Full-automatic robot sterile sampling system

Abstract

The invention discloses a full-automatic robot sterile sampling system, and relates to the technical field of sterile sampling, the full-automatic robot sterile sampling system comprises an AGV trolley, the AGV trolley is provided with a five-axis mechanical arm, the five-axis mechanical arm is provided with a visual system assembly, the working end of the five-axis mechanical arm is provided with a grabbing sampling assembly, the upper end face of the AGV trolley is provided with a plurality of placing racks, and the placing racks are arranged on the AGV trolley. Each placing frame comprises a lower plate, a supporting plate and an upper plate, a plurality of pairs of upper through holes are formed in the upper end face of the upper plate in a penetrating mode, a plurality of pairs of lower inserting grooves are symmetrically formed in the upper end face of the lower plate, each placing frame is provided with a plurality of sampling injectors, and each placing frame is divided into an unsampled area and a sampled area with the supporting plate as the symmetry center; a plurality of bearing assemblies and sealing assemblies which are matched with sampling syringes for use are arranged on each placement frame; when the device is used, on one hand, the working intensity of workers is relieved, and on the other hand, pollution to the environment in a workshop is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of aseptic sampling, and in particular to a full-automatic robot aseptic sampling system. Background Art

[0002] Biopharmaceuticals are a technology that uses biological principles to cultivate, extract or process organisms (including microorganisms, animal and plant cells or tissues) into drugs. This technology covers traditional biotechnology, such as fermentation and enzyme engineering, and also integrates modern biotechnology, such as genetic engineering, cell engineering, protein engineering, etc.

[0003] Biopharmaceutical engineering usually requires the use of some reaction tanks to mix and react liquids in the process. In order to control the liquid or fluid conditions in the reaction tank, it is usually necessary to intermittently sample and analyze the liquid or fluid in the reaction tank. At present, sampling work usually adopts manual sampling. The staff inserts the end of the sampling syringe into the reaction tank through the sampling valve seat of the reaction tank, and then draws a certain amount of liquid or fluid from the inside of the reaction tank into the sampling syringe, and then pulls the sampling syringe out of the sampling valve seat of the reaction tank to complete the sampling work of a single reaction tank. Due to the large number of reaction tanks in the production workshop, the use of manual sampling will result in a higher workload for the staff. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the prior art: Since there are a large number of reaction tanks in the production workshop, manual sampling will result in greater workload for the staff.

[0005] The proposed fully automatic robotic aseptic sampling system.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: The fully automatic robotic aseptic sampling system comprises an AGV trolley, a five-axis robotic arm is provided on the AGV trolley, a visual system component is provided on the five-axis robotic arm, and is characterized in that a grabbing sampling component is provided at the working end of the five-axis robotic arm, and a plurality of placement racks are provided on the upper end face of the AGV trolley, the placement racks comprise a lower plate, a support plate and an upper plate, a plurality of pairs of upper through holes are penetrated through the upper end face of the upper plate, a plurality of pairs of lower slots are symmetrically provided on the upper end face of the lower plate, a plurality of sampling syringes are provided on each placement rack, the placement racks are divided into an unsampled area and a sampled area with the support plate as the symmetry center, and a plurality of receiving components and sealing components used in conjunction with the sampling syringes are provided on each placement rack.

[0007] As a further technical solution of the present invention, each of the sampling syringes includes a needle tube part, a needle head part and a piston push-pull part, the grabbing sampling assembly includes a clamping unit and a pulling unit, the clamping unit includes a double-axis cylinder, the double-axis cylinder is fixed to the end of the working end of the five-axis robotic arm, an L-shaped connecting block is fixed to the end of the telescopic end of the double-axis cylinder, and a clamping claw is fixed on the side wall of each L-shaped connecting block.

[0008] As a further technical solution of the present invention, anti-skid layers are fixed to the opposite surfaces of the two clamping claws, and a clamping groove is provided on the side wall of each anti-skid layer.

[0009] As a further technical solution of the present invention, the pulling unit includes two electric push rods, and the ends of the telescopic ends of the two electric push rods are fixed with the same mounting plate. A ventilation pipe is fixedly provided on the side wall of the mounting plate, one end of the ventilation pipe is fixedly connected to a negative pressure suction nozzle, and the other end of the ventilation pipe is connected to a telescopic ventilation hose. The AGV cart is provided with a negative pressure vacuum box used in conjunction with the telescopic ventilation hose.

[0010] As a further technical solution of the present invention, each of the receiving components includes a sunken ring groove opened on the upper end surface of the lower plate, a lower tube sleeve is fixed on the inner wall of the sunken ring groove, an annular groove is opened on the upper end surface of the lower tube sleeve, an upper receiving tube is arranged in the annular groove for lifting and lowering, a spring is fixed between the upper receiving tube and the inner bottom of the annular groove, a guide sleeve is fixed on the inner wall of each upper through hole, and the guide sleeve is located directly above the upper receiving tube.

[0011] As a further technical solution of the present invention, each of the sealing components includes a head sleeve, which is located in the lower slot of the sampled area. The upper and lower ends of the head sleeve are both open, and the size of the head sleeve matches that of the needle head. Four elastic fan-shaped sealing sheets are fixed on the inner wall of the head sleeve, and an exhaust unit is provided in each lower slot.

[0012] As a further technical solution of the present invention, each of the exhaust units includes an L-shaped exhaust groove opened at the bottom of the lower slot, and one end of the L-shaped exhaust groove away from the lower slot passes through the side wall of the lower plate.

[0013] As a further technical solution of the present invention, the upper end surface of the AGV cart is fixedly provided with a plurality of pairs of U-shaped positioning frames for use with the placement frame, a U-shaped mounting frame is movably provided on the inner wall of each U-shaped positioning frame, a resistance wheel is rotatably provided on the inner wall of each U-shaped mounting frame, resistance grooves for use with the resistance wheels are provided on both sides of the lower plate, and an elastic component for use with the U-shaped mounting frame is provided in each U-shaped positioning frame.

[0014] As a further technical solution of the present invention, each of the elastic components includes multiple springs II, multiple guide columns are fixed on the outer wall of the U-shaped mounting frame, one end of the guide column movably passes through the U-shaped positioning frame, each spring II is movably sleeved on the outer surface of the corresponding guide column, and two guide grooves are symmetrically provided on the inner wall of the U-shaped positioning frame, and a guide slider is slidably arranged in each guide groove, and the guide slider is fixedly connected to the side wall of the U-shaped mounting frame.

[0015] The fully automatic robot aseptic sampling method is applied to the above-mentioned fully automatic robot aseptic sampling system. The specific operation steps of the method are: Step 1: In the initial preparation stage, an unused sampling syringe is placed in the unsampled area, the sampling syringe is inserted into the corresponding upper through hole, and the sampling syringe is received by the corresponding receiving assembly, so that the upper section of the sampling syringe is higher than the upper end surface of the upper plate; Step 2: The AGV moves to the corresponding reaction tank, and then the five-axis robot cooperates with the grabbing sampling component to grab an unused sampling syringe, and then inserts the end of the sampling syringe into the reaction tank through the sampling valve seat of the reaction tank, and then through the cooperation of the grabbing sampling component and the sampling syringe, part of the liquid in the reaction tank is drawn into the sampling syringe; Step 3: Through the cooperation of the five-axis robot arm and the grab sampling assembly, the sampling syringe after sampling is placed in the sampled area of ​​the corresponding placement rack, the sampling syringe is inserted from the corresponding upper through hole, the lower end of the sampling syringe is inserted into the corresponding lower slot, and then the sealing assembly seals the end of the sampling syringe; Step 4: The AGV moves to the next reaction tank and prepares to sample the next reaction tank.

[0016] Beneficial effects of the present invention: 1. In the initial preparation stage (completed outside the production workshop), place the unused sampling syringe in the unsampled area, insert the sampling syringe from the corresponding upper through hole, and cooperate with the corresponding receiving component to receive the sampling syringe, so that the upper part of the sampling syringe is higher than the upper end surface of the upper plate, which is convenient for grabbing the sampling component to clamp and place the sampling syringe. Then the AGV trolley moves to the side of the corresponding reaction tank, and then the five-axis robot arm cooperates with the grabbing sampling component to clamp and grab an unused sampling syringe, and then insert the end of the sampling syringe into the reaction tank through the sampling valve seat of the reaction tank, and then through the cooperation of grabbing the sampling component and the sampling syringe, the reaction tank is Part of the liquid in the tank is drawn into the sampling syringe, and then the five-axis robotic arm and the grabbing sampling component are used to place the sampling syringe after sampling in the sampling area of ​​the corresponding placement rack. The sampling syringe is inserted from the corresponding upper through hole, and the lower end of the sampling syringe is inserted into the corresponding lower slot. Then the sealing component seals the end of the sampling syringe, and then the AGV car moves to the next reaction tank to prepare for sampling the next reaction tank. It is easy to use. On the one hand, it reduces the workload of the staff. On the other hand, it does not require the staff to enter the production workshop for sampling, thereby avoiding pollution to the environment in the workshop.

[0017] 2. When the sampling syringe after sampling is placed on the placement rack, the lower end of the needle of the sampling syringe is inserted into the lower slot. During this process, the lower end of the needle is inserted into the head sleeve. The air in the head sleeve is pushed by the lower end of the needle and discharged through four elastic fan-shaped sealing sheets (the four elastic fan-shaped sealing sheets open in the direction away from the needle under the action of pressure. When this part of the air is discharged, the four elastic fan-shaped sealing sheets elastically return to their initial state). At this time, the head sleeve is arranged on the outer surface of the lower end of the needle to isolate and protect the lower end of the needle.

[0018] 3. In the initial preparation stage, when placing the head sleeve into the lower slot, first pinch the outer surface of the upper receiving tube with your fingers, and then drive the upper receiving tube to move toward the direction close to the lower plate. In this process, the spring is squeezed and contracted to store elastic potential energy. When the upper end surface of the upper receiving tube is away from the guide sleeve, press the upper end of the upper receiving tube with your fingers until the upper end of the upper receiving tube is flush with the upper end surface of the lower plate. At this time, the lower slot is exposed to the staff's line of sight, and then the head sleeve is placed into the lower slot, and then the upper receiving tube is released (the upper receiving tube moves upward and resets under the action of the elastic potential energy of the spring). It is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ; Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ; Figure 3 The connection diagram of the double-axis cylinder and the electric push rod in the present invention is shown in FIG. Figure 1 ; Figure 4 The connection diagram of the double-axis cylinder and the electric push rod in the present invention is shown in FIG. Figure 2 ; Figure 5 It is a schematic diagram of the connection between the clamping claw and the anti-slip layer in the present invention; Figure 6 It is a schematic diagram of the connection between the mounting plate and the ventilation pipe in the present invention; Figure 7 It is a schematic diagram of the structure of the sampling syringe in the present invention; Figure 8 It is a structural schematic diagram of the placement rack in the present invention; Fig. 9 It is a schematic diagram of the internal structure of the guide sleeve in the present invention; Fig.10 It is a schematic diagram of the internal structure of the lower slot in the present invention; Fig.11 It is a schematic diagram of the internal structure of the upper receiving tube in the present invention; Fig.12 It is a schematic diagram of the connection between the head sleeve and the elastic sector-shaped sealing sheet in the present invention; Fig.13 It is a schematic diagram of the internal structure of the head sleeve in the present invention; Fig.14 It is a schematic diagram of the connection between the U-shaped mounting frame and the interference wheel in the present invention.

[0020] In the figure: 1. AGV; 2. Five-axis robot; 3. Placement rack; 4. Lower plate; 5. Support plate; 6. Upper plate; 7. Upper through hole; 8. Lower slot; 9. Sampling syringe; 10. Needle tube; 11. Needle head; 12. Piston push-pull part; 13. Double-axis cylinder; 14. L-shaped connecting block; 15. Clamping claw; 16. Anti-slip layer; 17. Clamping groove; 18. Electric push rod; 19. Mounting plate; 20. Ventilation pipe; 21. Negative pressure nozzle; 22. Extension 1. shrink ventilation hose; 23. sinking ring groove; 24. lower sleeve; 25. annular groove; 26. upper receiving sleeve; 27. spring one; 28. guide sleeve; 29. ​​unsampled area; 30. sampled area; 31. sleeve of end cap; 32. elastic fan-shaped sealing sheet; 33. L-shaped exhaust groove; 34. U-shaped positioning frame; 35. U-shaped mounting frame; 36. resistance wheel; 37. resistance groove; 38. spring two; 39. guide column; 40. guide slide groove; 41. guide slide block. DETAILED DESCRIPTION

[0021] The technical scheme of the present invention will be described clearly and completely in conjunction with the embodiments below. 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 creative work are within the scope of protection of the present invention.

[0022] Reference Figure 1-Figure 14 The fully automatic robot aseptic sampling system includes an AGV trolley 1, a five-axis robotic arm 2 is arranged on the AGV trolley 1, a visual system component is arranged on the five-axis robotic arm 2, a grabbing sampling component is arranged on the working end of the five-axis robotic arm 2, and a plurality of placement racks 3 are arranged on the upper end surface of the AGV trolley 1. The placement rack 3 includes a lower plate 4, a support plate 5 and an upper plate 6. The upper end surface of the upper plate 6 is penetrated by a plurality of pairs of upper through holes 7, and the upper end surface of the lower plate 4 is symmetrically provided with a plurality of pairs of lower slots 8. A plurality of sampling syringes 9 are arranged on each placement rack 3. The placement rack 3 is divided into an unsampled area 29 and a sampled area 30 with the support plate 5 as the symmetry center. A plurality of receiving components and sealing components used in conjunction with the sampling syringes 9 are arranged on each placement rack 3, and the sealing component is only located in the lower slot 8 of the sampled area 30.

[0023] The AGV trolley 1 is an existing technology, having walking and turning functions, so as to realize integration with other components. It is composed of a platform connected with load-bearing wheels, driving wheels, driving motors, turning motors, brakes, power supplies and multiple sensors.

[0024] The visual system components are existing technologies, and are composed of a camera, a lens, a light source, a controller, and a high-definition visual system consisting of a camera and a light source cable, which cooperates with a five-axis robotic arm 2 and a grabbing and sampling component to grab the sampling syringe 9 and assist in sampling operations.

[0025] The unused sampling syringe 9 is placed in the unsampled area 29, and then the AGV trolley 1 moves with the placement rack 3. The moving route of the AGV trolley 1 is set according to the program. The setting of the moving path program of the AGV trolley 1 is the existing technology.

[0026] The working end of the five-axis robot arm 2 can rotate, and the five-axis robot arm 2 is prior art.

[0027] In other embodiments, the five-axis robotic arm 2 may be a multi-axis robotic arm, a multi-degree-of-freedom robotic arm, a single arm, or a double arm.

[0028] In the initial preparation stage (completed outside the production workshop), an unused sampling syringe 9 is placed in the unsampled area 29, and the sampling syringe 9 is inserted from the corresponding upper through hole 7, and the sampling syringe 9 is received by the corresponding receiving component, so that the upper section of the sampling syringe 9 is higher than the upper end surface of the upper plate 6, which is convenient for grabbing the sampling component to clamp and place the sampling syringe 9. Then the AGV trolley 1 moves to the corresponding reaction tank in sequence according to the set program, and then the five-axis robot 2 cooperates with the grabbing sampling component to clamp and grab an unused sampling syringe 9, and then the end of the sampling syringe 9 is inserted into the reaction tank through the sampling valve seat of the reaction tank, and then the sampling component and the sampling syringe 9 are matched. The sampling syringe 9 is combined to draw part of the liquid in the reaction tank into the sampling syringe 9, and then the five-axis robot arm 2 and the grabbing sampling component are used to place the sampling syringe 9 after sampling in the sampled area 30 of the corresponding placement rack 3. The sampling syringe 9 is inserted from the corresponding upper through hole 7, and the lower end of the sampling syringe 9 is inserted into the corresponding lower slot 8. Then the sealing component seals the end of the sampling syringe 9, and then the AGV trolley 1 moves to the next reaction tank to prepare for sampling operation on the next reaction tank. It is easy to use. On the one hand, it reduces the workload of the staff. On the other hand, it does not require the staff to enter the production workshop for sampling, thereby avoiding pollution to the environment in the workshop.

[0029] AGV 1 enters the sampling area according to the established path. If there is a need to close a door or open the door on the channel, the program needs to be designed to interact with the building system. The sampling system sends a signal requesting to open the door, and the building control system processes the received signal according to its own control needs. When there is a buffer room, relevant instructions should be sent to AGV 1 until AGV 1 enters the sampling area. This part of the content is the existing technology.

[0030] The present invention can realize autonomously completing the sampling steps in a sterile environment and then exiting the sterile environment without causing pollution to the sterile environment, thereby maintaining long-term stable operation of production.

[0031] In other embodiments, the AGV 1 may also be a mobile platform or a transport robot platform.

[0032] Reference Figure 7 Each sampling syringe 9 includes a needle tube portion 10, a needle head portion 11 and a piston push-pull portion 12, and the upper end surface of the piston push-pull portion 12 is a smooth surface.

[0033] When the sampling syringe 9 is placed on the placement rack 3 , the needle tube 10 of the sampling syringe 9 is inserted from the upper through hole 7 , the needle head 11 is inserted into the lower slot 8 , and the receiving assembly receives the lower surface of the needle tube 10 .

[0034] Reference Figure 1-Figure 5 The grabbing and sampling assembly includes a clamping unit and a pulling unit. The clamping unit includes a double-axis cylinder 13. The double-axis cylinder 13 is fixed to the end of the working end of the five-axis robot arm 2. An L-shaped connecting block 14 is fixed to the end of the telescopic end of the double-axis cylinder 13. A clamping claw 15 is fixed on the side wall of each L-shaped connecting block 14.

[0035] In the initial state, the two telescopic ends of the double-axis cylinder 13 are in an extended state. When the two clamping claws 15 are needed to clamp the sampling syringe 9, the two telescopic ends of the double-axis cylinder 13 contract, thereby driving the L-shaped connecting block 14 and the clamping claws 15 to move, thereby prompting the two clamping claws 15 used in conjunction to approach each other to clamp the sampling syringe 9. The two clamping claws 15 clamp the upper section of the needle tube part 10 (the part of the needle tube part 10 close to the piston push-pull part 12).

[0036] Reference Figure 5 The opposite surfaces of the two clamping claws 15 are fixed with anti-skid layers 16 , and the side walls of each anti-skid layer 16 are provided with clamping grooves 17 .

[0037] When the two clamping claws 15 approach each other, the two anti-slip layers 16 are driven to approach each other until the clamping groove 17 contacts the outer surface of the needle tube part 10 , thereby clamping the sampling syringe 9 .

[0038] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 The pulling and pulling unit includes two electric push rods 18, and the ends of the telescopic ends of the two electric push rods 18 are fixed with the same mounting plate 19. A ventilation pipe 20 is fixedly provided on the side wall of the mounting plate 19, and one end of the ventilation pipe 20 is fixedly connected to a negative pressure suction nozzle 21, and the other end of the ventilation pipe 20 is connected to a telescopic ventilation hose 22. The AGV trolley 1 is provided with a negative pressure suction box used in conjunction with the telescopic ventilation hose 22.

[0039] A negative pressure suction box is provided with a negative pressure suction mechanism for cooperating with the telescopic ventilation hose 22 and the negative pressure suction nozzle 21 to adsorb the upper end of the piston push-pull part 12. The negative pressure suction mechanism and the negative pressure suction box are both prior arts.

[0040] When the two clamping claws 15 clamp the corresponding sampling syringe 9, the telescopic ends of the two electric push rods 18 extend, thereby driving the mounting plate 19, the vent pipe 20 and the negative pressure suction nozzle 21 to approach the upper end of the piston push-pull part 12, and then, with the cooperation of the negative pressure vacuum box, the negative pressure suction nozzle 21 is caused to fit and be adsorbed to the upper end of the piston push-pull part 12. When the needle head 11 of the sampling syringe 9 is inserted into the reaction tank through the sampling valve seat, the telescopic ends of the two electric push rods 18 contract, driving the mounting plate 19, the vent pipe 20, the negative pressure suction nozzle 21 and the piston push-pull part 12 to move, thereby drawing part of the liquid in the reaction tank into the sampling syringe 9.

[0041] The sampling valve seat of the reaction tank is the prior art. When the sampling syringe 9 draws liquid samples from the reaction tank, the needle head 11 of the sampling syringe 9 pierces the latex (or soft rubber gasket of other materials) gasket in the sampling valve seat, and then slowly draws the sample. When the sample reaches the specified volume, the sampling is stopped.

[0042] There will be multiple sampling stations in the sampling area. Sampling will be carried out at the sampling points according to the process requirements. The sampling time interval, sampling volume, sampling station and the serial number of the corresponding sampling port (valve seat) should be set in the control program. At this time, the sampling point is identified, the sampling station and the serial number of the sampling valve seat are determined. This part of the content is the existing technology.

[0043] When the sampling syringe 9 that has completed sampling is placed in the sampled area 30 of the placement rack 3, the negative pressure suction nozzle 21 releases the adsorption of the piston push-pull part 12 under the action of the negative pressure suction box.

[0044] Reference Figure 2 , Figure 8 , Fig. 9 , Fig.10 and Fig.11 Each receiving assembly includes a sinking groove 23 opened on the upper end surface of the lower plate 4, a lower tube sleeve 24 is fixed on the inner wall of the sinking groove 23, an annular groove 25 is opened on the upper end surface of the lower tube sleeve 24, an upper receiving tube 26 is arranged in the annular groove 25 for lifting and lowering, a spring 27 is fixed between the upper receiving tube 26 and the inner bottom of the annular groove 25, and a guide sleeve 28 is fixed on the inner wall of each upper through hole 7, and the guide sleeve 28 is located directly above the upper receiving tube 26.

[0045] When the sampling syringe 9 is inserted into the upper through hole 7 , the placement of the sampling syringe 9 is limited and guided by the guide sleeve 28 (the guide sleeve 28 is slidably sleeved on the outer surface of the needle tube part 10 ) to prevent the sampling syringe 9 from shaking in the guide sleeve 28 .

[0046] When the sampling syringe 9 is inserted into the upper through hole 7 , the upper end of the upper receiving tube 26 receives the lower surface of the needle tube 10 of the sampling syringe 9 , and the lower end of the needle head 11 of the sampling syringe 9 is inserted into the lower slot 8 .

[0047] Reference Figure 8 , Fig. 9 , Fig.10 , Fig.12 and Fig.13 Each sealing assembly includes a head sleeve 31, which is located in the lower slot 8 of the sampled area 30. The upper and lower ends of the head sleeve 31 are both open. The size of the head sleeve 31 matches that of the needle head 11. Four elastic fan-shaped sealing sheets 32 are fixed on the inner wall of the head sleeve 31, and an exhaust unit is provided in each lower slot 8.

[0048] The four elastic sector-shaped sealing sheets 32 are located in the same plane in an initial state, forming a circular shape. In this state, air cannot pass through between the four elastic sector-shaped sealing sheets 32 .

[0049] When the sampling syringe 9 after sampling is placed on the placement rack 3, the lower end of the needle head 11 of the sampling syringe 9 is inserted into the lower slot 8. During this process, the lower end of the needle head 11 is inserted into the head sleeve 31, and the air in the head sleeve 31 is pushed out by the lower end of the needle head 11 through the four elastic fan-shaped sealing sheets 32 (the four elastic fan-shaped sealing sheets 32 are opened in the direction away from the needle head 11 under the action of pressure, and when this part of the air is discharged, the four elastic fan-shaped sealing sheets 32 elastically restore to their initial state). At this time, the head sleeve 31 is sleeved on the outer surface of the lower end of the needle head 11 to isolate and protect the lower end of the needle head 11.

[0050] Reference Figure 8 , Fig. 9 , Fig.10 , Fig.12 and Fig.13 Each exhaust unit includes an L-shaped exhaust groove 33 opened at the bottom of the lower slot 8, and one end of the L-shaped exhaust groove 33 away from the lower slot 8 passes through the side wall of the lower plate 4.

[0051] The air exhausted from the head sleeve 31 is finally exhausted through the L-shaped exhaust groove 33 .

[0052] An exhaust hole is also provided at the inner bottom of the annular groove 25 , and the exhaust hole penetrates into the L-shaped exhaust through groove 33 .

[0053] During the initial preparation stage (completed outside the production workshop), when placing the head sleeve 31 into the lower slot 8, first pinch the outer surface of the upper receiving tube 26 with your fingers, and then drive the upper receiving tube 26 to move in the direction close to the lower plate 4. During this process, the spring 27 is squeezed and contracted to store elastic potential energy. When the upper end surface of the upper receiving tube 26 is away from the guide sleeve 28, press the upper end of the upper receiving tube 26 with your fingers until the upper end of the upper receiving tube 26 is flush with the upper end surface of the lower plate 4. At this time, the lower slot 8 is exposed to the staff's line of sight, and then the head sleeve 31 is placed into the lower slot 8, and then the upper receiving tube 26 is released (the upper receiving tube 26 moves upward and resets under the action of the elastic potential energy of the spring 27). It is easy to operate.

[0054] Reference Figure 2 , Figure 8 and Fig.14 The upper end surface of the AGV trolley 1 is fixedly provided with a plurality of pairs of U-shaped positioning frames 34 for use with the placement frame 3, and a U-shaped mounting frame 35 is movably provided on the inner wall of each U-shaped positioning frame 34, and a resistance wheel 36 is rotatably provided on the inner wall of each U-shaped mounting frame 35. Resistance grooves 37 for use with the resistance wheels 36 are provided on both sides of the lower plate 4, and an elastic component for use with the U-shaped mounting frame 35 is provided in each U-shaped positioning frame 34.

[0055] The upper and lower plates 3 are then moved back and forth to move relative to each other, and the upper and lower plates 3 are moved back and forth to move relative to each other, so that the upper and lower plates 3 are moved back and forth to move relative to each other.

[0056] Reference Figure 2 , Figure 8 and Fig.14Each elastic component includes a plurality of springs 38, and a plurality of guide columns 39 are fixed on the outer wall of the U-shaped mounting frame 35. One end of the guide column 39 movably penetrates the U-shaped positioning frame 34. Each spring 38 is movably sleeved on the outer surface of the corresponding guide column 39. Two guide grooves 40 are symmetrically provided on the inner wall of the U-shaped positioning frame 34. A guide slider 41 is slidably provided in each guide groove 40, and the guide slider 41 is fixedly connected to the side wall of the U-shaped mounting frame 35.

[0057] In the process of inserting the placement rack 3 between the two U-shaped positioning racks 34, the two sides of the lower plate 4 will contact the corresponding contact wheels 36. Under the action of force, the contact wheels 36 drive the U-shaped mounting frame 35 to move in the direction away from the lower plate 4. At this time, the spring 2 38 is squeezed and contracted to store elastic potential energy. When the lower end surface of the lower plate 4 contacts the upper end surface of the AGV trolley 1, the contact grooves 37 on both sides of the lower plate 4 are aligned with the corresponding contact wheels 36. Under the action of the spring 2 38, the contact wheel 36 and the U-shaped mounting frame 35 move in the direction close to the lower plate 4 until the contact wheel 36 is contacted and engaged in the corresponding contact groove 37. At this time, the spring 2 38 has not completely recovered its deformation, so that the contact wheel 36 is tightly in contact with the contact groove 37.

[0058] The fully automatic robot aseptic sampling method is applied to the above-mentioned fully automatic robot aseptic sampling system. The specific operation steps of the method are: Step 1: In the initial preparation stage, an unused sampling syringe 9 is placed in the unsampled area 29, and the sampling syringe 9 is inserted into the corresponding upper through hole 7, and the sampling syringe 9 is received by the corresponding receiving assembly, so that the upper section of the sampling syringe 9 is higher than the upper end surface of the upper plate 6; Step 2: The AGV 1 moves to the corresponding reaction tank in sequence according to the set program, and then the five-axis robot arm 2 cooperates with the grabbing sampling component to clamp and grab an unused sampling syringe 9, and then inserts the end of the sampling syringe 9 into the reaction tank through the sampling valve seat of the reaction tank, and then through the cooperation of the grabbing sampling component and the sampling syringe 9, part of the liquid in the reaction tank is drawn into the sampling syringe 9; Step 3: Through the cooperation of the five-axis robot 2 and the grabbing sampling assembly, the sampling syringe 9 after sampling is placed in the sampled area 30 of the corresponding placement rack 3, the sampling syringe 9 is inserted from the corresponding upper through hole 7, and the lower end of the sampling syringe 9 is inserted into the corresponding lower slot 8, and then the sealing assembly seals the end of the sampling syringe 9; Step 4: AGV 1 moves to the next reaction tank and prepares to perform sampling operation on the next reaction tank.

[0059] When the present invention is used, in the initial preparation stage (completed outside the production workshop), an unused sampling syringe 9 is placed in the unsampled area 29, and the sampling syringe 9 is inserted from the corresponding upper through hole 7, and the sampling syringe 9 is received by the corresponding receiving component, so that the upper section of the sampling syringe 9 is higher than the upper end surface of the upper plate 6, which is convenient for grabbing the sampling component to clamp and place the sampling syringe 9, and then the AGV trolley 1 moves to the corresponding reaction tank in sequence according to the set program, and then the five-axis robot 2 cooperates with the grabbing sampling component to clamp and grab an unused sampling syringe 9, and then the end of the sampling syringe 9 is inserted into the reaction tank through the sampling valve seat of the reaction tank, and then by grabbing the sampling component and the sampling syringe The sampling syringe 9 is matched with the five-axis robot 2 and the grabbing sampling assembly to draw part of the liquid in the reaction tank into the sampling syringe 9, and then the sampling syringe 9 after sampling is placed in the sampled area 30 of the corresponding placement rack 3 through the cooperation of the five-axis robot 2 and the grabbing sampling assembly. The sampling syringe 9 is inserted from the corresponding upper through hole 7, and the lower end of the sampling syringe 9 is inserted into the corresponding lower slot 8. Then the sealing assembly seals the end of the sampling syringe 9, and then the AGV trolley 1 moves to the next reaction tank to prepare for sampling operation on the next reaction tank. It is easy to use. On the one hand, it reduces the work intensity of the staff. On the other hand, it does not require the staff to enter the production workshop for sampling, avoiding pollution to the environment in the workshop. When the sampling syringe 9 after sampling is placed on the placement rack 3, the lower end of the needle head 11 of the sampling syringe 9 is inserted into the lower slot 8. During this process, the lower end of the needle head 11 is inserted into the head sleeve 31. The air in the head sleeve 31 is pushed out by the lower end of the needle head 11 through the four elastic fan-shaped sealing sheets 32 (the four elastic fan-shaped sealing sheets 32 are opened in the direction away from the needle head 11 under the action of pressure. When the air is discharged, the four elastic fan-shaped sealing sheets 32 elastically return to the initial state). At this time, the head sleeve 31 is sleeved on the outer surface of the lower end of the needle head 11 to isolate and protect the lower end of the needle head 11. The upper and lower plates 3 are then moved back and forth to move along the upper and lower plates 35, and the upper and lower plates 36 are moved back and forth to move along the upper and lower plates 35. In the initial preparation stage, when placing the head sleeve 31 into the lower slot 8, first pinch the outer surface of the upper receiving tube 26 with your fingers, and then drive the upper receiving tube 26 to move in the direction close to the lower plate 4. During this process, the spring 27 is squeezed and contracted to store elastic potential energy. When the upper end surface of the upper receiving tube 26 is away from the guide sleeve 28, press the upper end of the upper receiving tube 26 with your fingers until the upper end of the upper receiving tube 26 is flush with the upper end surface of the lower plate 4. At this time, the lower slot 8 is exposed to the staff's line of sight, and then the head sleeve 31 is placed into the lower slot 8, and then the upper receiving tube 26 is released (the upper receiving tube 26 moves upward and resets under the action of the elastic potential energy of the spring 27). The operation is convenient.

[0060] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A fully automatic robotic aseptic sampling system, comprising an AGV trolley (1), a five-axis robotic arm (2) being disposed on the AGV trolley (1), and a visual system component being disposed on the five-axis robotic arm (2), wherein: The working end of the five-axis robot arm (2) is provided with a grabbing sampling assembly. The upper end surface of the AGV trolley (1) is provided with a plurality of placement racks (3). The placement racks (3) include a lower plate (4), a support plate (5) and an upper plate (6). The upper end surface of the upper plate (6) is provided with a plurality of pairs of upper through holes (7). The upper end surface of the lower plate (4) is provided with a plurality of pairs of lower slots (8) symmetrically. Each placement rack (3) is provided with a plurality of sampling syringes (9). The placement rack (3) is divided into an unsampled area (29) and a sampled area (30) with the support plate (5) as the symmetrical center. Each placement rack (3) is provided with a plurality of receiving assemblies and sealing assemblies used in conjunction with the sampling syringes (9).

2. The fully automatic robotic aseptic sampling system according to claim 1 is characterized in that: Each of the sampling syringes (9) comprises a needle tube portion (10), a needle head portion (11) and a piston push-pull portion (12); the grabbing sampling assembly comprises a clamping unit and a pulling unit; the clamping unit comprises a double-axis cylinder (13); the double-axis cylinder (13) is fixed to the end of the working end of the five-axis robot arm (2); an L-shaped connecting block (14) is fixed to the end of the telescopic end of the double-axis cylinder (13); and a clamping claw (15) is fixed to the side wall of each L-shaped connecting block (14).

3. The fully automatic robotic aseptic sampling system according to claim 2 is characterized in that: The opposing surfaces of the two clamping claws (15) are both fixed with anti-slip layers (16), and a clamping groove (17) is provided on the side wall of each anti-slip layer (16).

4. The fully automatic robotic aseptic sampling system according to claim 2, characterized in that: The pulling and pulling unit comprises two electric push rods (18), the ends of the telescopic ends of the two electric push rods (18) are fixed with a same mounting plate (19), a ventilation pipe (20) is fixedly provided through the side wall of the mounting plate (19), one end of the ventilation pipe (20) is fixedly connected with a negative pressure suction nozzle (21), and the other end of the ventilation pipe (20) is connected with a telescopic ventilation hose (22), and the AGV trolley (1) is provided with a negative pressure suction box used in conjunction with the telescopic ventilation hose (22).

5. The fully automatic robotic aseptic sampling system according to claim 2, characterized in that: Each of the receiving components comprises a sinking groove (23) formed on the upper end surface of the lower plate (4), a lower sleeve (24) being fixed on the inner wall of the sinking groove (23), an annular groove (25) being formed on the upper end surface of the lower sleeve (24), an upper receiving sleeve (26) being arranged in the annular groove (25) for lifting and lowering, a spring (27) being fixed between the upper receiving sleeve (26) and the inner bottom of the annular groove (25), and a guide sleeve (28) being fixed on the inner wall of each upper through hole (7), the guide sleeve (28) being located directly above the upper receiving sleeve (26).

6. The fully automatic robotic aseptic sampling system according to claim 5, characterized in that: Each of the sealing components comprises a sealing sleeve (31), the sealing sleeve (31) being located in a lower slot (8) of the sampled area (30), the upper and lower ends of the sealing sleeve (31) being open, the size of the sealing sleeve (31) matching that of the needle head (11), four elastic fan-shaped sealing sheets (32) being fixed on the inner wall of the sealing sleeve (31), and an exhaust unit being arranged in each lower slot (8).

7. The fully automatic robotic aseptic sampling system according to claim 6, characterized in that: Each of the exhaust units comprises an L-shaped exhaust through groove (33) formed at the bottom of the lower slot (8), and an end of the L-shaped exhaust through groove (33) away from the lower slot (8) penetrates the side wall of the lower plate (4).

8. The fully automatic robotic aseptic sampling system according to claim 1, characterized in that: The upper end surface of the AGV trolley (1) is fixedly provided with a plurality of pairs of U-shaped positioning frames (34) for use with the placement frame (3), a U-shaped mounting frame (35) is movably provided on the inner wall of each U-shaped positioning frame (34), a resistance wheel (36) is rotatably provided on the inner wall of each U-shaped mounting frame (35), both sides of the lower plate (4) are provided with resistance grooves (37) for use with the resistance wheel (36), and an elastic component for use with the U-shaped mounting frame (35) is provided in each U-shaped positioning frame (34).

9. The fully automatic robotic aseptic sampling system according to claim 8, characterized in that: Each of the elastic components comprises a plurality of springs (38). A plurality of guide posts (39) are fixed on the outer wall of the U-shaped mounting frame (35). One end of the guide post (39) movably penetrates the U-shaped positioning frame (34). Each spring (38) is movably sleeved on the outer surface of the corresponding guide post (39). Two guide slots (40) are symmetrically provided on the inner wall of the U-shaped positioning frame (34). A guide slide block (41) is slidably provided in each guide slot (40). The guide slide block (41) is fixedly connected to the side wall of the U-shaped mounting frame (35).

10. A fully automatic robot aseptic sampling method, applied to the fully automatic robot aseptic sampling system according to any one of claims 1 to 9, characterized in that: The specific steps are as follows: Step 1: In the initial preparation stage, an unused sampling syringe (9) is placed in the unsampled area (29), the sampling syringe (9) is inserted into the corresponding upper through hole (7), and the sampling syringe (9) is received by the corresponding receiving component, so that the upper section of the sampling syringe (9) is higher than the upper end surface of the upper plate (6); Step 2: The AGV (1) moves to the side of the corresponding reaction tank, and then the five-axis robot (2) cooperates with the grabbing sampling component to clamp and grab an unused sampling syringe (9), and then inserts the end of the sampling syringe (9) into the reaction tank through the sampling valve seat of the reaction tank, and then through the cooperation of the grabbing sampling component and the sampling syringe (9), part of the liquid in the reaction tank is drawn into the sampling syringe (9); Step 3: by means of the cooperation of the five-axis robot arm (2) and the grabbing sampling assembly, the sampling syringe (9) after sampling is placed in the sampled area (30) of the corresponding placement rack (3), the sampling syringe (9) is inserted from the corresponding upper through hole (7), the lower end of the sampling syringe (9) is inserted into the corresponding lower slot (8), and then the sealing assembly performs a sealing process on the end of the sampling syringe (9); Step 4: The AGV (1) moves to the next reaction tank and prepares to perform sampling operation on the next reaction tank.

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