A warehousing system

Abstract

The application discloses a storage system, comprising: a first guide table, a storage cabinet, a storage storage piece, a material transfer station and a first grabbing device; the storage cabinet is located on the first side of the first guide table, the storage cabinet is provided with a containing bin and a first opening communicated with the containing bin, and the first opening faces the first guide table; the storage storage piece is arranged in the containing bin and can be exposed from the first opening; the material transfer station is located on the second side of the first guide table, and the second side is the same side or different side of the first side of the first guide table; the first grabbing device is slidingly connected with the first guide table and can move on the first guide table; the first grabbing device is used for transferring the material in the storage storage piece to the material transfer station and / or transferring the material in the material transfer station to the storage storage piece. The first grabbing device can quickly move to the storage cabinet and the material transfer station, thereby the material can be quickly and efficiently taken out, and the efficiency of material transportation is improved.

Description

Technical Field

[0001] This application relates to the field of mechanical equipment technology, and more particularly to a warehousing system. Background Technology

[0002] Currently, warehousing systems are increasingly widely used across various industries, primarily for storing materials. However, in practice, most warehousing systems still rely on manual handling for material entry and exit. This not only incurs significant labor costs but is also prone to errors and results in low material transport efficiency. Summary of the Invention

[0003] The purpose of this application is to provide a warehousing system that can efficiently transfer materials, reduce labor costs, and has a high degree of automation.

[0004] This application provides a warehousing system, comprising: a first guide platform, a storage cabinet, a storage and receiving component, a material transfer station, and a first gripping device; the storage cabinet is located on a first side of the first guide platform, the storage cabinet has a receiving compartment and a first opening communicating with the receiving compartment, the first opening facing the first guide platform; the storage and receiving component is disposed in the receiving compartment and can be exposed from the first opening, the storage and receiving component is used to store materials; the material transfer station is located on a second side of the first guide platform, the second side and the first side being the same side or different sides of the first guide platform; the material transfer station is used to temporarily store materials that need to be transferred; the first gripping device is slidably connected to the first guide platform and can move on the first guide platform; the first gripping device is used to transfer materials in the storage and receiving component to the material transfer station, and / or transfer materials in the material transfer station to the storage and receiving component.

[0005] In some embodiments, the warehousing system further includes a first human-machine interface station located on a third side of a first guide platform, wherein the third side and the first side are the same side or different sides of the first guide platform; the first human-machine interface station is used to store materials and isolate the experimenter from the first gripping device; the first gripping device is also used to transfer materials in the first human-machine interface station to a storage container, and / or to transfer materials in the storage container to the first human-machine interface station.

[0006] In some embodiments, the storage cabinet is further provided with a second opening communicating with the receiving compartment, and the storage unit is movable between the first opening and the second opening; the second opening and the first opening are located on the same side or different sides of the storage cabinet.

[0007] In some embodiments, the second opening and the first opening are located on different sides of the storage cabinet; the storage system further includes a second guide platform, a second gripping device, and a second human-machine interface station; the second human-machine interface station is used to store materials; the second guide platform is located on the side of the storage cabinet where the second opening is located, the second gripping device is slidably connected to the second guide platform and is movable on the second guide platform; the second human-machine interface station is located on one side of the second guide platform, the second human-machine interface station is used to store materials and isolate the experimenter and the second gripping device; when the storage container moves to the second opening, the second gripping device is used to transfer the materials of the second human-machine interface station to the storage container, and / or, transfer the materials of the storage container to the second human-machine interface station.

[0008] In some embodiments, when the storage container moves to the second opening, the second gripping device is further configured to transfer the material in the storage container to the material transfer station, and / or transfer the material in the material transfer station to the storage container.

[0009] In some embodiments, the first side and the second side are two opposite sides of the first guide platform; the first side and the third side are two adjacent sides of the first guide platform.

[0010] In some embodiments, the storage and receiving components include: a storage pallet and a storage rack; the storage rack is fixed on the storage pallet; the storage rack is provided with multiple storage stations, which are used to place material carriers containing materials; each storage station is provided with a storage positioning component, which is used to position the material carrier.

[0011] In some embodiments, a plurality of storage units are spaced apart on the storage pallet, and each storage unit is provided with at least one storage rack.

[0012] In some embodiments, the warehousing system further includes at least one first position detection device; the first position detection device is installed inside the receiving compartment and is used to determine the position of the stored item.

[0013] In some embodiments, the first gripping device includes a robotic arm, a gripper, and a second position detection device. The robotic arm is slidably connected to a first guide platform, and the gripper is fixedly connected to the robotic arm. The second position detection device is mounted on the robotic arm and is used to determine the position of the material stored in the storage container.

[0014] In some embodiments, the material transfer station includes a transfer base and multiple storage plates. The transfer base includes a base plate, a first support plate, and a second support plate, which are fixedly mounted on the base plate at intervals. Multiple storage plates are spaced apart between the first and second support plates, and the opposite ends of the storage plates are fixedly connected to the first and second support plates, respectively. Multiple transfer stations are provided on the storage plates, and the transfer stations are used to hold material carriers to be transferred.

[0015] In some embodiments, the material transfer station further includes a positioning component fixed to the transfer base; the positioning component is used for other equipment to position the material transfer station; the positioning component includes a three-axis calibration bracket, three identification code calibration plates, and three identification codes; the three-axis calibration bracket is mounted on the transfer base; 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 respectively located at both ends of the X-axis connecting plate and the other end of the Z-axis connecting plate; each identification code calibration plate has an identification code built in, and the identification code is located on the side opposite to the first guide platform; the identification code is used for other equipment to position the material transfer station.

[0016] In some embodiments, the first guide table includes a frame, a drive component, and a slide table; the drive component is fixedly connected to the frame, and the slide table is slidably connected to the drive component; the first gripping device is fixedly connected to the slide table; the drive component can drive the first gripping device to move along the first guide table via the slide table.

[0017] In some embodiments, the first guide table further includes a cable chain mounted on a frame, the cable chain being used to install a cable connecting the first gripping device; as the first gripping device slides along the first guide table, the cable chain moves with the first gripping device.

[0018] In some embodiments, the first human-machine interface station includes: a support base, a storage shelf, a protective door, and a drive assembly; the storage shelf 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 shelf and is used to separate the experimental personnel who need to retrieve materials from the storage shelf from the first gripping device; the drive assembly is connected to the protective door and is used to drive the protective door to move relative to the storage shelf to cover or expose the storage shelf.

[0019] In some embodiments, a protective door is installed on the side of the storage shelf facing the first gripping device. And / or, a protective door is installed on the side of the storage shelf away from the first gripping device.

[0020] In some embodiments, the first human-machine interaction station further includes a safety light curtain installed on a storage shelf; the safety light curtain is used to detect whether an experimenter or a first gripping device is taking or placing materials on the storage shelf.

[0021] In some embodiments, the first human-machine interface station further includes a transmission component connected to the protective door, and the transmission component is connected to a drive component for transmission. The drive component drives the transmission component to operate so that the transmission component moves the protective door relative to the storage shelf.

[0022] In some embodiments, the storage rack includes two oppositely arranged mounting plates and multiple spaced-apart storage partitions. The two mounting plates are fixedly fixed to a support base at intervals. The storage partitions are located between the two mounting plates, and the two mounting plates are fixedly connected to opposite ends of the storage partitions. A transmission assembly is installed on the side of the mounting plate away from the storage partitions, and a 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 partitions.

[0023] In some embodiments, 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 has multiple storage stations spaced apart, each used for storing materials. The storage partition also includes storage positioning components installed on each storage station, which are used to confine the materials within the storage station.

[0024] In some embodiments, the storage compartment further includes a detection sensor, an indicator light, and a controller; the detection sensor and the indicator light are electrically connected to the controller; each storage station is provided with a 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.

[0025] In some embodiments, the first human-computer interaction station further includes a display screen mounted on a support base or storage shelf, the display screen being used to display the status of the first human-computer interaction station and / or for operation by experimental personnel.

[0026] In some embodiments, the first human-machine interaction station further includes a barcode scanning device, which is mounted on a support base or 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.

[0027] In some embodiments, the warehousing system further includes a mobile robot located on the side of the material transfer station away from the first guide platform, and the mobile robot is used to pick up and place materials at the material transfer station.

[0028] In this application, the first gripping device moves on the first guide platform, thereby transferring materials between the material transfer station and the storage cabinet. The degree of automation is high, which minimizes human intervention, helps to reduce labor costs and error rates, and makes the material warehousing and outbound transportation more efficient. Attached Figure Description

[0029] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the embodiments will be briefly described below.

[0030] Figure 1This is a schematic diagram of the structure of the warehousing system provided in the embodiments of this application;

[0031] Figure 2 yes Figure 1 A structural schematic diagram of the warehousing system shown from another perspective;

[0032] Figure 3 yes Figure 1 A schematic diagram of the storage and receiving components of the storage system shown in the figure;

[0033] Figure 4 yes Figure 1 A schematic diagram of the material transfer station of the warehousing system shown in the figure;

[0034] Figure 5 yes Figure 1 A schematic diagram of the structure of the first guide platform and the first gripping device of the storage system shown in the figure;

[0035] Figure 6 yes Figure 5 Enlarged view of point A;

[0036] Figure 7 yes Figure 1 The diagram shows the structure of the first human-machine interface station of the warehousing system in its first state.

[0037] Figure 8 yes Figure 1 The diagram shows the first human-machine interface station of the warehousing system in the second state.

[0038] Figure 9 yes Figure 7 A partial structural diagram of the first human-computer interaction station shown in the figure;

[0039] Figure 10 yes Figure 7 Another structural diagram of the first human-computer interaction station shown in the figure;

[0040] Figure 11 yes Figure 8 A partially enlarged schematic diagram of the first human-computer interaction station shown in the figure;

[0041] Figure 12 yes Figure 7 A partially enlarged schematic diagram of the structure of the first human-computer interaction station shown in the figure;

[0042] Figure 13 yes Figure 7 A partially enlarged schematic diagram of another part of the structure of the first human-computer interaction station shown in the figure;

[0043] Figure 14 yes Figure 10 The diagram shows a partially enlarged view of the structure of the first human-computer interaction station. Detailed Implementation

[0044] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0045] refer to Figure 1 and Figure 2 The warehousing system provided in this application includes: a first guide platform 6000, a storage cabinet 2000, a storage and receiving component 3000, a material transfer station 4000, and a first gripping device 5000.

[0046] The storage cabinet 2000 is located on the first side of the first guide platform 6000. The storage cabinet 2000 has a receiving compartment 2200 and a first opening 2100 communicating with the receiving compartment 2200, with the first opening 2100 facing the first guide platform 6000. The storage and receiving component 3000 is disposed within the receiving compartment 2200 and can protrude from the first opening 2100. The storage and receiving component 3000 is used to store materials. The material transfer station 4000 is located on the second side of the first guide platform 6000. The second side and the first side are either the same side or different sides of the first guide platform 6000. The material transfer station 4000 is used to temporarily store materials that need to be transferred. The first gripping device 5000 is slidably connected to the first guide platform 6000 and is movable on the first guide platform 6000; the first gripping device 5000 is used to transfer the material in the storage container 3000 to the material transfer station 4000, and / or transfer the material in the material transfer station 4000 to the storage container 3000.

[0047] The storage component 3000 protrudes from the first opening 2100. This can be because the storage component 3000 is located inside the receiving compartment 2200, but is visible from the first opening 2100 and not obstructed by other components. Alternatively, the storage component 3000 can extend beyond the receiving compartment 2200 from the first opening 2100. The first guide platform 6000 can be straight, U-shaped, T-shaped, I-shaped, L-shaped, or rounded rectangular, etc.

[0048] In this embodiment, when materials need to be transferred from the storage container 3000 to the material transfer station 4000, the first gripping device 5000 moves along the first guide platform 6000 to a position close to the storage container 3000. Then, the first gripping device 5000 grips the materials on the storage container 3000. Next, the first gripping device 5000 moves to a position close to the material transfer station 4000 and transfers the materials from the storage container 3000 to the material transfer station 4000. Subsequently, mobile robots such as AGVs or personnel will remove the materials from the material transfer station 4000 for use. Of course, it is understandable that if the first gripping device 5000 is already close to the material transfer station 4000 after picking up or placing materials from the storage container 3000, it can place the materials directly into the material transfer station 4000 without moving them. One or more material transfer stations 4000 can be set up. When multiple material transfer stations 4000 are set up, they can be set up side by side. This not only increases the transfer capacity, but also allows for the classification and storage of materials. For example, different material transfer stations 4000 can store different types of materials.

[0049] When materials need to be transferred from the material transfer station 4000 to the storage container 3000, the first gripping device 5000 moves to a position close to the material transfer station 4000, then grips the materials on the material transfer station 4000, and then moves to a position close to the storage container 3000, and then places the gripped materials on the storage container 3000.

[0050] In this embodiment, the first gripping device 5000 moves on the first guide platform 6000 to transfer materials between the material transfer station 4000 and the storage cabinet 2000. The automation level is high, no human intervention is required, and the efficiency of material warehousing and outbound transportation is high.

[0051] In this embodiment, reference Figure 1 The storage cabinet 2000 is three-dimensional, including a storage top plate 2300, a storage bottom plate 2400, two first storage side plates 2500, and two second storage side plates 2600. The opposite ends of the two first storage side plates 2500 and the two second storage side plates 2600 are connected to the storage top plate 2300 and the storage bottom plate 2400, respectively. The two first storage side plates 2500 and the two second storage side plates 2600 are arranged opposite each other. One of the first storage side plates 2500 faces the first guide platform 6000, and a first opening 2100 is provided on this first storage side plate 2500 facing the first guide platform 6000.

[0052] In some embodiments, the warehousing system further includes a first human-machine interface station 1000, located on the third side of the first guide platform 6000, wherein the third side and the first side are the same side or different sides of the first guide platform 6000; the first human-machine interface station 1000 is used to store materials and isolate the experimenter from the first gripping device 5000; the first gripping device 5000 is also used to transfer materials from the first human-machine interface station 1000 to the storage container 3000, and / or transfer materials from the storage container 3000 to the first human-machine interface station 1000. One or more first human-machine interface stations 1000 can be provided, and when multiple stations are provided, they can be arranged side-by-side. This not only increases the transfer capacity but also allows for the classification and storage of materials, for example, different types of materials can be placed in different first human-machine interface stations 1000.

[0053] The first human-machine interface station 1000 is used for manual placement and / or retrieval of materials. After a person places materials in the first human-machine interface station 1000, the first gripping device 5000 moves to a position close to the first human-machine interface station 1000 and then grips the materials in the first human-machine interface station 1000. Next, the first gripping device 5000 moves to a position close to the first opening 2100 of the storage cabinet 2000 and then places the gripped materials in the storage container 3000. The first gripping device 5000 can also grip materials in the storage container 3000 and transfer them to the first human-machine interface station 1000 for manual retrieval.

[0054] It is understandable that the first human-machine interaction station 1000 can also be used for mobile robots such as AGV carts to place and / or pick up materials. That is, AGV carts can pick up or place materials at the first human-machine interaction station 1000, and the first gripping device 5000 can pick up or place materials at the first human-machine interaction station 1000.

[0055] The following are more specific implementation methods, please refer to them. Figure 1 and Figure 2 The first human-machine interaction station 1000, the storage cabinet 2000, and the material transfer station 4000 are arranged around the first guide platform 6000. The first guide platform 6000 is a linear guide platform and is installed on the ground. For ease of description, the X-axis direction is defined as the length direction of the first guide platform 6000, the Y-axis direction as the width direction of the first guide platform 6000, and the Z-axis direction as the height direction of the first guide platform 6000. The X-axis, Y-axis, and Z-axis are perpendicular to each other.

[0056] Specifically, the storage cabinet 2000 is located on the first side of the first guide platform 6000, the material transfer station 4000 is located on the second side of the first guide platform 6000, and the first human-machine interface station 1000 is located on the third side of the first guide platform 6000. The first and second sides are opposite sides of the first guide platform 6000, and in this case, the length directions of the first opening 2100 and the material transfer station 4000 are parallel to the length direction of the first guide platform 6000. The first and third sides are adjacent sides of the first guide platform 6000, meaning the third side is adjacent to both the first and second sides. In this case, the length direction of the first human-machine interface station 1000 is parallel to the width direction of the first guide platform 6000. This parallelism allows for the existence of processing errors and tolerances. Figure 1 The diagram illustrates a linear first guide platform 6000, a first human-machine interface station 1000, and three material transfer stations 4000, all arranged side-by-side. This eliminates the need for a complex first guide platform 6000, simplifying the movement of the first gripping device 5000 and facilitating its positioning. The first human-machine interface station 1000, the storage cabinet 2000, and the material transfer stations 4000 are all arranged around the linear first guide platform 6000, resulting in a compact layout and saving space.

[0057] For example, the side of the first human-machine interaction station 1000 facing away from the first guide platform 6000 is designated as the personnel activity area, and the side of the material transfer station 4000 facing away from the first guide platform 6000 is designated as the automation test area. Using... Figure 1 The layout shown effectively separates the automated experimental area from the personnel activity area, which not only reduces the experimental interference coefficient but also improves the safety of the experimental personnel. Experimenters in the personnel activity area can place materials to be stored into the first human-machine interface station 1000. The first gripping device 5000 will then retrieve the materials from the first human-machine interface station 1000 and place them into the storage container 3000. The first gripping device 5000 can then retrieve materials from the storage container 3000 and place them into the material transfer station 4000. A mobile robot located in the automated experimental area can then retrieve materials from the material transfer station 4000 for experimentation.

[0058] In other specific embodiments, the number of material transfer stations 4000 can be one, two, or four, etc., and the number of first human-machine interaction stations 1000 can be two, three, or four, etc., which can be set according to actual needs by those skilled in the art. Correspondingly, the shape of the first guide platform 6000 can be adaptively designed according to the number and arrangement of the first human-machine interaction stations 1000 and the material transfer stations 4000. For example, when there are three first human-machine interaction stations 1000 and three material transfer stations 4000, and they are arranged side by side on opposite sides of the first guide platform 6000, and the storage cabinet 2000 is arranged on the other side of the first guide platform 6000, the first guide platform 6000 can be designed in the shape of an "I".

[0059] The first gripping device 5000 can transfer materials from the first human-machine interaction station 1000 to the storage and receiving unit 3000, and can transfer materials on the storage and receiving unit 3000 to the material transfer station 4000. It should be noted that the materials described in this embodiment are all contained in material carriers. A material carrier refers to a container holding materials required for the experiment, such as a container holding solvents or powders (e.g., test tubes, solvent bottles, silica trays, etc.), a tray holding multiple containers containing materials (e.g., test tube trays, solvent bottle trays, silica tray trays, etc.), etc.

[0060] The warehousing system provided in this specific embodiment includes a first human-machine interface station 1000, a storage cabinet 2000, and a material transfer station 4000 arranged around a first guide platform 6000. A first gripping device 5000 is slidably connected to the first guide platform 6000 and can reciprocate along the first guide platform 6000. The first guide platform 6000 is a linear guide platform. Therefore, it occupies less physical space, saving space in the warehousing system. Furthermore, the first gripping device 5000 can quickly move to the first human-machine interface station 1000, the storage cabinet 2000, and the material transfer station 4000, thereby enabling rapid and efficient storage and retrieval of materials, improving the efficiency of material transportation.

[0061] In other specific embodiments, the storage cabinet 2000 is located on the first side of the first guide platform 6000, the material transfer station 4000 is located on the second side of the first guide platform 6000, and the first human-machine interaction station 1000 is located on the third side of the first guide platform 6000. The second and third sides are the same side of the first guide platform 6000; that is, the material transfer station 4000 and the first human-machine interaction station 1000 are located side-by-side on the same side of the first guide platform 6000. The first side is the other side of the first guide platform 6000 and is opposite to the second and third sides. In this case, the length direction of the first opening 2100 of the storage cabinet 2000, the length direction of the material transfer station 4000, and the length direction of the first human-machine interaction station 1000 are all parallel to the length direction of the first guide platform 6000. One material transfer station 4000 and one first human-machine interaction station 1000 can be set up side by side, or two material transfer stations 4000 and one first human-machine interaction station 1000 can be set up side by side; there is no limit to this.

[0062] In other specific embodiments, the storage cabinet 2000 is located on the first side of the first guide platform 6000, the material transfer station 4000 is located on the second side of the first guide platform 6000, and the first human-machine interface station 1000 is located on the third side of the first guide platform 6000. The first and third sides are opposite sides, and the second side is adjacent to both the first and third sides. Furthermore, the length directions of the storage cabinet 2000 and the first human-machine interface station 1000 are parallel to the length direction of the first guide platform 6000, and the length direction of the material transfer station 4000 is parallel to the width direction of the first guide platform 6000.

[0063] In other specific embodiments, the storage cabinet 2000 is located on the first side of the first guide platform 6000, the material transfer station 4000 is located on the second side of the first guide platform 6000, and the first human-machine interaction station 1000 is located on the third side of the first guide platform 6000. The second and third sides are on the same side of the first guide platform 6000, and the first and second sides are adjacent. That is, the material transfer station 4000 and the first human-machine interaction station 1000 are located side-by-side on the same side of the first guide platform 6000, and the storage cabinet 2000 is adjacent to either the material transfer station 4000 or the first human-machine interaction station 1000. In this case, the length direction of the storage cabinet 2000 is parallel to the length direction of the first guide platform 6000, and the length directions of the material transfer station 4000 and the first human-machine interaction station 1000 are both parallel to the width direction of the first guide platform 6000.

[0064] In other specific embodiments, the storage cabinet 2000 is located on the first side of the first guide platform 6000, the material transfer station 4000 is located on the second side of the first guide platform 6000, and the first human-machine interaction station 1000 is located on the third side of the first guide platform 6000. The second and third sides are opposite sides of the first guide platform 6000, and the first side is adjacent to both the second and third sides. Furthermore, the length direction of the storage cabinet 2000 is parallel to the length direction of the first guide platform 6000, and the length directions of the material transfer station 4000 and the first human-machine interaction station 1000 are both parallel to the width direction of the first guide platform 6000.

[0065] In the above-described specific embodiments, the first human-machine interaction station 1000, the storage cabinet 2000, and the material transfer station 4000 are arranged around the first guide platform 6000. This compact arrangement occupies less physical space, thus saving space in the warehousing system. Furthermore, regardless of the arrangement, the first gripping device 5000 can quickly move to the first human-machine interaction station 1000, the storage cabinet 2000, and the material transfer station 4000, enabling rapid and efficient storage and retrieval of materials, thereby improving the efficiency of material transportation.

[0066] In other specific embodiments, the first side, the second side, and the third side are all on the same side of the first guide platform 6000, and the storage cabinet 2000 is located between the first human-machine interaction station 1000 and the material transfer station 4000. Furthermore, the length directions of the storage cabinet 2000, the material transfer station 4000, and the first human-machine interaction station 1000 are all parallel to the length direction of the first guide platform 6000. Alternatively, the length directions of the storage cabinet 2000, the material transfer station 4000, and the first human-machine interaction station 1000 are all parallel to the width direction of the first guide platform 6000. Therefore, the first gripping device 5000 can quickly move to the first human-machine interaction station 1000, the storage cabinet 2000, and the material transfer station 4000, thereby enabling rapid and efficient storage and retrieval of materials, improving the efficiency of material transportation; the horizontal arrangement also saves space and effectively divides the personnel activity area and the experimental area.

[0067] In some embodiments, the storage cabinet 2000 further includes a second opening communicating with the receiving compartment 2200, and the storage and receiving component 3000 is movable between the first opening 2100 and the second opening; the second opening and the first opening 2100 are located on the same side or different sides of the storage cabinet 2000. Specifically, the first opening 2100 and the second opening being located on different sides of the storage cabinet 2000 can mean that the first opening 2100 and the second opening are located on adjacent or opposite sides of the storage cabinet 2000.

[0068] Specifically, the first opening 2100 and the second opening are located on different sides of the storage cabinet 2000. The first opening 2100 is located on the first storage side panel 2500 facing the first guide platform 6000, and the second opening is located on any of the second storage side panels 2600, or on the first storage side panel 2500 facing away from the first guide platform 6000. When the first opening 2100 is used to retrieve materials and the second opening is used to place materials, the first opening 2100 can be used for machine retrieval via the first gripping device 5000, while the second opening can be used for manual placement of materials.

[0069] The second opening and the first opening 2100 are located on the same side of the storage cabinet 2000. That is, both the first opening 2100 and the second opening are located on the first storage side plate 2500 facing the first guide platform 6000. The first opening 2100 and the second opening are arranged along the Z-axis or along the X-axis. At this time, the first opening 2100 and the second opening can be physically separated or connected to each other.

[0070] One of the first opening 2100 and the second opening is used by the first gripping device 5000 to retrieve materials from the storage container 3000, while the other opening is used by the first gripping device 5000 to place materials retrieved from the material transfer station 4000 or the first human-machine interface station 1000 onto the storage container 3000. Thus, separating material retrieval and placement through different windows increases the efficiency of material transfer. Alternatively, both the first opening 2100 and the second opening can be used for both retrieval and placement, further improving transfer efficiency.

[0071] In some embodiments, the second opening and the first opening 2100 are located on different sides of the storage cabinet 2000. The storage system also includes a second guide platform, a second gripping device, and a second human-machine interface station; the second human-machine interface station is used to store materials. The second guide platform is located on the side of the storage cabinet 2000 where the second opening is located, the second gripping device is slidably connected to the second guide platform and is movable on the second guide platform; the second human-machine interface station is located on one side of the second guide platform, and the second human-machine interface station is used to store materials and isolate the experimenter from the second gripping device. When the storage container 3000 moves to the second opening, the second gripping device is used to transfer materials from the second human-machine interface station to the storage container 3000, and / or transfer materials from the storage container 3000 to the second human-machine interface station.

[0072] That is, the first gripping device 5000 uses the first opening 2100 to transfer materials between the material transfer station 4000 and the storage cabinet 2000. The second gripping device uses the second opening to transfer materials between the second human-machine interface station and the storage cabinet 2000. Thus, both the first opening 2100 and the second opening can realize the machine transfer of materials, which can improve the efficiency of material transfer.

[0073] In some embodiments, the materials in the storage container 3000 are transferred to the second human-machine interface station. The second gripping device is also used to transfer materials in the storage container 3000 to the material transfer station 4000, and can also be used to transfer materials in the material transfer station 4000 to the storage container 3000. This further improves material transfer efficiency. In this case, the first gripping device 5000 and the second gripping device share the same material transfer station 4000, with the first opening 2100 and the second opening located on adjacent sides of the storage container 2000. The material transfer station 4000 can be positioned between the two gripping devices, resulting in a more compact structure.

[0074] In some embodiments, reference is made to Figure 3 The storage and receiving component 3000 includes a storage pallet 3100 and a storage rack 3200. The storage rack 3200 is fixed to one side surface of the storage pallet 3100. The storage rack 3200 has multiple storage stations 3210, each used to place a material carrier containing materials. Each storage station 3210 is equipped with a storage positioning component 3220, used to position the material carrier. The material carrier can be a container (such as a test tube, solvent bottle, etc.) or a tray for placing containers (such as a test tube tray, solvent bottle tray, etc.).

[0075] In some specific embodiments, when the storage station 3210 is used to store pallets, the storage positioning component 3220 can be a positioning pin, which is used to cooperate with the positioning holes on the bottom of the pallet to ensure that the pallet is always in the same position when stored. For example, two positioning pins can be spaced apart on the storage station 3210, and the two positioning pins cooperate with the two positioning holes on the bottom of the pallet. In other specific embodiments, when the storage station 3210 is used to store containers, the storage positioning component 3220 can be an elastic component, such as a metal elastic sheet or a plastic elastic component; the storage station 3210 is a positioning groove, and the elastic component is located in the positioning groove; the positioning groove and the elastic component cooperate to store and position materials such as test tubes and solvent bottles; in addition, the compatibility of the positioning groove can be improved to accommodate containers of different sizes.

[0076] The storage station 3210 is equipped with a storage positioning component 3220; the storage station 3210 is used to store material carriers, and the storage positioning component 3220 is used to position the material carriers so that the position of the material carriers is relatively accurate and will not shift.

[0077] In some embodiments, the storage pallet 3100 is provided with multiple storage units spaced apart, and each storage unit is provided with at least one storage rack 3200. This increases storage capacity, allowing for the storage of more material carriers. Furthermore, by providing multiple storage units, materials can be stored in zones; for example, one storage unit can store one type of material. This allows for zoned management of different types of materials, making material management more intelligent.

[0078] In this embodiment, the storage unit 3000 includes two storage units, each of which includes four storage racks 3200. This allows for the storage of a relatively large number of material carriers. In other embodiments, the storage unit 3000 may include only one storage unit, or it may include three, four, or other storage units. In other embodiments, each storage unit includes two, three, five, or other storage racks. The number of storage units and storage racks in the storage unit 3000 can be set according to actual needs, and this application is not limited thereto.

[0079] The storage unit also includes a first connecting plate 3300 and a second connecting plate 3400. In each storage unit, the first connecting plate 3300 and the second connecting plate 3400 are fixed to one side surface of the storage pallet 3100 at intervals along the X-axis. The storage rack 3200 is a strip-shaped plate, and multiple storage racks 3200 are fixed to the side of the first connecting plate 3300 and the second connecting plate 3400 opposite to the storage pallet 3100 at intervals along the Y-axis.

[0080] In some embodiments, the storage system further includes at least one first position detection device; the first position detection device is installed inside the receiving compartment and is used to determine the position of the storage item.

[0081] In some embodiments, the storage and receiving component 3000 further includes one or more positioning markers; the positioning markers may be set on the first connecting plate 3300 and / or the second connecting plate 3400, or they may be directly set on the storage pallet 3100, and the position of the positioning markers relative to the storage pallet 3100 remains fixed; the first position detection device can determine the position of the storage pallet 3100 by identifying the position of the positioning markers, that is, determine the position of the storage and receiving component 3000.

[0082] In some embodiments, reference is made to Figure 5 and Figure 6The first gripping device 5000 includes a robotic arm 5100, a gripper 5200, and a second position detection device. The robotic arm 5100 is slidably connected to a first guide platform 6000, and the gripper 5200 is fixedly connected to the robotic arm 5100. The robotic arm 5100 is a six-axis robotic arm, capable of rotating and moving in six directions: negative X-axis, positive Y-axis, negative Y-axis, positive Z-axis, and negative Z-axis. The gripper 5200 is fixedly connected to the robotic arm 5100, and the robotic arm 5100 can drive the gripper 5200 to rotate and move in the aforementioned six directions, so that the gripper 5200 can grip material carriers on the first human-machine interface station 1000, the storage container 3000, and the material transfer station 4000. The second position detection device is used to detect the position of the materials stored in the storage container 3000.

[0083] In some embodiments, reference is made to Figure 4 The material transfer station 4000 includes a transfer base 4100 and multiple storage plates 4200. The transfer base 4100 includes a transfer base plate 4110, a first support plate 4120, a second support plate 4130, and a transfer crossbar 4140. The first support plate 4120 and the second support plate 4130 are fixedly fixed to one side surface of the transfer base plate 4110 at intervals. The transfer crossbar 4140 is respectively connected to the first support plate 4120 and the second support plate 4130 and is located on the top side of the transfer base 4100. The multiple storage plates 4200 are installed between the first support plate 4120 and the second support plate 4130, and the opposite ends of the storage plates 4200 are respectively fixedly connected to the first support plate 4120 and the second support plate 4130. Multiple transfer stations 4210 are provided on the storage plates 4200, and each transfer station 4210 is provided with two transfer positioning components 4220. Each transfer station 4210 can hold one material carrier. When the material carrier is placed in the transfer station 4210, the transfer positioning component 4220 cooperates with the material carrier to position the material carrier and prevent it from shifting. The material carrier can be a tray, test tube, solvent bottle, etc.

[0084] In some specific embodiments, when the transfer station 4210 is used to store pallets, the transfer positioning component 4220 can be a positioning pin, which is used to cooperate with the positioning hole on the bottom of the pallet so that the pallet is always in the same position when stored. In other specific embodiments, when the transfer station 4210 is used to store containers, the transfer positioning component 4220 is an elastic component, such as a metal elastic sheet or a plastic elastic component; the storage station 250 is a positioning groove, and the elastic component is located in the positioning groove; the positioning groove and the elastic component cooperate to store and position materials such as test tubes and solvent bottles; in addition, the compatibility of the positioning groove can be improved to accommodate containers of different sizes.

[0085] In some embodiments, the material transfer station 4000 further includes a positioning component 4300. The positioning component 4300 is fixed to the transfer base 4100. The positioning component 4300 is used for positioning the material transfer station by other equipment.

[0086] The positioning component 4300 may include a three-axis calibration bracket and three identification code calibration plates. The three-axis calibration bracket is mounted on the transfer crossbar 4140 and includes X-axis connecting plates, Y-axis connecting plates, and Z-axis connecting plates arranged perpendicularly to each other. One end of the Y-axis connecting plate is connected to the X-axis connecting plate, and the other end of the Y-axis connecting plate is connected to one end of the Z-axis connecting plate. Two of the three identification code calibration plates are located at opposite ends of the X-axis connecting plate, and the third identification code calibration plate is located at the other end of the Z-axis connecting plate. Each identification code calibration plate contains an identification code located on the side opposite to the first guide platform 6000. The identification code is used to enable other external equipment (such as a mobile robot) to locate the material transfer station 4000, facilitating the loading and unloading of materials in the material transfer station 4000. Alternatively, the three-axis calibration bracket may be mounted on the first support plate 4120, the second support plate 4130, or the transfer base plate 4110. The identification code can be a QR code, barcode, character code, etc. In one embodiment, the X-axis connecting plate can be parallel to the length direction of the material transfer station 4000 (or the shelf 4200), the Y-axis connecting plate can be parallel to the width direction of the material transfer station 4000, and the Z-axis connecting plate can be parallel to the height direction of the material transfer station 4000. In another embodiment, the X-axis connecting plate can be parallel to the height direction of the material transfer station 4000, the Y-axis connecting plate can be parallel to the width direction of the material transfer station 4000, and the Z-axis connecting plate can be parallel to the length direction of the material transfer station 4000; this application does not impose any limitations.

[0087] In some embodiments, reference is made to Figure 5The first guide table 6000 includes a horizontal adjustment component 6100, a frame 6200, a drive component 6300, and a slide table 6400. The frame 6200 is cubic in shape and houses the control components. The horizontal adjustment component 6100 includes a horizontal adjustment plate 6110 and a horizontal adjustment nut 6120. The horizontal adjustment plate 6110 is fixedly connected to the bottom of the frame 6200, and the horizontal adjustment nut 6120 is threadedly connected to the horizontal adjustment plate 6110. By rotating the horizontal adjustment nut 6120, the nut 6120 extends and retracts relative to the horizontal adjustment plate 6110, thereby providing horizontal support for the frame 6200. The drive component 6300 includes a linear body and a slider. The linear body is elongated and can drive the slider to reciprocate along the length of the linear body. The top of the linear machine body is provided with a guide groove 6310 extending in the extension direction. The slide table 6400 extends at least partially into the guide groove 6310 and is fixedly connected to the slider of the drive component 6300. Another part of the slide table 6400 is located outside the guide groove 6310 and is fixedly connected to the robotic arm 5100 of the first gripping device 5000.

[0088] In some embodiments, the first guide platform 6000 further includes a cable chain 6500, which is mounted on a support platform 6320 outside the frame 6200. One end of the cable chain 6500 is fixedly connected to the support platform 6320. The remaining portion of the cable chain 6500 can be freely bent and moved. A connecting cable is provided inside the cable chain 6500. One end of the connecting cable extends out of the cable chain 6500 and into the frame 6200 to connect with the control component. The other end of the connecting cable extends out of the cable chain 6500 and into the drive component 6300. The end of the connecting cable inside the drive component 6300 connects with the drive component 6300, the robotic arm 5100, and the gripper. This achieves an electrical connection between the control component and the robotic arm 5100, enabling the control component to control the robotic arm 5100 and provide power to it. After the drive unit 6300 is activated, the slide table 6400 moves the robotic arm 5100, and the cable chain 6500 moves along with the robotic arm 5100, thus providing real-time power to the robotic arm 5100 and enabling better control of the robotic arm 5100. Using the cable chain 6500 to install cables prevents exposed cables and avoids safety accidents, while also ensuring proper power connection and control of the robotic arm 5100. The drive unit 6300 can be a linear motor, pneumatic component, or hydraulic component, etc., and is not limited here.

[0089] In some embodiments, the structure of the second gripping device can be the same as that of the first gripping device 5000. In other embodiments, other types of structures may also be used. The structure of the second guide platform can be the same as that of the first guide platform 6000. In other embodiments, other types of structures may also be used. The structure of the second human-machine interaction station can be the same as that of the first human-machine interaction station 1000. In other embodiments, other types of structures may also be used.

[0090] In this embodiment, only a first opening 2100 may be provided, and a first gripping device 5000, a first guide platform 6000, and a material transfer station 4000 may be provided on the side of the first opening 2100. Optionally, a first human-machine interface station 1000 may also be provided on the side of the first opening 2100. Based on the above, a second opening may be added. Optionally, a second gripping device, a second guide platform, and a second human-machine interface station may be provided on the side of the second opening. That is to say, the first human-machine interface station 1000 may be provided only on the side of the first opening 2100, the second human-machine interface station may be provided only on the side of the second opening, or both the first human-machine interface station 1000 and the second human-machine interface station may be provided on the side of the first opening 2100. In addition, a material transfer station may also be provided on the side of the second opening, which is not limited here.

[0091] In this embodiment, reference Figures 7 to 10 The first human-machine interface station 1000 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 first gripping device 5000. The drive assembly 500 is connected to the protective door 300 and is used to drive the protective door 300 to move relative to the storage shelf 200 to either obscure or expose the storage shelf 200.

[0092] In the first human-machine interface station 1000, a protective door 300 separates personnel who need to retrieve or place materials from the first gripping device 5000. This ensures that when personnel are retrieving or placing materials on the storage rack 200, the first gripping device 5000 is restricted from doing so. Similarly, when the first gripping device 5000 is retrieving or placing materials on the storage rack 200, personnel are restricted from doing so. This ensures temporal and spatial isolation between personnel and the first gripping device 5000 during material retrieval or placement at the first human-machine interface station 1000. Therefore, it prevents the first gripping device 5000 from injuring personnel, ensuring their personal safety. It also prevents personnel from interfering with the first gripping device 5000, reducing experimental interference factors.

[0093] It is understandable that within the laboratory, there is a designated area for personnel activities and an area for the first grasping device 5000. The first grasping device 5000 generally does not enter the personnel activity area, and personnel generally do not enter the area for the first grasping device 5000. The first human-machine interface station 1000 is located between the personnel activity area and the area for the first grasping device 5000. Therefore, the first human-machine interface station 1000 can physically isolate the first grasping device 5000 located in the automated experimental area from the personnel located in the personnel activity area, thereby reducing experimental interference and improving the safety of experimental personnel.

[0094] In some embodiments, the protective door 300 is installed on the side of the storage shelf 200 facing away from the first gripping device 5000, that is, the protective door 300 is installed on the side of the storage shelf 200 facing the area where personnel are active. Thus, when personnel need to retrieve or place materials on the storage shelf 200, the protective door 300 opens, exposing the storage shelf 200 relative to the personnel, allowing them to retrieve or place materials on the storage shelf 200, while restricting the first gripping device 5000 from retrieving or placing materials on the storage shelf 200. After the personnel have finished retrieving or placing materials, the protective door 300 closes, shielding the storage shelf 200 relative to the personnel, at which point the first gripping device 5000 can retrieve or place materials on the storage shelf 200.

[0095] Figure 7 In the first human-machine interaction station 1000 shown, the protective door 300 is in a closed state, which will cause the storage rack 200 to be in a state of being blocked from personnel. At this time, the first gripping device 5000 can place or take materials on the side of the storage rack 200 away from the protective door 300. Figure 8 In the first human-machine interface station 1000 shown, the protective door 300 is open, making the storage shelf 200 visible to personnel, allowing them to easily place or retrieve materials from the shelf. This restricts the first gripping device 5000 from placing or retrieving materials from the shelf. This prevents the first gripping device 5000 from injuring personnel, ensuring their safety and increasing the safety factor. It also prevents personnel from interfering with the first gripping device 5000, reducing experimental interference.

[0096] In other embodiments, a protective door 300 is installed on the side of the storage shelf 200 facing the first gripping device 5000. Thus, when a person is operating on the storage shelf 200, the protective door 300 is closed to separate the storage shelf 200 from the first gripping device 5000, preventing the first gripping device 5000 from operating on the storage shelf 200. After the person has finished operating on the storage shelf 200, the protective door 300 opens to expose the storage shelf 200, allowing the first gripping device 5000 to operate on the storage shelf 200.

[0097] In other embodiments, the storage rack 200 is provided with a protective door 300 on the side facing the first gripping device 5000, and a protective door 300 is also provided on the side of the storage rack 200 away from the first gripping device 5000. When personnel need to retrieve or place materials on the storage rack 200, the protective door 300 on the side away from the first gripping device 5000 is opened, exposing the storage rack 200 relative to the personnel's activity area, so as to facilitate personnel retrieval and placement of materials; at the same time, the protective door 300 on the side facing the first gripping device 5000 is closed, so that the protective door 300 separates the storage rack 200 from the first gripping device 5000; thereby ensuring the safety of personnel. After personnel have finished retrieving or placing materials, the protective door 300 on the side facing away from the first gripping device 5000 is closed, thus blocking the storage rack 200 from the personnel's activity area. The protective door 300 on the side facing the first gripping device 5000 is then opened, so that the storage rack 200 is exposed relative to the first gripping device 5000, allowing the first gripping device 5000 to retrieve or place materials. At the same time, it is ensured that personnel cannot operate the first gripping device 5000 while it is retrieving or placing materials, thus ensuring personnel safety.

[0098] The drive assembly 500 controls the opening and closing of the protective door 300. It is understood that when the protective door 300 is located on the side of the storage rack 200 away from the first gripping device 5000, the drive assembly 500 may not be required, and the protective door 300 may be opened or closed manually by personnel.

[0099] In some embodiments, the first human-machine interface station 1000 further includes a safety light curtain, which is installed on the storage shelf 200. The safety light curtain is used to detect whether personnel or the first gripping device 5000 are taking or placing materials on the storage shelf 200. When the protective door 300 is installed on the side of the storage shelf 200 away from the first gripping device 5000, when the protective door 300 is exposed on the storage shelf 200 and the safety light curtain detects that personnel are taking or placing materials on the storage shelf 200, the controller restricts the first gripping device 5000 from taking or placing materials on the storage shelf 200 based on the signal change of the safety light curtain. Specifically, the signal of the safety light curtain changes and is fed back to the controller, which issues a command to control the first gripping device 5000 so that it cannot take or place materials on the storage shelf 200. By setting the safety light curtain, it is ensured that the first gripping device 5000 will not approach the storage shelf 200 when personnel are taking or placing materials on the storage shelf 200, thus ensuring the personal safety of personnel. In other embodiments, when the protective door 300 is installed on the side of the storage shelf 200 away from the first gripping device 5000, the first gripping device 5000 is controlled by detecting whether the protective door 300 is open. Specifically, when the protective door 300 is exposed on the storage shelf 200, if the controller receives a signal that the protective door 300 is open, it will control the first gripping device 5000 to prevent it from operating on the storage shelf 200.

[0100] When the protective door 300 is installed on the side of the storage shelf 200 facing the first gripping device 5000, if the protective door 300 obstructs the storage shelf 200 and the safety light curtain detects that a person is taking or placing materials on the storage shelf 200, the controller, based on the signal change of the safety light curtain, restricts the opening of the protective door 300 and restricts the first gripping device 5000 from taking or placing materials on the storage shelf 200. Specifically, the signal of the safety light curtain changes and is fed back to the controller, which then issues a command to control the first gripping device 5000 so that it cannot take or place materials on the storage shelf 200 and keeps the protective door 300 closed. By setting the safety light curtain, it is ensured that the first gripping device 5000 will not approach the storage shelf 200 when a person is taking or placing materials on it, thus ensuring the personal safety of the personnel. When the protective door 300 is opened and the first gripping device 5000 picks up or puts down materials on the storage shelf 200, the signal of the safety light curtain changes and is fed back to the controller. The controller issues a command to control the alarm to remind personnel not to pick up or put down materials on the storage shelf 200.

[0101] In some embodiments, the first human-machine interaction station 1000 further includes a transmission component 400, a drive component 500 is connected to the transmission component 400, and the transmission component 400 is connected to the protective door 300; the drive component 500 is used to drive the transmission component 400 to move so that the transmission component 400 drives the protective door 300 to move relative to the storage shelf 200, so as to cover or expose the storage shelf 200.

[0102] In some embodiments, the protective door 300, the transmission assembly 400, and the drive assembly 500 are all mounted on the storage shelf 200. Specifically, the protective door 300 is slidably connected to the storage shelf 200, the drive assembly 500 is driveably connected to the transmission assembly 400, and the transmission assembly 400 is connected to the protective door 300. The drive assembly 500 drives the transmission assembly 400 to move, so that the transmission assembly 400 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 shelf 200.

[0103] In other embodiments, the protective door 300 can slide along the width of the support base 100. Alternatively, one side of the protective door 300 is connected to the storage shelf 200 via a hinge, and the other side of the protective door 300 can rotate relative to the storage shelf 200, thereby exposing or obscuring the storage shelf 200. Alternatively, the protective door 300 includes two opposing door panels, one side of which is hinged to one side of the storage shelf 200, and the other side can rotate relative to the storage shelf 200; the other door panel is hinged to one side of the storage shelf 200, and the other side can rotate relative to the storage shelf 200.

[0104] In other embodiments, the protective door 300 can also be mounted on the support base 100. For example, a gantry can be provided on the support base 100, and the protective door 300, the transmission assembly 400, and the drive assembly 500 can all be mounted on the gantry. The drive assembly 500 drives the transmission assembly 400 to operate, thereby moving the protective door 300 relative to the gantry.

[0105] In some embodiments, the storage rack 200 includes two opposing mounting plates and a plurality of spaced-apart storage compartments 200A. The two mounting plates are fixedly mounted on the support base 100 at intervals. A transmission assembly 400 is mounted on the mounting plates, and a drive assembly 500 is mounted on the support base 100 or the mounting plates. The storage compartments 200A are located between the two mounting plates, and their opposite ends are respectively fixedly connected to the two mounting plates. The protective doors 300 are slidably connected to one side of each of the two mounting plates on opposite sides to cover or expose the storage compartments 200A. The two mounting plates are a first mounting plate 141 and a second mounting plate 151.

[0106] 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 a transmission assembly 400 on the side opposite to the storage compartment 200A.

[0107] Also refer to Figure 9 and Figure 12 The transmission assembly 400 includes a first track 401 and a sliding block 406. The first track 401 is fixed to the surface of the mounting plate opposite to the storage compartment 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 slidably connected to the first track 401 and fixedly connected to one side of the protective door 300. The drive assembly 500 is used to drive the sliding block 406 to move along the first track 401. When the drive assembly 500 drives the sliding block 406 to slide along the first track 401, the sliding block 406 causes the protective door 300 to slide along the height direction of the support base 100, thereby allowing the protective door 300 to cover or expose the storage shelf 200.

[0108] In some embodiments, the transmission assembly 400 further includes a first synchronous pulley 403, a second synchronous pulley 404, a conveyor belt 405, a sliding block 406, and a clamping plate 407. The first synchronous pulley 403 and the second synchronous pulley 404 are rotatably connected to the surface of the mounting plate facing away from the storage compartment 200A, and are spaced apart along the length of the first track 401. The conveyor belt 405 is wound around the first synchronous pulley 403 and the second synchronous pulley 404; the clamping plate 407 is fixedly connected to the sliding block 406, and at least a portion of the conveyor belt 405 is fixedly connected to the clamping plate 407; the second synchronous pulley 404 is connected to a drive assembly 500, which drives the second synchronous pulley 404 to rotate, thereby moving the conveyor belt 405. The conveyor belt 405 causes the first synchronous pulley 403 and the second synchronous pulley 404 to rotate synchronously, and also causes the clamping plate 407 and the sliding block 406 to move along the first track 401. Then, the protective door 300 connected to the sliding block 406 slides along the height direction of the support base 100.

[0109] In some embodiments, the transmission assembly further includes a second track 402, a pulley, a counterweight 408, and a counterweight traction rope. The second track 402 is fixed to the surface of the mounting plate opposite to the storage compartment 200A, and the length direction of the second track 402 is parallel to the height direction of the support base 100; the pulley is rotatably connected to the surface of the mounting plate opposite to the storage compartment 200A and is coaxial with the first synchronous pulley 403.

[0110] The counterweight 408 is slidably connected to the second track 402. One end of the counterweight traction rope is fixedly connected to the counterweight 408, and the other end of the counterweight traction rope passes over the pulley and is fixedly connected to the clamping plate 407. When the clamping plate 407 moves along the first track 401, the clamping plate 407 causes the counterweight traction rope to drive the counterweight 408 to move along the second track 402, and the clamping plate 407 and the counterweight 408 move in opposite directions, that is, the protective door 300 and the counterweight 408 move in opposite directions.

[0111] The pulley can be a single pulley, which can be mounted on the same rotating shaft as the first synchronous pulley 403, or it can be separate from the first synchronous pulley 403 and connected to it via a connector, allowing the pulley to rotate synchronously with the first synchronous pulley 403. Alternatively, the pulley can be a pulley assembly consisting of at least two pulleys connected by a traction rope, where at least one pulley can be connected to either the first synchronous pulley 403 or the second synchronous pulley 404, allowing the pulley assembly to rotate with either the first synchronous pulley 403 or the second synchronous pulley 404. In this embodiment, the pulley is coaxially arranged with the first synchronous pulley 403, which saves installation space, resulting in a compact structure, and allows the movement of the counterweight 408 to be achieved using only a single pulley, reducing costs.

[0112] The counterweight 408 is slightly less than the combined weight of the protective door 300 and the sliding block 406. When the protective door 300 is open, the drive assembly 500 outputs an upward thrust to raise the protective door 300, while the counterweight 408 descends, achieving a counterweight effect. Conversely, when the protective door 300 is closed, the drive assembly 500 outputs a downward pull to lower the protective door 300, while the counterweight 408 rises, achieving a counterweight effect. The addition of the counterweight 408, for safety and manual operation in case of power failure, significantly increases safety and ease of maintenance. On one hand, it reduces the power required for the drive assembly 500, reducing its size and making the structure more compact. On the other hand, it prevents the risk of the protective door 300 suddenly falling in the event of an unexpected power outage, achieving a safety interlock in case of power failure. Furthermore, maintenance can be performed by gently lifting it manually, facilitating operation.

[0113] In some embodiments, both the first track 401 and the second track 402 are elongated and fixed to the mounting plate. The first track 401 and the second track 402 are parallel to each other and spaced apart. The length direction of both the first track 401 and the second track 402 is parallel to the height direction of the support base 100. Both the first track 401 and the second track 402 can be fixed to the mounting plate by bolts or other fasteners, or by welding or other methods.

[0114] The first synchronous pulley 403 is rotatably connected to the mounting plate. Specifically, the mounting plate is fixed with a first connecting shaft, and the first synchronous pulley 403 is mounted on the first connecting shaft and can rotate around the first connecting shaft. The second synchronous pulley 404 is rotatably connected to the second mounting plate 151. Specifically, the second mounting plate 151 is fixed with a second connecting shaft, and the second synchronous pulley 404 is mounted on the second connecting shaft and can rotate around the second connecting shaft. The drive assembly 500 is connected to the second connecting shaft, and the drive assembly 500 drives the second connecting shaft to rotate, which in turn drives the second synchronous pulley 404 to rotate. The first synchronous pulley 403 and the second synchronous pulley 404 are arranged at intervals along the height direction of the support base 100, with the first synchronous pulley 403 located above the second synchronous pulley 404. The conveyor belt 405 is a closed loop, and it is wound around the first synchronous pulley 403 and the second synchronous pulley 404. The first synchronous pulley 403 and the second synchronous pulley 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.

[0115] Please refer to the above. Figure 13 The sliding block 406 is a rectangular plate, mounted on the first track 401 and slidable along the track 401. The sliding block 406 has a recessed mounting groove 406a for mounting the clamping plate 407. The clamping plate 407 includes a fixing block 407a and a clamping block 407b, both rectangular plates. One side surface of the clamping block 407b is fixedly connected to one side end face of the fixing block 407a. The clamping block 407b has a clamping groove 407c and a connecting groove 407d. The clamping groove 407c extends through the clamping block 407b along the height direction of the support base 100 for the conveyor belt 405 to pass through. The connecting groove 407d is used to connect a counterweight traction rope. The fixing block 407a is installed in the mounting groove 406a of the sliding block 406 and is fixedly connected to the sliding block 406; the fixing block 407a can be fixed in the mounting groove 406a by bolts or other fasteners or by welding. At least a portion of the conveyor belt 405 is located in the clamping groove 407c and is fixed in the clamping groove 407c; at least a portion of the conveyor belt 405 is specifically fixedly connected to the clamping plate 407 by bolts or other fasteners.

[0116] A sliding wheel is connected to a mounting plate and is specifically mounted on the first connecting shaft, rotating synchronously with the first synchronous wheel 403. A counterweight block 408 is mounted on the second track 402 and can slide along it. A counterweight traction rope is wound around the sliding wheel. One end of the counterweight traction rope is fixedly connected to the counterweight block 408, and the other end passes over the sliding wheel and is fixed in the connecting groove 407d of the clamping block 407b. The counterweight traction rope is specifically a steel wire rope.

[0117] In some embodiments, when the drive assembly 500 drives the second synchronous pulley 404 to rotate clockwise, the second synchronous pulley 404 drives the conveyor belt 405 to move clockwise, and the conveyor belt 405 drives the first synchronous pulley 403 and the sliding pulley to rotate clockwise. At this time, the clamping plate 407 connected to the conveyor belt 405 moves upward with the movement of the conveyor 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 connector 409. While the protective door 300 moves upward, the sliding pulley rotates clockwise, and the clamping plate 407 moves upward, which can drive the counterweight traction rope to move clockwise, thereby causing the counterweight block 408 to move downward under the action of gravity. Thus, the protective door 300 is opened.

[0118] When the drive assembly 500 drives the second synchronous pulley 404 to rotate counterclockwise, the second synchronous pulley 404 drives the conveyor belt 405 to move counterclockwise, and the conveyor belt 405 drives the first synchronous pulley 403 and the sliding pulley to rotate counterclockwise. At this time, the clamping plate 407 connected to the conveyor belt 405 moves downward with the movement of the conveyor belt 405. 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. While the protective door 300 moves downward, the sliding pulley rotates counterclockwise, and the clamping plate 407 moves downward, which can drive the counterweight traction rope to move counterclockwise, thereby causing the counterweight block 408 to move upward. Thus, the protective door 300 is closed.

[0119] In some embodiments, reference is made to Figure 10 The drive assembly 500 includes a drive shaft and a drive component 505; the drive component 505 is mounted on the support base 100; the drive shaft is mounted between two mounting plates; the end of the drive shaft passes through the mounting plate and is fixedly connected to the second synchronous pulley 404; the drive component 505 is connected to the drive shaft and is used to rotate the drive shaft, so that the drive shaft drives the second synchronous pulley 404 to rotate. The drive component 505 can be a motor, cylinder, or other components.

[0120] In some embodiments, the drive component 505 is a motor, which includes a body and an output shaft. The output shaft is connected to the drive shaft via a coupling. After the motor starts, the motor body drives the output shaft to rotate, thereby driving the drive shaft to rotate. The drive shaft then drives the second synchronous pulley 404 to rotate.

[0121] In some embodiments, the drive assembly 500 further includes a first drive wheel 506, a second drive wheel 507, and a drive belt 508. The first drive wheel 506 is fixedly connected to the output shaft of the drive member 505; the second drive wheel 507 is fixedly connected to the drive shaft, and the drive belt 508 is wound around the first drive wheel 506 and the second drive wheel 507. The drive member 505 drives the first drive wheel 506 to rotate, thereby moving the drive belt 508, which in turn causes the second drive wheel 507 to rotate, and the second drive wheel 507 causes the drive shaft to rotate.

[0122] After the motor starts, the motor body drive output shaft begins to rotate, driving the first drive wheel 506 to rotate. The first drive wheel 506 drives the second drive wheel 507 to rotate via the drive belt 508. The second drive wheel 507 drives the drive shaft to rotate, and the drive shaft drives the second synchronous pulley 404 to rotate.

[0123] In some embodiments, there are two transmission assemblies 400, each disposed on the side of one of the two mounting plates (first mounting plate 141 and second mounting plate 151) away from the storage compartment, and connected to opposite sides of the protective door 300. In other words, both the first mounting plate 141 and the second mounting plate 151 are connected to transmission assemblies 400. In this case, the drive assembly 500 also includes two brackets 501 and a coupling 504. The drive shaft includes a first drive shaft 502 and a second drive shaft 503; both brackets 501 are fixed between the two mounting plates (first mounting plate 141 and second mounting plate 151). Specifically, one end of a bracket 501 is fixed to the support base 100, and the other end is rotatably connected to the first drive shaft 502, serving to support the first drive shaft 502 and prevent it from bending or deforming. One end of another bracket 501 is fixed to the support base 100, and the other end is rotatably connected to the second drive shaft 503, serving to support the second drive shaft 503 and prevent it from bending or deforming. The two ends of the coupling 504 are respectively connected to one end of the first drive shaft 502 and one end of the second drive shaft 503. The other end of the first drive shaft 502 passes through a mounting plate (first mounting plate 141) and is fixedly connected to the second synchronous pulley 404 of one of the transmission components 400. The other end of the second drive shaft 503 passes through another mounting plate (second mounting plate 151) and is fixedly connected to the second synchronous pulley 404 of another transmission component 400.

[0124] Therefore, after the motor starts, the motor body drive output shaft begins to rotate in the first direction, driving the first drive wheel 506 to rotate. The first drive wheel 506 drives the second drive wheel 507 to rotate via the drive belt 508. The second drive wheel 507 drives the second drive shaft 503 to rotate. The second drive shaft 503 drives the first drive shaft 502 to rotate via the coupling 504. Each side of the protective door 300 is connected to a transmission assembly 400, allowing both sides of the protective door 300 to be driven synchronously, resulting in smoother sliding of the protective door 300.

[0125] In other embodiments, the first drive shaft 502 and the second drive shaft 503 are integrally formed into a single drive shaft. One end of this drive shaft passes through the first mounting plate 141 and is fixedly connected to the second synchronous pulley 404 of one of the transmission components 400. The other end of the drive shaft passes through the second mounting plate 151 and is fixedly connected to the second synchronous pulley 404 of the other transmission component 400. When the motor operates, its output shaft drives the drive shaft to rotate, causing the two second synchronous pulleys 404 to rotate synchronously. Considering the capacity of the storage rack, the width of the storage rack is set relatively large, i.e., the distance between the two mounting plates is wide. If a single, continuous drive shaft is used to connect the two mounting plates, a thinner drive shaft is prone to deformation and bending, while a thicker drive shaft would require increased output power from the drive component 505. Therefore, using two drive shafts connected by a coupling avoids the problem of deformation caused by an excessively long drive shaft and appropriately reduces the output power of the drive component 505.

[0126] Understandably, two drive components 500 can be set up, each driving one of the two transmission components 400 in a one-to-one manner. To ensure the smooth movement of the protective door 300, the clocks of the two drive components 500 need to be synchronized.

[0127] In other embodiments, only one mounting plate (first mounting plate 141 or second mounting plate 151) is connected to the transmission assembly 400. In this case, the drive assembly 500 includes only a drive member and a drive shaft. The drive member is fixed to the side of the mounting plate near the storage compartment, one end of the drive shaft is connected to the drive member, and the other end of the drive shaft passes through the mounting plate and is connected to the second synchronous pulley.

[0128] In some embodiments, the storage rack 200 further includes two protective plates, which are respectively connected to the side of the two mounting plates opposite to the storage partition 200A; the protective plates and the mounting plates enclose an installation space, and the transmission assembly 400 is located within the installation space.

[0129] Specifically, the two protective plates are a first protective plate 142 and a second protective plate 152. A first mounting plate 141 and a first protective plate 142 are connected to form a first support column 140. Both the first mounting plate 141 and the first protective plate 142 are L-shaped plates, and are fixedly connected to form a first mounting space 143. The first mounting space 143 is used to install a transmission component 400.

[0130] The second mounting plate 151 and the second protective plate 152 are connected to form the second support column 150. Both the second mounting plate 151 and the second protective plate 152 are L-shaped plates, and are fixedly connected to form the second mounting space 153. The second mounting space 153 is used to install another transmission component 400. The first support column 140 and the second support column 150 are both fixedly connected to the storage compartment 200A.

[0131] In some embodiments, reference is made to Figure 11 The storage partition 200A includes a storage plate 210, which is a rectangular plate with multiple storage stations 250 spaced apart. The storage plate 210 is located between two mounting plates (first mounting plate 141 and second mounting plate 151), and the two mounting plates are fixedly connected to opposite ends of the storage plate 210. Each storage station 250 can hold at least one container such as a test tube or solvent bottle for holding samples, or a tray containing the same capacity (such as a test tube tray or solvent bottle tray).

[0132] In some embodiments, the storage compartment 200A further includes storage positioning elements 220 installed on each storage station 250. Two storage positioning elements 220 are installed at intervals in each storage station 250. In some specific embodiments, when the storage station 250 is used to store a tray, the storage positioning element 220 can be a positioning pin, which engages with a positioning hole on the bottom of the tray to ensure that the tray is always in the same position when stored. In other specific embodiments, when the storage station 250 is used to store containers, the storage positioning element 220 can be an elastic element, such as a metal elastic sheet or a plastic elastic element; the storage station 250 is a positioning groove, and the elastic element is disposed within the positioning groove; the positioning groove and the elastic element cooperate to store and position materials such as test tubes and solvent bottles; furthermore, this improves the compatibility of the positioning groove to accommodate containers of different sizes.

[0133] In some embodiments, the storage compartment 200A is equipped with a detection sensor 230, an indicator light 240, and a controller. Each storage station 250 has a detection area 260, with the indicator light 240 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 inside the groove; or the detection sensor 230 is located at both ends outside the groove.

[0134] The detection sensor 230 is used to detect whether there is material placed at the corresponding storage station 250. When the detection sensor 230 detects that there is material in the storage station 250, the controller controls the corresponding indicator light 240 to light up to alert the experimenter. Conversely, when the detection sensor 230 detects that there is no material in the storage station 250, the controller controls the indicator light 240 to turn off to alert the experimenter. Alternatively, different colors of the indicator light 240 can be used to indicate the presence of material. For example, two indicator lights 240 can be installed at each storage station 250, one red and the other green. When the red indicator light 240 is on, it indicates that there is material in the storage station 250. When the green indicator light 240 is on, it indicates that there is no material in the storage station 250. The indicator lights 240 are located on the side of the storage panel 210 facing the protective door 300 so that the experimenter can see the status of the indicator lights 240 after the protective door 300 is opened. Alternatively, an indicator light 240 can be installed at each storage station 250. When the indicator light 240 emits different colors of light, it indicates whether there is material at the storage station 250.

[0135] The detection sensor 230 is also used to detect the placement status of the material, such as whether the material is level. Specifically, two detection sensors 230 are set up. After the detection sensor 230 detects a signal, the indicator light is controlled to emit a signal to indicate whether the material is level. After the material is leveled, it can be easily gripped by the first gripping device 5000, improving the accuracy of material gripping and thus improving the material transfer efficiency.

[0136] Multiple storage compartments 200A are provided, and all of them 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. Multiple storage plates 210 are arranged at intervals between the first mounting plate 141 and the second mounting plate 151 along the height direction of the support base 100. Multiple storage compartments 200A can store a larger quantity of materials.

[0137] In some embodiments, the support base 100 includes a base 110, an adjustable foot 120, and a roller 130. The adjustable foot 120 and the roller 130 are mounted on the bottom of the base 110. The adjustable foot 120 supports the base 110, and the roller 130 facilitates the movement of the first human-machine interaction station 1000.

[0138] The base 110 is cubic in shape and includes a base plate 111, a support plate 112, and multiple side plates 123. The base plate 111 is located below the support plate 112, which supports the structure located on it. The opposite sides of the multiple side plates 123 are respectively connected to the base plate 111 and the support plate 112. The base plate 111, the support plate 112, and the multiple side plates 123 enclose a receiving chamber 124, which can be used to house the electrical control equipment (such as various controllers and power supply devices) of the first human-machine interface station 1000; in addition, the receiving chamber 124 can also be used to house radiators, etc. Some of the side plates 123 are fixedly connected to the base plate 111 and the support plate 112 on both sides, while other side plates 123 are detachably connected to the base plate 111 and the support plate 112. In addition, an interactive door can be provided on the side panel 123 on the side closer to the person. This interactive door can be opened to expose the receiving chamber 124, thereby facilitating the inspection and / or replacement of components installed in the receiving chamber 124.

[0139] The adjustable feet 120 include a circular support block 121 and an adjusting bolt 122. There are four adjustable feet 120, each installed at one of the four corners of the base plate 111. One end of the adjusting bolt 122 is threaded to the base plate 111, and the support block 121 is fixedly connected to the end of the adjusting bolt 122 furthest from the base plate 111. The adjustable feet 120 support the base 110, and when the adjusting bolt 122 is screwed on, it can extend or shorten relative to the base plate 111. Therefore, even on uneven ground, the base 110 can be kept level by adjusting the length of the four adjusting bolts 122 relative to the base plate 111. In other embodiments, the number of adjustable feet 120 can be two, three, five, etc., and the adjustable feet 120 can be installed at any position on the base plate 111; this application is not limited to these positions.

[0140] In some embodiments, there are four rollers 130, which are respectively installed at the four corners of the base plate 111. The rollers 130 facilitate the movement of the first human-machine interaction station 1000. It is understood that when the first human-machine interaction station 1000 does not need to move, the extension length of the adjusting bolt 122 relative to the base plate 111 is relatively long, thus preventing the rollers 130 from rolling along the ground. When the first human-machine interaction station 1000 needs to be moved, the adjusting bolt 122 is tightened, shortening the adjusting bolt 122 relative to the base plate 111, thereby preventing the support block 121 from contacting the ground. At this time, the rollers 130 contact the ground, facilitating the movement of the first human-machine interaction station 1000. In other embodiments, the number of rollers 130 can be three, five, six, etc., and the rollers 130 can be installed in other locations such as the middle area of ​​the base plate 111; this application is not limited to these locations.

[0141] The first mounting space 143 and the second mounting space 153 shown in the accompanying drawings of this application are both equipped with transmission components 400, and the drive component 500 simultaneously drives the two transmission components 400 to operate. The installation of the drive component 500 and how the drive component 500 specifically drives the two transmission components 400 to operate simultaneously are described in detail below.

[0142] Please also refer to Figure 10 and Figure 14 The drive unit 505 is installed within the receiving chamber 124 of the base 110. The first drive wheel 506 is located within the receiving chamber 124 of the base 110 and is fixedly connected to the output shaft of the motor. The second drive wheel 507 is fixedly connected to the second drive shaft 503. A portion of the drive belt 508 is located within the receiving chamber 124 of the base 110 and is wound around the first drive wheel 506; the other portion of the drive belt 508 passes through the support plate 112 and is wound around the second drive wheel 507.

[0143] After the motor starts, the motor's drive output shaft begins to rotate in the first direction, driving the first drive wheel 506 to rotate. The first drive wheel 506, through the drive belt 508, causes the second drive wheel 507 to rotate. The second drive wheel 507 drives the second drive shaft 503 to rotate. The second drive shaft 503, through the coupling 504, drives the first drive shaft 502 to rotate.

[0144] After the first drive shaft 502 rotates, it drives the second synchronous pulley 404 in the first mounting space 143 to rotate clockwise. The second synchronous pulley 404 drives the conveyor belt 405 to move clockwise, and the conveyor belt 405 drives the first synchronous pulley 403 and the sliding pulley to rotate clockwise. At this time, the clamping plate 407 connected to the conveyor belt 405 moves upward with the movement of the conveyor 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. While the protective door 300 moves upward, the sliding pulley rotates clockwise, and the clamping plate 407 moves upward, which can drive the counterweight traction rope to move clockwise, thereby causing the counterweight block 408 to move downward under the action of gravity. Similarly, after the second drive shaft 503 rotates, it drives the transmission component 400 in the second mounting space 153 to work on the same principle as the transmission component 400 in the first mounting space 143, which will not be described again.

[0145] It is understood that the coupling 504 enables the first drive shaft 502 and the second drive shaft 503 to rotate synchronously. Therefore, the second synchronous wheel 404 of the transmission component 400 in the first mounting space 143 and the second synchronous wheel 404 of the transmission component 400 in the second mounting space 153 rotate synchronously, thereby enabling the respective conveyor belts 405 of the two transmission components 400 to move synchronously and the respective sliding blocks 406 of the two transmission components 400 to move synchronously, ultimately achieving synchronous movement of both sides of the protective door 300, which makes the movement of the protective door 300 more stable.

[0146] Once the protective door 300 has moved upwards until the entire storage shelf 200 is exposed, the motor stops operating. At this point, the weight of the counterweight 408 acts as a pulling force on the protective door 300 through the counterweight traction rope, keeping the protective door 300 in the exposed state of the storage shelf 200. At this time, researchers can place or retrieve materials or test tubes on the storage shelf 200.

[0147] After the experimenter places or retrieves materials, the motor's drive output shaft begins to rotate in a second direction. One of the first and second directions is clockwise, and the other is counter-clockwise. The rotation of the output shaft drives the first drive wheel 506 to rotate, which in turn drives the second drive wheel 507 to rotate via a drive belt 508. The second drive wheel 507 drives the second drive shaft 503 to rotate. The second drive shaft 503 then drives the first drive shaft 502 to rotate via a coupling 504.

[0148] After the first drive shaft 502 rotates, it drives the second synchronous pulley 404 in the first mounting space 143 to rotate counterclockwise. The second synchronous pulley 404 drives the conveyor belt 405 to move counterclockwise, and the conveyor belt 405 drives the first synchronous pulley 403 and the sliding pulley to rotate counterclockwise. At this time, the clamping plate 407 connected to the conveyor belt 405 moves downward with the movement of the conveyor belt 405. 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. While the protective door 300 moves downward, the sliding pulley rotates counterclockwise, and the clamping plate 407 moves downward, which can drive the counterweight traction rope to move counterclockwise, thereby causing the counterweight block 408 to move upward.

[0149] In some embodiments, the protective door 300 is a rectangular thin plate. One side of the protective door 300 is fixedly connected to a connector 409 extending from the first mounting space 143. The other side of the protective door 300 is fixedly connected to a connector 409 extending from the second mounting space 153. The protective door 300 may be transparent or semi-transparent, or a viewing window may be provided on the protective door 300 to allow personnel to visually observe the operation of the first gripping device 5000 on the storage shelf 200. The protective door 300 may be made of flame-retardant non-metallic material, specifically V0-rated fire-resistant PC (Polycarbonate).

[0150] refer to Figure 9 The connector 409 is fixedly connected to the sliding block 406 and extends at least partially beyond the first mounting space 143. The portion of the connector 409 extending beyond the first mounting space 143 is used to connect to the protective door 300. It is understood that the transmission assembly 400, installed within the second mounting space 153, includes a connector 409 that extends at least partially beyond the second mounting space 153 to connect to the protective door 300. The sliding block 406 is fixedly connected to one side of the third connecting section 409c. When the sliding block 406 slides, it drives the protective door 300 to slide via the connector 409; that is, the sliding block 406, the connector 409, and the protective door 300 slide synchronously.

[0151] In some embodiments, the controller is mounted within the receiving chamber 124 of the base 110. The controller is electrically connected to the aforementioned detection sensor 230, indicator light 240, and motor, thereby enabling control of the detection sensor 230, indicator light 240, and motor.

[0152] refer to Figure 7 and Figure 8The first human-machine interface station 1000 also includes a display screen 600, which is mounted on the storage shelf 200 and electrically connected to the controller. The display screen 600 can be a touch screen, allowing the operator to directly control the first human-machine interface station 1000. For example, clicking the "open" option on the touch screen will cause the controller to operate the motor, thereby opening the protective door 300 and exposing the storage shelf 200. Alternatively, clicking the "close" option will cause the motor controller to operate the motor, closing the protective door 300 and covering the storage shelf 200. The display screen 600 can also be a non-touch screen, in which case the operator can control it via remote control to select whether the protective door 300 is open or closed. The display screen 600 and the protective door 300 are located on the same side of the storage shelf 200 for easy operation. In other embodiments, the display screen 600 can be fixed to the support base 100. The display screen 600 can also display the specific information of the materials stored in the storage rack 200, such as basic information of each material (e.g., name, capacity, storage location), and the availability status of each storage station. Laboratory personnel can also manually input or modify information about the stored materials on the display screen 600.

[0153] The first human-computer interaction station 1000 also includes a barcode scanning device 700, which is fixed to the support plate 112. Alternatively, the barcode scanning device 700 can also be fixed to a side plate 123 or a storage rack 200, or it can be handheld; this application is not limited to these limitations. The barcode scanning device 700 is electrically connected to the controller. When the experimenter needs to place or remove materials from the storage rack 200, they align the identification code on the material with the barcode scanning device 700 to scan it and transmit the scanning signal to the controller. After receiving the scanning signal from the barcode scanning device 700, the controller records the material's entry or exit. The identification code can be a QR code, barcode, character code, etc.

[0154] 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.

[0155] In this embodiment, the area within the laboratory located on the side of the first human-machine interface station 1000 facing away from the first gripping device 5000 is the personnel activity area. The area containing the first human-machine interface station 1000, storage cabinet 2000, material transfer station 4000, first guide platform 6000, and first gripping device 5000 is the automation area. Furthermore, the protective door 300 is located on the side of the storage shelf 200 facing away from the automation area.

[0156] The first gripping device 5000 can communicate with the electrical controller of the first human-machine interface station 1000. When storing materials using the storage system provided in this embodiment, the material carrier is first prepared. When the "open" option is clicked on the touch screen 600, the electrical controller controls the motor to work, and the protective door 300 is opened to expose the storage rack 200. At the same time, the first gripping device 5000 will receive a signal that the protective door 300 is open. At this time, the first gripping device 5000 will not place or pick up the material carrier at the storage rack 200. Then, the barcode scanner 700 scans the barcode of each material carrier and places it on the storage rack 200 of the first human-machine interface station 1000. At this time, the control system will automatically match the code of the material carrier with the code of the storage position occupied by the material carrier on the storage rack 200. Then, the "close" option is clicked on the touch screen 600, and the electrical controller controls the motor to work, so that the protective door 300 is closed to cover the storage rack 200. Then the first gripping device 5000 moves along the first guide platform 6000 toward the first human-machine interaction station 1000, and then the first gripping device 5000 grips the material carrier placed on the storage rack of the first human-machine interaction station 1000.

[0157] Therefore, the first gripping device 5000 can be prevented from injuring experimental personnel, thus improving the safety factor. In other words, in this embodiment, by setting a protective door 300 that can move up and down along the height of the support base 100, the protective door 300 can either cover or expose the storage shelf 200. When the protective door 300 exposes the storage shelf 200, external devices such as the first gripping device 5000 are prevented from placing or retrieving materials from the storage shelf 200. Only when the protective door 300 covers the storage shelf 200 can the first gripping device 5000 and other devices place or retrieve materials from the storage shelf 200, thus preventing the robotic arm 5100 from injuring experimental personnel and improving the safety factor.

[0158] In other words, in some embodiments, by setting a protective door 300 that can move along the support base 100, the protective door 300 can either cover or expose the storage shelf 200. When the protective door 300 exposes the storage shelf 200, the first gripping device 5000 is prevented from placing or removing materials from the storage shelf 200. Only when the protective door 300 covers the storage shelf 200 can the first gripping device 5000 place or remove materials from the storage shelf 200, thus preventing the robotic arm from injuring the experimenter and improving the safety factor.

[0159] When the protective door 300 is positioned on the side of the storage rack 200 facing the first gripping device 5000, the controller activates the motor, opening the protective door 300 to expose the storage rack 200 relative to the first gripping device 5000. At this time, the first gripping device 5000 can place or retrieve materials from the storage rack 200. When personnel need to place or retrieve materials from the storage rack 200, the controller activates the motor, closing the protective door 300 to shield the storage rack 200 from the first gripping device 5000, preventing injury to personnel from the robotic arm and improving safety. It also prevents personnel from interfering with the first gripping device 5000, thus ensuring its operational accuracy.

[0160] The embodiments of this application have been described in detail above. Specific examples have been used in this article to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application.

Claims

1. A warehousing system, characterized in that, include: First guide platform, storage cabinet, storage and receiving components, material transfer station, mobile robot and first gripping device; The storage cabinet is located on the first side of the first guide platform. The storage cabinet has a storage compartment and a first opening communicating with the storage compartment. The first opening faces the first guide platform. The storage container is disposed inside the receiving compartment and can be exposed from the first opening; the storage container is used to store materials. The material transfer station is located on the second side of the first guide platform, and the second side and the first side are either the same side or different sides of the first guide platform; the material transfer station is used to temporarily store materials that need to be transferred. The first gripping device is slidably connected to the first guide platform and is movable on the first guide platform; the first gripping device is used to transfer materials in the storage container to the material transfer station, and / or transfer materials in the material transfer station to the storage container; The mobile robot is located on the side of the material transfer station away from the first guide platform, and the mobile robot is used to pick up and put down materials at the material transfer station; The material transfer station includes a transfer base, multiple shelf units, and a positioning component. The shelf units are spaced apart on the transfer base, and each shelf unit has multiple transfer stations for holding material carriers to be transferred. The positioning component is fixed to the transfer base and is used by the mobile robot to locate the material transfer station. The positioning component includes a three-axis calibration bracket, three identification code calibration plates, and three identification codes. The three-axis calibration bracket is mounted on the transfer base. 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. Each identification code calibration plate contains an identification code located on the side opposite to the first guide platform. The identification code is used by the mobile robot to locate the material transfer station.

2. The warehousing system according to claim 1, characterized in that, The warehousing system further includes a first human-machine interface station, which is located on the third side of the first guide platform. The third side and the first side are the same side or different sides of the first guide platform. The first human-machine interface station is used to store materials and isolate the experimental personnel from the first gripping device. The first gripping device is also used to transfer materials in the first human-machine interface station to the storage container, and / or to transfer materials in the storage container to the first human-machine interface station.

3. The warehousing system according to claim 1, characterized in that, The storage cabinet is also provided with a second opening that communicates with the receiving compartment, and the storage and receiving component can move between the first opening and the second opening; the second opening and the first opening are located on the same side or different sides of the storage cabinet.

4. The warehousing system according to claim 3, characterized in that, The second opening and the first opening are located on different sides of the storage cabinet; the storage system also includes a second guide platform, a second gripping device, and a second human-machine interface station; The second guide platform is located on the side of the storage cabinet with the second opening. The second gripping device is slidably connected to the second guide platform and can move on the second guide platform. The second human-machine interface station is located on one side of the second guide platform. The second human-machine interface station is used to store materials and isolate the experimenter from the second gripping device. When the storage container moves to the second opening, the second gripping device is used to transfer the materials in the second human-machine interface station to the storage container, and / or to transfer the materials in the storage container to the second human-machine interface station.

5. The warehousing system according to claim 4, characterized in that, When the storage container moves to the second opening, the second gripping device is also used to transfer the material in the storage container to the material transfer station, and / or transfer the material in the material transfer station to the storage container.

6. The warehousing system according to claim 2, characterized in that, The storage cabinet is also provided with a second opening communicating with the receiving compartment, and the storage and receiving component is movable between the first opening and the second opening; the second opening and the first opening are located on different sides of the storage cabinet; the storage system also includes a second guide platform, a second gripping device and a second human-machine interaction station. The second guide platform is located on the side of the storage cabinet with the second opening. The second gripping device is slidably connected to the second guide platform and can move on the second guide platform. The second human-machine interface station is located on one side of the second guide platform. The second human-machine interface station is used to store materials and isolate the experimenter from the second gripping device. When the storage container moves to the second opening, the second gripping device is used to transfer the materials in the second human-machine interface station to the storage container, and / or to transfer the materials in the storage container to the second human-machine interface station.

7. The warehousing system according to claim 2, characterized in that, The first side and the second side are two opposite sides of the first guide platform; the first side and the third side are two adjacent sides of the first guide platform.

8. The warehousing system according to any one of claims 1 to 7, characterized in that, The storage and receiving components include: a storage pallet and a storage rack; the storage rack is fixed on the storage pallet; the storage rack is provided with multiple storage stations, and the storage stations are used to place material carriers containing materials; Each of the storage workstations is equipped with a storage positioning component, which is used to position the material carrier.

9. The warehousing system according to claim 8, characterized in that, The storage pallet is provided with multiple storage units spaced apart, and each storage unit is provided with at least one storage rack.

10. The warehousing system according to any one of claims 1 to 7, characterized in that, The warehousing system further includes at least one first position detection device; the first position detection device is installed inside the receiving compartment and is used to determine the position of the storage item.

11. The warehousing system according to any one of claims 1 to 7, characterized in that, The first gripping device includes a robotic arm, a gripper, and a second position detection device. The robotic arm is slidably connected to the first guide platform, and the gripper is fixedly connected to the robotic arm. The second position detection device is mounted on the robotic arm. The second position detection device is used to determine the position of the materials stored in the storage container.

12. The warehousing system according to any one of claims 1 to 7, characterized in that, The transfer base includes a transfer base plate, a first support plate, and a second support plate, with the first support plate and the second support plate fixed to the transfer base plate at intervals; a plurality of storage plates are spaced apart between the first support plate and the second support plate, with the opposite ends of the storage plates respectively fixedly connected to the first support plate and the second support plate.

13. The warehousing system according to any one of claims 1 to 7, characterized in that, The first guide platform includes a frame, a drive component, and a slide; the drive component is fixedly connected to the frame, and the slide is slidably connected to the drive component; the first gripping device is fixedly connected to the slide; the drive component can drive the first gripping device to move along the first guide platform via the slide.

14. The warehousing system according to claim 13, characterized in that, The first guide platform also includes a cable chain, which is mounted on the platform and is used to install cables connecting the first gripping device; when the first gripping device slides along the first guide platform, the cable chain moves with the first gripping device.

15. The warehousing system according to claim 2, characterized in that, The first human-machine interaction station includes: a support base, a storage shelf, a protective door, and a drive assembly; the storage shelf is installed on the support base and is used to store materials; the protective door is located on at least one side of the storage shelf and is used to separate the experimental personnel who need to retrieve materials from the storage shelf from the first gripping device; The drive assembly is connected to the protective door and is used to drive the protective door to move relative to the storage shelf, so as to cover or expose the storage shelf.

16. The warehousing system according to claim 15, characterized in that, The protective door is installed on the side of the storage shelf facing the first gripping device; and / or, the protective door is installed on the side of the storage shelf away from the first gripping device.

17. The warehousing system according to claim 15, characterized in that, The first human-machine interaction station also includes a safety light curtain, which is installed on the storage shelf; the safety light curtain is used to detect whether there are experimental personnel or the first gripping device taking or placing materials on the storage shelf.

18. The warehousing system according to claim 15, characterized in that, The first human-machine interaction station 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.

19. The warehousing system according to claim 18, 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.

20. The warehousing system according to claim 19, 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; The storage partition also includes a storage positioning component installed on each of the storage stations, the storage positioning component being used to confine the material to the storage station.

21. The warehousing system according to claim 20, 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.

22. The warehousing system according to claim 15, characterized in that, The first human-computer interaction station 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 first human-computer interaction station and / or to allow experimental personnel to operate it.

23. The warehousing system according to claim 15, characterized in that, The first human-machine interaction station 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.

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