A mechanical gripper control method and system

Abstract

The application provides a mechanical claw control method and system, the control method comprising the following steps: S100, collecting basic information of each sample tube and associating the basic information corresponding to each sample tube; S200, receiving a processing signal of a sample tube, collecting a position coordinate of a mechanical claw, and extracting information of a sample tube spatial position region and a sample tube structure from the basic information associated with the sample tube; S300, obtaining a clamping region of the sample tube according to the sample tube spatial position region and the sample tube structure; S400, judging whether the position coordinate of the mechanical claw is located in the clamping region of the sample tube; S410, if the position coordinate of the mechanical claw is located in the clamping region of the sample tube, the mechanical claw can form a clamping relationship with the sample tube, a mechanical claw torque is calculated, and a control instruction is obtained; and S420, if the position coordinate of the mechanical claw is not located in the clamping region of the sample tube, the mechanical claw cannot form a clamping relationship with the sample tube, and a feedback signal is sent.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical gripper, and particularly relates to a mechanical gripper control method and system. BACKGROUND

[0002] The current medical detection equipment needs to adopt corresponding standard sample tubes for cup processing, therefore, before the sample liquid is placed in the sample area, the sample liquid needs to be transferred to the standard sample tube corresponding to the medical detection equipment, the sample area is placed in the same standard sample tube, therefore, the torque of the mechanical gripper clamping each standard sample tube in the sample area is the same, and the torque of the mechanical gripper can be realized by setting the torque value, although the method is simple, the torque of the mechanical gripper cannot be adjusted, which leads to that the mechanical gripper is not suitable for clamping various sample tubes and has poor compatibility. SUMMARY

[0003] The present application aims to provide a mechanical gripper control method and system, and the technical problem to be solved is to automatically adjust the torque of the mechanical gripper, so that the mechanical gripper is compatible with various original sample tubes.

[0004] The present application is realized by the following technical scheme:

[0005] The first aspect provides a mechanical gripper control method, including the following steps:

[0006] Collecting basic information of each sample tube, and associating the basic information corresponding to each sample tube;

[0007] Receiving a processing signal of a sample tube, collecting the position coordinates of the mechanical gripper, and extracting the information of the sample tube spatial position area and the sample tube structure from the basic information associated with the sample tube;

[0008] According to the sample tube spatial position area and the sample tube structure, the clamping area of the sample tube is obtained;

[0009] Judging whether the position coordinates of the mechanical gripper are located in the clamping area of the sample tube;

[0010] If the position coordinates of the mechanical gripper are located in the clamping area of the sample tube, the mechanical gripper can form a clamping relationship with the sample tube, the torque of the mechanical gripper is calculated, and a control instruction is obtained;

[0011] If the position coordinates of the mechanical gripper are not located in the clamping area of the sample tube, the mechanical gripper cannot form a clamping relationship with the sample tube, and a feedback signal is sent.

[0012] In the case of meeting the clamping relationship, the torque of the mechanical gripper can be calculated according to the sample tube to be clamped, the automatic adjustment of the torque of the mechanical gripper is realized, and the mechanical gripper is compatible with various original sample tubes.

[0013] Furthermore, when the processed signal is a sample tube clamping signal, the clamping area of ​​the sample tube is obtained according to the spatial position area of ​​the sample tube and the structure of the sample tube. The specific steps are as follows:

[0014] Extract the connection method between the sample tube cover and the sample tube body from the above sample tube structure;

[0015] If the connection between the sample tube cap and the sample tube body is a threaded connection, the coordinates of the highest point and the lowest point of the sample tube are extracted from the spatial position area of ​​the sample tube, and the coordinate points between the highest point and the lowest point of the sample tube all belong to the clamping area of ​​the sample tube;

[0016] If the connection method between the above-mentioned sample tube cover and the sample tube body is a plug-in connection, the coordinates of the lowest point of the sample tube are extracted from the above-mentioned sample tube spatial position area, and the height of the sample tube body is extracted from the above-mentioned sample tube structure. The Z coordinate value of the coordinates of the lowest point of the above-mentioned sample tube and the height of the sample tube body are summed to obtain the coordinates of the highest point of the sample tube body. The coordinate points between the coordinates of the highest point of the above-mentioned sample tube body and the coordinates of the lowest point of the sample tube all belong to the clamping area of ​​the sample tube.

[0017] The processing mode is selected based on the specific processing signal. In this case, the sample tube clamping signal is used. The entire sample tube is clamped. If the sample tube cap and the sample tube body are threaded together (i.e., a threaded sample tube), the threaded connection provides a limit in the axial direction of the sample tube. Therefore, the mechanical gripper can clamp any position on the side wall of the sample tube.

[0018] If the sample tube cap to be clamped is connected to the sample tube body by a plug-in connection (i.e., a plug-in sample tube), and the plug-in connection method does not have a limiting effect in the axial direction of the sample tube, then in order to solve the problem of separation of the sample tube body and the sample tube cap during the transfer process, the clamping position of the mechanical claw is set at any position on the side wall of the sample tube body, thereby avoiding the excessive weight of the sample tube body and the sample liquid, and the mechanical claw clamping on the side wall of the sample tube cap, resulting in separation of the sample tube body and the sample tube cap.

[0019] Furthermore, when the processing signal is a sample tube cover opening signal, the clamping area of ​​the sample tube is obtained according to the spatial position area and structure of the sample tube. The specific steps are as follows:

[0020] Extract the connection method between the sample tube cover and the sample tube body from the above sample tube structure;

[0021] If the connection mode of the sample tube cover and the sample tube body is screw connection, the sample tube highest point coordinate is extracted from the sample tube spatial position area, the sample tube cover height is extracted from the sample tube structure, the Z coordinate value of the sample tube highest point coordinate is subtracted from the sample tube cover height, the sample tube cover lowest point coordinate is obtained, and the coordinate points between the sample tube highest point coordinate and the sample tube cover lowest point coordinate belong to the clamping area of the sample tube.

[0022] If the connection mode of the sample tube cover and the sample tube body is plug-in connection, the sample tube highest point coordinate and the sample tube lowest point coordinate are extracted from the sample tube spatial position area, the sample tube body height is extracted from the sample tube structure, the Z coordinate value of the sample tube lowest point coordinate is summed with the sample tube body height, the sample tube body highest point coordinate is obtained, and the coordinate points between the sample tube highest point coordinate and the sample tube body highest point coordinate belong to the clamping area of the sample tube.

[0023] The processing mode is selected by a specific processing signal, which is a sample tube cover opening signal in this case. The sample tube cover to be clamped is selected. If the sample tube cover to be clamped is in screw connection with the sample tube body (i.e., a threaded sample tube), the side wall of the sample tube cover is located outside the sample tube body, and the mechanical claw can clamp any position of the side wall of the sample tube cover.

[0024] If the sample tube cover to be clamped is in plug-in connection with the sample tube body (i.e., a plug-in sample tube), part of the sample tube cover is nested in the sample tube body, and the mechanical claw can only clamp any position of the side wall of the sample tube cover extending out of the sample tube body.

[0025] Further, when the processing signal is a sample tube clamping signal, the calculated mechanical claw torque is the clamping torque of the mechanical claw clamping the sample tube, and the clamping control instruction is obtained.

[0026] The specific steps for calculating the clamping torque of the mechanical claw clamping the sample tube are as follows:

[0027] The sample liquid volume, sample liquid density, and sample tube mass information are extracted from the basic information associated with the sample tube, and formula (1) is used to calculate the clamping torque of the mechanical claw clamping the sample tube. Formula (1) is as follows:

[0028] F=(ρV+M)g / μ+S*K (1)

[0029] Where F represents the clamping torque of the mechanical claw clamping the sample tube; ρ represents the sample liquid volume; V represents the sample liquid density; M represents the sample tube mass; g represents the acceleration of gravity; μ represents the friction coefficient between the clamping surface of the mechanical claw and the sample tube; S represents the deformation of the sample tube, with a unit of meters; and K represents the nonlinear elastic coefficient of the sample tube.

[0030] Further, when the processing signal is the sample tube cover opening signal, the calculated mechanical claw torque is the cover opening torque of the mechanical claw opening the sample tube cover;

[0031] The specific steps of calculating the cover opening torque of the mechanical claw opening the sample tube cover are as follows:

[0032] The sample tube cover mass and the pre-tightening force information between the sample tube cover and the sample tube body are extracted from the basic information associated with the sample tube, and the cover opening torque of the mechanical claw opening the sample tube cover is calculated by using formula (2), which is as follows:

[0033] F = mg / μ + S*K + f (2)

[0034] Wherein, F represents the cover opening torque of the mechanical claw opening the sample tube cover; m represents the sample tube cover mass; g represents the gravitational acceleration; μ represents the friction coefficient between the clamping surface of the mechanical claw and the sample tube; S represents the deformation of the sample tube, in meters; K represents the nonlinear elastic coefficient of the sample tube; and f represents the pre-tightening force between the sample tube cover and the sample tube body.

[0035] Further, after obtaining the cover opening torque of the mechanical claw opening the sample tube cover, the connection mode of the sample tube cover and the sample tube body needs to be extracted from the sample tube structure;

[0036] If the connection mode of the sample tube cover and the sample tube body is screw connection, a screw cover opening control instruction is generated;

[0037] If the connection mode of the sample tube cover and the sample tube body is plug-in connection, a plug-in cover opening control instruction is generated.

[0038] In the two cover opening modes, the screw cover opening control instruction controls the mechanical claw to use the cover opening torque to clamp the sample tube cover, and moves the sample tube cover upward while rotating to ensure the clamping area of the sample tube.

[0039] The plug-in cover opening control instruction controls the mechanical claw to use the cover opening torque to clamp the sample tube cover and move the sample tube cover upward.

[0040] The second aspect provides a mechanical claw control system, which adopts the mechanical claw control method described above.

[0041] The control system comprises:

[0042] An execution module for receiving control instructions and driving the movement of the mechanical claw;

[0043] A collection module for collecting the basic information of each sample tube and the position coordinates of the mechanical claw;

[0044] A control module connected with the execution module and the collection module;

[0045] The control module is used for associating basic information corresponding to each sample tube,

[0046] Upon receiving a processing signal of a sample tube, the control module controls the acquisition module to acquire the position coordinates of the mechanical gripper, extracts the sample tube spatial position region and the sample tube structure information from the basic information associated with the sample tube,

[0047] According to the sample tube spatial position region and the sample tube structure, the clamping region of the sample tube is obtained,

[0048] It is judged whether the position coordinates of the mechanical gripper are located in the clamping region of the sample tube,

[0049] If the position coordinates of the mechanical gripper are located in the clamping region of the sample tube, the mechanical gripper can form a clamping relationship with the sample tube, the mechanical gripper torque is calculated, and a control instruction is obtained,

[0050] If the position coordinates of the mechanical gripper are not located in the clamping region of the sample tube, the mechanical gripper cannot form a clamping relationship with the sample tube, and a feedback signal is sent.

[0051] Further, when the processing signal is a sample tube clamping signal, the control module is used for obtaining the clamping region of the sample tube according to the sample tube spatial position region and the sample tube structure, and the specific steps are as follows:

[0052] The connection mode of the sample tube cover and the sample tube body is extracted from the sample tube structure,

[0053] If the connection mode of the sample tube cover and the sample tube body is screw connection, the sample tube highest point coordinates and the sample tube lowest point coordinates are extracted from the sample tube spatial position region, and the coordinate points between the sample tube highest point coordinates and the sample tube lowest point coordinates belong to the clamping region of the sample tube,

[0054] If the connection mode of the sample tube cover and the sample tube body is plug-in connection, the sample tube lowest point coordinates are extracted from the sample tube spatial position region, the sample tube body height is extracted from the sample tube structure, the Z coordinate value of the sample tube lowest point coordinates and the sample tube body height are summed to obtain the sample tube body highest point coordinates, and the coordinate points between the sample tube body highest point coordinates and the sample tube lowest point coordinates belong to the clamping region of the sample tube.

[0055] Further, when the processing signal is a sample tube cover opening signal, the control module is used for obtaining the clamping region of the sample tube according to the sample tube spatial position region and the sample tube structure, and the specific steps are as follows:

[0056] The connection mode of the sample tube cover and the sample tube body is extracted from the sample tube structure,

[0057] If the connection mode of the sample tube cover and the sample tube body is screw connection, the sample tube highest point coordinate is extracted from the sample tube spatial position area, the sample tube cover height is extracted from the sample tube structure, the Z coordinate value of the sample tube highest point coordinate is subtracted from the sample tube cover height, the sample tube cover lowest point coordinate is obtained, and the coordinate points between the sample tube highest point coordinate and the sample tube cover lowest point coordinate belong to the clamping area of the sample tube,

[0058] If the connection mode of the sample tube cover and the sample tube body is plug-in connection, the sample tube highest point coordinate and the sample tube lowest point coordinate are extracted from the sample tube spatial position area, the sample tube body height is extracted from the sample tube structure, the Z coordinate value of the sample tube lowest point coordinate is summed with the sample tube body height, the sample tube body highest point coordinate is obtained, and the coordinate points between the sample tube highest point coordinate and the sample tube body highest point coordinate belong to the clamping area of the sample tube.

[0059] Further, the control module is used for, when the processing signal is the sample tube clamping signal, calculating the mechanical claw torque as the clamping torque of the mechanical claw clamping the sample tube, and obtaining the clamping control instruction,

[0060] The specific steps of calculating the clamping torque of the mechanical claw clamping the sample tube are as follows:

[0061] The sample liquid volume, the sample liquid density and the sample tube quality information are extracted from the basic information associated with the sample tube, and the clamping torque of the mechanical claw clamping the sample tube is calculated by using formula (1), and formula (1) is as follows:

[0062] F=(ρV+M)g / μ+S*K (1)

[0063] Wherein, F represents the clamping torque of the mechanical claw clamping the sample tube; ρ represents the sample liquid volume; V represents the sample liquid density; M represents the sample tube quality; g represents the acceleration of gravity; μ represents the friction coefficient between the clamping surface of the mechanical claw and the sample tube; S represents the deformation of the sample tube, and the unit is meter; K represents the nonlinear elastic coefficient of the sample tube.

[0064] Further, the control module is used for, when the processing signal is the sample tube cover opening signal, calculating the mechanical claw torque as the cover opening torque of the mechanical claw opening the sample tube cover,

[0065] The specific steps of calculating the cover opening torque of the mechanical claw opening the sample tube cover are as follows:

[0066] The sample tube cover quality and the pre-tightening force between the sample tube cover and the sample tube body are extracted from the basic information associated with the sample tube, the cover opening torque of the mechanical claw opening the sample tube cover is calculated by using formula (2), and formula (2) is as follows:

[0067] F=mg / μ+S*K+f (2)

[0068] Wherein, F represents the opening torque of the mechanical claw to open the sample tube cover; m represents the mass of the sample tube cover; g represents the acceleration of gravity; μ represents the friction coefficient between the clamping surface of the mechanical claw and the sample tube; S represents the deformation of the sample tube, in meters; K represents the nonlinear elastic coefficient of the sample tube; and f represents the pre-tightening force between the sample tube cover and the sample tube body.

[0069] Further, after obtaining the opening torque of the mechanical claw to open the sample tube cover, the control module is further used to extract the connection mode of the sample tube cover and the sample tube body from the sample tube structure,

[0070] If the connection mode of the sample tube cover and the sample tube body is screw connection, a screw opening control instruction is generated,

[0071] If the connection mode of the sample tube cover and the sample tube body is plug-in connection, a plug-in opening control instruction is generated.

[0072] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0073] In the case of meeting the clamping relationship, the mechanical claw torque can be calculated according to the sample tube to be clamped, realizing automatic adjustment of the mechanical claw torque, and making the mechanical claw compatible with various original sample tubes. BRIEF DESCRIPTION OF DRAWINGS

[0074] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0075] Figure 1 is a main flowchart;

[0076] Figure 2 is a system block diagram.

[0077] Markings in the drawings and corresponding names of parts:

[0078] 1 - collection module, 2 - control module, 3 - execution module. DETAILED DESCRIPTION

[0079] In order to make the purpose, technical solutions and advantages of the present application more clear and obvious, the following will further describe the present application in combination with embodiments and drawings, and the exemplary embodiments of the present application and their descriptions are only used to explain the present application, and should not be regarded as a limitation on the present application.

[0080] Example 1

[0081] In combination Figure 1 The embodiment 1 provides a mechanical claw control method, comprising the following steps:

[0082] S100, collecting basic information of each sample tube and associating the basic information corresponding to each sample tube;

[0083] S200, receiving a processing signal of a sample tube, collecting a position coordinate of the mechanical claw, extracting information of a sample tube spatial position region and a sample tube structure from the basic information associated with the sample tube;

[0084] S300, obtaining a clamping region of the sample tube according to the sample tube spatial position region and the sample tube structure;

[0085] S400, judging whether the position coordinate of the mechanical claw is located in the clamping region of the sample tube;

[0086] S410, if the position coordinate of the mechanical claw is located in the clamping region of the sample tube, the mechanical claw can form a clamping relationship with the sample tube, a mechanical claw torque is calculated to obtain a control instruction;

[0087] S420, if the position coordinate of the mechanical claw is not located in the clamping region of the sample tube, the mechanical claw cannot form a clamping relationship with the sample tube, and a feedback signal is sent.

[0088] In the case of meeting the clamping relationship, the mechanical claw torque can be calculated according to the sample tube to be clamped, the automatic adjustment of the mechanical claw torque is realized, and the mechanical claw is compatible with various original sample tubes.

[0089] In specific embodiments, when the processing signal is a sample tube clamping signal, the clamping region of the sample tube is obtained according to the sample tube spatial position region and the sample tube structure, and the specific steps are as follows:

[0090] The connection mode of the sample tube cover and the sample tube body is extracted from the sample tube structure;

[0091] If the connection mode of the sample tube cover and the sample tube body is screw connection, the sample tube highest point coordinate and the sample tube lowest point coordinate are extracted from the sample tube spatial position region, and the coordinate points between the sample tube highest point coordinate and the sample tube lowest point coordinate all belong to the clamping region of the sample tube;

[0092] If the connection mode of the sample tube cover and the sample tube body is plug-in connection, the lowest point coordinate of the sample tube is extracted from the sample tube spatial position area, the height of the sample tube body is extracted from the sample tube structure, the Z coordinate value of the lowest point coordinate of the sample tube is summed with the height of the sample tube body, the highest point coordinate of the sample tube body is obtained, and the coordinate points between the highest point coordinate of the sample tube body and the lowest point coordinate of the sample tube belong to the clamping area of the sample tube.

[0093] The processing mode is selected by a specific processing signal, which is a sample tube clamping signal, and the whole sample tube is to be clamped. If the sample tube cover and the sample tube body are in threaded connection (i.e. a threaded sample tube), the threaded connection mode has a limiting effect in the axial direction of the sample tube, and the mechanical claw can clamp any position of the side wall of the sample tube.

[0094] If the sample tube cover and the sample tube body are in plug-in connection (i.e. a plug-in sample tube), the plug-in connection mode has no limiting effect in the axial direction of the sample tube. In order to solve the separation of the sample tube body and the sample tube cover during the transfer process, the clamping position of the mechanical claw is set at any position of the side wall of the sample tube body, so as to avoid that the weight of the sample tube body and the sample liquid is too heavy and the mechanical claw is clamped on the side wall of the sample tube cover, resulting in the separation of the sample tube body and the sample tube cover.

[0095] In a specific embodiment, when the processing signal is a sample tube cover opening signal, the clamping area of the sample tube is obtained according to the sample tube spatial position area and the sample tube structure, and the specific steps are as follows:

[0096] The connection mode of the sample tube cover and the sample tube body is extracted from the sample tube structure.

[0097] If the connection mode of the sample tube cover and the sample tube body is threaded connection, the highest point coordinate of the sample tube is extracted from the sample tube spatial position area, the height of the sample tube cover is extracted from the sample tube structure, the Z coordinate value of the highest point coordinate of the sample tube is subtracted from the height of the sample tube cover, the lowest point coordinate of the sample tube cover is obtained, and the coordinate points between the highest point coordinate of the sample tube and the lowest point coordinate of the sample tube cover belong to the clamping area of the sample tube.

[0098] If the connection mode of the sample tube cover and the sample tube body is plug-in connection, the highest point coordinate of the sample tube and the lowest point coordinate of the sample tube are extracted from the sample tube spatial position area, the height of the sample tube body is extracted from the sample tube structure, the Z coordinate value of the lowest point coordinate of the sample tube is summed with the height of the sample tube body, the highest point coordinate of the sample tube body is obtained, and the coordinate points between the highest point coordinate of the sample tube and the highest point coordinate of the sample tube body belong to the clamping area of the sample tube.

[0099] The processing mode is selected by a specific processing signal, which is a sample tube cover opening signal in this case. The sample tube cover is to be clamped. If the sample tube cover to be clamped is in threaded connection with the sample tube body (i.e., a threaded sample tube), the side wall of the sample tube cover is located outside the sample tube body, and the mechanical claw can clamp any position of the side wall of the sample tube cover.

[0100] If the sample tube cover to be clamped is in plug-in connection with the sample tube body (i.e., a plug-in sample tube), part of the sample tube cover is nested in the sample tube body, and the mechanical claw can only clamp any position of the side wall of the sample tube cover extending out of the sample tube body.

[0101] In a specific embodiment, when the processing signal is a sample tube clamping signal, the calculated mechanical claw torque is the clamping torque of the mechanical claw clamping the sample tube, and a clamping control instruction is obtained.

[0102] The specific steps for calculating the clamping torque of the mechanical claw clamping the sample tube are as follows:

[0103] The information of the sample liquid volume, the sample liquid density, and the sample tube mass is extracted from the basic information associated with the sample tube. The clamping torque of the mechanical claw clamping the sample tube is calculated by using formula (1), which is as follows:

[0104] F = (pV + M)g / μ + S*K (1)

[0105] Wherein, F represents the clamping torque of the mechanical claw clamping the sample tube; p represents the sample liquid volume; V represents the sample liquid density; M represents the sample tube mass; g represents the acceleration of gravity; μ represents the friction coefficient between the clamping surface of the mechanical claw and the sample tube; S represents the deformation of the sample tube, in meters; and K represents the nonlinear elastic coefficient of the sample tube.

[0106] In a specific embodiment, when the processing signal is a sample tube cover opening signal, the calculated mechanical claw torque is the cover opening torque of the mechanical claw opening the sample tube cover.

[0107] The specific steps for calculating the cover opening torque of the mechanical claw opening the sample tube cover are as follows:

[0108] The information of the sample tube cover mass and the pre-tightening force between the sample tube cover and the sample tube body is extracted from the basic information associated with the sample tube. The cover opening torque of the mechanical claw opening the sample tube cover is calculated by using formula (2), which is as follows:

[0109] F = mg / μ + S*K + f (2)

[0110] Wherein, F represents the opening torque of the mechanical claw to open the sample tube cover; m represents the mass of the sample tube cover; g represents the acceleration of gravity; μ represents the friction coefficient between the clamping surface of the mechanical claw and the sample tube; S represents the deformation of the sample tube, and the unit is meter; K represents the nonlinear elastic coefficient of the sample tube; and f represents the pre-tightening force between the sample tube cover and the sample tube body.

[0111] In a specific embodiment, after obtaining the opening torque of the mechanical claw to open the sample tube cover, the connection mode of the sample tube cover and the sample tube body needs to be extracted from the sample tube structure.

[0112] If the connection mode of the sample tube cover and the sample tube body is screw connection, a screw opening control instruction is generated.

[0113] If the connection mode of the sample tube cover and the sample tube body is plug-in connection, a plug-in opening control instruction is generated.

[0114] In the two opening modes, the screw opening control instruction controls the mechanical claw to use the opening torque to clamp the sample tube cover, and moves the sample tube cover upward while rotating to ensure the clamping area of the sample tube.

[0115] The plug-in opening control instruction controls the mechanical claw to use the opening torque to clamp the sample tube cover and move the sample tube cover upward.

[0116] Embodiment 2

[0117] In combination Figure 2 , the embodiment 2 provides a mechanical claw control system, which adopts the mechanical claw control method described above.

[0118] The control system comprises:

[0119] An execution module 3 is configured to receive a control instruction and drive the movement of the mechanical claw.

[0120] A collection module 1 is configured to collect the basic information of each sample tube and the position coordinates of the mechanical claw.

[0121] A control module 2 is connected to the execution module 3 and the collection module 1.

[0122] The control module 2 is configured to associate the basic information corresponding to each sample tube,

[0123] After receiving a processing signal of a sample tube, the control module 2 controls the collection module 1 to collect the position coordinates of the mechanical claw, extracts the information of the sample tube spatial position area and the sample tube structure from the basic information associated with the sample tube,

[0124] According to the sample tube spatial position area and the sample tube structure, the clamping area of the sample tube is obtained,

[0125] judging whether the position coordinate of the mechanical gripper is located in the clamping region of the sample tube,

[0126] if the position coordinate of the mechanical gripper is located in the clamping region of the sample tube, the mechanical gripper can form a clamping relationship with the sample tube, the mechanical gripper torque is calculated to obtain a control instruction,

[0127] if the position coordinate of the mechanical gripper is not located in the clamping region of the sample tube, the mechanical gripper cannot form a clamping relationship with the sample tube, and a feedback signal is sent.

[0128] In a specific embodiment, the control module 2 is used to obtain the clamping region of the sample tube according to the sample tube spatial position region and the sample tube structure when the processing signal is a sample tube clamping signal, and the specific steps are as follows:

[0129] extracting the connection mode of the sample tube cover and the sample tube body from the sample tube structure,

[0130] if the connection mode of the sample tube cover and the sample tube body is screw connection, the sample tube highest point coordinate and the sample tube lowest point coordinate are extracted from the sample tube spatial position region, and the coordinate points between the sample tube highest point coordinate and the sample tube lowest point coordinate belong to the clamping region of the sample tube,

[0131] if the connection mode of the sample tube cover and the sample tube body is plug-in connection, the sample tube lowest point coordinate is extracted from the sample tube spatial position region, the sample tube body height is extracted from the sample tube structure, the Z coordinate value of the sample tube lowest point coordinate and the sample tube body height are summed to obtain the sample tube body highest point coordinate, and the coordinate points between the sample tube body highest point coordinate and the sample tube lowest point coordinate belong to the clamping region of the sample tube.

[0132] In a specific embodiment, the control module 2 is used to obtain the clamping region of the sample tube according to the sample tube spatial position region and the sample tube structure when the processing signal is a sample tube clamping signal, and the specific steps are as follows:

[0133] extracting the connection mode of the sample tube cover and the sample tube body from the sample tube structure,

[0134] if the connection mode of the sample tube cover and the sample tube body is screw connection, the sample tube highest point coordinate is extracted from the sample tube spatial position region, the sample tube cover height is extracted from the sample tube structure, the Z coordinate value of the sample tube highest point coordinate and the sample tube cover height are subtracted to obtain the sample tube cover lowest point coordinate, and the coordinate points between the sample tube highest point coordinate and the sample tube cover lowest point coordinate belong to the clamping region of the sample tube,

[0135] If the connection mode of the sample tube cover and the sample tube body is plug-in connection, the sample tube highest point coordinate and the sample tube lowest point coordinate are extracted from the sample tube spatial position area, the sample tube body height is extracted from the sample tube structure, the Z coordinate value of the sample tube lowest point coordinate and the sample tube body height are summed, and the sample tube body highest point coordinate is obtained. The coordinate points between the sample tube highest point coordinate and the sample tube body highest point coordinate belong to the clamping area of the sample tube.

[0136] In specific embodiments, when the processing signal is a sample tube clamping signal, the calculated mechanical claw torque is a clamping torque of the mechanical claw clamping the sample tube, and a clamping control instruction is obtained.

[0137] The specific steps for calculating the clamping torque of the mechanical claw clamping the sample tube are as follows:

[0138] The sample liquid volume, sample liquid density, and sample tube mass information are extracted from the basic information associated with the sample tube, and formula (1) is used to calculate the clamping torque of the mechanical claw clamping the sample tube. Formula (1) is as follows:

[0139] F = (pV + M)g / μ + S*K (1)

[0140] Wherein, F represents the clamping torque of the mechanical claw clamping the sample tube; p represents the sample liquid volume; V represents the sample liquid density; M represents the sample tube mass; g represents the acceleration of gravity; μ represents the friction coefficient between the clamping surface of the mechanical claw and the sample tube; S represents the deformation of the sample tube, with the unit of meter; K represents the nonlinear elastic coefficient of the sample tube.

[0141] In specific embodiments, when the processing signal is a sample tube cover opening signal, the calculated mechanical claw torque is an opening torque of the mechanical claw opening the sample tube cover,

[0142] The specific steps for calculating the opening torque of the mechanical claw opening the sample tube cover are as follows:

[0143] The sample tube cover mass and the pre-tightening force between the sample tube cover and the sample tube body are extracted from the basic information associated with the sample tube, and formula (2) is used to calculate the opening torque of the mechanical claw opening the sample tube cover. Formula (2) is as follows:

[0144] F = mg / μ + S*K + f (2)

[0145] Wherein, F represents the opening torque of the mechanical claw opening the sample tube cover; m represents the sample tube cover mass; g represents the acceleration of gravity; μ represents the friction coefficient between the clamping surface of the mechanical claw and the sample tube; S represents the deformation of the sample tube, with the unit of meter; K represents the nonlinear elastic coefficient of the sample tube; and f represents the pre-tightening force between the sample tube cover and the sample tube body.

[0146] In a specific embodiment, the control module 2 is further configured to generate a thread opening control instruction if the connection between the sample tube cap and the sample tube body is a threaded connection,

[0147] If the connection between the sample tube cap and the sample tube body is a threaded connection, a thread opening control instruction is generated,

[0148] If the connection between the sample tube cap and the sample tube body is a plug-in connection, a plug-in opening control instruction is generated.

[0149] The above detailed description of the specific embodiments has further detailed the purposes, technical solutions and beneficial effects of the present application. It should be understood that the above detailed description is only a specific embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a mechanical claw, characterized in that: The following steps are involved: Collect basic information of each sample tube and associate the basic information corresponding to each sample tube; receiving a processing signal of a sample tube, collecting the position coordinates of the mechanical gripper, and extracting information about the spatial position area and structure of the sample tube from basic information associated with the sample tube; Obtaining a clamping area of ​​the sample tube according to the spatial position area and the structure of the sample tube; Determining whether the position coordinates of the mechanical claw are located in the clamping area of ​​the sample tube; If the position coordinates of the mechanical gripper are located in the clamping area of ​​the sample tube, the mechanical gripper and the sample tube can form a clamping relationship, the mechanical gripper torque is calculated, and a control instruction is obtained; If the position coordinates of the mechanical claw are not located in the clamping area of ​​the sample tube, the mechanical claw and the sample tube cannot form a clamping relationship, and a feedback signal is sent.

2. A method for controlling a mechanical claw according to claim 1, characterized in that: When the processing signal is a sample tube clamping signal, the clamping area of ​​the sample tube is obtained according to the spatial position area of ​​the sample tube and the structure of the sample tube. The specific steps are as follows: Extracting the connection method between the sample tube cover and the sample tube body from the sample tube structure; If the connection between the sample tube cap and the sample tube body is a threaded connection, the coordinates of the highest point and the lowest point of the sample tube are extracted from the spatial position area of ​​the sample tube, and the coordinate points between the highest point and the lowest point of the sample tube all belong to the clamping area of ​​the sample tube; If the connection method between the sample tube cover and the sample tube body is a plug-in connection, the coordinates of the lowest point of the sample tube are extracted from the spatial position area of ​​the sample tube, and the height of the sample tube body is extracted from the sample tube structure. The Z coordinate value of the coordinates of the lowest point of the sample tube and the height of the sample tube body are summed to obtain the coordinates of the highest point of the sample tube body. The coordinate points between the coordinates of the highest point of the sample tube body and the coordinates of the lowest point of the sample tube all belong to the clamping area of ​​the sample tube.

3. A method for controlling a mechanical claw according to claim 1, characterized in that: When the processing signal is a sample tube cover opening signal, the clamping area of ​​the sample tube is obtained according to the spatial position area and structure of the sample tube. The specific steps are as follows: Extracting the connection method between the sample tube cover and the sample tube body from the sample tube structure; If the connection between the sample tube cap and the sample tube body is a threaded connection, the coordinates of the highest point of the sample tube are extracted from the spatial position area of ​​the sample tube, the height of the sample tube cap is extracted from the sample tube structure, and the Z coordinate value of the coordinates of the highest point of the sample tube is subtracted from the height of the sample tube cap to obtain the coordinates of the lowest point of the sample tube cap. All coordinate points between the coordinates of the highest point of the sample tube and the coordinates of the lowest point of the sample tube cap belong to the clamping area of ​​the sample tube. If the connection method between the sample tube cover and the sample tube body is a plug-in connection, the coordinates of the highest point of the sample tube and the lowest point of the sample tube are extracted from the spatial position area of ​​the sample tube, and the height of the sample tube body is extracted from the sample tube structure. The Z coordinate value of the coordinate of the lowest point of the sample tube and the height of the sample tube body are summed to obtain the coordinate of the highest point of the sample tube body. The coordinate points between the coordinate of the highest point of the sample tube and the coordinate of the highest point of the sample tube body all belong to the clamping area of ​​the sample tube.

4. A method for controlling a mechanical claw according to claim 2, characterized in that: When the processed signal is a sample tube clamping signal, the calculated mechanical claw torque is the clamping torque of the mechanical claw clamping the sample tube, and a clamping control instruction is obtained; The specific steps for calculating the clamping torque of the mechanical gripper gripping the sample tube are as follows: The information of sample liquid volume, sample liquid density and sample tube mass is extracted from the basic information associated with the sample tube, and the clamping torque of the mechanical gripper clamping the sample tube is calculated using formula (1). Formula (1) is as follows: F=(ρV+M)g / μ+S*K (1) Where F is the clamping torque of the robotic gripper on the sample tube; ρ is the sample liquid volume; V is the sample liquid density; M is the mass of the sample tube; g is the acceleration due to gravity; μ is the friction coefficient between the clamping surface of the robotic gripper and the sample tube; S is the deformation of the sample tube, in meters; and K is the nonlinear elastic coefficient of the sample tube.

5. A method for controlling a mechanical claw according to claim 3, characterized in that: When the processed signal is a sample tube cover opening signal, the calculated mechanical claw torque is the cover opening torque of the mechanical claw to open the sample tube cover; The specific steps for calculating the opening torque of the robotic gripper to open the sample tube cover are as follows: The mass of the sample tube cover and the pre-tightening force between the sample tube cover and the sample tube body are extracted from the basic information associated with the sample tube. The opening torque of the sample tube cover by the mechanical claw is calculated using formula (2). Formula (2) is as follows: F=mg / μ+S*K+f (2) Where F is the opening torque of the sample tube cover by the mechanical gripper; m is the mass of the sample tube cover; g is the acceleration due to gravity; μ is the friction coefficient between the clamping surface of the mechanical gripper and the sample tube; S is the deformation of the sample tube, in meters; K is the nonlinear elastic coefficient of the sample tube; and f is the preload force between the sample tube cover and the sample tube body.

6. A method for controlling a mechanical claw according to claim 5, characterized in that: After obtaining the opening torque of the sample tube cover by the mechanical claw, it is also necessary to extract the connection method between the sample tube cover and the sample tube body from the sample tube structure; If the connection between the sample tube cover and the sample tube body is a threaded connection, a threaded cover opening control instruction is generated; If the connection mode between the sample tube cover and the sample tube body is a plug-in connection, a plug-in and cover-opening control instruction is generated.

7. A mechanical claw control system, characterized in that: The control system adopts the mechanical claw control method according to any one of claims 1 to 6; The control system includes: The execution module is used to receive control instructions and drive the mechanical claw to move; The acquisition module is used to collect the basic information of each sample tube and the position coordinates of the mechanical gripper; A control module connected to the execution module and the acquisition module; The control module is used to associate the basic information corresponding to each sample tube. Upon receiving a processing signal from a sample tube, the acquisition module is controlled to acquire the position coordinates of the mechanical gripper, and information about the spatial position area and structure of the sample tube is extracted from the basic information associated with the sample tube. According to the spatial position area and structure of the sample tube, a clamping area of ​​the sample tube is obtained. Determine whether the position coordinates of the mechanical claw are located in the clamping area of ​​the sample tube, If the position coordinates of the mechanical claw are located in the clamping area of ​​the sample tube, the mechanical claw and the sample tube can form a clamping relationship, calculate the mechanical claw torque, and obtain the control instruction. If the position coordinates of the mechanical claw are not located in the clamping area of ​​the sample tube, the mechanical claw and the sample tube cannot form a clamping relationship, and a feedback signal is sent.

8. A mechanical claw control system according to claim 7, characterized in that: The control module is configured to obtain a clamping area for the sample tube according to the spatial position area and structure of the sample tube when the processing signal is a sample tube clamping signal. The specific steps are as follows: Extract the connection method between the sample tube cover and the sample tube body from the sample tube structure, If the connection between the sample tube cap and the sample tube body is a threaded connection, the coordinates of the highest point and the lowest point of the sample tube are extracted from the spatial position area of ​​the sample tube. The coordinate points between the highest point and the lowest point of the sample tube all belong to the clamping area of ​​the sample tube. If the connection method between the sample tube cover and the sample tube body is a plug-in connection, the coordinates of the lowest point of the sample tube are extracted from the spatial position area of ​​the sample tube, and the height of the sample tube body is extracted from the sample tube structure. The Z coordinate value of the coordinates of the lowest point of the sample tube and the height of the sample tube body are summed to obtain the coordinates of the highest point of the sample tube body. The coordinate points between the coordinates of the highest point of the sample tube body and the coordinates of the lowest point of the sample tube all belong to the clamping area of ​​the sample tube.

9. A mechanical gripper control system according to claim 7, characterized in that: The control module is configured to obtain a clamping area for the sample tube according to the spatial location area and structure of the sample tube when the processing signal is a sample tube cover opening signal. The specific steps are as follows: Extract the connection method between the sample tube cover and the sample tube body from the sample tube structure, If the connection between the sample tube cap and the sample tube body is a threaded connection, the coordinates of the highest point of the sample tube are extracted from the spatial position area of ​​the sample tube, and the height of the sample tube cap is extracted from the sample tube structure. The Z coordinate value of the coordinates of the highest point of the sample tube and the height of the sample tube cap are subtracted to obtain the coordinates of the lowest point of the sample tube cap. The coordinate points between the coordinates of the highest point of the sample tube and the coordinates of the lowest point of the sample tube cap all belong to the clamping area of ​​the sample tube. If the connection method between the sample tube cover and the sample tube body is a plug-in connection, the coordinates of the highest point of the sample tube and the lowest point of the sample tube are extracted from the spatial position area of ​​the sample tube, and the height of the sample tube body is extracted from the sample tube structure. The Z coordinate value of the coordinate of the lowest point of the sample tube and the height of the sample tube body are summed to obtain the coordinate of the highest point of the sample tube body. The coordinate points between the coordinate of the highest point of the sample tube and the coordinate of the highest point of the sample tube body all belong to the clamping area of ​​the sample tube.

10. A mechanical claw control system according to claim 8, characterized in that: The control module is used to calculate the mechanical claw torque as the clamping torque of the mechanical claw clamping the sample tube when the processing signal is a sample tube clamping signal, and obtain a clamping control instruction. The specific steps for calculating the clamping torque of the mechanical gripper gripping the sample tube are as follows: The information of sample liquid volume, sample liquid density and sample tube mass is extracted from the basic information associated with the sample tube, and the clamping torque of the mechanical gripper clamping the sample tube is calculated using formula (1). Formula (1) is as follows: F=(ρV+M)g / μ+S*K (1) Where F is the clamping torque of the robotic gripper on the sample tube; ρ is the sample liquid volume; V is the sample liquid density; M is the mass of the sample tube; g is the acceleration due to gravity; μ is the friction coefficient between the clamping surface of the robotic gripper and the sample tube; S is the deformation of the sample tube, in meters; and K is the nonlinear elastic coefficient of the sample tube.

11. A mechanical gripper control system according to claim 9, characterized in that: The control module is used to calculate the mechanical claw torque as the opening torque of the mechanical claw to open the sample tube cover when the processing signal is a sample tube opening signal. The specific steps for calculating the opening torque of the robotic gripper to open the sample tube cover are as follows: The mass of the sample tube cover and the pre-tightening force between the sample tube cover and the sample tube body are extracted from the basic information associated with the sample tube. The opening torque of the sample tube cover by the mechanical claw is calculated using formula (2). Formula (2) is as follows: F=mg / μ+S*K+f (2) Where F is the opening torque of the sample tube cover by the mechanical gripper; m is the mass of the sample tube cover; g is the acceleration due to gravity; μ is the friction coefficient between the clamping surface of the mechanical gripper and the sample tube; S is the deformation of the sample tube, in meters; K is the nonlinear elastic coefficient of the sample tube; and f is the preload force between the sample tube cover and the sample tube body.

12. A mechanical gripper control system according to claim 11, characterized in that: The control module is used to extract the connection mode between the sample tube cover and the sample tube body from the sample tube structure after obtaining the opening torque of the mechanical claw to open the sample tube cover. If the connection between the sample tube cover and the sample tube body is a threaded connection, a threaded cover opening control instruction is generated. If the connection mode between the sample tube cover and the sample tube body is a plug-in connection, a plug-in and cover-opening control instruction is generated.

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