Laboratory sampling robot

Abstract

The application relates to a laboratory sampling robot, which relates to the technical field of laboratory robots and comprises a moving platform, a mechanical arm, a sampling assembly, a camera device and the like.

Description

Technical Field

[0001] This invention relates to the field of laboratory robotics, specifically to a laboratory sampling robot. Background Technology

[0002] With the rapid development of society, in experiments involving high-risk chemicals, it is necessary to first sample the experimental subjects. Since the samples are high-risk chemicals, manual sampling can easily cause harm to the experimental personnel. In another application scenario, for experiments that require staff to be on duty for a long time and perform repeated experimental operations, a sampling robot is needed to replace manual sampling. This would avoid injuries to experimental personnel in hazardous laboratories and reduce their workload.

[0003] Sampling operations require robotic arms to move with great flexibility and precision, placing high demands on mechanical structure and control. Existing sampling equipment typically uses robotic arms, which are difficult to control. Since sampling requires a large amount of experimental equipment, the flexibility of the sampling structure is particularly important. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the embodiments of the present invention is to overcome the defects of complex mechanical control and poor flexibility of sampling equipment in the prior art, thereby providing a laboratory sampling robot, including a mobile platform; and two sets of robotic arms, each set of robotic arms being rotatably connected to the mobile platform. A sampling assembly is disposed at the end of the robotic arm. The sampling assembly includes a base and a flipping mechanism. The base is rotatably connected to the end of the robotic arm and rotates about the axis of the end of the robotic arm. The flipping mechanism is rotatably connected to the base and includes a driving member and a driven member. The driving member drives the driven member to flip 180 degrees about the base. The driven member is provided with a receiving cavity for loading experimental tools and driving the experimental tools to flip. A camera device is installed on the mobile platform to acquire target location information.

[0005] Preferably, the base includes a connecting shaft and a chassis, with the chassis disposed at one end of the connecting shaft; the connecting shaft is rotatably connected to the end of the robotic arm; the chassis edge is provided with a plurality of grooves along the circumferential direction, and the flipping mechanism is partially embedded in the grooves, forming a rotatable connection with the grooves.

[0006] Preferably, the driving component is a drive motor, the driven component is a housing, the drive motor is embedded in the housing, and drives the housing to rotate.

[0007] Preferably, the housing is electrically connected to the drive motor; a power supply contact is provided in the groove, and an arc-shaped groove is provided on the outer surface of the housing along the rotation direction of the housing. A conductive medium is provided in the arc-shaped groove, and the arc-shaped groove slides in contact with the power supply contact to supply power to the drive motor.

[0008] Preferably, the housing has a recessed cavity, and the experimental tool is detachably installed in the recessed cavity.

[0009] Preferably, the system also includes a vision camera, and the base has a mounting compartment at its bottom for mounting the vision camera.

[0010] Preferably, it further includes a gripper, which is detachably mounted in the cavity, and the gripper is provided with a pressure sensor.

[0011] Preferably, the mobile platform includes a support platform and a walking mechanism, the support platform carries the robotic arm, and the walking mechanism drives the support platform to move; The cross-section of the support platform is hexagonal; The walking mechanism includes a driving wheel and a driven wheel. The driven wheel is located at the corner of the bottom of the mobile platform and is a swivel wheel. The driving wheel is driven by a motor, and the driving wheel and the driven wheel cooperate to achieve walking in all directions.

[0012] Preferably, the robotic arm includes a support arm and a movable arm movably connected to the upper end of the support arm. An auxiliary positioning component is movably disposed inside the connection end of the support arm and the movable arm. A first adjustment device is disposed inside the support arm at the end away from the auxiliary positioning component. The output end of the first adjustment device is movably connected to the auxiliary positioning component. A second adjustment device is disposed inside the movable arm at the end away from the auxiliary positioning component. The output end of the first adjustment device is movably connected to the auxiliary positioning component. The auxiliary positioning component includes a telescopic component and a positioning shaft. The telescopic component includes a rotating shaft movably connected to the support arm, an extension shaft movably connected inside the rotating shaft, and a lead screw for driving the extension shaft. The end of the positioning shaft is fixedly connected to the side of the extension shaft. The first adjustment device includes a first electric telescopic rod, which is movably connected inside the support arm, and the output end of the first electric telescopic rod is movably connected to the positioning shaft. The second adjustment device includes a second electric telescopic rod, which is movably connected inside the movable arm, and the output end of the second electric telescopic rod is movably connected to the positioning shaft.

[0013] Preferably, the first adjusting device further includes a first mounting base fixedly connected to the base of the first electric telescopic rod and a first sleeve fixedly connected to the output end of the first electric telescopic rod. The first mounting base is movably connected inside the support arm, and the first sleeve is sleeved on the side of the positioning shaft and movably connected to the positioning shaft. The second adjusting device further includes a second mounting base fixedly connected to the base of the second electric telescopic rod and a second sleeve fixedly connected to the output end of the second electric telescopic rod. The second mounting base is movably connected inside the support arm, and the second sleeve is sleeved on the side of the positioning shaft and movably connected to the positioning shaft.

[0014] The technical solution of the embodiments of the present invention has the following advantages: 1. The laboratory sampling robot provided in this embodiment of the invention includes two sets of robotic arms that work together, and each set of robotic arms is equipped with a sampling component at the end. The two are controlled separately, which increases the robot's degrees of freedom while reducing the difficulty of controlling the robotic arm's posture, which is beneficial to the stability and accuracy of experimental operations.

[0015] 2. The sampling component provided in this embodiment of the invention includes a base and multiple flipping mechanisms. The flipping mechanisms can load different experimental tools, which can avoid frequent replacement of experimental equipment during the experiment, shorten the disassembly and assembly time, and improve experimental efficiency.

[0016] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the solutions described in the description and the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the specific embodiments of the present invention, the drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a specific example of a laboratory sampling robot in an embodiment of the present invention; Figure 2 This is a schematic diagram of a specific example of the sampling component in an embodiment of the present invention; Figure 3 This is a schematic diagram of a specific example of the base in an embodiment of the present invention; Figure 4 This is a schematic diagram of a specific example of the housing in an embodiment of the present invention; Figure 5This is a schematic diagram of a specific example of a mobile platform in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of another specific example of the mobile platform in this embodiment of the invention; Figure 7 A perspective view of the overall optional robotic arm provided by the present invention; Figure 8 The robotic arm of the present invention Figure 7 Enlarged view of section A in the middle; Figure 9 This is a perspective view of the auxiliary positioning component of the robotic arm of the present invention; Figure 10 This is a front sectional view of the robotic arm of the present invention; Figure 11 The robotic arm of the present invention Figure 10 Enlarged view of section C. Implementation

[0019] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” as used herein are intended to include the plural forms as well. The use of terms such as “comprising” and / or “including” is intended to indicate the presence of that feature, integer, step, operation, element, and / or component, without excluding the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or other combinations. The term “and / or” includes any and all combinations of one or more of the associated listed items. The terms “center,” “upper,” “lower,” “left,” “right,” “vertical,” “horizontal,” “inner,” and “outer,” etc., indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. The terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal connection between two components; and they can refer to wireless connections or wired connections. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0021] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. Example

[0022] This embodiment provides a laboratory sampling robot, which is applied to laboratory sampling experiments, such as... Figure 1-6 As shown, it includes: Mobile platform 1; Two sets of robotic arms 2 are provided, with each set of robotic arms 2 rotatably connected to the mobile platform 1; Sampling component 3 is disposed at the end of robotic arm 2. Sampling component 3 includes a base 31 and a flipping mechanism 32. The base 31 is rotatably connected to the end of robotic arm 2 and rotates about the axis of the end of robotic arm 2. The flipping mechanism 32 is rotatably connected to the base 31 and includes a driving member and a driven member. The driving member drives the driven member to rotate 180 degrees around the base 31. 。 The device is flipped, wherein the driven member is provided with a receiving cavity for loading the experimental tool and driving the experimental tool to flip. Camera device 5 is mounted on mobile platform 1 and is used to acquire target location information.

[0023] In this embodiment of the invention, the mobile platform 1 serves as the mobile carrier for the laboratory sampling robot. When the robot is working, the mobile platform 1 first moves the robot to the side of the experimental table. The target position information is then acquired through the camera device 5. In this embodiment, the camera device 5 is a 3D vision camera. The target refers to the object being sampled in the experiment. In this embodiment, the mobile platform 1 is a mobile cart. Since there is an error when the mobile cart moves to the designated position, and since the sampling operation using the robotic arm 2 requires high precision, to reduce errors, after the mobile platform 1 determines its position, the camera device 5 captures an image of the experimental target and identifies its position to determine its relative position to the mobile platform 1. The working coordinates of the robotic arm 2 are then corrected again. This allows for real-time adjustment of the robotic arm 2's posture based on the specific position of the experimental target, making its posture parameters more accurate. Furthermore, in this embodiment, the robotic arm 2 is a six-degree-of-freedom robotic arm, and the end of the robotic arm 2 is equipped with a base 31 that can rotate around its axis and a point around the base 31 at a 180° angle. 。 The flipping mechanism 32 increases the degrees of freedom of the robotic arm 2, and the sampling component 3 can be controlled independently. This reduces the requirements for the posture parameters of the robotic arm 2 for such precision operations, which helps to reduce the difficulty of control. The independent control of the sampling component 3 also contributes to the stability of the experimental operation. Furthermore, a first robotic arm 2 and a second robotic arm 2 are provided. During the operation, due to the complexity of the experimental operation, the first robotic arm 2 and the second robotic arm 2 can be used in conjunction without interfering with each other. The design is modeled after a human arm. Compared with a single robotic arm 2, this reduces the difficulty of operation and control and improves work efficiency. The sampling component 3 is equipped with a flipping mechanism 32, which drives the experimental tools to perform related actions. Specifically, the driven part of the flipping mechanism 32 is equipped with a receiving cavity for installing experimental tools. The experimental tools can be grippers 4, test tubes, or pecking devices for pecking experiments, or other tools, depending on the experimental needs. These tools are installed in the receiving cavity. During the experiment, when the relevant experimental tools are needed, they can be flipped down by the flipping mechanism 32, and when they are not needed, they can be flipped up. This can avoid interference between experimental equipment. At the same time, the design of the flipping mechanism 32 makes the rotation and tilting actions during the experiment more convenient.

[0024] Preferably, such as Figure 2-3 As shown, the base 31 includes a connecting shaft 311 and a chassis 314. The chassis 314 is located at one end of the connecting shaft 311. The connecting shaft 311 is rotatably connected to the end of the robotic arm 2. The chassis 314 has multiple grooves 315 arranged circumferentially along its edge. The flipping mechanism 32 is partially embedded in the grooves 315 and forms a rotatable connection with the grooves 315.

[0025] In this embodiment of the invention, specifically, the connecting shaft 311 is a shaft component, including a fixed part 312 and a rotating part 313. The fixed part 312 is fixedly connected to the end of the robotic arm 2, and the rotating part 313 is rotatably connected to the fixed part 312. The control of the robotic arm 2's posture can be separated from the control of the sampling component 3. This increases the degree of freedom while reducing the difficulty of control, and improves the accuracy and stability of control. Specifically, the chassis 314 is circular, and multiple grooves 315 are arranged circumferentially along the edge of the chassis 314. The grooves 315 are arranged in a circular array on the chassis 314, penetrating the upper and lower surfaces of the chassis 314, so that the flipping mechanism 32 can achieve a 180-degree flip on the chassis 314. Furthermore, multiple grooves 315 are provided to provide loading space for multiple flipping mechanisms 32, and multiple experimental tools can be installed on the multiple flipping mechanisms 32. Specifically, in this embodiment, the grooves 315 have a uniformly distributed structure, and the grooves 315 can provide installation space for the flipping mechanisms 32. The evenly arranged and regular layout makes it easy to install or remove the flipping mechanism 32 in the tank 315 manually or mechanically.

[0026] Specifically, the tank 315 has mounting holes 316 on both sides, and the flipping mechanism 32 can be inserted into the mounting holes 316 for installation and fixation. Multiple flipping mechanisms 32 can be installed to hold multiple experimental tools. Different experimental tools can be configured according to different experimental scenarios. The experimental tools used in the experiment are pre-installed on the flipping mechanism 32, and the required experimental tools for the current experimental task can be retrieved by flipping the mechanism 32. Compared with mechanical devices that load a single experimental tool, this avoids frequent changes of experimental equipment, shortens disassembly and assembly time, and improves experimental efficiency.

[0027] Preferably, such as Figure 2-4 As shown, the driving component is a drive motor 321, and the driven component is a housing 322. The drive motor 321 is embedded in the housing 322 and drives the housing 322 to rotate.

[0028] In this embodiment of the invention, specifically, the drive motor 321 is installed inside the housing 322. The housing 322 has mounting shafts on both sides that mate with mounting holes 316, allowing for fixed installation. The drive motor 321 drives the rotating shaft disc, causing the housing 322 to rotate together around the mounting shafts. Specifically, the drive end of the drive motor 321 is connected to an end cover, and the housing 322 is engaged with the end cover. The motor drives the end cover to rotate, thus causing the housing 322 to rotate. This structural design is simple to implement, convenient to install, and also saves space.

[0029] Preferably, such as Figure 2-4As shown, the housing 322 is electrically connected to the drive motor 321; a power supply contact 317 is provided in the groove 315; an arc-shaped groove 3222 is provided on the outer surface of the housing 322 along the rotation direction of the housing 322; a conductive medium is provided in the arc-shaped groove 3222; the arc-shaped groove 3222 and the power supply contact 317 slide in contact to supply power to the drive motor 321.

[0030] In this way, the power supply medium in the power supply contact 317 and the arc groove 3222 conducts electricity, thereby realizing the power supply of the motor. This structure is simple and can avoid the problem of wire tangling caused by directly connecting the power supply wire when the motor is rotating.

[0031] Preferably, the housing 322 has a cavity 3221, and the experimental tool is detachably installed in the cavity 3221.

[0032] In this embodiment of the invention, a cavity 3221 is provided at the end of the housing 322 away from the drive motor 321 for loading experimental tools. Depending on the experiment, different practical tools are required. Considering the frequent use of experimental tools during the experiment, the experimental tools are designed to be detachably installed in the cavity 3221 for easy installation.

[0033] Preferably, it also includes a vision camera, and the bottom of the base 31 is provided with a mounting compartment 318 for mounting the vision camera.

[0034] In this embodiment of the invention, the visual camera is a 2D visual camera, which mainly provides the staff with the perspective of the end of the experimental tool during the experiment, so as to facilitate the staff to accurately control the sampling component 3.

[0035] In summary, firstly, the mobile platform 1 reaches the relevant experimental platform positioning point according to the set position. After the mobile platform 1 is positioned, the 3D vision camera accurately locates the experimental target and adjusts the end posture of the robotic arm 2 accordingly. The sampling component 3 retrieves the experimental tool according to the experimental task. A 2D vision camera is configured at the center of the bottom of the base 31, which can transmit the image of the end of the experimental tool to the remote control terminal. The control terminal processes the captured image and then adjusts the posture of the robotic arm 2 and the rotation angle of the sampling component 3 to achieve a relatively accurate position for the experimental tool, enabling it to complete more precise experimental operations and thus complete the experimental process.

[0036] Preferably, such as Figure 1-2 As shown, it also includes a gripper 4, which is detachably installed in the cavity 3221, and a pressure sensor is provided on the gripper 4.

[0037] In an exemplary embodiment, in addition to installing experimental tools, the cavity 3221 of the housing 322 can also install grippers 4 to facilitate the handling of experimental tools that need to be gripped frequently. The grippers 4 are equipped with pressure sensors to detect the stress on the grippers 4 in real time, thereby avoiding damage to the grippers 4 or experimental tools due to misoperation. The sensor processing terminal transmits the real-time stress data to the control terminal for processing, and can issue early warnings for impending equipment damage, accidental collisions, and other situations.

[0038] Preferably, such as Figure 5-6 As shown, the mobile platform 1 includes a support platform 11 and a walking mechanism. The support platform 11 carries the robotic arm 2, and the walking mechanism drives the support platform 11 to move. The cross-section of the support platform 11 is hexagonal; The walking mechanism includes a drive wheel 12 and a driven wheel 13. The driven wheel 13 is located at the corner of the bottom of the mobile platform 1 and is a swivel wheel. The drive wheel 12 is driven by a motor. The drive wheel 12 and the driven wheel 13 work together to achieve walking in all directions.

[0039] In this embodiment of the invention, the support platform 11 of the mobile platform 1 has a hexagonal cross-section. Compared to a rectangular plane, the six sides make it easier to connect with the test platform, allowing it to accommodate test platforms of different shapes and facilitating better robot positioning. In an exemplary embodiment, a motor and reducer are used to drive the drive wheel 12 to rotate, thereby cooperating with the driven wheel 13 to enable the mobile platform 1 to move in various directions.

[0040] Optionally, such as Figure 7-11 As shown, the robotic arm 2 includes a support arm 21 and a movable arm 22 movably connected to the upper end of the support arm 21. An auxiliary positioning component is movably arranged inside the connection end of the support arm 21 and the movable arm 22. A first adjustment device is arranged inside the support arm 21 at the end away from the auxiliary positioning component. The output end of the first adjustment device is movably connected to the auxiliary positioning component. A second adjustment device is arranged inside the movable arm 22 at the end away from the auxiliary positioning component. The output end of the first adjustment device is movably connected to the auxiliary positioning component.

[0041] The auxiliary positioning component includes a telescopic component and a positioning shaft 27. The positioning shaft 27 connects the first adjustment device and the second adjustment device. After the telescopic component and the first adjustment device are adjusted to a suitable position, the telescopic component, the first adjustment device, and the support arm 21 form a stable triangular structure, which keeps the position of the positioning shaft stable and provides support for the end of the second adjustment device. The other end of the second adjustment device is connected to the movable arm 22. When the second adjustment device extends or retracts, it drives the movable arm 22 to rotate, thereby adjusting the movable arm 22. This design makes the support for the movable arm 22 more stable. Moreover, since the position of the positioning shaft 27 can be adjusted, a suitable position can be selected to reduce the load on the second adjustment device, making the second adjustment device less stressed, facilitating the adjustment of the second adjustment device, and effectively avoiding mechanical wear of the second adjustment device.

[0042] The telescopic assembly includes a rotating shaft 24 movably connected to the support arm 21, an extension shaft 25 movably connected inside the rotating shaft 24, and a lead screw 216 for driving the extension shaft 25. The first end of the positioning shaft 27 is fixedly connected to the side of the rotating shaft 24. During rotation, the lead screw 216 drives the extension shaft 25, causing the extension shaft 25 to extend or retract into the rotating shaft 24. The connection structure between the lead screw 216 and the extension shaft 25 has a self-locking effect, resulting in high adjustment precision and more sensitive adjustment of the extension shaft 25. There are two sets of telescopic assemblies, symmetrically distributed at the end of the positioning shaft 220, and the two sets of telescopic assemblies move synchronously. This facilitates the adjustment of the position of the positioning shaft 27 and makes the positioning of the positioning shaft 27 more accurate.

[0043] The first adjustment device includes a first electric telescopic rod 28, which is movably connected inside the support arm 21. The output end of the first electric telescopic rod 28 is movably connected to the positioning shaft 27. The shape of the triangular structure formed between the telescopic assembly, the first adjustment device, and the support arm 21 is adjusted by the telescopic position of the output end of the first electric telescopic rod 28 and the extension shaft 25. This facilitates the positioning shaft 27 to be in a suitable position to support the second adjustment device. The position of the positioning shaft 27 can be adjusted, which means the support position of the second adjustment device can be adjusted. According to the force analysis of the supporting force of the second adjustment device on the positioning shaft 27, F2=F1 / cosθ (F2 is the supporting force of the second adjustment device on the movable arm 22, F1 is the critical force in the tangential direction of the trajectory of the movable arm 22 in the circular motion at the connection point with the second adjustment device under the force equilibrium state, and θ is the angle between the tangential direction and the second adjustment device). Figure 7As shown, if the value exceeds F1, the movable arm 22 rotates counterclockwise; if the value is less than F1, the movable arm 22 rotates clockwise. Therefore, when F1 is a constant, the smaller the angle θ, the smaller the value of F2, meaning the smaller the critical support force of the second adjusting device on the movable arm 2, making it easier to support the movable arm 2. By adjusting the position of the positioning shaft 220, the angle θ can be adjusted to a suitable position, which facilitates increasing the effective support force of the second adjusting device. This not only increases the maximum load on the movable arm 22 but also reduces the load on the second adjusting device itself, making it easier to adjust and significantly reducing mechanical wear, thus extending the service life of the device's structural components.

[0044] Under the action of the telescopic component and the first adjustment device, the positioning shaft 27 can perform a complete circular motion, which enables the movable arm 22 to rotate a large range on the support arm 21, allowing it to perform sampling or delivery work back and forth on both sides of the support arm 1, facilitating sampling activities of the device in narrow environments.

[0045] The second adjustment device includes a second electric telescopic rod 29, which is movably connected inside the movable arm 22. The output end of the second electric telescopic rod 29 is movably connected to the positioning shaft 27. When extended or retracted, the output end of the second electric telescopic rod 29 is used to adjust the movable arm 22 and cause it to rotate. The high precision, high sensitivity, and other characteristics of the second electric telescopic rod 29 result in better adjustment of the movable arm 22.

[0046] The first motor is fixedly connected to the end of the rotating shaft 24 away from the extension shaft 25. The output end of the first motor passes through the rotating shaft and is fixedly connected to the lead screw. The first motor facilitates the supply of power to the lead screw, driving it to rotate.

[0047] A rotating shaft 212 is fixedly installed on the side of the rotating shaft near the support arm 21, and the rotating shaft 212 is movably connected inside the support arm 21. The rotating shaft 212 facilitates the connection of the rotating shaft 24 to the support arm 21.

[0048] A second motor 220 is fixedly installed on the upper end of one side of the support arm 21. The second motor 220 drives a rotating shaft 212 adjacent to it. The second motor provides power to the rotating shaft 212, which facilitates the rotation of the auxiliary positioning assembly as a whole, so that the positioning shaft 27 can easily pass through the highest and lowest points of the support arm 21.

[0049] The first adjustment device further includes a first mounting base 213 fixedly connected to the base of the first electric telescopic rod 28 and a first sleeve 214 fixedly connected to the output end of the first electric telescopic rod 28. The first mounting base 213 is movably connected inside the support arm 21, and the first sleeve 214 is sleeved on the side of the positioning shaft 27 and movably connected to the positioning shaft 27. The first sleeve 214 and the first mounting base 213 ensure that both ends of the first electric telescopic rod 28 are movably connected, facilitating the adjustment of the first electric telescopic rod 28.

[0050] The second adjustment device further includes a second mounting base 215 fixedly connected to the base of the second electric telescopic rod 29, and a second sleeve 216 fixedly connected to the output end of the second electric telescopic rod 29. The second mounting base 215 is movably connected inside the support arm 1, and the second sleeve 216 is sleeved on the side of the positioning shaft 27 and movably connected to the positioning shaft 7. The second sleeve 216 and the second mounting base 215 ensure that both ends of the second electric telescopic rod 29 are movably connected, facilitating the adjustment of the second electric telescopic rod 29.

[0051] In this invention, a connecting wire is also provided, which is installed on the side of the support arm 21 and the movable arm 22. The connecting wire is used to supply power to the first motor, the second motor, the second electric telescopic rod 29, and the first electric telescopic rod 28, and to transmit signals.

[0052] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A laboratory sampling robot, characterized in that, include: Mobile platform (1); Two sets of robotic arms (2) are provided, and each set of robotic arms (2) is rotatably connected to the mobile platform (1); A sampling component (3) is disposed at the end of each set of robotic arms (2). The sampling component (3) includes a base (31) and a flipping mechanism (32). The base (31) is rotatably connected to the end of the robotic arm (2) and rotates around the axis of the end of the robotic arm (2). The flipping mechanism (32) is rotatably connected to the base (31). The flipping mechanism (32) includes a driving member and a driven member. The driving member drives the driven member to flip 180 degrees around the base (31). The driven member is provided with a receiving cavity for loading experimental tools and driving the experimental tools to flip. A camera device (5) is mounted on the mobile platform (1) for acquiring target location information; Each of the robotic arms (2) includes a support arm (21) and a movable arm (22) movably connected to the upper end of the support arm (21). An auxiliary positioning component is movably provided inside the connection end between the support arm (21) and the movable arm (22). A first adjustment device is provided at the end of the support arm (21) away from the auxiliary positioning component. The output end of the first adjustment device is movably connected to the auxiliary positioning component. A second adjustment device is provided at the end of the movable arm (22) away from the auxiliary positioning component. The output end of the second adjustment device is movably connected to the auxiliary positioning component. The auxiliary positioning component includes a telescopic component and a positioning shaft (27). The telescopic component includes a rotating shaft (24) movably connected to the support arm (21), an extension shaft (25) movably connected inside the rotating shaft (24), and a lead screw (26) for driving the extension shaft (25). The end of the positioning shaft (27) is fixedly connected to the side of the extension shaft (25). The first adjustment device includes a first electric telescopic rod (28), which is movably connected inside the support arm (21), and the output end of the first electric telescopic rod (28) is movably connected to the positioning shaft (27); The second adjustment device includes a second electric telescopic rod (29), which is movably connected inside the movable arm (22), and the output end of the second electric telescopic rod (29) is movably connected to the positioning shaft (27).

2. The laboratory sampling robot according to claim 1, characterized in that, The base (31) includes a connecting shaft (311) and a chassis (314), the chassis (314) being disposed at one end of the connecting shaft (311); the connecting shaft (311) being rotatably connected to the end of the robotic arm (2); the edge of the chassis (314) being provided with a plurality of grooves (315) along the circumferential direction, the flipping mechanism (32) being partially embedded in the grooves (315) and forming a rotatable connection with the grooves (315).

3. The laboratory sampling robot according to claim 2, characterized in that, The driving component is a drive motor (321), and the driven component is a housing (322). The drive motor (321) is disposed inside the housing (322) and is used to drive the housing (322) to rotate around the rotational connection axis between the housing (322) and the groove (315).

4. The laboratory sampling robot according to claim 3, characterized in that, The groove (315) is provided with a power supply contact (317), and the outer surface of the housing (322) is provided with an arc-shaped groove (3222) along its rotation direction. The arc-shaped groove (3222) is provided with a conductive medium. The conductive medium is electrically connected to the drive motor (321), and the conductive medium is in sliding contact with the power supply contact (317) and supplies power to the drive motor (321).

5. The laboratory sampling robot according to claim 4, characterized in that, The housing (322) has a cavity (3221), and the experimental tool is detachably installed in the cavity (3221).

6. The laboratory sampling robot according to claim 5, characterized in that, It also includes a bottom vision camera, and the bottom of the base (31) is provided with a mounting compartment (318) for mounting the bottom vision camera.

7. The laboratory sampling robot according to claim 6, characterized in that, The experimental tool includes a gripper (4), which is detachably mounted in the cavity (3221), and a pressure sensor is provided on the gripper (4).

8. The laboratory sampling robot according to claim 7, characterized in that, The mobile platform (1) includes a support platform (11) and a walking mechanism. The support platform (11) carries the robotic arm (2), and the walking mechanism drives the support platform (11) to move. The outer contour of the support platform (11) is hexagonal. The walking mechanism includes a drive wheel (12) and a driven wheel (13). The driven wheel (13) is located at the corner of the bottom of the support platform (11) and is a universal wheel. The drive wheel (12) is driven by a walking motor, and the drive wheel (12) and the driven wheel (13) cooperate to achieve walking in various directions.

9. The laboratory sampling robot according to claim 1, characterized in that, The first adjustment device further includes a first mounting base (213) fixedly connected to the fixed end of the first electric telescopic rod (28) and a first sleeve (214) fixedly connected to the output end of the first electric telescopic rod (28). The first mounting base (213) is movably connected inside the support arm (21), and the first sleeve (214) is sleeved on the side of the positioning shaft (27) and movably connected to the positioning shaft (27). The second adjustment device further includes a second mounting base (215) fixedly connected to the fixed end of the second electric telescopic rod (29) and a second sleeve (216) fixedly connected to the output end of the second electric telescopic rod (29). The second mounting base (215) is movably connected inside the movable arm (22), and the second sleeve (216) is sleeved on the side of the positioning shaft (27) and movably connected to the positioning shaft (27).

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