Fully automatic robotic aseptic sampling system

Abstract

The invention discloses a fully automatic robot aseptic sampling system, which relates to the technical field of aseptic sampling, and comprises an AGV trolley. A five-axis mechanical arm is arranged on the AGV trolley, a visual system component is arranged on the five-axis mechanical arm, a grabbing sampling component is arranged on the working end of the five-axis mechanical arm, and a plurality of placement racks are arranged on the upper end surface 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 surface of the upper plate, and a plurality of pairs of lower slots are symmetrically arranged on the upper end surface of the lower plate. A plurality of sampling syringes are arranged on each placement rack. The placement racks are divided into a non-sampled 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 arranged on each placement rack. When the invention is used, on the one hand, the work intensity of the staff is reduced, and on the other hand, pollution to the environment in the 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:

[0005] Since there are a large number of reaction tanks in the production workshop, manual sampling will result in greater workload for the staff.

[0006] The proposed fully automatic robotic aseptic sampling system.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] 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.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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:

[0018] 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;

[0019] 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;

[0020] 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;

[0021] Step 4: The AGV moves to the next reaction tank and prepares to sample the next reaction tank.

[0022] Beneficial effects of the present invention:

[0023] 1. In the initial preparation stage (completed outside the production workshop), the unused sampling syringe is placed in the non-sampled area. The sampling syringe is inserted through the corresponding upper through-hole and is received by the corresponding receiving component, so that the upper part of the sampling syringe is higher than the upper end face of the upper plate, which is convenient for the grasping and placing of the sampling syringe by the grasping and sampling component. Then, the AGV cart moves to the side of the corresponding reaction tank. Then, the five-axis robotic arm cooperates with the grasping and sampling component to grip and pick up an unused sampling syringe. Then, the end of the sampling syringe is inserted into the reaction tank through the sampling valve seat of the reaction tank. Then, through the cooperation of the grasping and sampling component and the sampling syringe, a part of the liquid in the reaction tank is pumped into the sampling syringe. Then, through the cooperation of the five-axis robotic arm and the grasping and sampling component again, the sampled sampling syringe is placed in the sampled area of the corresponding placement rack. The sampling syringe is inserted through 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. Then, the AGV cart moves to the side of the next reaction tank to prepare for sampling operation on the next reaction tank. It is convenient to use, on the one hand, reducing the work intensity of the staff, and on the other hand, eliminating the need for the staff to enter the production workshop for sampling, thus avoiding pollution to the workshop environment.

[0024] 2. When the sampled sampling syringe is being placed on the placement rack, the lower end of the needle head of the sampling syringe is inserted into the lower slot. During this process, the lower end of the needle head is inserted into the head sealing cylinder sleeve. The air in the head sealing cylinder sleeve is pushed out by the lower end of the needle head through the four elastic sector-shaped sealing pieces (the four elastic sector-shaped sealing pieces open in the direction away from the needle head under the action of pressure, and when this part of the air is discharged, the four elastic sector-shaped sealing pieces elastically return to the initial state). At this time, the head sealing cylinder sleeve is sleeved on the outer surface of the lower end of the needle head to isolate and protect the lower end of the needle head.

[0025] 3. In the initial preparation stage, when placing the head sealing cylinder sleeve into the lower slot, first pinch the outer surface of the upper receiving cylinder with fingers, and then drive the upper receiving cylinder to move towards the lower plate. During this process, the first spring is compressed and stores elastic potential energy. When the upper end face of the upper receiving cylinder is away from the guide sleeve, press the upper end of the upper receiving cylinder with fingers until the upper end of the upper receiving cylinder is flush with the upper end face of the lower plate. At this time, the lower slot is exposed to the sight of the staff. Then, place the head sealing cylinder sleeve into the lower slot, and then release the upper receiving cylinder (the upper receiving cylinder moves upward and resets under the action of the elastic potential energy of the first spring), which is convenient to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic view of the overall structure of the present invention Figure 1 ;

[0027] Figure 2 Schematic diagram of the overall structure of the present invention Figure 2 ;

[0028] Figure 3 Schematic diagram of the connection between the double-axis cylinder and the electric push rod in the present invention Figure 1 ;

[0029] Figure 4 Schematic diagram of the connection between the double-axis cylinder and the electric push rod in the present invention Figure 2 ;

[0030] Figure 5 Schematic diagram of the connection between the clamping jaw and the anti-slip layer in the present invention;

[0031] Figure 6 Schematic diagram of the connection between the mounting plate and the ventilation pipe in the present invention;

[0032] Figure 7 Schematic diagram of the structure of the sampling syringe in the present invention;

[0033] Figure 8 Schematic diagram of the structure of the placement rack in the present invention;

[0034] Figure 9 Schematic diagram of the internal structure of the guide sleeve in the present invention;

[0035] Figure 10 Schematic diagram of the internal structure of the lower slot in the present invention;

[0036] Figure 11 Schematic diagram of the internal structure of the upper receiving cylinder in the present invention;

[0037] Figure 12 Schematic diagram of the connection between the head cylinder sleeve and the elastic sector seal in the present invention;

[0038] Figure 13 Schematic diagram of the internal structure of the head cylinder sleeve in the present invention;

[0039] Figure 14 Schematic diagram of the connection between the U-shaped mounting frame and the abutting wheel in the present invention.

[0040] In the figure: 1. AGV cart; 2. Five-axis robotic arm; 3. Placing rack; 4. Lower plate; 5. Support plate; 6. Upper plate; 7. Upper through-hole; 8. Lower slot; 9. Sampling syringe; 10. Syringe barrel part; 11. Needle head part; 12. Piston push-pull part; 13. Double-axis cylinder; 14. L-shaped connecting block; 15. Clamping jaw; 16. Anti-slip layer; 17. Clamping groove; 18. Electric push rod; 19. Mounting plate; 20. Vent pipe; 21. Negative pressure suction nozzle; 22. Telescopic ventilation hose; 23. Sinking ring groove; 24. Lower barrel sleeve; 25. Annular groove; 26. Upper receiving barrel; 27. First spring; 28. Guide sleeve; 29. Unsampled area; 30. Sampled area; 31. Sealing head barrel sleeve; 32. Elastic sector-shaped sealing piece; 33. L-shaped exhaust through-groove; 34. U-shaped positioning frame; 35. U-shaped mounting frame; 36. Contact wheel; 37. Contact groove; 38. Second spring; 39. Guide post; 40. Guide chute; 41. Guide slider. Detailed implementation manners

[0041] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments. Obviously, the described embodiments are only a 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 those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0042] Referring to Figures 1 - 14 , a fully automatic robotic aseptic sampling system includes an AGV cart 1. A five-axis robotic arm 2 is provided on the AGV cart 1. A vision system component is provided on the five-axis robotic arm 2. A grasping and sampling component is provided at the working end of the five-axis robotic arm 2. Multiple placing racks 3 are provided on the upper end surface of the AGV cart 1. The placing rack 3 includes a lower plate 4, a support plate 5, and an upper plate 6. Multiple pairs of upper through-holes 7 are penetrated and opened on the upper end surface of the upper plate 6. Multiple pairs of lower slots 8 are symmetrically opened on the upper end surface of the lower plate 4. Multiple sampling syringes 9 are provided on each placing rack 3. The placing rack 3 is divided into an unsampled area 29 and a sampled area 30 with the support plate 5 as the symmetry center. Multiple receiving components and sealing components used in cooperation with the sampling syringe 9 are provided on each placing rack 3. The sealing components are only located in the lower slots 8 of the sampled area 30.

[0043] The AGV cart 1 is a prior art and has functions of traveling and turning to realize integration with other components. It is composed of a platform connecting load-bearing wheel, a driving wheel, a driving motor, a corner motor, a brake, a power supply, and multiple sensors.

[0044] The vision system component is a prior art. It is a high-definition vision system composed of a camera, a lens, a light source, a controller, a camera, and a light source cable, which cooperates with the five-axis robotic arm 2 and the grasping and sampling component to perform the grasping and auxiliary sampling operations of the sampling syringe 9.

[0045] 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.

[0046] The working end of the five-axis robot arm 2 can rotate, and the five-axis robot arm 2 is prior art.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] In other embodiments, the AGV 1 may also be a mobile platform or a transport robot platform.

[0052] 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.

[0053] 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 .

[0054] Reference Figures 1 - 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.

[0055] 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).

[0056] 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 .

[0057] 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 .

[0058] 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.

[0059] A negative pressure air extraction mechanism is provided inside the negative pressure air extraction box, which is used to cooperate 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. Both the negative pressure air extraction mechanism and the negative pressure air extraction box are prior arts.

[0060] After 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 ventilation pipe 20 and the negative pressure suction nozzle 21 to approach the upper end of the piston push-pull part 12. Then, with the cooperation of the negative pressure air extraction box, the negative pressure suction nozzle 21 is urged to fit and adsorb 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 ventilation pipe 20, the negative pressure suction nozzle 21 and the piston push-pull part 12 to move, thereby pumping a part of the liquid in the reaction tank into the sampling syringe 9.

[0061] The sampling valve seat of the reaction tank is a prior art. When the sampling syringe 9 takes a liquid sample 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 aspirates the sample. After the sample reaches the specified volume, the sampling stops.

[0062] There will be multiple sampling stations in the sampling area. Sampling is carried out on the sampling points according to the process requirements. The sampling time interval, the sampling volume, the sampling stations, and the serial numbers of the corresponding sampling ports (valve seats) should be set in the control program. At this time, the sampling points are identified to determine the sampling stations and the serial numbers of the sampling valve seats. This part of the content is prior art.

[0063] After 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 on the piston push-pull part 12 under the action of the negative pressure air extraction box.

[0064] Refer to Figure 2 、 Figure 8 、 Figure 9 、 Figure 10 and Figure 11 Each receiving component includes a sunken circular groove 23 opened on the upper end surface of the lower plate 4. A lower cylinder sleeve 24 is fixed on the inner wall of the sunken circular groove 23. An annular groove 25 is opened on the upper end surface of the lower cylinder sleeve 24. An upper receiving cylinder 26 is arranged to move up and down in the annular groove 25. A first spring 27 is fixed between the upper end surface of the upper receiving cylinder 26 and the inner bottom of the annular groove 25. 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 cylinder 26.

[0065] After the sampling syringe 9 is inserted into the upper through hole 7, through the provided guide sleeve 28, the placement of the sampling syringe 9 is limited and guided (the guide sleeve 28 is slidably sleeved on the outer surface of the syringe tube portion 10), to prevent the sampling syringe 9 from shaking within the guide sleeve 28.

[0066] After the sampling syringe 9 is inserted into the upper through hole 7, the upper end of the upper receiving cylinder 26 receives the lower surface of the syringe tube portion 10 of the sampling syringe 9. At this time, the lower end of the needle head portion 11 of the sampling syringe 9 is inserted into the lower slot 8.

[0067] Refer to Figure 8 、 Figure 9 、 Figure 10 、 Figure 12 and Figure 13 and

[0068] The four elastic sector-shaped sealing pieces 32 are in the same plane in the initial state, forming a circular shape. In this state, air cannot pass through between the four elastic sector-shaped sealing pieces 32.

[0069] When the sampling syringe 9 after sampling is being placed on the placement rack 3, the lower end of the needle head portion 11 of the sampling syringe 9 is inserted into the lower slot 8. During this process, the lower end of the needle head portion 11 is inserted into the head cylinder sleeve 31. The air inside the head cylinder sleeve 31 is pushed out by the lower end of the needle head portion 11 and discharged through the four elastic sector-shaped sealing pieces 32 (under the action of pressure, the four elastic sector-shaped sealing pieces 32 open in the direction away from the needle head portion 11. After this part of the air is discharged, the four elastic sector-shaped sealing pieces 32 elastically return to the initial state). At this time, the head cylinder sleeve 31 is sleeved on the outer surface of the lower end of the needle head portion 11, providing isolation and protection for the lower end of the needle head portion 11.

[0070] Refer to Figure 8 、 Figure 9 、 Figure 10 、 Figure 12 and Figure 13 and

[0071] The air discharged from the head cylinder sleeve 31 is finally discharged through the L-shaped exhaust channel 33.

[0072] The inner bottom of the annular groove 25 is also provided with exhaust holes, which penetrate into the L-shaped exhaust through groove 33.

[0073] In the initial preparation stage (completed outside the production workshop), when placing the head cylinder sleeve 31 into the lower slot 8, first pinch the outer surface of the upper receiving cylinder 26 with fingers, and then drive the upper receiving cylinder 26 to move towards the direction close to the lower plate 4. During this process, the first spring 27 is squeezed and contracted to store elastic potential energy. When the upper end surface of the upper receiving cylinder 26 is far from the guide sleeve 28, press the upper end of the upper receiving cylinder 26 with fingers until the upper end of the upper receiving cylinder 26 is flush with the upper end surface of the lower plate 4. At this time, the lower slot 8 is exposed to the sight of the staff. Then, place the head cylinder sleeve 31 into the lower slot 8, and then release the upper receiving cylinder 26 (the upper receiving cylinder 26 moves upward and resets under the action of the elastic potential energy of the first spring 27), which is convenient to operate.

[0074] Refer to Figure 2 、 Figure 8 and Figure 14 As shown in

[0075] On the upper end surface of the AGV cart 1, a plurality of pairs of U-shaped positioning frames 34 for cooperating with the placement racks 3 are fixedly arranged. On the inner wall of each U-shaped positioning frame 34, a U-shaped mounting frame 35 is movably arranged. On the inner wall of each U-shaped mounting frame 35, a contact wheel 36 is rotatably arranged. On both sides of the lower plate 4, contact grooves 37 for cooperating with the contact wheels 36 are opened. An elastic component for cooperating with the U-shaped mounting frame 35 is arranged in each U-shaped positioning frame 34.

[0076] Refer to Figure 2 、 Figure 8 and Figure 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.

[0077] 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.

[0078] 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:

[0079] 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;

[0080] 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;

[0081] 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;

[0082] Step 4: AGV 1 moves to the next reaction tank and prepares to perform sampling operation on the next reaction tank.

[0083] When the present invention is in use, in the initial preparation stage (completed outside the production workshop), the unused sampling syringe 9 is placed in the non-sampled area 29. The sampling syringe 9 is inserted through the corresponding upper through hole 7, and is received by the corresponding receiving assembly, so that the upper part of the sampling syringe 9 is higher than the upper end face of the upper plate 6, which is convenient for the grasping and sampling assembly to clamp and place the sampling syringe 9. Then, the AGV cart 1 moves to the side of the corresponding reaction tank in sequence according to the set program. Then, the five-axis robotic arm 2 cooperates with the grasping and sampling assembly to grip and hold an unused sampling syringe 9. Then, the end of the sampling syringe 9 is inserted into the reaction tank through the sampling valve seat of the reaction tank. Then, through the cooperation of the grasping and sampling assembly and the sampling syringe 9, a part of the liquid in the reaction tank is drawn into the sampling syringe 9. Then, through the cooperation of the five-axis robotic arm 2 and the grasping and sampling assembly again, the sampled sampling syringe 9 is placed in the sampled area 30 of the corresponding placement rack 3. The sampling syringe 9 is inserted through 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. Then, the AGV cart 1 moves to the side of the next reaction tank to prepare for the sampling operation of the next reaction tank. It is convenient to use. On the one hand, it reduces the working 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;

[0084] When the sampled sampling syringe 9 is being 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 sealing head cylinder sleeve 31. The air in the sealing head cylinder sleeve 31 is pushed by the lower end of the needle head 11 and discharged through the four elastic sector-shaped sealing pieces 32 (the four elastic sector-shaped sealing pieces 32 open away from the needle head 11 under the action of pressure. When this part of the air is discharged, the four elastic sector-shaped sealing pieces 32 elastically return to the initial state). At this time, the sealing head cylinder 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;

[0085] In the initial preparation stage, the placement racks 3 each equipped with a sampling syringe 9 are placed on the upper end surface of the AGV cart 1. When a single placement rack 3 is placed between the corresponding two U-shaped positioning racks 34, both sides of the lower plate 4 will abut against the corresponding abutting wheels 36. Under the action of force, the abutting wheels 36 drive the U-shaped mounting frame 35 to move away from the lower plate 4 until the lower end surface of the lower plate 4 contacts the upper end surface of the AGV cart 1. At this time, the abutting grooves 37 on both sides of the lower plate 4 are aligned with the corresponding abutting wheels 36. At this time, the abutting wheels 36 and the U-shaped mounting frame 35 move towards the lower plate 4 under the action of the elastic component until the abutting wheels 36 abut and engage in the corresponding abutting grooves 37, thereby limiting and fixing the lower plate 4, and thus limiting and fixing the placement rack 3. When it is necessary to remove the placement rack 3, the placement rack 3 can be directly moved upward, which is convenient for the staff to place and take the placement rack 3 with the sampling syringe 9;

[0086] In the initial preparation stage, when placing the head cylinder sleeve 31 into the lower slot 8, first pinch the outer surface of the upper receiving cylinder 26 with fingers, and then drive the upper receiving cylinder 26 to move towards the lower plate 4. During this process, the first spring 27 is compressed and contracted to store elastic potential energy. When the upper end surface of the upper receiving cylinder 26 is far from the guide sleeve 28, press the upper end of the upper receiving cylinder 26 with fingers until the upper end of the upper receiving cylinder 26 is flush with the upper end surface of the lower plate 4. At this time, the lower slot 8 is exposed to the sight of the staff. Then, place the head cylinder sleeve 31 into the lower slot 8, and then release the upper receiving cylinder 26 (the upper receiving cylinder 26 moves upward and resets under the action of the elastic potential energy of the first spring 27), and the operation is convenient.

[0087] The above is only a preferred embodiment of the present invention and does not impose any form of limitation on the present invention. Although the present invention has been disclosed above with a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments by using the disclosed technical content within the scope of the technical solution of the present invention. However, as long as it does not depart from the content of the technical solution of the present invention, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall 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) comprising 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, and each placement rack (3) is provided with a plurality of receiving assemblies and sealing assemblies used in conjunction with the sampling syringes (9); 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); 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).

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 the side wall of each anti-slip layer (16) is provided with a clamping groove (17).

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 1, 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).

6. 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).

7. The fully automatic robotic aseptic sampling system according to claim 6, 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).

8. A fully automatic robotic aseptic sampling method, using the fully automatic robotic aseptic sampling system according to any one of claims 1 to 7, 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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