Multi-platform cooperative working system

Abstract

The invention discloses a multi-platform cooperative working system, which comprises a plurality of inner working units, a plurality of outer working units and a plurality of inner working units, the at least one transfer robot is configured to realize material transfer between the different operation platforms and the inner operation units; the multiple inner operation units are arranged in a surrounding mode in the horizontal direction with the transfer robot as the center. The work platform or the entire inner work unit is configured as a functional module for performing a treatment involving biological or chemical material. The functions needing to be achieved of the operation platform serve as units, the production mode that the operation platform is arranged in a surrounding mode and can be vertically stacked is adopted, equipment can be newly added or deleted according to needs of each inner operation unit, the whole automatic production line is not affected, the inner operation units can be freely combined and disassembled according to the technological process needs, production flexibility is achieved, and the production efficiency is improved. And the method has great adaptability to the production mode of frequently changing the combination mode and the technological process.

Description

Technical Field

[0001] The present invention relates to the field of automated production, and in particular to a multi-platform collaborative work system. Background Art

[0002] In modern automated industrial production, robots are combined with various automatic work platforms to form a complete automated production line. The number of automated work stations is set according to the production rhythm, and the products produced are transported according to the program-set movement line. When equipment needs to be added to one of the stations, the automatic work platforms of the entire automated production line need to be re-arranged and positioned; when the operation process changes, the automatic work platforms of the entire automated production line also need to be re-arranged. This production method has low production flexibility, and the process changes or the number of work platforms changes, and the layout needs to be re-arranged; this production method, under the premise of the same number of work platforms, occupies a large area and cannot use the high space. Summary of the invention

[0003] In order to solve the above technical problems,

[0004] The present invention provides a multi-platform collaborative work system, comprising:

[0005] Multiple internal operation units;

[0006] At least one transfer robot, wherein the transfer robot is configured to realize material transfer between different internal operation units;

[0007] Furthermore, the plurality of internal operation units are arranged around the transfer robot.

[0008] Among them, at least one transfer robot means that the number of transfer robots is not limited and can be set and adjusted according to actual needs, such as setting one transfer robot, two transfer robots, three transfer robots or more than four transfer robots.

[0009] The transfer robot is at least configured to transfer materials between different internal operation units, which means that the transfer robot can transfer the aforementioned materials from one internal operation unit to other internal operation units. In this way, since the internal operation units are arranged around the transfer robot, the transfer robot can quickly complete the material transfer work of multiple operation units through simple operation without complicated moving routes, and the space occupied is also smaller.

[0010] Furthermore, each of the inner working units is composed of a plurality of working platforms, and preferably, some or all of the plurality of working platforms constituting the inner working unit are stacked vertically. Another preferred embodiment is that the transfer robot is further configured to realize material transfer between the working platforms constituting the inner working unit.

[0011] Furthermore, the multi-platform collaborative work system also includes: at least one external operation unit, at least one internal operation unit corresponds to at least one external operation unit, at least one external operation unit corresponding to each internal operation unit is extended from the outer side of the internal operation unit to the outer side away from the central transfer robot, and each external operation unit also has at least one operation platform. In this way, by using other transfer robots or belt conveyors, material transfer can be achieved between the external operation unit and the corresponding internal operation unit, and / or material transfer can be achieved between the external operation units, thereby realizing a production method that continues to expand from the center to the periphery;

[0012] Furthermore, each of the external working units is also composed of a plurality of the working platforms.

[0013] The work platform is configured with at least one functional module that can execute at least one function in at least one biological and / or chemical process treatment, and the function is, for example, a work link involved in a certain process treatment, such as a crushing link, a drying link, a sample storage link, etc.

[0014] Preferably, the functional modules configured in each of the internal operation units and / or the multiple operation platforms of each of the internal operation units are the same or different;

[0015] Another preferred embodiment is that the process is, for example, biological separation and purification, biosynthesis, cell culture, cell extraction, and activity detection;

[0016] In another embodiment, the functional modules include but are not limited to:

[0017] Any one of a cell disruptor, a high-pressure homogenizer, a nucleic acid purifier, a conductivity meter, a water purifier, a nucleic acid amplification reactor, a protein synthesis reactor, a protein detector, a nucleic acid detector, an ultraviolet-visible spectrophotometer, a fluorescence detector, a protein purifier, an ultrasonic cleaner, an ELISA reader, a drying oven, a freeze dryer, an ultrasonic instrument, a high-speed refrigerated centrifuge, a mixer, a shaker, a homogenizer, a high-performance liquid chromatograph, a mass spectrometer, a fermenter, an autoclave, a biological safety cabinet, and a reagent storage rack.

[0018] Furthermore, it also includes a first controller, which controls the operation of the robotic arm. A feasible solution is that the first controller controls the transfer robot to complete material transfer between different internal working units according to a preset operating program. Further, it also includes controlling the transfer robot to realize material transfer between the working platforms of each internal working unit according to a preset program.

[0019] Furthermore, the transfer robot is a multi-axis robotic arm, preferably a four-axis or six-axis robotic arm.

[0020] Furthermore, the multiple internal operation units are horizontally arranged around the transfer robot.

[0021] Furthermore, the working position of the transfer robot is fixed or movable, and is configured to allow material transfer work to different internal operation units. The "configured to allow material transfer work to different internal operation units" means that the transfer robot can adjust the working position in the horizontal and vertical directions to realize material transfer between all the internal operation units arranged around it.

[0022] Furthermore, the working system also includes: a track for the transfer robot to move and adjust the working position, for example, the track is ring-shaped.

[0023] Furthermore, the transfer robot further includes a moving mechanism, and the moving mechanism is configured to move the transfer robot to adjust the working position. In actual production, if a large number of platforms are set and the positions of all internal working units or working platforms cannot be configured within the working range of the transfer robot, the moving mechanism can be controlled to move the transfer robot horizontally or vertically to a suitable working position to perform the operation according to a preset program to complete the task of material transfer.

[0024] Further, the work platform or the entire internal work unit is configured to perform the same or different tasks involving biological or chemical material processing.

[0025] Furthermore, it also includes: a central operating unit, which is located in the central area of ​​the area formed by the inner operating unit surrounding the transfer robot, and the transfer robot is also configured to realize material transfer between the central operating unit and the inner operating unit. Further, the central operating unit is composed of at least one of the operating platforms.

[0026] Furthermore, any one or more of the inner operation unit, the outer operation unit and the central operation unit further comprises a second controller, which is connected to the first controller for signal interaction. In order to make the operation platform of the operation unit (external operation unit, inner operation unit or central operation unit) intelligent and realize automatic operation, each functional module of the operation platform is intelligent, and the second controller controls the operation of the operation platform of the operation unit: for example, controlling the start or end of the operation, controlling the order of the operation of the operation unit, etc.

[0027] Furthermore, at least one of the working platforms is provided with an operating robot, and further the operating robot is controlled by a second controller to assist in completing the set tasks of the working platform according to a preset program.

[0028] Furthermore, the working system has a wide range of applications and can be used in the fields of gene sequencing, synthesis of nucleic acids and proteins / peptides, preparation of biochemical drugs, screening, separation and purification of organisms. Specifically, the working system can be configured as a system for any one or more of biological separation and purification (such as protein purification, nucleic acid extraction, cell screening), biosynthesis (such as in vitro protein synthesis, in vitro nucleic acid synthesis), cell culture, cell extraction (referring to the extraction of cell extracts), and activity detection.

[0029] A second aspect of the present invention provides an automated work integration platform, characterized in that it includes: a multi-platform collaborative work system as described in any one of the above, and a control system for controlling the automated work of the work system.

[0030] The third aspect of the present invention provides a control method for the working system, characterized in that the transfer robot and each of the working units perform various production operations according to the instructions of the scheduling program to complete the production task.

[0031] Preferably, the scheduling program is preset on the first controller.

[0032] Another preferred embodiment is that each of the working units is equipped with a second controller. Furthermore, each working unit is equipped with a corresponding second controller, such as a PLC. The second controller sets a corresponding preset program according to the predetermined task of each working unit to control each working unit to complete a specific work task.

[0033] Furthermore, each of the operating units is configured with a second controller and is also controlled by the scheduling program, completing the work task according to the instructions of the scheduling program.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] First, the arrangement of the inner operating units around the transfer robot greatly facilitates the material transfer between different operating units, saves space, and the transfer method is easy to adjust compared to other arrangements;

[0036] When the internal operation unit is composed of multiple operation platforms that can realize different functions, compared with the traditional production method, this production method effectively utilizes the height space and reduces the plane space while achieving the same production capacity; the vertical stacking production method takes the function that the operation platform needs to realize as a unit, and each internal operation unit can add or delete equipment as needed without affecting the entire automated production line; each unit platform has independent feeding and discharging systems, which can be arbitrarily combined and split according to the needs of the process flow to achieve flexible production; it has great adaptability to production methods that frequently change combination methods and process flows. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 A working system layout diagram of an embodiment of the present invention;

[0039] Figure 2 This is a structural diagram of an internal operation unit according to an embodiment of the present invention;

[0040] Figure 3 A working system layout diagram of an embodiment of the present invention;

[0041] Figure 4 A working system layout diagram of an embodiment of the present invention;

[0042] Figure 5 A control program diagram of a working system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention. It should be noted that the terms "including" and "having" in the specification and claims of the present invention and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions.

[0044] In this article, "work unit" and "work area" have exactly the same meaning, and according to different setting locations, they are respectively called central work unit, internal work unit and external work unit; "robotic arm", "robotic hand" and "robotic arm" have exactly the same meaning; in this article, "robot", such as "transfer robot" and "operating robot", refers to an intelligent machine with at least one working robotic arm.

[0045] The technical solutions in multiple embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described herein are only part of the embodiments of the present invention, rather than all of the embodiments. Based on these embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the protection scope of the present invention.

[0046] Example 1

[0047] One embodiment of the present invention is a multi-platform working system, such as Figure 1 The figure includes: a transfer robot 2, with a plurality of operating units 1 arranged horizontally around the transfer robot as the center, and the transfer robot 2 is configured to realize material transfer in different internal operating units.

[0048] The materials described in this article refer to any reagents (including raw materials and various intermediates formed during the treatment process), consumables, containers, instruments and equipment, finished products, etc. involved in chemical or biological process treatment.

[0049] “The transfer robot 2 is configured to realize material transfer of different internal working units” specifically means that the transfer robot can transfer the aforementioned materials from one internal working unit to other internal working units. In this way, since the internal working units are arranged around the transfer robot, the transfer robot can quickly complete the material transfer work of multiple working units through simple operations without complicated moving routes, and the space occupied is also smaller. It should be noted that the surrounding setting here and the shape formed by the surrounding may be square, circular, polygonal, etc. In short, as long as the transfer robot is in the center, the internal working units can be arranged around the center.

[0050] In this embodiment, the working position of the transfer robot is movable, or the working position is fixed at one point, and is configured to allow material transfer work to be performed toward different internal working units: "configured to allow material transfer work to different internal working units" means that the transfer robot can transfer materials between different internal working units, for example, the working position can be adjusted in the horizontal and vertical directions to achieve material transfer between all the internal working units arranged around it, and material transfer between different internal working units can be achieved through movement.

[0051] The transfer robot can be fixed or movable; when movable, it can be moved by setting a motion track, which is, for example, circular.

[0052] In one example, each of the internal working units is composed of multiple working platforms, which are configured to achieve required functions. Preferably, at least some of the multiple working platforms constituting the internal working unit are stacked longitudinally, and further, all of the multiple working platforms constituting the internal working unit are stacked longitudinally.

[0053] When the inner working unit includes multiple working platforms, in one example, the central transfer robot can also transfer materials between the working platforms in each inner working unit.

[0054] like Figure 1 Shown ， Each internal working unit 1 includes multiple vertically stacked working platforms. By setting up the working platforms in a vertically stacked manner, the vertical space is fully utilized, and the plane space occupied can be greatly reduced while achieving the same production capacity. At the same time, the vertical stacking setting avoids horizontal rearrangement and positioning when the equipment needs to be increased or decreased to transform the production task.

[0055] The number of vertically stacked work platforms of each inner work unit can be adjusted according to actual needs. The optional number can be at least 1, at least 2, at least 3, or at least 4. The number of stacks should also take into account the transportation convenience of the transfer robot, the height of the stacking space, and production safety. In a preferred implementation of this embodiment, the number of stacks of each inner work unit is 3, such as Figure 2 shown.

[0056] The transfer robot 2 is configured to realize material transfer between different working platforms and / or internal working units.

[0057] The multiple internal operation units 1 are horizontally arranged around the transfer robot.

[0058] The operation platform is configured with at least one functional module to perform at least one function in at least one biological and / or chemical process.

[0059] Preferably, the functional modules configured in each of the internal operation units and / or the multiple operation platforms of each of the internal operation units are the same or different:

[0060] For example, each internal operation unit is configured to achieve the same function, such as a crushing operation function;

[0061] For another example, each operation platform of each internal operation unit is configured to implement the same function, but different internal operation units implement different functions. For example, one internal operation unit is configured to implement only the crushing operation function, and another internal operation unit is configured to implement only the extraction operation function;

[0062] For another example, each operation platform of each internal operation unit is configured to implement different functions. These different functional combinations enable the corresponding internal operation unit to complete a process. For example, an internal operation unit is configured to implement a nucleic acid extraction process, and the configuration includes the crushing, extraction, washing and other steps involved in nucleic acid extraction. At the same time, the processes completed by different internal operation units after being configured can be the same or different: for example, another internal operation unit is also configured to implement a nucleic acid extraction process, or is configured to implement a cell screening process.

[0063] In summary, according to actual needs, the functional modules configured on each of the internal operating units and / or the multiple operating platforms of each of the internal operating units can be the same or any combination to achieve different production purposes, efficiency or operational convenience.

[0064] Another preferred embodiment is that the process is, for example, biological separation and purification (e.g., protein purification, nucleic acid extraction, cell screening), biosynthesis (e.g., protein synthesis in vitro, nucleic acid synthesis in vitro), cell culture, cell extraction (referring to the extraction of cell extracts), activity detection, etc.;

[0065] In another embodiment, the functional modules include but are not limited to:

[0066] Any one of a cell disruptor, a high-pressure homogenizer, a nucleic acid purifier, a conductivity meter, a water purifier, a nucleic acid amplification reactor, a protein synthesis reactor, a protein detector, a nucleic acid detector, an ultraviolet-visible spectrophotometer, a fluorescence detector, a protein purifier, an ultrasonic cleaner, an ELISA reader, a drying oven, a freeze dryer, an ultrasonic instrument, a high-speed refrigerated centrifuge, a mixer, a shaker, a homogenizer, a high-performance liquid chromatograph, a mass spectrometer, a fermenter, an autoclave, a biological safety cabinet, and a reagent storage rack.

[0067] Furthermore, with the operating platform as the smallest functional module for realizing functions, each module itself can also add or delete equipment according to actual needs.

[0068] In this embodiment, if Figure 1 and Figure 2 As shown, the working system of the present invention has multiple internal working units 1 specifically including 12 internal working units 1A, 1B, 1C, ..., 1L, and each internal working unit includes three working platforms with three functional modules that independently realize their functions: working platform a, working platform b, working platform c and electric control box z, and each working platform is configured as a functional module that realizes a certain function. Therefore, the setting method of this embodiment includes at most 36 functional modules: module 1Aa, module 1Ab, module 1Ac, module 1Ba, module 1Bb, module 2Bc, module 1Ca, module 1Cb, module 1Cc, ..., module 1La, module 1Lb, module 1Lc.

[0069] In actual production, since each module is configured as an independent module, it can be controlled by program operation bus, and the operation sequence and combination of any internal operation unit can be set by program. In addition, each operation platform can be set by program, and single or multi-function modules can work simultaneously or in sequence. The functional modular design allows for greater flexibility in adjusting production capacity.

[0070] When the production process of a certain product X can be divided into 6 independent production modules;

[0071] (I) When the production capacity demand is relatively small, in a feasible solution, any two of the 12 internal operation units can be selected, such as the six operation platforms included in 1A and 1B, to configure the above six independent working modules to realize the production of product X;

[0072] In another feasible solution, any three of the 12 internal operation units can be selected at random, such as the nine operation platforms in 1A, 1B, and 1C configured with the above six independent working modules, such as setting two independent working modules in each unit to realize the production of product X;

[0073] In another feasible solution, macros can arbitrarily select 6 of the 12 internal operation units, such as 1A, 1B, 1C, 1C, 1D, and 1E, to configure the above 6 independent working modules, such as setting 1 independent working module in each unit to realize the production of product X;

[0074] (II) However, when the production capacity requirement is relatively large, the configuration of the present invention can set up to 6 parallel production lines. One implementation method is to configure the above 6 independent working modules using the 6 working platforms contained in every two working units of the 12 internal working units 1A, 1B, 1C, ..., 1L to realize the production of product X. A total of 6 parallel production lines can be set up for the 12 internal working units.

[0075] It can be seen that the working system of the present invention adopts a vertically stacked working platform setting method, a center-surrounding internal working unit setting method, and a working platform functional modularization method. This is a way that the production capacity can be adjusted at will and has great adjustment flexibility.

[0076] In this embodiment, the vertical stacking is a detachable and reconfigurable modular stacking, which can reset and adjust the work tasks of each work platform or the entire internal work unit according to the actual work tasks and process sequence. By setting up the work platform in a vertical upward stacking manner, the height space is effectively utilized and the plane space can be greatly reduced.

[0077] In actual production, the number of working platforms in each internal working unit is also adjusted, that is, the number of stacked layers is adjusted according to actual conditions.

[0078] When the production process of a certain product Y needs to be divided into two groups according to its properties, one group contains 4 functional modules and the other group contains 2 functional modules, and it is best to avoid mutual influence between the two modules, then any two internal operation units in this embodiment can be adjusted, such as adjusting the operation platform in the internal operation unit 1A to include four operation platforms, and adjusting the operation platform in the internal operation unit 1D to only configure two operation platforms, thereby completing the production of product Y.

[0079] The working system of the present invention includes 12 independent internal working units and can realize various combinations. It has great adaptability to production modes that require frequent changes in combination methods and adjustments in production capacity. During the adjustment process, there is no need to adjust the plane layout. Basically, only the working procedures need to be adjusted, which does not affect the entire working system.

[0080] In this example, the transfer robot controls the operation of the mechanical arm through the first controller, for example, according to a preset operation program, the mechanical arm is controlled to complete the material transfer between different working platforms and different internal working units in a certain order. The preset operation program can be set according to the process step requirements, the completion progress of each function, etc.

[0081] In this embodiment, the multiple internal operation units are arranged horizontally around the transfer robot. In the arrangement mode of horizontally surrounding arrangement, the transfer robot can work within 360 degrees, so that it can quickly switch to work on different work platforms, greatly improving the working efficiency of the robot arm and improving the material transfer efficiency.

[0082] In one example, the transfer robot is a four-axis robot arm or a six-axis robot arm, so that when working, only the control program needs to be adjusted without adjusting the physical position to complete the material transfer between different working platforms and different internal working units in a certain order. Furthermore, the transfer robot also includes a moving mechanism, and the moving mechanism is configured to allow the transfer robot to adjust the working position appropriately. In actual production, if the number of platforms set up is large and the positions of all internal working units or working platforms cannot be configured within the working range of the transfer robot, the moving mechanism can be controlled according to the preset program to move the transfer robot to the appropriate working position in the horizontal or vertical direction to complete the material transfer task.

[0083] Furthermore, the working system also includes: a track for the transfer robot to move and adjust the working position, preferably, the track is annular.

[0084] Furthermore, the operation platform or the entire internal operation unit is configured to include but not limited to the following functional modules:

[0085] One or more of a cell disruptor, a high-pressure homogenizer, a nucleic acid purifier, a conductivity meter, a water purifier, a nucleic acid amplification reactor, a protein synthesis reactor, a protein detector, a nucleic acid detector, an ultraviolet-visible spectrophotometer, a fluorescence detector, a protein purifier, an ultrasonic cleaner, an ELISA reader, a drying oven, a freeze dryer, an ultrasonic instrument, a high-speed refrigerated centrifuge, a mixer, a shaker, a homogenizer, a high-performance liquid chromatograph, a mass spectrometer, a fermenter, an autoclave, a biological safety cabinet, and a reagent storage rack.

[0086] In this embodiment, according to actual needs, the operating platform or the entire internal operating unit is configured to perform functional modules involving biological or chemical material processing, which can be configured to be the same or different.

[0087] In this embodiment, the inner operation unit further includes a second controller, which is connected to the first controller for signal interaction. The signal interaction between the second controller and the first controller can better realize the working coordination between the operation platform and the transfer robot (such as a robotic arm) and better complete the preset working procedure.

[0088] In order to make the operation of the operating platform of the inner operating unit, the outer operating unit and the central operating unit intelligent and realize automatic operation, each functional module of the operating platform is made intelligent, and the second controller controls the operation of the operating platform of the inner operating unit and / or the outer operating unit: for example, controlling the start or end of the work, controlling the order of operation of the functional modules or operating units, etc.

[0089] In this embodiment, the working platform further includes an operating robot, which is controlled by a second controller and assists in completing set tasks of the working platform according to a preset program.

[0090] The working system has a wide range of applications and can be used for biological separation and purification (such as protein purification, nucleic acid extraction, cell screening), biosynthesis (such as in vitro protein synthesis, in vitro nucleic acid synthesis), cell culture, cell extraction (referring to the extraction of cell extracts), activity detection, etc.

[0091] Example 2

[0092] Another embodiment of the present invention, this embodiment is different from embodiment 1 in that

[0093] The example also includes at least one external working unit, and at least one of the internal working units corresponds to at least one of the external working units, and at least one of the external working units corresponding to each of the internal working units extends from the outside of the internal working unit to the direction away from the central transfer robot, and material transfer can be carried out between the external working units and the corresponding internal working units and / or between the external working units.

[0094] In this way, the materials are transferred to the inner working unit by the robot in the center, and then transferred to the outer working unit by other robots or belts, and then transferred to the outer working units in turn, achieving continuous work in a larger range.

[0095] The outer operating units corresponding to different inner operating units may also form a multi-layer form surrounding the outer periphery of the inner operating units.

[0096] In one example, each external operation unit can be composed of multiple operation platforms like the internal operation unit. In actual production, the external operation unit of this embodiment can be arranged in a more flexible manner with the internal operation unit, and can meet more complex production tasks.

[0097] In one example, according to actual needs, at least some of the multiple working platforms constituting the external working unit can be arranged in a longitudinally stacked manner, and further, all of the multiple working platforms constituting the external working unit can be longitudinally stacked.

[0098] like Figure 3 As shown, it is an implementation method of this embodiment, wherein the working area (i.e., working unit) arranged around the transfer robot is divided into two groups, the inner circle working area close to the central transfer robot is the inner working unit, and each inner circle working area corresponds to a group of n outer circle working areas (i.e., outer working units), and at least one outer working unit corresponding to each of the inner working units extends from the outer side of the inner working unit to the direction away from the central transfer robot.

[0099] The vertically stacked working platform of each outer working unit is arranged in the same manner as the inner working unit in Example 1.

[0100] Example 3

[0101] This embodiment is a further improvement of the solution of Example 2. The difference between this embodiment and Example 1 is that the improved working system further includes: a central operating unit, which is located in the central area of ​​the area formed by the inner operating unit surrounding the transfer robot. The transfer robot is also configured to realize material transfer between the central operating unit and the inner operating unit. Preferably, a track is provided around the central operating unit for the transfer robot to move and adjust the working position. More preferably, the track is annular and is arranged around the central working area (i.e., the central operating unit). The setting of the track for the transfer robot to move and adjust the working position can greatly increase the working radius of the robot arm, and can improve the transfer capacity and transfer effect of the robot arm to a certain extent, thereby completing the production task more efficiently.

[0102] Similarly, the central operating unit and the multiple inner operating units arranged around it have at least one outer operating unit corresponding to at least one inner operating unit according to the actual execution tasks of the functional modules, and at least one outer operating unit corresponding to each inner operating unit is extended from the outer side of the inner operating unit to the direction away from the central transfer robot. In this way, materials are transferred to the inner operating units by the central robot, and then the inner operating units transfer the materials to the outer operating units by other means, and then the materials are transferred to the outer operating units in sequence, so as to realize continuous work in a larger range.

[0103] The outer operating units corresponding to different inner operating units may also form a multi-layer form surrounding the outer periphery of the inner operating units.

[0104] In one example, similarly, at least some of the multiple work platforms constituting the work unit and the outer work unit can be arranged in a longitudinally stacked manner, and further, the multiple work platforms constituting the inner work unit are all longitudinally stacked. In actual production, the work platform is configured with at least one functional module to be able to perform at least one process involving biology and / or chemistry.

[0105] like Figure 4 As shown, it is an implementation method of this embodiment, wherein the transfer robot is arranged around the central working area (i.e., the central working unit), and the working area (i.e., the working unit) outside the transfer robot is divided into two groups. The inner circle working area close to the central transfer robot is the inner working unit, and each inner circle working area corresponds to a group of n outer circle working areas (i.e., outer working units). At least one outer working unit corresponding to each of the inner working units is arranged to extend from the outer side of the inner working unit to the direction away from the central transfer robot.

[0106] The outer working units should be arranged in an orderly manner along the radial direction away from the inner working units, and the orderly arrangement methods include but are not limited to: straight line arrangement, staggered placement, etc.

[0107] The configuration method of the working platform refers to Example 1 and Example 2. The number of vertically stacked working platforms in each inner working unit can be adjusted according to actual needs. The selectable number can be at least 1, at least 2, at least 3, or at least 4. The stacked number should also take into account the transportation convenience of the transfer robot, the height of the stacking space, and production safety.

[0108] Example 4

[0109] A control method for the working system described in embodiments 1-3 is provided, such as Figure 5 As shown, the transfer robot and the work unit are both controlled by the instructions of the scheduling program, wherein the work unit includes an internal work unit, an external work unit and / or a central work unit according to different settings; that is to say, the internal work unit, the external work unit and / or the central work unit and the transfer robot all accept the instructions of the scheduling program to perform various operations and complete the production tasks; in this embodiment, the scheduling program is preset in the first controller.

[0110] For example, in Example 1, each internal operation unit is configured to achieve the same function, such as a crushing operation function. Then, the transfer robot transfers the crushed raw materials to each internal operation unit in a certain order according to the instructions of the scheduling program, and each internal operation unit performs the crushing operation in a matching order under the instructions of the same scheduling program, thereby completing the crushing task. The control method of the transfer robot here is as described above, and can be controlled by the first controller to accept the scheduling program.

[0111] Furthermore, each operating unit is equipped with a corresponding second controller, such as a PLC, which sets a corresponding preset program according to the predetermined tasks of each operating unit to control each operating unit to complete a specific work task. The controller (PLC) of each operating unit is also controlled by the scheduling program and completes a specific work task according to the instructions of the scheduling program.

[0112] For another example, in Example 1, an internal operation unit is configured to implement a nucleic acid extraction process, and the configuration includes the steps of crushing, extraction, washing, etc. involved in nucleic acid extraction. Then, each operation platform in the internal operation unit is controlled by the controller (PLC) of the internal operation unit (for example, the aforementioned second controller), and completes the crushing, extraction, washing, etc. operations according to a preset program. The internal operation unit controller (PLC) is also controlled by the scheduling program like the transfer robot. For example, according to the instructions of the scheduling program, only when the transfer robot completes the transfer of materials to the internal operation unit, the internal operation unit controller (PLC) will execute the preset program for nucleic acid extraction, thereby completing the nucleic acid extraction task.

[0113] Correspondingly, this embodiment also provides a control system corresponding to the control method, which forms an automated work integration platform with the aforementioned working system.

[0114] The above description has fully disclosed the specific embodiments of the present invention. It should be pointed out that any changes made by those skilled in the art to the specific embodiments of the present invention do not deviate from the scope of the claims of the present invention. Accordingly, the scope of the claims of the present invention is not limited to the above specific embodiments.

Claims

1. A multi-platform collaborative work system, characterized in that: include: Multiple internal operation units; At least one transfer robot, wherein the transfer robot is configured to transfer materials between different internal operation units; Wherein, the multiple internal operation units are arranged around the transfer robot.

2. The working system according to claim 1, characterized in that: in, Each of the internal working units is composed of multiple working platforms. Preferably, some or all of the multiple working platforms constituting the inner working unit are stacked longitudinally. Another preferred embodiment is that the transfer robot is also configured to realize material transfer between the working platforms constituting the internal working unit.

3. The working system according to claim 1 or 2, characterized in that: Also includes: At least one external operation unit, at least one of the internal operation units corresponds to at least one of the external operation units, at least one of the external operation units corresponding to each of the internal operation units is arranged extending from the outer side of the internal operation unit in a direction away from the central transfer robot, and each of the external operation units has at least one of the operation platforms; Furthermore, each of the external working units is also composed of a plurality of the working platforms.

4. The working system according to any one of claims 1 to 3, characterized in that: The working platform is equipped with at least one functional module capable of performing at least one function in at least one biological and / or chemical process. Preferably, the functional modules configured in each of the internal operation units and / or the multiple operation platforms of each of the internal operation units are the same or different; Another preferred embodiment is that the process is, for example, biological separation and purification, biosynthesis, cell culture, cell extraction, and activity detection; In another embodiment, the functional modules include but are not limited to: Any one of a cell disruptor, a high-pressure homogenizer, a nucleic acid purifier, a conductivity meter, a water purifier, a nucleic acid amplification reactor, a protein synthesis reactor, a protein detector, a nucleic acid detector, an ultraviolet-visible spectrophotometer, a fluorescence detector, a protein purifier, an ultrasonic cleaner, an ELISA reader, a drying oven, a freeze dryer, an ultrasonic instrument, a high-speed refrigerated centrifuge, a mixer, a shaker, a homogenizer, a high-performance liquid chromatograph, a mass spectrometer, a fermenter, an autoclave, a biological safety cabinet, and a reagent storage rack.

5. The working system according to any one of claims 1 to 4, characterized in that: The transfer robot is a multi-axis robotic arm, such as a four-axis or six-axis robotic arm, and further, a plurality of robotic arms are arranged on the transfer robot.

6. The working system according to any one of claims 1 to 5, characterized in that: The multiple internal operation units are horizontally arranged around the transfer robot.

7. The working system according to any one of claims 1 to 6, characterized in that: The working position of the transfer robot is fixed or movable. Furthermore, the working system also includes a track for the transfer robot to move and adjust the working position. Preferably, the track is annular.

8. The working system according to any one of claims 1 to 7, characterized in that: The transfer robot further includes a moving mechanism configured to move the transfer robot to adjust the working position.

9. The working system according to any one of claims 1 to 8, characterized in that: Also includes: A central operating unit, the central operating unit is located in the central area of ​​the area formed by the inner operating units surrounding the transfer robot, the transfer robot is also configured to realize material transfer between the central operating unit and the inner operating unit, Furthermore, the central operating unit is composed of at least one operating platform.

10. The working system according to any one of claims 1 to 9, characterized in that: Also includes: A first controller is used to control the operation of the transfer robot.

11. The working system according to claim 10, characterized in that: Any one or more of the inner operation unit, the outer operation unit and the central operation unit further includes a second controller, and the second controller is communicatively connected with the first controller to realize signal interaction.

12. The working system according to any one of claims 1 to 11, characterized in that: At least one of the working platforms is provided with an operating robot, and further, the operating robot is controlled by a second controller to assist in completing the set tasks of the working platform according to a preset program.

13. The working system according to any one of claims 1 to 12, characterized in that: The working system is configured as a system for performing any one or more of pharmaceutical manufacturing, gene sequencing, nucleic acid synthesis, cell screening, protein synthesis, and protein purification.

14. An automated work integration platform, characterized in that: include: A working system as claimed in any one of claims 1 to 13, and a control system for controlling the automated operation of the working system.

15. The control method of the working system according to any one of claims 1 to 13, characterized in that: The transfer robot and each of the work units perform various production operations according to the instructions of the scheduling program to complete the production tasks; preferably, the scheduling program is preset on the first controller; another preferred embodiment is that each of the work units is configured with a second controller, and is also controlled by the scheduling program to complete the work tasks according to the instructions of the scheduling program.

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