a container, the positioning member 220 can be an elastic member such as a metal elastic sheet or a plastic elastic member, etc. The storage station 250 is a positioning groove, and the elastic member is arranged in the positioning groove. The positioning groove and the elastic member cooperate to store and position the test tube, the solvent bottle, etc. In addition, the compatibility of the positioning groove can be improved to be compatible with containers of different sizes.

[0080] In some embodiments, the storage partition 200A is provided with a detection sensor 230, an indicator light 240, and a controller. Each storage station 250 is provided with a detection area 260, and the indicator light 240 is located around the detection area 260. At least one detection sensor 230 is installed in each detection area 260. In one specific embodiment, the detection area 260 is a groove, and the detection sensor 230 is located in the groove; or the detection sensor 230 is arranged at the two ends outside the groove.

[0081] The detection sensor 230 is used to detect whether the material is placed at the corresponding storage station 250. When the detection sensor 230 detects that the storage station 250 stores the material, the controller controls the corresponding indicator light 240 to light up to prompt the experimenter. Conversely, when the detection sensor 230 detects that the storage station 250 does not store the material, the controller controls the indicator light 240 to turn off to prompt the experimenter. Of course, different colors of the indicator light 240 can be used to indicate the presence or absence of the material, for example, two indicator lights 240 are installed on each storage station 250, one is red and the other is green. When the red indicator light 240 is on, it indicates that the storage station 250 stores the material. When the green indicator light 240 is on, it indicates that the storage station 250 does not store the material. It can be understood that the indicator light 240 is located on the side of the storage plate 210 facing the protective door 300, so that the experimenter can see the state of the indicator light 240 after the protective door 300 is opened. Of course, one indicator light 240 can be installed on each storage station 250, and different colors of light emitted by the indicator light 240 represent whether the storage station 250 stores the material.

[0082] The detection sensor 230 is also used to detect the placement state of the material, for example, to detect whether the material is placed flat or not. Specifically, two detection sensors 230 are provided. After the detection sensor 230 detects the signal, the indicator light is controlled to emit a signal to prompt whether the material is placed flat. After the material is placed flat, the moving robot can be easily clamped, the accuracy of material clamping is improved, and the material transfer efficiency is improved.

[0083] The number of storage partitions 200A is multiple, and the multiple storage partitions 200A are installed between the first mounting plate 141 and the second mounting plate 151. Specifically, one end of the storage plate 210 is fixedly connected to the first mounting plate 141, and the other end of the storage plate 210 is fixedly connected to the second mounting plate 151. The multiple storage plates 210 are arranged between the first mounting plate 141 and the second mounting plate 151 along the height direction of the support base 100. The multiple storage partitions 200A can store a larger number of materials.

[0084] In some embodiments, the support base 100 includes a base 110, an adjusting leg 120, and a roller 130. The adjusting leg 120 and the roller 130 are installed at the bottom of the base 110. The adjusting leg 120 supports the base 110, and the roller 130 facilitates the movement of the human-computer interaction device 1000.

[0085] The base 110 is cuboid-shaped, comprising a bottom plate 111, a support plate 112, and a plurality of side plates 123. The bottom plate 111 is located below the support plate 112, and the support plate 112 is used to support the structure located thereon. The opposite sides of the plurality of side plates 123 are connected to the bottom plate 111 and the support plate 112, respectively. The bottom plate 111, the support plate 112, and the plurality of side plates 123 enclose a containing cavity 124. The containing cavity 124 can be used to place the electric control device (such as various controllers and power supply devices, etc.) of the human-computer interaction device 1000. In addition, the containing cavity 124 can also be used to place a heat sink, etc. The two sides of part of the side plates 123 are fixedly connected to the bottom plate 111 and the support plate 112, respectively. The other part of the side plates 123 is detachably connected to the bottom plate 111 and the support plate 112. In addition, an interaction door can be arranged on the side plate 123 close to the human. The interaction door can be opened to expose the containing cavity 124, thereby facilitating the maintenance and / or replacement of the components installed in the containing cavity 124.

[0086] The adjusting legs 120 comprise circular support blocks 121 and adjusting bolts 122. The number of the adjusting legs 120 is four, and the four adjusting legs are respectively installed at the four corners of the bottom plate 111. One end of the adjusting bolt 122 is threadedly connected to the bottom plate 111, and the support block 121 is fixedly connected to the other end of the adjusting bolt 122 away from the bottom plate 111. The adjusting leg 120 is used to support the base 110, and when the adjusting bolt 122 is screwed, the length of the adjusting bolt 122 relative to the bottom plate 111 can be lengthened or shortened. Thus, even on uneven ground, the base 110 can be kept horizontal by adjusting the length of the four adjusting bolts 122 relative to the bottom plate 111. In other embodiments, the number of the adjusting legs 120 can be two, three, five, etc., and the adjusting legs 120 can be installed at any position of the bottom plate 111, which is not limited in the present application.

[0087] In some embodiments, the number of the rollers 130 is four, and the four rollers 130 are respectively installed at the four corners of the bottom plate 111. The rollers 130 can facilitate the movement of the human-computer interaction device 1000. It can be understood that when the human-computer interaction device 1000 does not need to move, the length of the adjusting bolt 122 relative to the bottom plate 111 is longer, and thus the rollers 130 cannot roll on the ground. When the human-computer interaction device 1000 needs to move, the adjusting bolt 122 is screwed to shorten the length of the adjusting bolt 122 relative to the bottom plate 111, and thus the support block 121 does not contact the ground. At this time, the rollers 130 contact the ground to facilitate the movement of the human-computer interaction device 1000. In other embodiments, the number of the rollers 130 can be three, five, six, etc., and the rollers 130 can be installed at the middle region of the bottom plate 111 or other positions, which is not limited in the present application.

[0088] The first mounting space 143 and the second mounting space 153 shown in the drawings of the present application are each provided with a transmission assembly 400, and the driving assembly 500 simultaneously drives the two transmission assemblies 400 to act. The installation of the driving assembly 500 and how the driving assembly 500 drives the two transmission assemblies 400 to act simultaneously are described in detail below.

[0089] Please refer to Figure 4 and Figure 8 at the same time, the driving member 505 is installed in the accommodating cavity 124 of the base 110. The first driving wheel 506 is located in the accommodating cavity 124 of the base 110, and the first driving wheel 506 is fixedly connected to the output shaft of the motor. The second driving wheel 507 is fixedly connected to the second driving shaft 503. Part of the driving belt 508 is located in the accommodating cavity 124 of the base 110 and wound on the first driving wheel 506, and the other part of the driving belt 508 passes through the support plate 112 and is wound on the second driving wheel 507.

[0090] After the motor is started, the body of the motor drives the output shaft to rotate in the first direction, so as to drive the first driving wheel 506 to rotate. The first driving wheel 506 drives the second driving wheel 507 to rotate through the driving belt 508. The second driving wheel 507 drives the second driving shaft 503 to rotate. The second driving shaft 503 drives the first driving shaft 502 to rotate through the coupling 504.

[0091] After the first driving shaft 502 rotates, the second synchronous wheel 404 in the first mounting space 143 rotates clockwise. The second synchronous wheel 404 drives the conveying belt 405 to move clockwise, and the conveying belt 405 drives the first synchronous wheel 403 and the sliding wheel to rotate clockwise. At this time, the clamping plate 407 connected with the conveying belt 405 moves upward with the movement of the conveying belt 405, and the clamping plate 407 drives the sliding block 406 to move upward, and the sliding block 406 drives the protective door 300 to move upward through the connecting piece 409. While the protective door 300 moves upward, the sliding wheel rotates clockwise, and while the clamping plate 407 moves upward, it can drive the counterweight traction rope to move clockwise, so that the counterweight block 408 moves downward under the action of gravity. Similarly, after the second driving shaft 503 rotates, the transmission assembly 400 in the second mounting space 153 works in the same way as the transmission assembly 400 in the first mounting space 143, which will not be described again.

[0092] It can be understood that the coupling 504 enables the first driving shaft 502 and the second driving shaft 503 to rotate synchronously, so that the second synchronous wheel 404 of the transmission assembly 400 in the first mounting space 143 and the second synchronous wheel 404 of the transmission assembly 400 in the second mounting space 153 rotate synchronously, and then the two transmission assemblies 400 move synchronously, the two transmission assemblies 400 move synchronously, and finally the two sides of the protective door 300 move synchronously, which can make the protective door 300 move more smoothly.

[0093] When the protective door 300 moves upward to expose the entire storage rack 200, the motor stops working. At this time, the gravity of the counterweight 408 becomes a pulling force acting on the protective door 300 through the counterweight traction rope, so that the protective door 300 remains in the state of exposing the storage rack 200. At this time, the experimenter can place or take materials on the storage rack 200.

[0094] When the experimenter places or takes materials, the motor body driving output shaft starts to rotate in the second direction, one of the first direction and the second direction is clockwise, and the other is counterclockwise. The output shaft rotates to drive the first driving wheel 506 to rotate, and the first driving wheel 506 drives the second driving wheel 507 to rotate through the driving belt 508. The second driving wheel 507 drives the second driving shaft 503 to rotate. The second driving shaft 503 drives the first driving shaft 502 to rotate through the coupling 504.

[0095] After the first driving shaft 502 rotates, the second synchronous wheel 404 in the first mounting space 143 rotates counterclockwise. The second synchronous wheel 404 drives the transmission belt 405 to move counterclockwise, and the transmission belt 405 drives the first synchronous wheel 403 and the sliding wheel to rotate counterclockwise. At this time, the clamping plate 407 connected with the transmission belt 405 moves downward with the movement of the transmission belt 405, and the clamping plate 407 drives the sliding block 406 to move downward, and the sliding block 406 drives the protective door 300 to move upward through the connecting piece 409. When the protective door 300 moves downward, the sliding wheel rotates counterclockwise, and when the clamping plate 407 moves downward, it can drive the counterweight traction rope to move counterclockwise, so that the counterweight 408 moves upward.

[0096] In some embodiments, the protective door 300 is in the shape of a rectangular thin plate. One side of the protective door 300 is fixedly connected with the connecting member 409 extending from the first mounting space 143. The other side of the protective door 300 is fixedly connected with the connecting member 409 extending from the second mounting space 153. The protective door 300 can be transparent or translucent, or a visual window can be arranged on the protective door 300, so as to facilitate the personnel to visually check the operation of the mobile robot on the storage rack 200. The protective door 300 can be made of a flame-retardant non-metal material, and specifically can be a V0-level fireproof PC (Polycarbonate).

[0097] With reference to Figure 3 The connecting member 409 is fixedly connected with the sliding block 406 and extends at least partially out of the first mounting space 143. The part of the connecting member 409 extending out of the first mounting space 143 is used to connect the protective door 300. It can be understood that the transmission assembly 400 mounted in the second mounting space 153 includes the connecting member 409 extending at least partially out of the second mounting space 153 to connect the protective door 300. When the sliding block 406 slides, the protective door 300 is driven to slide by the connecting member 409, that is, the sliding block 406, the connecting member 409 and the protective door 300 slide synchronously.

[0098] In some embodiments, the controller is mounted in the accommodating cavity 124 of the base 110. The controller is electrically connected with the detection sensor 230, the indicator lamp 240 and the motor. The control of the detection sensor 230, the indicator lamp 240 and the motor is realized.

[0099] With reference to Figure 1 and Figure 2The human-computer interaction device 1000 further comprises a display screen 600, which is mounted on the storage rack 200 and electrically connected with the controller. The display screen 600 can be a touch display screen 600, and the experimenter can directly operate on the touch display screen 600 to realize the control of the human-computer interaction device 1000, for example, clicking the opening option on the touch display screen 600 to make the controller control the motor to work, so as to make the protective door 300 open and then expose the storage rack 200. Or directly clicking the closing option on the touch display screen 600 to make the motor controller control the motor to work, so as to make the protective door 300 close and then shield the storage rack 200. The display screen 600 can also be a non-touch display screen 600, and at this time the experimenter can control through a remote controller to realize the selection of opening or closing the protective door 300 on the display screen 600. The display screen 600 and the protective door 300 are located on the same side of the storage rack 200, so as to facilitate the experimenter to operate. In other embodiments, the display screen 600 can be fixed on the support seat 100. The display screen 600 can also display the specific conditions of the materials stored in the storage rack 200, such as the basic information (such as name, capacity, storage position, etc.) of each material, the idle state of each storage station, etc. The experimenter can also manually input or modify the information of the stored materials on the display screen 600, etc.

[0100] The human-computer interaction device 1000 further comprises a code scanning device 700, which is fixed on the support plate 112. Of course, the code scanning device 700 can also be fixed on the side plate 123, the storage rack 200, etc., or the code scanning device 700 can also be handheld, which is not limited in the present application. The code scanning device 700 is electrically connected with the controller. When the experimenter needs to place or take away the materials on the storage rack 200, the identification code on the materials is aligned with the code scanning device 700, so that the code scanning device 700 scans the code and transmits the code scanning signal to the controller. After receiving the code scanning signal of the code scanning device 700, the controller records the warehousing or de-warehousing of the materials. The identification code can be a two-dimensional code, a bar code, a character code, etc.

[0101] The human-computer interaction device 1000 further comprises a positioning assembly 800, which is fixed on the storage rack 200 or the support seat 100. Specifically, the positioning assembly 800 can be fixed on the first mounting plate 141 and the second mounting plate 151 of the storage rack 200, or fixed on the top plate above the uppermost storage partition 200A. The positioning assembly 800 can also be fixed on the support plate 112 or the side plate 123 of the support seat 100. The positioning assembly 800 is used for the mobile robot 2100 and other mobile robots to identify the position of the human-computer interaction device 1000. The positioning assembly 800 is located on the side of the storage rack 200 away from the protective door 300, so as to facilitate the identification of the mobile robot.

[0102] The positioning component 800 includes a three-axis calibration bracket, three identification code calibration plates, and three identification codes. The three-axis calibration bracket is mounted on the support base 100 or the storage shelf 200. The three-axis calibration bracket includes two mutually perpendicular X-axis connecting plates, a Y-axis connecting plate, and a Z-axis connecting plate. One end of the Y-axis connecting plate is fixedly connected to the X-axis connecting plate, and the other end of the Y-axis connecting plate is fixedly connected to one end of the Z-axis connecting plate. The three identification code calibration plates are located at both ends of the X-axis connecting plate and the other end of the Z-axis connecting plate, respectively. The three identification codes are embedded within the three identification code calibration plates, and the identification codes are located on the side facing the mobile robot to facilitate the mobile robot's recognition of the human-machine interface device 1000. The X-axis connecting plate, Y-axis connecting plate, or Z-axis connecting plate can be fixedly connected to the support base 100 or the storage shelf 200. The identification codes can be QR codes, barcodes, character codes, etc. In one embodiment, the X-direction connecting plate may be parallel to the length direction of the storage shelf 200 (or storage divider 200A), the Y-direction connecting plate may be parallel to the width direction of the storage shelf 200, and the Z-direction connecting plate may be parallel to the height direction of the storage shelf 200. In another embodiment, the X-direction connecting plate may be parallel to the height direction of the storage shelf 200, the Y-direction connecting plate may be parallel to the width direction of the storage shelf 200, and the Z-direction connecting plate may be parallel to the length direction of the storage shelf 200; this application does not impose any limitations on this embodiment.

[0103] In other embodiments, the transmission assembly 400 includes a transmission rack and a transmission gear. The transmission rack is elongated and fixedly connected to one side of the protective door 300 along the height direction of the support base 100. The transmission gear is mounted on the first mounting plate 141 and meshes with the transmission rack. When the transmission gear rotates, it causes the transmission rack to move along the height direction of the support base 100. The drive assembly 500 includes a motor and a drive gear. The motor includes a body and a drive shaft. The body is mounted on the first mounting plate 141, and the drive gear is fixedly connected to the drive shaft and meshes with the transmission gear. After the motor starts, the drive shaft drives the drive gear to rotate, and the drive gear drives the transmission gear to rotate. When the transmission gear rotates around its own axial direction, it drives the transmission rack to move along the height direction of the support base 100. This causes the transmission rack to move the protective door 300 along the height direction of the support base 100.

[0104] refer to Figure 9The embodiment of the application provides a human-computer interaction system 2000, which comprises the human-computer interaction device 1000 and the mobile robot 2100, and the mobile robot 2100 has a mechanical arm 2200, and the mechanical arm 2200 is provided with a gripper for clamping materials. In use, the human-computer interaction device 1000 and the mobile robot 2100 are placed in a laboratory, wherein the mobile robot 2100 is located on one side of the human-computer interaction device 1000, and the area where the mobile robot 2100 is located is an automated experiment area. In the laboratory, the area on the side, away from the mobile robot 2100, of the human-computer interaction device 1000 is a personnel activity area. The mobile robot 2100 can be an AGV trolley or a mechanical arm installed on a track.

[0105] The mobile robot 2100 can communicate with the controller of the human-computer interaction device 1000. When the protective door 300 is located on the side, away from the mobile robot, of the storage rack 200, the controller controls the motor to work, and when the protective door 300 exposes the storage rack 200, the mobile robot 2100 synchronously obtains a signal that the protective door 300 is opened or a signal of a safety grating, so that the mobile robot 2100 does not place or take materials at the storage rack 200. When the controller controls the motor to work and makes the protective door 300 shield the storage rack 200, the mobile robot 2100 synchronously obtains a signal that the protective door 300 is closed, so that the mobile robot 2100 can take or place materials at the storage rack 200. Therefore, the mobile robot 2100 can be prevented from hurting the experimental personnel, and the safety factor is improved.

[0106] That is to say, in some embodiments, the protective door 300 is arranged and can be moved, so that the protective door 300 shields or exposes the storage rack 200. When the protective door 300 exposes the storage rack 200, the AGV trolley or other mobile robot 2100 cannot place or take materials on the storage rack 200. Only when the protective door 300 shields the storage rack 200, the AGV trolley or other mobile robot 2100 can place or take materials on the storage rack 200, so that the mechanical arm 2200 can be prevented from hurting the experimental personnel, and the safety factor is improved.

[0107] The guard door 300 is located on the side of the storage rack 200 facing the mobile robot. The controller controls the motor to work and causes the guard door 300 to open, so that the storage rack 200 is exposed relative to the mobile robot 2100, and at this time the mobile robot 2100 can place or take materials at the storage rack 200. When a person needs to take or place materials on the storage rack 200, the controller controls the motor to work, so that the guard door 300 is closed, so that the storage rack 200 is in a shielding state relative to the mobile robot 2100, which avoids that the mechanical arm 2200 injures the experimental personnel and improves the safety factor; also can prevent personnel from interfering with the mobile robot, affecting the operation accuracy of the mobile robot.

[0108] The above has carried out the detailed introduction to the embodiment of the application, and the principle and implementation mode of the application are described by applying specific examples. The above embodiment is only used to help understand the method and core idea of the application.

Claims

1. A human-computer interaction device, characterized in that, include: Support base, storage rack, protective door, and drive assembly; The storage rack is mounted on the support base and is used to store materials; the protective door is located on at least one side of the storage rack and is used to separate personnel who need to retrieve materials from the storage rack from the mobile robot. The drive assembly is connected to the protective door, and the drive assembly is used to drive the protective door to move relative to the storage shelf, so as to cover or expose the storage shelf; The human-computer interaction device further includes a positioning component, which is installed on the support base or the storage shelf, and is used for the mobile robot to position the human-computer interaction device. The positioning component includes a three-axis calibration bracket, three identification code calibration plates, and three identification codes. The three-axis calibration bracket is installed on the support base or the storage shelf. The triaxial calibration bracket includes two mutually perpendicular X-axis connecting plates, a Y-axis connecting plate, and a Z-axis connecting plate. One end of the Y-axis connecting plate is fixedly connected to the X-axis connecting plate, and the other end of the Y-axis connecting plate is fixedly connected to one end of the Z-axis connecting plate. The X-axis connecting plate is parallel to the length direction of the storage rack, the Y-axis connecting plate is parallel to the width direction of the storage rack, and the Z-axis connecting plate is parallel to the height direction of the storage rack; or, the X-axis connecting plate is parallel to the height direction of the storage rack, the Y-axis connecting plate is parallel to the width direction of the storage rack, and the Z-axis connecting plate is parallel to the length direction of the storage rack. The three identification code calibration plates are respectively located at both ends of the X-direction connecting plate and the other end of the Z-direction connecting plate; Each of the identification code calibration boards has the identification code built in, and the identification code is located on the side facing the mobile robot. The identification code is used by the mobile robot to locate the human-computer interaction device.

2. The human-computer interaction device according to claim 1, characterized in that, The protective door is installed on the side of the storage shelf facing the mobile robot; and / or, The protective door is installed on the side of the storage rack away from the mobile robot.

3. The human-computer interaction device according to claim 1, characterized in that, The human-computer interaction device also includes a safety light curtain, which is installed on the storage shelf; the safety light curtain is used to detect whether a person or a mobile robot is taking or placing materials on the storage shelf.

4. The human-computer interaction device according to claim 1, characterized in that, The human-computer interaction device also includes a transmission component, which is connected to the protective door and is connected to the drive component. The drive component drives the transmission component to operate, so that the transmission component moves the protective door relative to the storage shelf.

5. The human-computer interaction device according to claim 4, characterized in that, The storage rack includes two oppositely arranged mounting plates and multiple spaced-apart storage dividers. The two mounting plates are fixedly fixed to the support base at intervals. The storage dividers are located between the two mounting plates, and the opposite ends of the storage dividers are respectively fixedly connected to the two mounting plates. The transmission assembly is installed on the side of the mounting plate opposite to the storage compartment, and the drive assembly is installed on the support base or the mounting plate; one side of the protective door is connected to the transmission assembly to cover or expose the storage compartment.

6. The human-computer interaction device according to claim 5, characterized in that, The transmission assembly includes a first track and a sliding block. The first track is fixed to the surface of the mounting plate opposite to the storage compartment, and the length direction of the first track is parallel to the height direction of the support base. The sliding block is slidably connected to the first track and fixedly connected to one side of the protective door. The drive assembly is used to drive the sliding block to move along the first track.

7. The human-computer interaction device according to claim 6, characterized in that, The transmission assembly also includes a first synchronous pulley, a second synchronous pulley, a conveyor belt, and a clamping plate; The first and second synchronous pulleys are rotatably connected to the surface of the mounting plate opposite to the storage compartment and are spaced apart along the length of the first track; the conveyor belt is wound around the first and second synchronous pulleys; the clamping plate is fixedly connected to the sliding block, and at least a portion of the conveyor belt is fixedly connected to the clamping plate; the second synchronous pulley is connected to the drive assembly, which drives the second synchronous pulley to rotate, thereby moving the conveyor belt, and the conveyor belt causes the first and second synchronous pulleys to rotate synchronously, and also causes the clamping plate and the sliding block to move along the first track.

8. The human-computer interaction device according to claim 7, characterized in that, The transmission assembly also includes a second track, a pulley, a counterweight, and a counterweight traction rope; The second track is fixed to the surface of the mounting plate opposite to the storage compartment, and the second track is parallel to and spaced apart from the first track; the sliding wheel is rotatably connected to the surface of the mounting plate opposite to the storage compartment, and is coaxial with the first synchronous wheel; The counterweight block is slidably connected to the second track, one end of the counterweight traction rope is fixedly connected to the counterweight block, and the other end of the counterweight traction rope passes around the sliding wheel and is fixedly connected to the clamping plate. When the clamping plate moves along the first track, the clamping plate causes the counterweight traction rope to drive the counterweight block to move along the second track, and the clamping plate and the counterweight block move in opposite directions.

9. The human-computer interaction device according to claim 5, characterized in that, The number of transmission components is two, and the two transmission components are respectively located on the side of the two mounting plates away from the storage partition, and the two transmission components are respectively connected to the opposite sides of the protective door; The two transmission components are respectively connected to the drive component, and the drive component drives the two transmission components to operate synchronously, so that the two transmission components simultaneously drive the protective door to move.

10. The human-computer interaction device according to claim 9, characterized in that, The drive assembly includes a drive shaft and a drive member; the drive member is mounted on the support base; the drive shaft is mounted between the two mounting plates; both ends of the drive shaft pass through the two mounting plates respectively and are fixedly connected to the two transmission assemblies; the drive member is connected to the drive shaft and is used to drive the drive shaft to rotate so that the drive shaft drives the two transmission assemblies to operate synchronously.

11. The human-computer interaction device according to claim 10, characterized in that, The drive assembly further includes a first drive wheel, a second drive wheel, and a drive belt; The first drive wheel is fixedly connected to the output shaft of the drive component; the second drive wheel is fixedly connected to the drive shaft, and the drive belt is wound around the first drive wheel and the second drive wheel; The driving component drives the first driving wheel to rotate, thereby moving the driving belt. The driving belt causes the second driving wheel to rotate, and the second driving wheel causes the driving shaft to rotate.

12. The human-computer interaction device according to claim 5, characterized in that, The storage partition includes a storage plate located between two mounting plates, with the two mounting plates fixedly connected to opposite ends of the storage plate; the storage plate is provided with multiple storage stations at intervals, which are used to store materials.

13. The human-computer interaction device according to claim 12, characterized in that, The storage partition also includes a positioning element installed on each of the storage stations, the positioning element being used to confine the material to the storage station.

14. The human-computer interaction device according to claim 12, characterized in that, The storage compartment also includes a detection sensor, an indicator light, and a controller; the detection sensor and the indicator light are respectively electrically connected to the controller. Each of the aforementioned storage stations is provided with a corresponding detection area, the detection sensor is installed in the detection area, and the indicator light is installed around the detection area; the detection sensor is used to detect whether there is material placed in the storage station and the placement status of the material; the controller is used to receive the sensing signal fed back by the detection sensor and control the indicator light to emit a corresponding indication signal according to the sensing signal.

15. The human-computer interaction device according to claim 1, characterized in that, The support base includes a support plate, a base plate, and a side plate connecting the support plate and the base plate. The support plate, the base plate, and the side plate enclose a receiving cavity. The storage shelf and the protective door are located on the support plate. The receiving cavity is used to house the electrical control equipment of the human-computer interaction device. An interactive door is provided on the side panel, and the interactive door is located on the side of the side panel away from the mobile robot.

16. The human-computer interaction device according to any one of claims 1 to 15, characterized in that, The human-computer interaction device also includes a display screen, which is mounted on the support base or the storage shelf. The display screen is used to display the status of the human-computer interaction device and / or to allow personnel to operate it.

17. The human-computer interaction device according to any one of claims 1 to 15, characterized in that, The human-computer interaction device also includes a barcode scanning device, which is installed on the support base or the storage shelf. The barcode scanning device is used to scan the identification code of the material to be stored in order to obtain information about the material to be stored.

18. A human-computer interaction system, characterized in that, include: Mobile robot and human-computer interaction device according to any one of claims 1 to 17; The mobile robot is communicatively connected to the human-machine interface device; the protective door separates the personnel taking and placing materials on the storage shelf from the mobile robot.

19. The human-computer interaction system according to claim 18, characterized in that, The human-computer interaction device also includes a safety light curtain, which is installed on the storage shelf; the safety light curtain is used to detect whether a person or a mobile robot is taking or placing materials on the storage shelf; the human-computer interaction system also includes a controller, which is connected to the safety light curtain and the mobile robot; The protective door of the human-computer interaction device is installed on the side of the storage shelf facing the mobile robot. When the protective door blocks the storage shelf and the safety light curtain detects that a person is taking or placing materials on the storage shelf, the controller restricts the opening of the protective door and restricts the mobile robot from taking or placing materials on the storage shelf based on the signal change of the safety light curtain; and / or, the protective door is installed on the side of the storage shelf away from the mobile robot. When the protective door exposes the storage shelf and the safety light curtain detects that a person is taking or placing materials on the storage shelf, the controller restricts the mobile robot from taking or placing materials on the storage shelf based on the signal change of the safety light curtain.

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