Totally-enclosed laboratory hazardous chemical substance clamping device and method

Abstract

The invention provides a fully-closed laboratory hazardous chemical substance clamping device and method.The device comprises a moving mechanism, a mechanical arm mechanism and a clamping mechanism, a top cover, a lifting sleeve and a bottom plate in the clamping mechanism jointly form a closed space, and the fully-closed structure can effectively prevent hazardous chemical substances from leaking into the surrounding environment in the transferring process. According to the method, relative position information of the moving mechanism and the hazardous chemical substance is obtained through the positioning system and the visual system, the moving mechanism is controlled to approach the hazardous chemical substance, the mechanical arm mechanism drives the clamping mechanism to be aligned with the hazardous chemical substance, and accurate clamping is conducted under the assistance of the visual system; after the hazardous chemical substance is clamped, the hazardous chemical substance is sealed in the closed space through the lifting driving assembly and the translation driving assembly and is transferred to a designated position to be placed. According to the method, automatic positioning, clamping, sealing and transferring of the hazardous chemical substances are achieved, the operation efficiency and safety are improved, manual intervention can be reduced, and the accuracy and reliability of the clamping and transferring process are ensured.

Description

Technical Field

[0001] The present invention relates to the field of gripping robots, and in particular to a fully enclosed laboratory hazardous chemicals gripping device and method. Background Art

[0002] In the daily operation of biochemical laboratories, it is often necessary to transfer various types of hazardous chemicals, referred to as hazardous chemicals. These hazardous chemicals have dangerous characteristics such as flammable, explosive, toxic, harmful, and corrosive. Once leaked into the surrounding environment, they will pose a serious threat to the life and health of laboratory staff and the safety of laboratory equipment and facilities, and may also cause environmental pollution.

[0003] Traditional hazardous chemical gripping robots generally adopt an open gripping method. This gripping method is relatively simple in design, usually just using mechanical grippers to directly clamp the hazardous chemical container and then transfer it. However, this open design has many disadvantages. From the perspective of the characteristics of hazardous chemicals themselves, some hazardous chemicals are volatile. During the transfer process, even if the container is well sealed, a small amount of volatile gas may escape. The open gripping method cannot effectively block these escaping gases, and these gases will diffuse into the air of the laboratory. Laboratory staff are exposed to such an environment for a long time and inhale harmful gases, which may cause respiratory diseases, poisoning and other health problems. In addition, when the container is damaged or not sealed tightly, the disadvantages of the open gripping method are more prominent. Hazardous chemicals may leak directly into the surrounding environment. If the leak is corrosive liquid, it will cause corrosion damage to the laboratory floor, laboratory bench and other facilities; if the leak is flammable and explosive substances, it is very likely to cause fire or explosion accidents when encountering open flames or high temperatures. Traditional open gripping robots can no longer meet the needs of biochemical laboratories for the safe transfer of hazardous chemicals, and the degree of automation of the entire gripping and transfer process is low. Summary of the invention

[0004] The main purpose of the present invention is to provide a fully enclosed laboratory hazardous chemicals clamping device and method to solve the problem that the open design cannot effectively block volatile gases, resulting in low safety, and the low degree of automation in the clamping and transfer process, which increases the risk of operational errors.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a fully enclosed laboratory hazardous chemicals clamping device, including a moving mechanism and a mechanical arm mechanism, one end of the mechanical arm mechanism is fixed on the moving mechanism, and the other end is provided with a clamping mechanism; the clamping mechanism includes a top cover and a clamping assembly for clamping hazardous chemicals, the top cover is fixed to the movable end of the mechanical arm mechanism, and an internally open receiving cavity is formed below the top cover, and the clamping assembly is located in the receiving cavity; a lifting sleeve is provided at the lower part of the top cover, and a lifting drive assembly is provided between the top cover and the lifting sleeve, one end of the lifting drive assembly is fixed to the side of the top cover, and the other end is connected to the lifting sleeve; a bottom plate is vertically provided at the bottom of the lifting sleeve, the end surface of the bottom plate is connected to the movable end of the translation drive assembly, the fixed end of the translation drive assembly is connected to the lifting sleeve, and the bottom plate is driven by the translation drive assembly to move to the position of the lower end opening of the lifting sleeve.

[0006] In a preferred embodiment, the mechanical arm mechanism comprises an electric turntable, a first arm, a second arm, a connecting portion, a first rotation driving member, a second rotation driving member and a third rotation driving member; the fixed end of the electric turntable is fixed to the moving mechanism, one end of the first arm is hinged to the movable end of the electric turntable, one end of the second arm is hinged to the other end of the first arm, one end of the connecting portion is hinged to the other end of the second arm, and the top cover is fixed to the other end of the connecting portion; The electric turntable and the first arm are connected by a first rotating drive member, which is used to drive the first arm to rotate relative to the movable end of the electric turntable; the first arm and the second arm are connected by a second rotating drive member, which is used to drive the second arm to rotate relative to the first arm; the second arm and the connecting part are connected by a third rotating drive member, which is used to drive the connecting part to rotate relative to the second arm; a level is also provided on the connecting part.

[0007] In the preferred embodiment, the clamping assembly includes two groups of relatively arranged clamping members, and the clamping members include a clamping plate, a clamping drive member, an extrusion rod, a pressure sensor, an elastic member and a distance sensor; the clamping drive member is connected to the clamping plate, and is used to drive the clamping plate to translate relative to the clamping plate of the other clamping member. A plurality of through holes are provided on the clamping plate, and a corresponding extrusion rod is passed through each through hole. One end of the extrusion rod is used to abut against the side wall of the hazardous chemical, and the other end is provided with a cap body. One end of the pressure sensor is fixed on the corresponding cap body, and the other end of the pressure sensor is connected to one end of the elastic member, and the other end of the elastic member is connected to the clamping plate. The distance sensor is located at the bottom end of the clamping plate.

[0008] In the preferred embodiment, the lifting drive assembly includes two first mounting blocks, a first screw rod, a first nut, a first rotating drive member and a first connecting rod; the two first mounting blocks are fixed up and down on the side walls of the top cover, the two ends of the first screw rod are respectively rotatably connected to the two first mounting blocks, the top of the first screw rod is connected to the first rotating drive member, the first rotating drive member is used to drive the first screw rod to rotate, the first nut is threaded and rotatably sleeved on the first screw rod, one end of the first connecting rod is connected to the first nut, and the other end is connected to the lifting sleeve.

[0009] In the preferred embodiment, a receiving groove is provided at the lower edge of the top cover, and the upper end of the lifting sleeve is slidably inserted in the receiving groove. Bottom plates are respectively provided on both sides of the lower end of the lifting sleeve. The two bottom plates are respectively connected to two translation drive components. The translation drive components are used to drive the corresponding bottom plate away from or close to the other bottom plate, so that the two bottom plates close or open the lower end opening of the lifting sleeve.

[0010] In the preferred embodiment, the translation drive assembly includes a transverse plate, two second mounting blocks, a second screw rod, a second nut, a second rotation drive member and a second connecting rod; the transverse plate is fixed to the outer wall of the lifting sleeve, the two second mounting blocks are fixed to the two ends of the transverse plate, the two ends of the second screw rod are respectively rotatably set with two second mounting blocks, the second nut is threadedly rotatably sleeved on the second screw rod, the second rotation drive member is connected to the second screw rod for driving the second screw rod to rotate, one end of the second connecting rod is connected to the second nut, and the other end is connected to the corresponding base plate; a guide groove parallel to the second screw rod is opened on the transverse plate, a slider is slidably provided in the guide groove, and a third connecting rod is provided between the slider and the second nut.

[0011] In the preferred embodiment, the device also includes a positioning system, a visual system and a control system. The positioning system is fixed on the mobile mechanism and is used to obtain the position information of the mobile mechanism. The visual system is arranged between the robotic arm mechanism and the clamping mechanism and is used to obtain the image and position information of the hazardous chemicals. The positioning system and the visual system are respectively connected to the control system. The control system controls the movement and clamping of the device according to the information data of the positioning system and the visual system.

[0012] A method for using the fully enclosed laboratory hazardous chemicals clamping device, the method comprising: S1. Use the positioning system to obtain the real-time location information of the mobile mechanism, and the visual system to collect the image information and storage location information of the hazardous chemicals; S2. Send a moving instruction through the control system to move the moving mechanism toward the hazardous chemicals, and drive the mechanical arm mechanism to move the gripping mechanism to the top of the hazardous chemicals; S3, the robotic arm mechanism drives the gripping mechanism to move downward, uses the visual system to monitor the alignment status of the gripping component and the hazardous chemicals, and the control system sends a gripping instruction to drive the gripping component to grip the hazardous chemicals; S4. After the clamping assembly clamps the hazardous chemicals, the mechanical arm mechanism moves in the reverse direction to drive the clamping mechanism to move upward; the lifting drive assembly and the translation drive assembly are started to seal the hazardous chemicals in the closed space formed by the top cover, the lifting sleeve and the bottom plate; S5. The control system sends a moving instruction according to the transfer path, transfers the hazardous chemicals to the designated location through the moving mechanism, and then reverses the operation to place the hazardous chemicals, thus completing the clamping and transfer of the hazardous chemicals.

[0013] In the preferred embodiment, in step S2, the relative position information between the mobile mechanism and the hazardous chemicals is calculated by the control system, and the relative position information includes the relative distance and the azimuth angle; if the relative distance is greater than the distance threshold, a path planning method is used to generate a movement instruction for the mobile mechanism, and the mobile mechanism moves toward the hazardous chemicals until the relative distance is less than or equal to the distance threshold; if the relative distance is less than or equal to the distance threshold, a movement instruction for the robotic arm mechanism is generated according to the azimuth angle, and the clamping mechanism is moved to directly above the hazardous chemicals by the robotic arm mechanism.

[0014] In the preferred embodiment, in step S3, the visual system monitors the alignment status of the clamping mechanism and the hazardous chemicals in real time. If the clamping mechanism and the hazardous chemicals are not center-aligned, the control system sends a movement command to drive the robotic arm mechanism to adjust the position of the clamping mechanism. During the downward movement of the clamping mechanism, the visual system continuously acquires image information and position information of the hazardous chemicals until the hazardous chemicals are completely within the clamping range of the clamping assembly and the clamping mechanism stops moving.

[0015] The present invention provides a fully enclosed laboratory hazardous chemical clamping device and method, wherein the top cover, lifting sleeve and bottom plate in the clamping mechanism of the device together constitute a closed space. The fully enclosed device can effectively prevent hazardous chemicals from leaking into the surrounding environment during the transfer process, protect the health and safety of laboratory workers, and also avoid pollution and damage to laboratory equipment and the environment. This method obtains the relative position information between the mobile mechanism and the hazardous chemicals through the positioning system and the visual system, controls the mobile mechanism to approach the hazardous chemicals, and drives the clamping mechanism to align with the hazardous chemicals through the mechanical arm mechanism, and performs precise clamping with the assistance of the visual system; after clamping the hazardous chemicals, the hazardous chemicals are sealed in the closed space through the lifting drive component and the translation drive component, and transferred to the designated position and placed. This method realizes the automatic positioning, clamping, sealing and transfer of hazardous chemicals, which can improve the operation efficiency and safety; through the automated and intelligent clamping and transfer process; it can also reduce manual intervention, avoid manual operation errors, and ensure the accuracy and reliability of the clamping and transfer process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1It is a structural schematic diagram of the fully enclosed laboratory hazardous chemicals clamping device of the present invention; Figure 2 It is a structural schematic diagram of the clamping mechanism of the present invention; Figure 3 yes Figure 2 A partial enlarged view of the middle area A; Figure 4 yes Figure 2 A partial enlarged view of the middle area B; Figure 5 yes Figure 2 A partial enlarged view of the middle area C; Figure 6 It is a schematic diagram of the clamping mechanism of the present invention after the two bottom plates are moved to the side of the lifting sleeve; Figure 7 It is a schematic diagram of the lifting sleeve of the clamping mechanism of the present invention after it moves up to a high position; Figure 8 It is a method flow chart of the fully enclosed laboratory hazardous chemicals clamping device of the present invention; In the figure: moving mechanism 1; mechanical arm mechanism 2; electric turntable 21; first arm 22; second arm 23; connecting part 24; first rotary drive member 25; second rotary drive member 26; third rotary drive member 27; level 28; clamping mechanism 3; top cover 31; receiving groove 311; clamping assembly 32; clamping member 321; clamping plate 3211; clamping drive member 3212; extrusion rod 3213; cap body 32131; pressure sensor 3214; elastic member 3215; distance sensor 321 6; lifting sleeve 33; lifting drive assembly 34; first mounting block 341; first screw rod 342; first nut 343; first rotating drive member 344; first connecting rod 345; bottom plate 35; translation drive assembly 36; cross plate 361; guide groove 3611; second mounting block 362; second screw rod 363; second nut 364; second rotating drive member 365; second connecting rod 366; slider 367; third connecting rod 368; hazardous chemicals 4; positioning system 5; visual system 6; control system 7. DETAILED DESCRIPTION

[0017] Embodiment 1: like Figures 1 to 7As shown, a fully enclosed laboratory hazardous chemical clamping device includes a moving mechanism 1 and a mechanical arm mechanism 2, one end of the mechanical arm mechanism 2 is fixed on the moving mechanism 1, and the other end is provided with a clamping mechanism 3; the clamping mechanism 3 includes a top cover 31 and a clamping assembly 32 for clamping hazardous chemicals 4, the top cover 31 is fixed to the movable end of the mechanical arm mechanism 2, and an internally open receiving chamber is formed below the top cover 31, and the clamping assembly 32 is located in the receiving chamber; a lifting sleeve 33 is provided at the lower part of the top cover 31, and a lifting drive assembly 34 is provided between the top cover 31 and the lifting sleeve 33, one end of the lifting drive assembly 34 is fixed to the side of the top cover 31, and the other end is connected to the lifting sleeve 33; a bottom plate 35 is vertically provided at the bottom of the lifting sleeve 33, the end surface of the bottom plate 35 is connected to the movable end of the translation drive assembly 36, the fixed end of the translation drive assembly 36 is connected to the lifting sleeve 33, and the bottom plate 35 is driven by the translation drive assembly 36 to move to the position of the lower end opening of the lifting sleeve 33.

[0018] With this structure, the mobile mechanism 1 can move under the action of its own driving device, thereby driving the mechanical arm mechanism 2 and the clamping mechanism 3 to move toward the hazardous chemical 4; preferably, the mobile mechanism 1 adopts a mobile trolley; a sealing strip is also provided at the connection between the lifting sleeve 33 and the bottom plate 35 to increase the sealing. After clamping the hazardous chemical 4, the lifting sleeve 33 is driven down by the lifting drive component 34, and then the bottom plate 35 is driven by the translation drive component 36 to close the lower end opening of the lifting sleeve 33, and the hazardous chemical 4 is sealed in the closed space formed by the top cover 31, the lifting sleeve 33 and the bottom plate 35. The fully enclosed design can effectively prevent the hazardous chemical 4 from leaking into the surrounding environment during the transfer process, protect the health and safety of laboratory staff, and also avoid pollution and damage to laboratory equipment and the environment.

[0019] In the preferred embodiment, Figure 1 As shown, the mechanical arm mechanism 2 includes an electric turntable 21, a first arm 22, a second arm 23, a connecting portion 24, a first rotating driving member 25, a second rotating driving member 26 and a third rotating driving member 27; the fixed end of the electric turntable 21 is fixed to the moving mechanism 1, one end of the first arm 22 is hinged to the movable end of the electric turntable 21, one end of the second arm 23 is hinged to the other end of the first arm 22, one end of the connecting portion 24 is hinged to the other end of the second arm 23, and the top cover 31 is fixed to the other end of the connecting portion 24; The electric turntable 21 and the first arm 22 are connected by a first rotating driving member 25, and the first rotating driving member 25 is used to drive the first arm 22 to rotate relative to the movable end of the electric turntable 21. The first arm 22 and the second arm 23 are connected by a second rotating driving member 26, and the second rotating driving member 26 is used to drive the second arm 23 to rotate relative to the first arm 22. The second arm 23 and the connecting part 24 are connected by a third rotating driving member 27, and the third rotating driving member 27 is used to drive the connecting part 24 to rotate relative to the second arm 23. A level 28 is also provided on the connecting part 24.

[0020] With this structure, the mechanical arm mechanism 2 can realize rotation and movement in multiple dimensions. The electric turntable 21 can adjust the position of the mechanical arm mechanism 2 within a larger horizontal range by rotating in the horizontal direction; the first arm 22 and the second arm 23 can be flexibly extended and swung in the vertical plane by driving multiple rotating drive members, so that the clamping mechanism 3 can be accurately moved to the top of the hazardous chemical 4. Even if the hazardous chemical 4 is placed in different positions or complex environments in the laboratory, it can be quickly and accurately positioned to improve the efficiency and accuracy of clamping. The level 28 set on the connecting part 24 is used to monitor the horizontal state of the clamping mechanism 3 in real time. In the process of clamping the hazardous chemical 4, it is very important to keep the clamping mechanism 3 level. If the clamping mechanism 3 is tilted, it may cause unstable clamping, and the hazardous chemical 4 is easy to slip or shake, increasing the risk of leakage. The level 28 can timely feedback the horizontal information, and the operator or the control system 7 can make adjustments based on the feedback to ensure the smoothness and safety of the clamping process.

[0021] In the preferred embodiment, Figures 2~4 As shown, the clamping assembly 32 includes two groups of clamping members 321 arranged opposite to each other, and the clamping members 321 include a clamping plate 3211, a clamping driving member 3212, an extrusion rod 3213, a pressure sensor 3214, an elastic member 3215 and a distance sensor 3216; the clamping driving member 3212 is connected to the clamping plate 3211, and is used to drive the clamping plate 3211 to translate relative to the clamping plate 3211 of another clamping member 321, and a plurality of through holes are provided on the clamping plate 3211. A corresponding extrusion rod 3213 is passed through each through hole, one end of the extrusion rod 3213 is used to abut against the side wall of the hazardous chemical 4, and the other end is provided with a cap body 32131, one end of the pressure sensor 3214 is fixed on the corresponding cap body 32131, the other end of the pressure sensor 3214 is connected to one end of the elastic member 3215, the other end of the elastic member 3215 is connected to the splint 3211, and the distance sensor 3216 is located at the bottom end of the splint 3211.

[0022] With this structure, in the clamping member 321 of the clamping assembly 32, the extrusion rod 3213 slidably inserted on the clamping plate 3211 and the pressure sensor 3214 and the elastic member 3215 connected thereto make the clamping process adaptive. Preferably, at the contact position between the extrusion rod 3213 and the hazardous chemical 4, the extrusion rod 3213 uses a flexible clamping material to adapt to containers of different sizes and shapes. When clamping hazardous chemicals 4 of different shapes and sizes, the extrusion rod 3213 will automatically adjust its position according to the container shape of the hazardous chemical 4, the elastic member 3215 is used to provide buffering, and the pressure sensor 3214 is used to monitor the size of the clamping force in real time, which can ensure that the clamping is firm and avoid damage to the hazardous chemical 4 container due to excessive clamping force. The distance sensor 3216 is used to monitor the distance between the clamping plate 3211 and the table where the hazardous chemical 4 is placed in real time. During the clamping process, the pressure sensor 3214 and the distance sensor 3216 are used to monitor the clamping status of the hazardous chemical 4 and feed back to the control system 7 to accurately determine whether the clamping component 32 completely clamps the hazardous chemical 4, thereby improving the reliability of the clamping operation.

[0023] In the preferred embodiment, Figure 2 and 3 As shown, the lifting drive assembly 34 includes two first mounting blocks 341, a first screw rod 342, a first nut 343, a first rotating driving member 344 and a first connecting rod 345; the two first mounting blocks 341 are fixed on the side wall of the top cover 31 from top to bottom, the two ends of the first screw rod 342 are respectively rotatably connected to the two first mounting blocks 341, the top of the first screw rod 342 is connected to the first rotating driving member 344, and the first rotating driving member 344 is used to drive the first screw rod 342 to rotate; the first nut 343 is threaded and rotatably sleeved on the first screw rod 342, one end of the first connecting rod 345 is connected to the first nut 343, and the other end is connected to the lifting sleeve 33. With this structure, the first rotating driving member 344 drives the first screw rod 342 to rotate, and through the screw rod nut transmission, the rotational motion is converted into the linear motion of the first nut 343, and then the lifting sleeve 33 is driven to rise and fall through the first connecting rod 345. The screw nut transmission has high precision and stability, and can accurately control the lifting height and speed of the lifting sleeve 33 to ensure that the hazardous chemicals 4 are sealed in a suitable position.

[0024] In the preferred embodiment, Figures 2 to 7As shown, a receiving groove 311 is provided at the lower edge of the top cover 31, and the upper end of the lifting sleeve 33 is slidably inserted in the receiving groove 311. Bottom plates 35 are respectively provided on both sides of the lower end of the lifting sleeve 33. The two bottom plates 35 are respectively connected to two translation drive assemblies 36. The translation drive assembly 36 is used to drive the corresponding bottom plate 35 away from or close to the other bottom plate 35, so that the two bottom plates 35 close or open the lower end opening of the lifting sleeve 33. With this structure, the receiving groove 311 provides a stable guiding effect for the lifting sleeve 33 to be lifted and lowered, ensuring that the lifting sleeve 33 will not deviate or shake during the sliding process relative to the top cover 31. In the process of covering the clamped hazardous chemicals 4, the stable lifting action can ensure the accuracy and reliability of the closure, and effectively prevent the hazardous chemicals 4 from leaking. Through the two bottom plates 35 and the corresponding translation drive assembly 36, after the lifting sleeve 33 is lowered to the preset position, the two bottom plates 35 can be accurately moved together by the driving of the translation drive assembly 36, thereby closing the lower end opening of the lifting sleeve 33. The double bottom plate 35 structure is used to avoid the problem of excessive lateral movement distance on one side in the single bottom plate 35 structure, thereby reducing the lateral occupied volume of the clamping structure.

[0025] In the preferred embodiment, Figure 2 and 5 As shown, the translation drive assembly 36 includes a transverse plate 361, two second mounting blocks 362, a second screw rod 363, a second nut 364, a second rotation driving member 365 and a second connecting rod 366; the transverse plate 361 is fixed to the outer side wall of the lifting sleeve 33, and the two second mounting blocks 362 are fixed to the two ends of the transverse plate 361; the two ends of the second screw rod 363 are respectively rotatably provided with two second mounting blocks 362, the second nut 364 is threadedly rotatably sleeved on the second screw rod 363, the second rotation driving member 365 is connected to the second screw rod 363, and is used to drive the second screw rod 363 to rotate, one end of the second connecting rod 366 is connected to the second nut 364, and the other end is connected to the corresponding bottom plate 35; a guide groove 3611 parallel to the second screw rod 363 is opened on the transverse plate 361, a slider 367 is slidably provided in the guide groove 3611, and a third connecting rod 368 is provided between the slider 367 and the second nut 364. With this structure, the translation drive assembly 36 uses the screw nut transmission to achieve the translation of the bottom plate 35. The high efficiency of the screw nut transmission enables the bottom plate 35 to move quickly and accurately to the closed or open position. During the translation of the bottom plate 35, the slider 367 slides in the guide groove 3611, providing additional guidance and stabilization for the translation of the bottom plate 35, so that the bottom plate 35 moves smoothly along the predetermined track, avoiding deviation or shaking, and further improving the accuracy and reliability of the closure.

[0026] In the preferred embodiment, Figure 1As shown, the device also includes a positioning system 5, a visual system 6 and a control system 7. The positioning system 5 is fixed on the mobile mechanism 1 and is used to obtain the position information of the mobile mechanism 1. The visual system 6 is arranged between the mechanical arm mechanism 2 and the clamping mechanism 3 and is used to obtain the image and position information of the hazardous chemicals 4. The positioning system 5 and the visual system 6 are respectively connected to the control system 7, and the control system 7 controls the movement and clamping of the device according to the information data of the positioning system 5 and the visual system 6. With this structure, the positioning system 5 adopts any one or a combination of laser radar, inertial navigation module or positioning sensor, and is fixed on the mobile mechanism 1 to avoid displacement or vibration during movement and ensure positioning accuracy. The visual system 6 adopts a camera or a laser ranging module, and the recognition field of view completely covers the clamping mechanism 3 to achieve accurate recognition of the hazardous chemicals 4. The positioning system 5 and the visual system 6 are connected to the control system 7 by wired or wireless means respectively. The control system 7 is used to receive and process information data and send instructions to the robotic arm mechanism 2 and the clamping mechanism 3, so as to realize the precise positioning of the hazardous chemicals 4 and form a tight closed-loop control among the mobile mechanism 1, the robotic arm mechanism 2 and the clamping mechanism 3, so as to meet the fully enclosed operation requirements of the laboratory hazardous chemicals 4.

[0027] Embodiment 2: Further illustrate with reference to Example 1, Figures 1 to 8 As shown, a method of using a fully enclosed laboratory hazardous chemicals clamping device, the method comprising: S1. Use the positioning system 5 to obtain the real-time position information of the mobile mechanism 1 on the ground, and the visual system 6 collects the image information of the hazardous chemicals 4, identifies the contour features of the hazardous chemicals 4, and obtains the storage position information of the hazardous chemicals 4.

[0028] S2. Send a moving command through the control system 7 to move the moving mechanism 1 toward the hazardous chemical 4, and drive the mechanical arm mechanism 2 to move the clamping mechanism 3 to just above the hazardous chemical 4; the height of the lower end of the lifting sleeve 33 is higher than the height of the lower end of the clamping assembly 32 to ensure that the clamping assembly 32 can smoothly approach the hazardous chemical 4.

[0029] S3, the robotic arm mechanism 2 drives the clamping mechanism 3 to move downward, and uses the visual system 6 to monitor the alignment status of the clamping component 32 and the hazardous chemical 4. The control system 7 sends a clamping instruction to drive the clamping component 32 to clamp the hazardous chemical 4.

[0030] S4. After the clamping assembly 32 clamps the hazardous chemical 4, the robot arm mechanism 2 moves in the opposite direction to drive the clamping mechanism 3 to move upward; the lifting drive assembly 34 and the translation drive assembly 36 are started, and the lifting drive assembly 34 drives the lifting sleeve 33 to slide downward relative to the top cover 31, so that the lifting sleeve 33 drops to a preset position; the translation drive assembly 36 drives the bottom plate 35 to translate in the direction of the lower opening of the lifting sleeve 33, and the bottom plate 35 completely closes the lower opening of the lifting sleeve 33; so that the hazardous chemical 4 is sealed in the closed space formed by the top cover 31, the lifting sleeve 33 and the bottom plate 35.

[0031] S5. Based on the current position of the hazardous chemical 4 and the designated moving position, the control system 7 is used to send a moving instruction according to the transfer path, and the hazardous chemical 4 is transferred to the designated position through the moving mechanism 1. The robotic arm mechanism 2 and the clamping mechanism 3 are operated in reverse again to place the hazardous chemical 4, thereby completing the clamping and transfer of the hazardous chemical 4.

[0032] According to this scheme, the method obtains the relative position information between the mobile mechanism 1 and the hazardous chemical 4 through the positioning system 5 and the visual system 6, and controls the mobile mechanism 1 to approach the hazardous chemical 4. The mechanical arm mechanism 2 drives the clamping mechanism 3 to align with the hazardous chemical 4, and performs precise clamping with the assistance of the visual system 6. After the clamping mechanism 3 clamps the hazardous chemical 4, it controls the lifting sleeve 33 to descend to the preset position, and the bottom plate 35 translates to close the opening to form a closed space. In combination with the current position of the hazardous chemical 4 and the designated position of movement, a transfer path is generated using a path planning method, and the hazardous chemical 4 is transferred to the designated position and placed. This method realizes the automatic positioning, clamping, sealing and transfer of the hazardous chemical 4, improves the operating efficiency and safety, and accurately controls the hazardous chemical 4 through the fusion recognition of positioning and vision to ensure the reliability of the clamping and transfer process of the hazardous chemical 4.

[0033] In the preferred scheme, in step S2, based on the real-time position information of the mobile mechanism 1 and the storage position information of the hazardous chemicals 4, the relative position information between the mobile mechanism 1 and the hazardous chemicals 4 is calculated by the control system 7, and the relative position information includes the relative distance and the azimuth angle; if the relative distance is greater than the distance threshold, a movement instruction of the mobile mechanism 1 is generated by a path planning method, and the mobile mechanism 1 moves toward the hazardous chemicals 4 until the relative distance is less than or equal to the distance threshold; if the relative distance is less than or equal to the distance threshold, a movement instruction of the robotic arm mechanism 2 is generated according to the azimuth angle, and the clamping mechanism 3 is moved to directly above the hazardous chemicals 4 by driving the first rotating drive member 25, the second rotating drive member 26 and the third rotating drive member 27 of the robotic arm mechanism 2.

[0034] According to this scheme, the real-time position information of the mobile mechanism 1 and the storage position information of the hazardous chemical 4 are obtained; the distance threshold is set according to the working range of the mobile mechanism 1 and the mechanical arm mechanism 2; the relative distance between the mobile mechanism 1 and the hazardous chemical 4 is calculated, and the azimuth angle of the mobile mechanism 1 relative to the hazardous chemical 4 is calculated, including the horizontal angle and the vertical angle; When the relative distance between the mobile mechanism 1 and the hazardous chemical 4 d When the distance is greater than the distance threshold, preferably, the path planning method adopts the A Star algorithm, models the laboratory indoor environment as a grid map, and uses the A Star algorithm to search for the shortest moving path from the current real-time position of the mobile mechanism 1 to the storage location of the hazardous chemicals 4; generates a moving instruction for the mobile mechanism 1, including parameters such as moving direction, speed and acceleration, and the moving instruction is sent to the mobile mechanism 1 through the control system 7, so that it moves along the planned path to the hazardous chemicals 4; When the relative distance between the mobile mechanism 1 and the hazardous chemical 4 d When the distance is less than or equal to the distance threshold, the moving mechanism 1 stops moving and generates a moving instruction for the robot arm mechanism 2; the horizontal rotation angle of the robot arm is adjusted by the first rotating drive member 25 to align the clamping mechanism 3 with the direction of the hazardous chemical 4; the pitch angle of the robot arm is adjusted by the second rotating drive member 26 to align the clamping mechanism 3 with the height of the hazardous chemical 4; the position of the clamping mechanism 3 is fine-tuned by the third rotating drive member 27 to ensure that it is located directly above the hazardous chemical 4.

[0035] In the preferred embodiment, in step S3, the alignment status of the clamping mechanism 3 and the hazardous chemical 4 is monitored in real time by the visual system 6. If the clamping mechanism 3 and the hazardous chemical 4 are not center-aligned, the control system 7 sends a movement instruction to drive the robotic arm mechanism 2 to adjust the position of the clamping mechanism 3; if the clamping mechanism 3 and the hazardous chemical 4 are center-aligned, during the downward movement of the clamping mechanism 3, the visual system 6 continuously obtains the image information and position information of the hazardous chemical 4 until the hazardous chemical 4 is completely within the clamping range of the clamping component 32, and the clamping mechanism 3 stops moving.

[0036] According to this scheme, the visual system 6 collects images of the clamping mechanism 3 and the hazardous chemical 4 in real time, extracts the geometric feature information of the clamping mechanism 3 and the hazardous chemical 4, and calculates whether the center positions of the clamping mechanism 3 and the hazardous chemical 4 are consistent, thereby monitoring the alignment state of the clamping mechanism 3 and the hazardous chemical 4. When the hazardous chemical 4 is completely located in the clamping range of the clamping assembly 32, the clamping drive 3212 is started to make the squeezing rod 3213 abut against the side wall of the hazardous chemical 4, and the clamping state of the hazardous chemical 4 is detected by the pressure sensor 3214 and the distance sensor 3216.

[0037] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A fully enclosed laboratory hazardous chemicals clamping device, characterized by: The invention comprises a moving mechanism (1) and a mechanical arm mechanism (2), wherein one end of the mechanical arm mechanism (2) is fixed to the moving mechanism (1), and the other end is provided with a gripping mechanism (3); the gripping mechanism (3) comprises a top cover (31) and a gripping assembly (32) for gripping hazardous chemicals (4); the top cover (31) is fixed to the movable end of the mechanical arm mechanism (2), and an internally open receiving cavity is formed below the top cover (31), and the gripping assembly (32) is located in the receiving cavity; a lifting sleeve (33) is provided at the bottom of the top cover (31), and the top cover (31) and the gripping assembly (32) are connected to ... A lifting drive assembly (34) is provided between the lifting sleeves (33); one end of the lifting drive assembly (34) is fixed to the side of the top cover (31), and the other end is connected to the lifting sleeve (33); a bottom plate (35) is vertically provided at the bottom of the lifting sleeve (33); the end surface of the bottom plate (35) is connected to the movable end of the translation drive assembly (36); the fixed end of the translation drive assembly (36) is connected to the lifting sleeve (33); and the bottom plate (35) is driven by the translation drive assembly (36) to move to the position of the lower end opening of the lifting sleeve (33).

2. The fully enclosed laboratory hazardous chemicals gripping device according to claim 1 is characterized by: The mechanical arm mechanism (2) comprises an electric turntable (21), a first support arm (22), a second support arm (23), a connecting portion (24), a first rotation driving member (25), a second rotation driving member (26) and a third rotation driving member (27); a fixed end of the electric turntable (21) is fixed to the moving mechanism (1), one end of the first support arm (22) is hinged to the movable end of the electric turntable (21), one end of the second support arm (23) is hinged to the other end of the first support arm (22), one end of the connecting portion (24) is hinged to the other end of the second support arm (23), and a top cover (31) is fixed to the other end of the connecting portion (24); The electric turntable (21) and the first arm (22) are connected via a first rotating drive member (25), the first rotating drive member (25) being used to drive the first arm (22) to rotate relative to the movable end of the electric turntable (21); the first arm (22) and the second arm (23) are connected via a second rotating drive member (26), the second rotating drive member (26) being used to drive the second arm (23) to rotate relative to the first arm (22); the second arm (23) and the connecting portion (24) are connected via a third rotating drive member (27), the third rotating drive member (27) being used to drive the connecting portion (24) to rotate relative to the second arm (23); and a level (28) is also provided on the connecting portion (24).

3. The fully enclosed laboratory hazardous chemicals clamping device according to claim 1 is characterized by: The clamping assembly (32) comprises two groups of clamping members (321) arranged opposite to each other. The clamping members (321) comprise a clamping plate (3211), a clamping driving member (3212), an extrusion rod (3213), a pressure sensor (3214), an elastic member (3215) and a distance sensor (3216). The clamping driving member (3212) is connected to the clamping plate (3211) and is used to drive the clamping plate (3211) to translate relative to the clamping plate (3211) of the other clamping member (321). A plurality of through holes are provided on the clamping plate (3211). Each through hole is provided with a matching extrusion rod (3213), one end of the extrusion rod (3213) is used to abut against the side wall of the hazardous chemical (4), and the other end is provided with a cap body (32131), one end of the pressure sensor (3214) is fixed on the corresponding cap body (32131), the other end of the pressure sensor (3214) is connected to one end of the elastic member (3215), the other end of the elastic member (3215) is connected to the clamping plate (3211), and the distance sensor (3216) is located at the bottom end of the clamping plate (3211).

4. The fully enclosed laboratory hazardous chemicals gripping device according to claim 1 is characterized by: The lifting drive assembly (34) comprises two first mounting blocks (341), a first screw rod (342), a first nut (343), a first rotation driving member (344) and a first connecting rod (345); the two first mounting blocks (341) are fixed on the side wall of the top cover (31) from top to bottom; the two ends of the first screw rod (342) are respectively rotatably connected to the two first mounting blocks (341); the top of the first screw rod (342) is connected to the first rotation driving member (344); the first rotation driving member (344) is used to drive the first screw rod (342) to rotate; the first nut (343) is threadedly rotatably sleeved on the first screw rod (342); one end of the first connecting rod (345) is connected to the first nut (343), and the other end is connected to the lifting sleeve (33).

5. The fully enclosed laboratory hazardous chemicals gripping device according to claim 1 is characterized by: A receiving groove (311) is provided at the lower edge of the top cover (31), and the upper end of the lifting sleeve (33) is slidably inserted into the receiving groove (311). Bottom plates (35) are respectively provided on both sides of the lower end of the lifting sleeve (33). The two bottom plates (35) are respectively connected to two translation drive assemblies (36). The translation drive assemblies (36) are used to drive the corresponding bottom plate (35) away from or close to the other bottom plate (35), so that the two bottom plates (35) close or open the lower end opening of the lifting sleeve (33).

6. The fully enclosed laboratory hazardous chemicals gripping device according to claim 5 is characterized by: The translation drive assembly (36) comprises a transverse plate (361), two second mounting blocks (362), a second screw rod (363), a second nut (364), a second rotation drive member (365) and a second connecting rod (366); the transverse plate (361) is fixed to the outer wall of the lifting sleeve (33), the two second mounting blocks (362) are fixed to the two ends of the transverse plate (361), the two ends of the second screw rod (363) are respectively rotatably provided with the two second mounting blocks (362), and the second nut (364) is threadedly rotatably sleeved on the second screw rod (363). 63), a second rotation driving member (365) is connected to the second screw rod (363) for driving the second screw rod (363) to rotate; one end of the second connecting rod (366) is connected to the second nut (364), and the other end is connected to the corresponding bottom plate (35); a guide groove (3611) parallel to the second screw rod (363) is formed on the horizontal plate (361), a slider (367) is slidably provided in the guide groove (3611), and a third connecting rod (368) is provided between the slider (367) and the second nut (364) to connect.

7. The fully enclosed laboratory hazardous chemicals gripping device according to claim 1 is characterized by: The device further comprises a positioning system (5), a visual system (6) and a control system (7). The positioning system (5) is fixed on the mobile mechanism (1) and is used to obtain the position information of the mobile mechanism (1). The visual system (6) is arranged between the mechanical arm mechanism (2) and the gripping mechanism (3) and is used to obtain the image and position information of the hazardous chemical (4). The positioning system (5) and the visual system (6) are respectively connected to the control system (7). The control system (7) controls the movement and gripping of the device according to the information data of the positioning system (5) and the visual system (6).

8. A method according to any one of claims 1 to 7, wherein: The method includes: S1, using the positioning system (5) to obtain the real-time position information of the mobile mechanism (1), and the visual system (6) to collect the image information and storage position information of the hazardous chemicals (4); S2, sending a movement instruction through the control system (7) to move the moving mechanism (1) toward the hazardous chemical (4), and driving the mechanical arm mechanism (2) to move the gripping mechanism (3) to the top of the hazardous chemical (4); S3, the mechanical arm mechanism (2) drives the gripping mechanism (3) to move downward, uses the visual system (6) to monitor the alignment state between the gripping component (32) and the hazardous chemical (4), and the control system (7) sends a gripping instruction to drive the gripping component (32) to perform a gripping operation on the hazardous chemical (4); S4, after the clamping assembly (32) clamps the hazardous chemical (4), the mechanical arm mechanism (2) moves in the reverse direction to drive the clamping mechanism (3) to move upward; the lifting drive assembly (34) and the translation drive assembly (36) are started, so that the hazardous chemical (4) is sealed in the closed space formed by the top cover (31), the lifting sleeve (33) and the bottom plate (35); S5. The control system (7) sends a movement command according to the transfer path, transfers the hazardous chemical (4) to a designated location through the moving mechanism (1), and performs a reverse operation to place the hazardous chemical (4), thereby completing the clamping and transfer of the hazardous chemical (4).

9. The method of the fully enclosed laboratory hazardous chemicals clamping device according to claim 8 is characterized in that: In step S2, the relative position information between the mobile mechanism (1) and the hazardous chemical (4) is calculated by the control system (7), the relative position information including the relative distance and the azimuth angle; if the relative distance is greater than a distance threshold, a movement instruction of the mobile mechanism (1) is generated by a path planning method, and the mobile mechanism (1) moves toward the hazardous chemical (4) until the relative distance is less than or equal to the distance threshold; if the relative distance is less than or equal to the distance threshold, a movement instruction of the mechanical arm mechanism (2) is generated according to the azimuth angle, and the gripping mechanism (3) is moved to the top of the hazardous chemical (4) by the mechanical arm mechanism (2).

10. The method of the fully enclosed laboratory hazardous chemicals clamping device according to claim 8 is characterized in that: In step S3, the visual system (6) monitors the alignment state of the clamping mechanism (3) and the hazardous chemical (4) in real time. If the clamping mechanism (3) and the hazardous chemical (4) are not centrally aligned, the control system (7) sends a movement command to drive the mechanical arm mechanism (2) to adjust the position of the clamping mechanism (3). During the downward movement of the clamping mechanism (3), the visual system (6) continuously acquires image information and position information of the hazardous chemical (4) until the hazardous chemical (4) is completely within the clamping range of the clamping component (32) and the clamping mechanism (3) stops moving.

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