Sample transport robot

Abstract

The present invention discloses a sample transport robot, belonging to the technical field of automated robots. In order to solve the problem of high labor intensity in the existing manual delivery of test samples, the sample transport robot comprises an upper shell (1) and a walking device (2) arranged up and down, a manipulator (3) and a storage rack (4) are connected inside the upper shell (1), and the manipulator (3) comprises an upper and lower driving mechanism (31), a left and right driving mechanism (32), a front and rear driving mechanism (33), an upright rotation driving mechanism (34) and a fork frame (35) connected in sequence. The sample transport robot can replace manual delivery of samples, which can reduce the labor of test personnel and improve efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of automated robots, in particular to a sample transport robot. Background Art

[0002] At present, when conducting testing experiments, after the test personnel complete the sample weighing at the balance position, they need to use a trolley to transport the centrifuge tubes containing the samples to the location of the pre-treatment or testing equipment for subsequent processing or testing. After the test or treatment, the test personnel will use a trolley to transport the sample tubes to the next processing location, which consumes manpower. Especially when there are a large number of sample tubes to be transported, the manual transportation of samples by the test personnel is very labor-intensive and inefficient. Summary of the invention

[0003] In order to solve the problem of high labor intensity in manually taking and delivering sample tubes, the present invention provides a sample transport robot, which can replace manual taking and delivering of samples, thereby reducing the labor of detection personnel and improving efficiency.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A sample transport robot comprises an upper shell and a walking device arranged up and down, wherein a manipulator and a storage rack are connected inside the upper shell, and the manipulator comprises an upper and lower driving mechanism, a left and right driving mechanism, a front and rear driving mechanism, an upright rotating driving mechanism and a fork frame which are connected in sequence, wherein the upper and lower driving mechanism can move the fork frame up and down, the left and right driving mechanism can move the fork frame left and right, the front and rear driving mechanism can move the fork frame forward and backward, and the upright rotating driving mechanism can rotate the fork frame around a first axis, wherein the first axis is parallel to the up and down direction.

[0006] The beneficial effect of the present invention is that the sample transport robot can replace manual sample collection and delivery, which can reduce the labor of detection personnel and improve efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0008] Figure 1 It is a schematic front view of the sample transport robot described in the present invention.

[0009] Figure 2 It is a three-dimensional schematic diagram of the sample transport robot of the present invention.

[0010] Figure 3 is a schematic diagram of the upper housing.

[0011] Figure 4 This is a schematic diagram of the connection between the robot and the left vertical plate.

[0012] Figure 5 It is a schematic diagram of the robot parts.

[0013] Figure 6 It is a schematic diagram of the robot arm without the fork frame.

[0014] Figure 7 It is a schematic diagram of the left and right drive mechanisms.

[0015] Figure 8 It is a schematic diagram of the rear bearing and front bearing inside the left and right drive mechanisms.

[0016] Fig. 9 It is a schematic diagram of the upper connecting seat being connected to the rear rotating block through the rear bearing.

[0017] Fig.10 is a schematic diagram of the fork.

[0018] Description of reference numerals:

[0019] 1. Upper shell; 2. Walking device; 3. Manipulator; 4. Storage rack; 5. Control unit; 6. Distance sensor;

[0020] 11. Left vertical board; 12. Lower horizontal board; 13. Right vertical board;

[0021] 31. Up and down driving mechanism; 32. Left and right driving mechanism; 33. Front and back driving mechanism; 34. Vertical rotation driving mechanism; 35. Fork frame;

[0022] 311. Up and down driving unit; 312. Mounting base;

[0023] 321, upper connecting seat; 322, left and right driving units; 323, lower connecting seat; 324, rear rotating block; 325, rear bearing; 326, front rotating block; 327, front sliding block; 328, front sliding rail; 329, front bearing;

[0024] 331, bottom plate; 332, front and rear drive units; 333, top plate; 334, slideway; 335, upper slide block;

[0025] 341. Rotation drive unit; 342. Rotation transmission unit; 343. Rotation disk;

[0026] 351. Left rack; 352. Middle rack; 353. Right rack; 354. Ear plate. DETAILED DESCRIPTION

[0027] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0028] For the convenience of understanding and description, an absolute positional relationship is adopted in the following description of the present invention. Without special instructions, the orientation word "upper" herein represents Figure 1 the upper side direction in Figure 1 it, the orientation word "lower" represents Figure 1 the lower side direction in Figure 1 it, the orientation word "left" represents Figure 1 the left side direction in Figure 1 it, the orientation word "right" represents

[0029] it, the orientation word "front" represents the direction perpendicular to Figures 1 to 3 the paper surface of

[0030] it and pointing to the inner side of the paper surface, and the orientation word "rear" represents the direction perpendicular to Figure 3 the paper surface of

[0031] it and pointing to the outer side of the paper surface. The present invention is described from the observation perspective of the reader or user, but the above orientation words should not be understood or construed as limiting the protection scope of the present invention. Regarding the dimensions and angles of the components therein, those skilled in the art can specifically determine them according to actual needs. Figures 3 to 5As shown, the up-down driving mechanism 31 includes an up-down driving unit 311 and a mounting base 312 connected in sequence, the up-down driving unit 311 is connected to the left vertical plate 11, the up-down driving unit 311 can drive the mounting base 312 to move up and down, and the left-right driving mechanism 32 is fixedly arranged on the mounting base 312. The cross section of the mounting base 312 is generally L-shaped, and the mounting base 312 includes a mounting vertical plate and a mounting horizontal plate connected in sequence.

[0032] The up-down driving unit 311 can adopt any existing mechanism capable of moving an object up and down, and the up-down driving unit 311 includes a power output unit and a transmission unit, the power output unit can adopt a motor, the transmission unit can adopt a ball screw, a gear rack, a transmission chain or a transmission belt, etc., or the up-down driving unit 311 can also adopt a hydraulic cylinder or a pneumatic cylinder. Preferably, the up-down driving unit 311 includes a motor and a ball screw.

[0033] like Figures 5 to 7 As shown, the two left and right driving mechanisms 32 are spaced front and back and arranged in parallel. The left and right driving mechanisms 32 include an upper connecting seat 321, left and right driving units 322 and a lower connecting seat 323 which are connected in sequence from top to bottom. The lower connecting seat 323 is fixed to the mounting cross plate of the mounting base 312. The lower connecting seat 323 and the mounting cross plate are connected up and down. The left and right driving units 322 can drive the upper connecting seat 321 to move left and right.

[0034] The left and right drive unit 322 can adopt any existing mechanism that can move an object left and right. The left and right drive unit 322 includes a power output unit and a transmission unit. The power output unit can adopt a motor, and the transmission unit can adopt a ball screw, a gear rack, a transmission chain or a transmission belt, etc., or the left and right drive unit 322 can also adopt a hydraulic cylinder or a pneumatic cylinder. Preferably, the left and right drive unit 322 includes a motor and a ball screw.

[0035] In order to ensure that the insertion end of the fork frame 35 of the sample transport robot can be accurately inserted into the plug hole at the lower end of the sample holding box during operation, the fork frame 35 also has a stable swing fine-tuning function, and the left and right drive units 322 of the two left and right drive mechanisms 32 can be independently controlled, that is, each left and right drive unit 322 can independently control the movement speed and position of the corresponding upper connecting seat 321, so that the fork frame 35 can swing left and right.

[0036] like Figures 7 to 9 As shown, in the rear left and right driving mechanism 32, the left and right driving mechanism 32 also includes a rear rotating block 324, and the rear rotating block 324 is connected to the upper connecting seat 321 through a rear bearing 325. The rear rotating block 324 can rotate around a second axis, and the second axis is parallel to the first axis. The second axis coincides with the axis of the rear bearing 325, and the front and rear driving mechanisms 33 are connected and fixed to the rear rotating block 324 up and down.

[0037] like Figures 7 to 9 As shown, in the left and right driving mechanism 32 in the front, the left and right driving mechanism 32 also contains a front rotating block 326, a front sliding block 327 and a front slide rail 328 which are connected in sequence from bottom to top. The front rotating block 326 is connected to the upper connecting seat 321 through a front bearing 329. The front rotating block 326 can rotate around a third axis, which is parallel to the first axis. The third axis coincides with the axis of the front bearing 329. The front and rear driving mechanisms 33 are connected and fixed to the front slide rail 328 up and down. The front slide rail 328 extends in the front and rear directions. The front sliding block 327 is slidably connected to the front slide rail 328, and the front sliding block 327 is connected and fixed to the front rotating block 326.

[0038] The rear rotating block 324 is connected to the upper connecting seat 321 through the rear bearing 325 in the same manner as the front rotating block 326 is connected to the upper connecting seat 321 through the front bearing 329. Since the two left and right drive mechanisms 32 can be controlled independently, the distance between the connection points of the two left and right drive mechanisms 32 and the front and rear drive mechanisms 33 needs to be able to be changed, and the front rotating block 326, the front slider 327 and the front slide rail 328 are connected in sequence, so that the fork frame 35 can swing left and right by independently controlling the two left and right drive mechanisms 32.

[0039] like Figure 5 to Figure 6 As shown, the front-to-back drive mechanism 33 comprises a bottom plate 331, a front-to-back drive unit 332 and a top plate 333 connected sequentially from bottom to top. Slideways 334 are provided on both the left and right sides of the bottom plate 331. The two slideways 334 are symmetrical and mirror images of each other. The front-to-back drive unit 332 is located between the two slideways 334 in the left-right direction. The slideway 334 extends in the front-to-back direction. The front-to-back drive unit 332 can drive the top plate 333 to move forward and backward. The top plate 333 is connected to the slideway 334 through an upper slider 335. The bottom plate 331 is vertically connected and fixed to the rear rotating block 324 of the rear left-to-right drive mechanism 32, and the bottom plate 331 is vertically connected and fixed to the front slideway 328 of the left-to-right drive mechanism 32.

[0040] The front and rear drive mechanism 33 can adopt any existing mechanism that can move an object forward and backward. The front and rear drive mechanism 33 includes a power output unit and a transmission unit. The power output unit can adopt a motor, and the transmission unit can adopt a ball screw, a gear rack, a transmission chain or a transmission belt, etc., or the front and rear drive mechanism 33 can also adopt a hydraulic cylinder or a pneumatic cylinder. Preferably, the front and rear drive unit 332 can adopt an existing screw module.

[0041] like Figure 5 to Figure 6As shown, the upright rotation drive mechanism 34 includes a rotation drive unit 341 , a rotation transmission unit 342 and a rotating disk 343 which are connected in sequence. The rotation drive unit 341 can drive the rotating disk 343 to rotate around the first axis through the rotation transmission unit 342 , and the fork frame 35 is fixed on the rotating disk 343 .

[0042] The rotation drive unit 341 can be a motor, and the rotation transmission unit 342 can be a gear or a worm gear. The rotation drive unit 341 and the rotation transmission unit 342 are fixedly mounted on the top plate 333 of the front and rear drive mechanism 33, and the rotating disk 343 and the top plate 333 are arranged parallel to each other.

[0043] like Figure 5 , Figure 6 and Fig.10 As shown, the fork frame 35 is a U-shaped structure, the opening of the fork frame 35 can face forward, backward or rightward, and the fork frame 35 includes a left frame rod 351, a middle frame rod 352 and a right frame rod 353 connected in sequence, the left frame rod 351, the middle frame rod 352 and the right frame rod 353 are all located in the same horizontal plane, the left frame rod 351 and the right frame rod 353 are arranged parallel to each other, the middle frame rod 352 is externally connected to an ear plate 354, and the ear plate 354 is stacked and fixed with the rotating disk 343. The upright rotation drive mechanism 34 can make the fork frame 35 rotate 180° around the first axis (i.e., with the first axis as the axis).

[0044] The sample transport robot also includes a control unit 5, which can control the operation of the sample transport robot, that is, the control unit 5 can control the operation of the up and down drive mechanism 31, the left and right drive mechanism 32, the front and back drive mechanism 33, the upright rotation drive mechanism 34 and the walking device 2.

[0045] like Figures 1 to 3 As shown, the walking device 2 can adopt an existing intelligent handling robot (AGV), and the storage rack 4 can contain multiple shelves arranged at intervals up and down, and the shelves can be in a horizontal state, and the shelves can be placed on the sample holding boxes. The control unit 5 is located at the lower part of the accommodating cavity, and the control unit 5 is also located at the lower part of the upper shell 1. Two distance sensors 6 are arranged at the front end or rear end of the upper shell 1. The two distance sensors 6 are arranged at intervals on the left and right. The two distance sensors 6 are used to monitor the distance deviation and angle deviation between the AGV and its precise positioning position; it is convenient to adjust the distance and angle of the walking device 2 from the target position according to the algorithm; the angle adjustment is completed by the rotating device.

[0046] As an important invention point of the sample transport robot, the sample transport robot has distance deviation compensation function and angle deviation compensation function. The distance deviation is eliminated and compensated by the front and rear driving mechanisms 33 accurately controlling the distance of the fork frame 35 (also called hand grip) moving forward and backward; the angle deviation is eliminated and compensated by the two left and right driving mechanisms 32 accurately controlling the left and right swing angles of the fork frame 35.

[0047] The following describes how to use the sample transport robot.

[0048] The sample transport robot walks to the sample placement table, on which is placed a sample box containing samples to be tested. The sample transport robot is accurately moved to the set position according to the ranging sensor 6. The left frame rod 351 and the right frame rod 353 of the fork frame 35 of the sample transport robot are matched and inserted into the plug hole at the lower end of the sample box. The fork frame 35 can place the sample box on the shelf of the storage rack 4 by moving up and down, left and right, front and back, rotating, and swinging.

[0049] After the sample transport robot drives away the test sample and the sample containing box, the sample transport robot moves to the standby detection or pre-processing equipment, and the left frame rod 351 and the right frame rod 353 of the fork frame 35 of the sample transport robot are matched and inserted into the plug hole at the lower end of the sample containing box. The fork frame 35 can place the sample containing box on the shelf of the storage rack 4 at the designated position of the detection or processing equipment by moving up and down, left and right, front and back, rotating and swinging.

[0050] The above is only a specific embodiment of the present invention, and cannot be used to limit the scope of the invention. Therefore, the replacement of equivalent components, or equivalent changes and modifications made according to the protection scope of the present invention should still fall within the scope of the present invention. In addition, the technical features in the present invention can be freely combined with each other, with technical features and technical solutions, and with technical solutions.

Claims

1. A sample transport robot, characterized in that: The sample transport robot comprises an upper shell (1) and a walking device (2) arranged in an upper and lower part, wherein a manipulator (3) and a storage rack (4) are connected inside the upper shell (1), and the manipulator (3) comprises an upper and lower driving mechanism (31), a left and right driving mechanism (32), a front and rear driving mechanism (33), an upright rotation driving mechanism (34) and a fork frame (35) which are connected in sequence, wherein the upper and lower driving mechanism (31) can move the fork frame (35) up and down, the left and right driving mechanism (32) can move the fork frame (35) left and right, the front and rear driving mechanism (33) can move the fork frame (35) forward and backward, and the upright rotation driving mechanism (34) can rotate the fork frame (35) around a first axis, wherein the first axis is parallel to the up and down direction; The upper housing (1) comprises a left vertical plate (11), a lower horizontal plate (12) and a right vertical plate (13) which are arranged in sequence from left to right; the manipulator (3) is connected to the left vertical plate (11); the storage rack (4) is connected to the right vertical plate (13); and the manipulator (3) is capable of placing a sample to be tested on the storage rack (4); The up-down driving mechanism (31) comprises an up-down driving unit (311) and a mounting base (312) which are connected in sequence, the up-down driving unit (311) is connected to the left vertical plate (11), the up-down driving unit (311) can drive the mounting base (312) to move up and down, and the left-right driving mechanism (32) is arranged on the mounting base (312); Two left and right drive mechanisms (32) are arranged at intervals in front and back, and the left and right drive mechanisms (32) comprise an upper connecting seat (321), left and right drive units (322), and a lower connecting seat (323) which are connected in sequence, the lower connecting seat (323) is fixed on the mounting base (312), and the left and right drive units (322) can drive the upper connecting seat (321) to move left and right; In the rear left and right drive mechanism (32), the left and right drive mechanism (32) further comprises a rear rotating block (324), the rear rotating block (324) is connected to the upper connecting seat (321) via a rear bearing (325), the rear rotating block (324) can rotate around a second axis, the second axis is parallel to the first axis, the second axis coincides with the axis of the rear bearing (325), and the front and rear drive mechanism (33) is connected and fixed to the rear rotating block (324); In the left and right driving mechanism (32) at the front, the left and right driving mechanism (32) further comprises a front rotating block (326), a front sliding block (327) and a front sliding rail (328) which are arranged in sequence from bottom to top; the front rotating block (326) is connected to the upper connecting seat (321) via a front bearing (329); the front rotating block (326) can rotate around a third axis, the third axis is parallel to the first axis, the third axis coincides with the axis of the front bearing (329); the front and rear driving mechanisms (33) are connected and fixed to the front sliding rail (328); the front sliding rail (328) extends in the front-to-back direction; the front sliding block (327) and the front sliding rail (328) are slidably connected; the front sliding block (327) is connected and fixed to the front rotating block (326); The left and right drive units (322) are composed of a motor and a ball screw; The two left and right drive mechanisms (32) can be independently controlled, and the distance between the connection points of the two left and right drive mechanisms (32) and the front and rear drive mechanisms (33) can be changed. By independently controlling the two left and right drive mechanisms (32), the fork frame (35) can be made to swing left and right. The upright rotation drive mechanism (34) comprises a rotation drive unit (341), a rotation transmission unit (342) and a rotating disk (343) which are connected in sequence, and the rotation drive unit (341) is a motor.

2. The sample transport robot according to claim 1, characterized in that: The front-rear driving mechanism (33) comprises a bottom plate (331), a front-rear driving unit (332) and a top plate (333) which are connected in sequence. Slideways (334) are provided on both left and right sides of the bottom plate (331). The slideways (334) extend in the front-rear direction. The front-rear driving unit (332) can drive the top plate (333) to move forward and backward. The top plate (333) is slidably connected to the slideways (334) via an upper slider (335).

3. The sample transport robot according to claim 2, characterized in that: The rotation drive unit (341) can drive the rotating disk (343) to rotate around the first axis through the rotation transmission unit (342), and the fork frame (35) is fixed on the rotating disk (343).

4. The sample transport robot according to claim 3, characterized in that: The fork frame (35) is in a U-shaped structure. The fork frame (35) comprises a left frame rod (351), a middle frame rod (352) and a right frame rod (353) which are connected in sequence. The left frame rod (351) and the right frame rod (353) are arranged in parallel on the left and right sides. The middle frame rod (352) is externally connected with an ear plate (354). The ear plate (354) is connected to the rotating disk (343) in a stacked manner.

5. The sample transport robot according to claim 1, characterized in that: The sample transport robot further comprises a control unit (5), which is capable of controlling the operation of the sample transport robot. The control unit (5) is located at the lower part of the upper shell (1). Two distance measuring sensors (6) are arranged at the front end or the rear end of the upper shell (1). The two distance measuring sensors (6) are arranged at intervals on the left and right. The walking device (2) is an intelligent transport robot. The storage rack (4) comprises a plurality of rack plates arranged at intervals on the upper and lower sides.

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