Intelligent bottle opening machine with visual and tactile recognition functions and bottle opening and closing method

Abstract

The invention discloses an intelligent bottle opening machine with visual and tactile recognition functions and a bottle opening and closing method. The intelligent bottle opening machine comprises a bottle conveying module (1), a bottle clamping module (2), a cover clamping module (3), a cover screwing module (4) and a supporting frame module (5). The device is characterized by further comprising a visual module (6), a touch module (7) and a control module (8), wherein the bottle feeding module (1) is installed on the supporting frame module (5), the cap screwing module (4) is installed below a cross beam (511) of the supporting frame module (5), the cap clamping module (3) is installed below the cap screwing module (4), the bottle clamping module (2) is installed below the cap clamping module (3), and the lower end of the bottle clamping module (2) is connected with the bottle feeding module (1); the intelligent bottle opener provided by the invention can be compatible with reagent bottles with different sizes and specifications, completely isolates people from biochemical reagent bottles, avoids frequent dangers in a test, improves the safety level and also improves the automation level of a laboratory.

Description

Technical Field

[0001] The invention provides an intelligent bottle opener with visual and tactile recognition and a bottle opening and closing method, and particularly relates to an intelligent opening and closing cover device for opening and closing the cover of a biochemical reagent bottle, and belongs to the field of automated biochemical laboratories and robots. Background Art

[0002] In the related art, either the grippers of a robotic arm are configured to achieve automatic bottle opening and closing, which is costly and has limited flexibility; or the equipment relies on a fixed fixture and cannot adaptively adjust the clamping range; or the independent capping device can only automatically open the bottle but cannot automatically close the bottle; or the device lacks visual recognition and force feedback control. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent opening and closing cover device and method, which is used for the identification and intelligent capping of bottles with threaded caps such as biochemical reagent bottles in biological, chemical, medical and physical laboratories, including opening and closing the caps, to assist in the construction of fully automatic laboratories, especially laboratories for virus detection, nuclear radiation and other hazards to human health.

[0004] An intelligent bottle opener with visual and tactile recognition functions, comprising a bottle feeding module 1, a bottle clamping module 2, a cap clamping module 3, a cap screwing module 4 and a support frame module 5; characterized in that it also comprises a visual module 6, a tactile module 7 and a control module 8; wherein the bottle feeding module 1 is mounted on the support frame module 5, the cap screwing module 4 is mounted below the crossbeam 511 of the support frame module 5, the cap clamping module 3 is mounted below the cap screwing module 4, the bottle clamping module 2 is mounted below the cap clamping module 3, and the lower end of the bottle clamping module 2 is connected to the bottle feeding module 1; a tactile module 7 is mounted in the bottle clamping module 2 and the cap clamping module 3, and a visual module 6 is mounted in front of the bottle feeding module 1; a control module 8 is also arranged next to the bottle feeding module 1; the control module 8 is respectively connected to the bottle feeding module 1, the bottle clamping module 2, the cap clamping module 3, the cap screwing module 4, the visual module 6 and the tactile module 7 by wire or wirelessly;

[0005] The bottle feeding module 1 includes a linear module 11, a bottle positioning member 12 and a fixed base plate 13; the linear module 11 is mounted on the fixed base plate 13, the bottle positioning member 12 is mounted on the slide of the linear module 11, and the reagent bottle 14 is placed in the groove at the center of the cylinder of the bottle positioning member 12;

[0006] The support frame module 5 includes a frame fixed bottom plate 52 and a frame 51, and the fixed bottom plate 13 is installed on the frame fixed bottom plate 52. The support frame module 5 and the fixed bottom plate 13 are used to fix and limit the bottle feeding module 2, the bottle clamping module 3 and the capping module 4;

[0007] The bottle clamping module 2 includes a relative clamp 21 and a bracket 22; the relative clamp 21 is fixedly connected to the bracket 22; the bracket 22 includes a vertical support rod 221, a horizontal support rod 222 and an adjuster 223, the horizontal support rod 222 is fixedly connected to the adjuster 223, and the adjuster 223 is fixed to the vertical support rod 221 by bolts; the adjuster 223 is used to adjust the position of the relative clamp 21; the adjuster 223 is also used to adjust the distance between the clamping plate 211 and the support frame fixed bottom plate 13 and the vertical support rod 221 to adapt to the position and height of the bottle;

[0008] The relative clamp 21 includes two clamping plates 211, a threaded screw 212, a guide rod 213, a fixing frame 214, a motor 215, a connector 216, a motor fixing piece 217 and a level detector 218; the fixing frame 214 is connected to the vertical support rod 221 through a horizontal support rod 222, a level detector 218 is arranged on the fixing frame 214, and the guide rod 213 is fixedly connected to the fixing frame 214; the motor 215 is fixed to the fixing frame 214 through a motor fixing piece 217; the connector 216 connects the motor 215 and the threaded screw 212 together; the two relative clamping plates 211 are respectively connected to the threaded screw 212 through a left-handed nut and a right-handed nut, and the two clamping plates 211 can realize horizontal relative movement under the drive of the motor 215 and the guidance of the guide rod 213, thereby clamping or loosening the bottle;

[0009] The cap clamping module 3 includes two electric push rods 31, a motor fixing frame 32, a push block connecting rod 34, two clamping claws 35, a central fixing frame 36, four clamping claw connecting rods 37, and two bottle cap adapters 38; the electric push rod 31 is embedded in the through groove of the motor fixing frame 32 and fixed on the motor fixing frame 32, and the end push rod of the electric push rod 31 is fixedly connected to the push block 33; the push block 33 and the clamping claw 35 are embedded in a concave-convex manner, and the clamping claw 35 can slide horizontally on the push block 33; the two push blocks 33 symmetrical on both sides are connected by the push block connecting rod 34, so that the push blocks 33 on both sides remain horizontal and move relative to each other at the same time; the clamping claw 35, the clamping claw connecting rod 37 and the central fixing frame 36 form a four-bar mechanism (parallelogram mechanism), and the electric push rod 31 drives the push block 33 to move up and down through the extension of the push rod, thereby pushing the clamping claw 35 to rotate around the central fixing frame 36, and the clamping claws 35 symmetrical on both sides move relative to each other to clamp or loosen the bottle cap;

[0010] The cover screwing module 4 includes a pan-tilt motor 41, a pan-tilt motor holder 42, a rotation limiter 43, a screw stepper motor 44, and a stepper motor fixing part 45; the pan-tilt motor 41 includes a stator and a rotor, the stator is fixed in the pan-tilt motor holder 42, the rotor is fixed in the motor fixing frame 32, and the rotor rotates to drive the rotation of the clamping cover module 3; the screw stepper motor 44 is fixed in the installation stepper motor fixing part 45, and the upper end of the stepper motor fixing part 45 is connected to the crossbeam 511 of the support frame module 5; the screw of the screw stepper motor 44 is equipped with a nut, which is embedded in and fixed to the pan-tilt motor. The upper end of the rotation limiter 43 is fixed to the lower end of the stepper motor fixing part 45, and the support leg of the lower end of the rotation limiter 43 is inserted into the groove of the pan / tilt motor fixing part 42; when the stepper motor fixing part 45 rotates, the rotation limiter 43 limits the rotation of the nut so that the nut can only be lifted and lowered, and the nut drives the pan / tilt motor fixing part 42 to lift and lower, thereby driving the spiral lifting and lowering of the clamping cover module 3; that is, the screw stepper motor 44 realizes the lifting function under the rotation restriction of the rotation limiter 43, and the pan / tilt motor 41 realizes the rotation function, and together realizes the spiral lifting function, thereby realizing the capping function;

[0011] The visual module 6 includes a camera 61 and a camera connector 62, and the camera 61 is fixed to the frame fixed bottom plate 52 through the camera connector 62; the camera identifies the bottle body diameter of a cylindrical bottle or the width of a non-cylindrical bottle, and then through the control module 8, the clamping plate 211 of the bottle clamping module 2 clamps or releases the bottle; the camera simultaneously identifies the height and diameter of the bottle cap, and then through the control module 8, the clamping cap module 3 is lifted and lowered and the clamping claw 35 clamps or releases the bottle cap;

[0012] The tactile module 7 includes a pressure sensor 71 and a tactile sensing unit 72; the pressure sensor 71 is attached to the inner surface of the clamping plate 211 in the bottle clamping module 2, and is used to monitor the pressure of the clamping plate 211 clamping the bottle, and then feedback control the motor 215 through the control module 8; the tactile sensing unit 72 has a flexible surface, fixed on the inner side of the two bottle cap adapters 38 of the clamping cap module 3, and is used to detect the positive pressure of the clamping jaws 35 or the bottle cap adapters 38 in contact with the bottle cap, and then feedback control the electric push rod 31 through the control module 8; the tactile sensing unit 72 is also used to detect the tangential force of the clamping jaws 35 in contact with the bottle cap, so as to feedback whether the clamping jaws 35 and the bottle cap slide.

[0013] The control module 8 includes a controller 81 and a computer 82 , the controller 81 and the computer 82 are connected, and the controller 81 is respectively connected to the bottle feeding module 1 , the bottle clamping module 2 , the cap clamping module 3 , the capping module 4 , the visual module 6 and the tactile module 7 .

[0014] The computer 82 is provided with a human-machine interface and control keys. The human-machine interface is used to operate the bottle opener and display feedback information. The control keys are used to control the operation of the bottle feeding module 1, the bottle clamping module 2, the cap clamping module 3 and the capping module 4.

[0015] The computer 82 includes a processor, a memory and a keyboard. The memory is used to store the bottle data set, and the processor is used to execute the degree of bottle opening.

[0016] The connection between the computer 82 and the bottle feeding module 1, the bottle clamping module 2, the cap clamping module 3, the visual module 6 and the tactile module 7 is a wire connection, and can also be a WIFI connection; when the controller 81 is connected to the capping module 4 via WIFI, it can prevent the wiring harness of the capping module 4 from being entangled and broken during the rotation of the capping module 4.

[0017] The electric push rod 31 can be replaced by a micro servo electric cylinder or a screw motor, which can also drive the clamping claw to clamp or loosen the bottle cap.

[0018] The linear guide sliders can be vertically installed on the two side walls of the frame 51, and the sliders are fixed to the pan / tilt motor fixer 42. The linear guide sliders are used instead of the rotation limiter 43, and the spiral lifting of the clamping cover module can also be realized.

[0019] An intelligent bottle opening and closing method with visual and tactile recognition functions for opening a bottle using an intelligent bottle opener with visual and tactile recognition functions is characterized in that it comprises the following steps:

[0020] Step 1, the control module 8 controls the bottle feeding module 1, the bottle clamping module 2, the cap clamping module 3 and the cap screwing module 4 to remain in the initial position: that is, the bottle positioning member 12 of the bottle feeding module 1 is located at the rear end of the linear module 11, away from the positions of the bottle clamping module 2, the cap clamping module 3 and the cap screwing module 4; the two clamping plates 211 of the bottle clamping module 2 are in an open state, and the clamping claws 35 of the cap clamping module 3 are in an open state;

[0021] Step 2, delivering the reagent bottle 14: using a robotic arm to place the reagent bottle 14 in the central groove of the bottle positioning member 12, and controlling the linear module 11 through the controller 81 to move the bottle positioning member 12 forward, so that the reagent bottle 14 on the bottle positioning member 12 is placed below the bottle clamping module 2 and between the two clamping plates 211;

[0022] Step 3, identifying the reagent bottle 14: the camera 61 of the visual module 6 takes a picture of the reagent bottle 14, and the visual module 6 feeds the taken picture back to the control module 8, and the computer 82 in the control module 8 automatically recognizes the bottle diameter or width of the reagent bottle 14 in the picture by an algorithm; at the same time, the computer 82 in the control module 8 automatically recognizes the height of the bottle cap of the reagent bottle 14 in the picture by an algorithm for the height and diameter of the bottle cap;

[0023] Step 4, clamping the body of the reagent bottle 14: after identifying the reagent bottle 14, the motor 215 rotates clockwise and drives the threaded screw 212 to rotate, and the clamping plates 211 on both sides move towards each other under the guidance of the guide rod 213, and the pressure sensor 71 monitors the pressure value data of the clamping plate and provides real-time feedback to the control module 8. When the feedback data is non-zero and reaches the set value, the motor 215 stops rotating, and the clamping plates 211 on both sides clamp the reagent bottle, and the bottle clamping operation is completed;

[0024] Step 5, clamp the lid of the reagent bottle 14: the control module 8 controls the screw stepper motor 44 to rotate, the pan / tilt motor 41, the pan / tilt motor holder 42 and the clamping cover module 3 as a whole descend along the screw direction under the guidance of the rotation limiter 43 to reach the specified position, and the screw motor 44 stops rotating; the electric push rod 31 extends, driving the push block 33 to move downward, and then pushing the clamping jaw 35 to rotate around the clamping jaw center fixing frame 36, the clamping jaws move relatively, and the pressure sensor 72 monitors the pressure value of the bottle cap adapter 38 at the end of the clamping jaw in contact with the bottle cap and provides real-time feedback to the control module 8. When the feedback data reaches the set value, the control module 8 controls the electric push rod 31 to stop working, the clamping jaw 35 clamps the bottle cap, and the clamping cover operation is completed;

[0025] Step 6, unscrew the lid of the reagent bottle 14: the control module 8 controls the pan-tilt motor 41 to rotate, driving the bottle clamping module 3 and the bottle cap to rotate in the counterclockwise direction, and at the same time the screw stepping motor 44 rotates, so that the clamping module 3 and the lid of the reagent 14 rotate and move vertically upward under the guidance of the rotation limiter 43, that is, it appears as a spiral rise, the bottle cap is separated from the bottle body, and the pan-tilt motor 41 and the screw stepping motor 44 stop;

[0026] Step 7, taking reagents: After the cover opening operation is completed, the mechanical arm clamps the pipette gun to perform a pipetting operation, that is, taking out a specified amount of reagent solution from the reagent 14, and after the pipetting is completed, the cover closing operation is performed;

[0027] Step 8, screwing the lid of the reagent bottle 14 closed: the control module 8 controls the pan-tilt motor 41 to rotate, driving the bottle clamping module 3 and the bottle cap of the reagent bottle 14 to rotate in the clockwise direction, and at the same time the screw stepper motor 44 rotates, so that the clamping cover module 3 and the bottle cap rotate and move vertically downward under the guidance of the rotation limiter 43, that is, it is manifested as a spiral descent, and the descending stroke is consistent with the opening and ascending process of the lid, the bottle cap is tightened, and the pan-tilt motor 41 and the screw stepper motor 44 stop; the push rod 31 contracts, driving the push block 33 to move upward, and then pushing the clamping jaw 35 to rotate around the clamping jaw center fixing frame 36, the clamping jaw 5 moves relative to each other and separates from the bottle cap, the electric push rod 31 contracts to the push rod stroke zero value, and the lid closing operation is completed;

[0028] Step 9: Return the reagent bottle 14 to its original position: the control module 8 controls the linear module 11 to move the bottle positioning member 12 backward, the reagent bottle is sent to the outside of the bottle clamping module, and the robot arm clamps the bottle to the initial position;

[0029] Before opening the bottle, the shapes, sizes, pitches and number of threads required for opening the bottle caps of the various reagent bottles 14 are first counted and stored in a database in the memory of the computer of the control module 8 so that different reagent bottles 14 can be opened with different strategies.

[0030] The rotation speeds of the pan / tilt motor 41 and the screw stepper motor 44 should follow the following rules to ensure that the lifting and lowering displacements of the bottle cap and the capping module 4 are equal, to avoid the situation where the bottle cap cannot be unscrewed / tightened or the thread is damaged. The rules to be followed are

[0031] Among them, n1 and are the rotation speeds of the pan / tilt motor 41 and the screw stepping motor 44 respectively, P is the thread pitch of the bottle cap, and S is the lead of the screw of the screw stepping motor 44.

[0032] Beneficial effects:

[0033] The present invention provides an intelligent bottle opener and a bottle opening and closing method, which are compatible with reagent bottles of different sizes and specifications, completely isolate people from the contact with the biochemical reagent bottles, avoid frequent dangers in experiments, improve the safety level, and also improve the level of laboratory automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 It is a schematic diagram of the structure of the bottle feeding module 1 and the bottle clamping module 2 of the present invention;

[0036] Figure 3 It is a detailed structural schematic diagram of the bottle feeding module 1 and the bottle clamping module 2 of the present invention;

[0037] Figure 4 It is a side view of the bottle feeding module 1 and the bottle clamping module 2 of the present invention;

[0038] Figure 5 It is a schematic diagram of the structure of the cap clamping module 3 and the cap rotating module 4 of the present invention;

[0039] Figure 6 It is a schematic structural diagram of the clamping cover module 3 of the present invention;

[0040] (a) is a schematic structural diagram of the cap clamping module 3 of the present invention (the push block connecting rod 34 and the left bottle cap adapter are removed);

[0041] (b) Schematic diagram of the principle of the clamping cover module 3 mechanism of the present invention;

[0042] Figure 7 It is a structural schematic diagram of the support frame module 5 of the present invention.

[0043] Figure 8 It is the state of the bottle cap of the present invention before and after opening;

[0044] (a) Schematic diagram of the bottle cap of the present invention in an unopened state;

[0045] (b) a schematic diagram of the bottle cap of the present invention in an unopened state;

[0046] Fig. 9 It is a block diagram of the control operation process of the control module 8 of the present invention;

[0047] Fig.10 It is the principle diagram of the cover opening and closing method of the present invention;

[0048] Fig.11 is a schematic diagram of connection details of the visual module 6 and the tactile module 7 of the present invention;

[0049] Fig.12 It is a schematic diagram of the computer human-machine interaction interface of the present invention.

[0050] Among them, 1 is a bottle feeding module, 2 is a bottle clamping module, 3 is a cap clamping module, 4 is a capping module, 5 is a support frame module, 6 is a visual module, 7 is a tactile module, 8 is a control module, 11 is a linear module, 12 is a bottle positioning member, 13 is a fixed bottom plate, 14 is a reagent bottle, 21 is a relative clamp, 22 is a bracket, 211 is a clamping plate, 212 is a threaded screw, 213 is a guide rod, 214 is a fixing frame, 215 is a motor, 216 is a connector, 217 is a motor fixing member, 218 is a horizontal detector, 221 is a vertical support rod, 222 is a horizontal support rod, 2 23 is a regulator, 31 is an electric push rod, 32 is a motor fixing frame, 33 is a push block, 34 is a push block connecting rod, 35 is a clamp, 36 is a center fixing frame, 37 is a clamp connecting rod, 38 is a bottle cap adapter, 41 is a pan / tilt motor, 42 is a pan / tilt motor fixer, 43 is a rotation limiter, 44 is a screw stepper motor, 45 is a stepper motor fixing part, 51 is a frame, 52 is a frame fixing bottom plate, 511 is a frame crossbeam, 61 is a camera, 62 is a camera connecting part, 71 is a pressure sensor, 72 is a tactile sensing unit, 81 is a controller, and 82 is a computer. DETAILED DESCRIPTION

[0051] The device of the present invention comprises a bottle feeding module 1, a bottle clamping module 2, a cap clamping module 3, a capping module 4, a support frame module 5, a visual module 6, a tactile module 7, and a control module 8. Figure 1 shown.

[0052] Bottle feeding module 1, such as Figure 2As shown, it is intended to move bottles such as reagent bottles from the initial position to the target position, which is directly below the automatic capping module; it includes a linear module 11, a bottle positioning member 12, a fixed base plate 13 and a bottle 14; the bottle positioning member 12 is fixed on the slide of the linear module 11, and the bottle 14 is placed in the cylindrical groove of the bottle positioning member 12; for bottles of different shapes and sizes, the following two methods can be used for adaptation: one is to replace it with an adapted bottle positioning member, and the other is that the bottle positioning member is divided into a holder and an adapter, the holder is fixed on the slide of the linear module, and the adapter is inserted into the groove of the positioning member, and different bottle adapters can be easily replaced to adapt to bottles of different sizes to improve versatility. The displacement of the bottle is achieved by photoelectric switch limit, camera detection or setting a specific stroke in the control program.

[0053] Bottle clamping module 2, such as Figure 2 and Figure 3 As shown, it is intended to clamp the bottle body part of the bottle; it includes a relative clamp 21 and a bracket 22; the relative clamp 21 includes a clamp plate 211, a threaded screw 212 (including left-handed and right-handed nuts), a guide rod 213, a fixing frame 214, a motor 215, a connector 216, a motor fixing piece 217, and a level detector 218; the two relative clamp plates 211 are respectively connected to the threaded screw 212 through a left-handed nut and a right-handed nut, and under the drive of the motor 215 and the guidance of the guide rod 213, horizontal relative movement is achieved, thereby clamping or loosening the bottle; the inner surfaces of the two clamp plates are both equipped with pressure sensors 71 (see the tactile module 7 for details); the threaded screw 212 is fixed to the fixing frame 214 through a bearing, the connector 216 connects the motor 215 and the threaded screw 212, and the motor is fixed to the fixing frame 214 through a motor fixing piece 217; the fixing frame is equipped with a level detector 218 to detect the horizontal adjustment of the relative clamp, thereby achieving good clamping of the bottle. The bracket 22 is used to adjust the relative clamp 21, including a support frame fixed base plate 13, a vertical support rod 221, a horizontal support rod 222 and an adjuster 223. The adjuster 223 adjusts the position of the relative clamp, including the distance between the clamp plate 211 and the support frame fixed base plate 13 and the vertical support rod 221, to adapt to the position and height of the bottle. The adjuster 223 is fixed to the vertical support rod 221 by bolts.

[0054] Clamping cover module 3, such as Figure 4 and Figure 5As shown, it is intended to grasp and clamp the bottle cap; it includes an electric push rod 31 (such as a micro servo electric cylinder, an electric push rod or a screw motor), a motor fixing frame 32, a push block 33, a push block connecting rod 34, a clamping claw 35, a central fixing frame 36, a clamping claw connecting rod 37, and a bottle cap adapter 38; the push block 34 and the central fixing frame 36 are embedded in a concave and convex manner, the push block 34, the upper side of the upper clamping claw and the clamping claw connecting rod, the clamping claw 35 form a crank slider mechanism, the clamping claw connecting rod 37 and the central fixing frame 37 form a four-bar mechanism (parallelogram mechanism), as shown Figure 6 The schematic diagram of the clamping module mechanism is shown. The motor push rod is extended and retracted to drive the push block to move up and down, thereby pushing the clamping claw to rotate around the central fixed frame, and the symmetrical clamping claws on both sides move relative to each other to clamp or loosen the bottle cap. The ends of the two clamping claws are designed with arcs and are affixed with soft glue and a tactile sensor unit 72 (see the tactile module 7 for details) to better clamp the round bottle cap.

[0055] Capping module 4, such as Figure 4 and Figure 6 As shown, it is intended to drive the clamping cover module to spirally lift and lower, and then unscrew or tighten the bottle cap; it includes a pan-tilt motor 41 composed of a stator and a rotor, a pan-tilt motor fixture 42, a rotation limiter 43, a screw stepper motor 44 (including a nut), and a stepper motor fixture 45; the stator of the pan-tilt motor 41 is fixed in the pan-tilt motor fixture 42, and the rotor is fixed in the motor fixing frame 32, and the rotation of the rotor drives the rotation of the clamping cover module 3; the rotation limiter 43 is fixed on the stepper motor fixture 45 and inserted into the groove of the pan-tilt motor fixture, limiting the rotation of the screw nut so that it can only lift and lower, thereby realizing the spiral lifting of the clamping cover module, and the lifting displacement is the bottle cap thread height (pitch*number of thread turns=bottle cap thread height), which is achieved by limiting the position of the photoelectric switch or setting a specific stroke in the control program. In addition, linear guide sliders can also be installed on the two side walls of the frame 51, and the sliders are fixed to the pan-tilt motor fixture 42, which can also realize the function of the rotation limiter 43, thereby realizing the spiral lifting of the clamping cover module.

[0056] The support frame module 5 comprises a frame 51 and a frame fixing bottom plate 52, and is used for fixing and limiting the bottle feeding module, the bottle clamping module and the capping module.

[0057] The visual module 6 includes a camera 61, a bottle data set, and a bottle recognition algorithm. The camera is fixed to the frame fixed bottom plate 52 through a camera connector 62; the camera is combined with the bottle recognition algorithm to identify the bottle body diameter (for cylindrical bottles) or width (for non-cylindrical bottles) of the bottle, so that the clamping plate 211 of the bottle clamping module 2 is opened or close to ensure that the bottle body is clamped; secondly, it identifies the height and diameter of the bottle cap, so that the clamping cap module 3 is raised and lowered, and the clamping claws are opened or close to ensure that the bottle cap is clamped; the bottle recognition algorithm includes a program and a neural network model trained based on the bottle data set. After the cap is closed, the visual module checks the position of the bottom edge of the bottle cap for the second time to see if it is tightened. If so, the capping is completed, otherwise the capping module 4 continues to screw on the cap.

[0058] The tactile module or force feedback module 7 includes a pressure sensor 71 and a tactile sensing unit 72; the pressure sensor 71 is attached to the surface of the clamping plate 211 in the bottle clamping module 2, and is used to monitor the pressure of the clamping plate 211 clamping the bottle cap, and then feedback control the motor 215. When the target pressure value (such as 1.5N) is reached, the motor 215 stops rotating. The tactile sensing unit 72 is fixed to the end of the clamping jaw of the clamping cap module 3, and has a flexible surface to better fit and clamp the circular bottle cap, and can detect positive pressure and tangential force; when the positive pressure is detected to reach a specific value (such as 1N), the screw motor driving the clamping jaw stops working. The tangential force detects whether the bottle cap slides during the unscrewing / tightening process. During the process of screwing the cap, when a large sudden change in the tangential force is detected, it means that the bottle cap and the clamping jaw have relative sliding, and the clamping jaw automatically further clamps the bottle cap.

[0059] The control module 8 includes a controller, a WIFI module and a battery, and is used to control all motors. The controller, the WIFI module and the battery of the electric push rod 31 are all arranged in the outer groove of the motor fixing frame 32.

[0060] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0061] The present invention combines a bottle delivery module 1, a bottle clamping module 2 with a pressure feedback clamping and fixing function, a cap clamping module 3 including a clamping claw and a pressure sensor, a capping module 4 capable of realizing a spiral lifting function, a visual module 6 and a tactile module 7, and cooperates with a control module 8 to form an intelligent bottle opening system, thereby realizing and executing the opening and closing operations of biochemical reagent bottles, and is applied to automated biochemical laboratories. The specific implementation process is as follows:

[0062] Automatic opening embodiment:

[0063] Bottle delivery: The robot or manual operator places the reagent bottle in the groove of the bottle positioning component. The screw motor of the linear module 1 rotates, and the slide moves the reagent bottle from the initial position to the target position (directly below the capping module and the capping module) along the linear guide rail through a specific stroke, and the bottle delivery operation is completed;

[0064] Bottle recognition: The camera of the visual module takes pictures of the bottle, and the bottle recognition algorithm automatically recognizes the bottle diameter (for cylindrical bottles) or width (for non-cylindrical bottles) of the bottle body, and the control module 8 controls the clamping plate of the bottle clamping module 2 to open or close to perform the bottle clamping operation; at the same time, the bottle recognition algorithm automatically recognizes the height (the height of the bottle cap from the bottom plate) and diameter of the bottle cap, and the control module 8 controls the lifting and lowering of the clamping claw and the opening / closeness of the clamping claw to perform the clamping operation;

[0065] Bottle clamping: After the reagent bottle reaches the target position, the motor 215 rotates clockwise and drives the screw rod 212 to rotate. The clamps 211 on both sides move toward each other under the guidance of the guide rod 213. The pressure sensor 71 monitors the pressure value data of the clamps and provides real-time feedback to the control module 8. When the feedback data is non-zero and reaches the target value (such as 1.5N), the motor 215 stops rotating, the relative clamp 21 clamps the reagent bottle, and the bottle clamping operation is completed;

[0066] Clamping the cap: The screw stepper motor 44 rotates, and the pan / tilt motor 41, pan / tilt motor holder 42 and the clamping cap module 3 as a whole descend along the screw direction under the guidance of the rotation limiter 43 to reach the specified position, and the screw motor 44 stops rotating. The electric push rod 31 extends, driving the push block 33 to move downward, and then pushing the clamping jaw 35 to rotate around the clamping jaw center fixing frame 36, and the clamping jaw moves relative to each other. The pressure sensor 72 monitors the pressure value of the contact between the end of the clamping jaw and the bottle cap and provides real-time feedback to the control module 8. When the feedback data reaches the target value (such as 1N), the electric push rod 31 stops working, the clamping jaw clamps the bottle cap, and the clamping cap operation is completed;

[0067] Opening the cap: the pan-tilt motor 41 rotates, driving the bottle clamping module 3 and the bottle cap to rotate in the clockwise direction, and at the same time the screw stepper motor 44 rotates, so that the clamping cap module 3 and the bottle cap rotate and move vertically upward under the guidance of the rotation limiter 43, that is, it appears as a spiral rise, and the bottle cap is separated from the bottle body. The pan-tilt motor 41 and the screw stepper motor 44 stop. Their rotation speed and rotation time are determined by the pitch and number of thread turns of the bottle cap (pitch*number of thread turns=bottle cap thread height). The opening operation is completed, and the robot arm clamps the pipette gun to perform the pipetting operation, and the closing operation is performed after the pipetting is completed.

[0068] Closing the lid: the pan-tilt motor 41 rotates, driving the bottle clamping module 3 and the bottle cap to rotate in the counterclockwise direction, and at the same time the screw stepper motor 44 rotates, so that the clamping module 3 and the bottle cap rotate and move vertically downward under the guidance of the rotation limiter 43, that is, it appears as a spiral descent, and the descending stroke is consistent with the ascending process of opening the lid. The bottle cap is tightened, and the pan-tilt motor 41 and the screw stepper motor 44 stop; the push rod 31 contracts, driving the push block 33 to move upward, and then pushing the clamping jaw 35 to rotate around the clamping jaw center fixing frame 36, the clamping jaw moves relative to each other and separates from the bottle cap, the motor push rod contracts to the push rod stroke zero value, and the lid closing operation is completed.

[0069] The motor driving and control mentioned above are all implemented by the control module 8.

[0070] The above-mentioned automatic cover opening and closing embodiments together constitute the application and operation process of the full-automatic cover screwing machine in the automated laboratory, which is a specific application of the automatic cover opening and closing method described in the present invention.

Claims

1. An intelligent bottle opener with visual and tactile recognition functions, comprising a bottle feeding module (1), a bottle clamping module (2), a cap clamping module (3), a cap screwing module (4) and a support frame module (5); characterized in that: The invention also comprises a visual module (6), a tactile module (7) and a control module (8); wherein the bottle feeding module (1) is mounted on the support frame module (5), the capping module (4) is mounted below the crossbeam (511) of the support frame module (5), the cap clamping module (3) is mounted below the capping module (4), the bottle clamping module (2) is mounted below the cap clamping module (3), and the lower end of the bottle clamping module (2) is connected to the bottle feeding module (1); a tactile module (7) is mounted inside the bottle clamping module (2) and the cap clamping module (3), and a visual module (6) is mounted in front of the bottle feeding module (1); a control module (8) is also arranged next to the bottle feeding module (1); the control module (8) is respectively connected to the bottle feeding module (1), the bottle clamping module (2), the cap clamping module (3), the capping module (4), the visual module (6) and the tactile module (7) by wire or wirelessly; The bottle feeding module (1) comprises a linear module (11), a bottle positioning member (12) and a fixed base plate (13); the linear module (11) is mounted on the fixed base plate (13), the bottle positioning member (12) is mounted on a slide table of the linear module (11), and the reagent bottle (14) is placed in a groove at the center of the cylinder of the bottle positioning member (12); The support frame module (5) comprises a frame fixed bottom plate (52) and a frame (51), the fixed bottom plate (13) being mounted on the frame fixed bottom plate (52), and the support frame module (5) and the fixed bottom plate (13) being used for fixing and limiting the bottle feeding module (2), the bottle clamping module (3) and the capping module (4); The bottle clamping module (2) comprises a relative clamp (21) and a bracket (22); the relative clamp (21) is fixedly connected to the bracket (22); the bracket (22) comprises a vertical support rod (221), a horizontal support rod (222) and an adjuster (223); the horizontal support rod (222) is fixedly connected to the adjuster (223), and the adjuster (223) is fixedly connected to the vertical support rod (221) by bolts; the adjuster (223) is used to adjust the position of the relative clamp (21); the adjuster (223) is also used to adjust the distance between the clamping plate (211) and the support frame fixed bottom plate (13) and the vertical support rod (221) to adapt to the position and height of the bottle; The relative clamp (21) comprises two clamping plates (211), a threaded screw (212), a guide rod (213), a fixing frame (214), a motor (215), a connector (216), a motor fixing member (217) and a level detector (218); the fixing frame (214) is connected to the vertical support rod (221) through a horizontal support rod (222), the fixing frame (214) is provided with a level detector (218), and the guide rod (213) is fixedly connected to the fixing frame ( 214; the motor (215) is fixed on the fixing frame (214) through the motor fixing member (217); the connector (216) connects the motor (215) and the threaded screw (212) together; the two opposite clamping plates (211) are respectively connected to the threaded screw (212) through a left-handed nut and a right-handed nut, and the two clamping plates (211) can realize horizontal relative movement under the drive of the motor (215) and the guidance of the guide rod (213), thereby clamping or loosening the bottle; The cap clamping module (3) comprises two electric push rods (31), a motor fixing frame (32), a push block connecting rod (34), two clamping claws (35), a central fixing frame (36), four clamping claw connecting rods (37), and two bottle cap adapters (38); the electric push rod (31) is embedded in a through groove of the motor fixing frame (32) and fixed on the motor fixing frame (32); the end push rod of the electric push rod (31) is fixedly connected to the push block (33); the push block (33) and the clamping claw (35) are embedded in a concave-convex manner, and the clamping claw (35) can be The push block (33) slides horizontally; the two push blocks (33) symmetrical on both sides are connected by a push block connecting rod (34) so ​​that the push blocks (33) on both sides remain horizontal and move relative to each other at the same time; the clamping claw (35), the clamping claw connecting rod (37) and the central fixed frame (36) form a four-bar mechanism, and the electric push rod (31) drives the push block (33) to move up and down through the extension of the push rod, thereby driving the clamping claw (35) to rotate around the central fixed frame (36), and the clamping claws (35) symmetrical on both sides move relative to each other to clamp or loosen the bottle cap; The cover rotating module (4) comprises a pan-tilt motor (41), a pan-tilt motor holder (42), a rotation limiter (43), a screw stepping motor (44), and a stepping motor fixing member (45); the pan-tilt motor (41) comprises a stator and a rotor, the stator is fixed in the pan-tilt motor holder (42), the rotor is fixed in the motor fixing frame (32), and the rotor rotates to drive the cover clamping module (3) to rotate; the screw stepping motor (44) is fixed in the stepping motor fixing member (45), and the upper end of the stepping motor fixing member (45) is connected to the crossbeam (511) of the support frame module (5); the screw of the screw stepping motor (44) is equipped with a nut, and the nut is embedded and fixed The upper end of the rotation limiter (43) is fixed to the lower end of the stepper motor fixing member (45), and the support leg of the lower end of the rotation limiter (43) is inserted into the groove of the pan-tilt motor fixing member (42); when the stepper motor fixing member (45) rotates, the rotation limiter (43) limits the rotation of the nut so that the nut can only be raised and lowered, and the nut drives the pan-tilt motor fixing member (42) to rise and fall, thereby driving the spiral lifting and lowering of the clamping cover module (3); that is, the screw stepper motor (44) realizes the lifting function under the rotation restriction of the rotation limiter (43), and the pan-tilt motor (41) realizes the rotation function, and together realizes the spiral lifting function, thereby realizing the cover rotating function; The visual module (6) comprises a camera (61) and a camera connecting member (62), wherein the camera (61) is fixed to a frame fixed bottom plate (52) via the camera connecting member (62); the camera identifies the bottle body diameter of a cylindrical bottle or the width of a non-cylindrical bottle, and then causes the clamping plate (211) of the bottle clamping module (2) to clamp or release the bottle through the control module (8); the camera simultaneously identifies the height and diameter of the bottle cap, and then causes the clamping cap module (3) to rise and fall and the clamping claw (35) to clamp or release the bottle cap through the control module (8); The tactile module (7) comprises a pressure sensor (71) and a tactile sensing unit (72); the pressure sensor (71) is attached to the inner surface of the clamping plate (211) in the bottle clamping module (2) and is used to monitor the pressure of the clamping plate (211) clamping the bottle, and then feedback-control the motor (215) through the control module (8); the tactile sensing unit (72) has a flexible surface and is fixed on the inner side of two bottle cap adapters (38) of the cap clamping module (3) and is used to detect the positive pressure of the clamping claw (35) or the bottle cap adapter (38) in contact with the bottle cap, and then feedback-control the electric push rod (31) through the control module (8); the tactile sensing unit (72) is also used to detect the tangential force of the clamping claw (35) in contact with the bottle cap, so as to feedback whether the clamping claw (35) and the bottle cap are sliding; The control module (8) comprises a controller (81) and a computer (82), wherein the controller (81) and the computer (82) are connected, and the controller (81) is respectively connected to the bottle feeding module (1), the bottle clamping module (2), the cap clamping module (3), the cap screwing module (4), the visual module (6) and the tactile module (7).

2. The intelligent bottle opener with visual and tactile recognition functions according to claim 1, characterized in that: The computer (82) is provided with a human-machine interaction interface and control keys, the human-machine interaction interface is used to control the bottle opener and display feedback information, and the control keys are used to control the operation of the bottle feeding module (1), the bottle clamping module (2), the cap clamping module (3) and the capping module (4).

3. The intelligent bottle opener with visual and tactile recognition functions according to claim 1, characterized in that: The computer (82) comprises a processor, a memory and a keyboard, wherein the memory is used to store the data set of the bottle, and the processor is used to execute the degree of opening the bottle.

4. The intelligent bottle opener with visual and tactile recognition functions according to claim 1, characterized in that: The connection between the computer (82) and the bottle feeding module (1), the bottle clamping module (2), the cap clamping module (3), the visual module (6) and the tactile module (7) is a wire connection, or a WIFI connection; when the controller (81) is connected to the capping module (4) via WIFI, it is possible to prevent the wire harness of the capping module (4) from being entangled and broken during the rotation of the capping module (4).

5. The intelligent bottle opener with visual and tactile recognition functions according to claim 1, characterized in that: The electric push rod (31) can be replaced by a micro servo electric cylinder or a screw motor, and can also drive the clamping claw to clamp or loosen the bottle cap.

6. The intelligent bottle opener with visual and tactile recognition functions according to claim 1, characterized in that: Linear guide sliders can be vertically installed on the two side walls of the frame (51), and the sliders are fixed to the pan / tilt motor fixer (42). The linear guide sliders are used instead of the rotation limiter (43), so that the spiral lifting of the clamping cover module can also be realized.

7. A method for opening a bottle by using the intelligent bottle opener with visual and tactile recognition function as claimed in claim 1, characterized in that it comprises the following steps: Step 1: The control module (8) controls the bottle feeding module (1), the bottle clamping module (2), the cap clamping module (3) and the cap screwing module (4) to remain in the initial position: that is, the bottle positioning member (12) of the bottle feeding module (1) is located at the rear end of the linear module (11), away from the bottle clamping module (2), the cap clamping module (3) and the cap screwing module (4); the two clamping plates (211) of the bottle clamping module (2) are in an open state, and the clamping claws (35) of the cap clamping module (3) are in an open state; Step 2, delivering the reagent bottle (14): using a mechanical arm to place the reagent bottle (14) in the central groove of the bottle positioning member (12), and controlling the linear module (11) through the controller (81) to move the bottle positioning member (12) forward, so that the reagent bottle (14) on the bottle positioning member (12) is placed below the bottle clamping module (2) and between the two clamping plates (211); Step 3, identifying the reagent bottle (14): the camera (61) of the visual module (6) photographs the reagent bottle (14), and the visual module (6) feeds the photographed photo back to the control module (8), and the computer (82) in the control module (8) automatically identifies the diameter or width of the bottle body of the reagent bottle (14) in the photo by an algorithm; at the same time, the computer (82) in the control module (8) automatically identifies the height of the bottle cap of the reagent bottle (14) in the photo by an algorithm based on the height and diameter of the bottle cap; Step 4, clamping the body of the reagent bottle (14): after identifying the reagent bottle (14), the motor (215) rotates clockwise and drives the threaded screw (212) to rotate, and the clamping plates (211) on both sides move towards each other under the guidance of the guide rod (213), and the pressure sensor (71) monitors the pressure value data of the clamping plates and provides real-time feedback to the control module (8). When the feedback data is non-zero and reaches the set value, the motor (215) stops rotating, and the clamping plates (211) on both sides clamp the reagent bottle, and the bottle clamping operation is completed; Step 5, clamping the lid of the reagent bottle (14): the control module (8) controls the screw stepper motor (44) to rotate, the pan-tilt motor (41), the pan-tilt motor holder (42) and the clamping cover module (3) as a whole descend along the screw direction under the guidance of the rotation limiter (43) to reach the specified position, and the screw motor (44) stops rotating; the electric push rod (31) extends, driving the push block (33) to move downward, thereby pushing the clamping jaw (35) to rotate around the clamping jaw center fixing frame (36), the clamping jaw moves relative to each other, and the pressure sensor (72) monitors the pressure value of the bottle cap adapter (38) at the end of the clamping jaw in contact with the bottle cap and provides real-time feedback to the control module (8). When the feedback data reaches the set value, the control module (8) controls the electric push rod (31) to stop working, the clamping jaw (35) clamps the bottle cap, and the clamping cover operation is completed; Step 6, unscrewing the lid of the reagent bottle (14): the control module (8) controls the pan-tilt motor (41) to rotate, driving the bottle clamping module (3) and the bottle lid to rotate in the counterclockwise direction, and at the same time the screw stepping motor (44) rotates, so that the clamping module (3) and the lid of the reagent (14) rotate and move vertically upward under the guidance of the rotation limiter (43), that is, the bottle lid is separated from the bottle body, and the pan-tilt motor (41) and the screw stepping motor (44) stop; Step 7, taking the reagent: After the cover opening operation is completed, the mechanical arm clamps the pipette gun to perform the pipetting operation, that is, taking out a specified amount of reagent solution from the reagent (14), and closing the cover after the pipetting is completed; Step 8, screwing the lid of the reagent bottle (14) closed: the control module (8) controls the pan-tilt motor (41) to rotate, driving the bottle clamping module (3) and the bottle lid of the reagent bottle (14) to rotate in the clockwise direction, and at the same time the screw stepping motor (44) rotates, so that the clamping lid module (3) and the bottle lid rotate and move vertically downward under the guidance of the rotation limiter (43), that is, it is manifested as a spiral descent, and the descending stroke is consistent with the lifting process of the lid opening, the bottle lid is tightened, and the pan-tilt motor (41) and the screw stepping motor (44) stop; the push rod (31) contracts, driving the push block (33) to move upward, and then pushing the clamping claw (35) to rotate around the clamping claw center fixing frame (36), the clamping claw (5) moves relative to each other and separates from the bottle lid, the electric push rod (31) contracts to the push rod stroke zero value, and the lid closing operation is completed; Step 9, returning the reagent bottle (14) to its original position: the control module (8) controls the linear module (11) to move the bottle positioning member (12) backwards, the reagent bottle is sent to the outside of the bottle clamping module, and the robot arm clamps the bottle to the initial position.

8. According to claim 7, an intelligent bottle opening and closing method with visual and tactile recognition functions is characterized in that, before opening the bottle, the shapes, sizes, pitches and number of threads required when opening the bottle caps of the various reagent bottles (14) involved are first counted and stored in a database in the memory of the computer of the control module (8), so that different reagent bottles (14) can be opened with different countermeasures.

9. According to claim 7, a smart bottle opening and closing method with visual and tactile recognition functions is characterized in that the rotation speeds of the pan-tilt motor (41) and the screw stepper motor (44) should follow the following rules to ensure that the lifting and lowering displacements of the bottle cap and the capping module (4) are equal, thereby avoiding the situation where the bottle cap cannot be unscrewed / tightened or the thread is damaged; the rules to be followed are: in, n1 and n2 are the rotation speeds of the pan / tilt motor (41) and the screw stepping motor (44) respectively, P is the thread pitch of the bottle cap, and S is the lead of the screw of the screw stepping motor (44).

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