Novel composite robot system and processing method

Abstract

The invention discloses a novel composite robot system and a processing method, and relates to the technical field of biological laboratory automation, the processing method comprises the following steps: controlling a rotary robot to run to a first piece taking position, and clamping and conveying a centrifugal tube meeting a material taking condition from a storage area to a temporary storage area through a first visual detection module; the lifting robot is controlled to run to a second piece taking position, and the centrifugal tube meeting the material taking condition is clamped and conveyed into the centrifugal machine from the temporary storage area through a second visual detection module; controlling the folding robot to run to a second part taking position, and operating the pipette to add the target reagent into the centrifugal tube through the folding robot; after pipetting is completed, the centrifugal tube is put back to the temporary storage area; controlling the rotating robot to run to a second taking position, wherein the rotating robot is used for aligning the tube opening of the centrifugal tube to a sample inlet of the chromatograph; the rotating robot is controlled to pinch the analyzed centrifugal tube from the temporary storage area to the storage area; the novel composite robot system realizes automatic experiment treatment of the centrifugal tube.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of biological laboratory automation, and particularly relates to a novel composite robot system and a processing method. BACKGROUND

[0002] In the process of laboratory sample processing, multiple steps such as centrifugal tube taking, centrifugal processing, super-clean processing and component analysis are involved. In the biological laboratory scene, the transfer of samples (such as centrifugal tubes, culture dishes, conical bottles, etc.) depends on manual operation or single-function robots (such as mechanical arms that can only complete grabbing) to realize local carrying in cooperation with fixed tracks. For example, the transfer of centrifugal tubes from the storage area to the centrifuge requires manual placement into the centrifuge, and after centrifugation, the centrifugal tubes are manually taken out and transferred to the chromatograph; the transfer of culture dishes between the incubator and the super-clean workstation also depends on manual operation, and the temporary storage of the gun nozzle and the sample lacks a unified automatic connection device, which is low in efficiency and prone to human errors. With the development of automation technology, multi-robot cooperation for processing centrifugal tubes has become a key technology for improving the efficiency and accuracy of laboratory work, but the existing technology still has many deficiencies in the smoothness of robot cooperation, detection accuracy and operation accuracy. SUMMARY

[0003] The purpose of the present application is to provide a novel composite robot system and a processing method with simple structure and reasonable design to solve the above problems.

[0004] The present application achieves the above-mentioned purposes through the following technical solutions: In a first aspect, the present application provides a processing method of a novel composite robot, comprising the following steps: S1. Sample taking: controlling the rotary robot to run to a first taking position, and identifying and analyzing the shape features of the centrifugal tubes through the first visual detection module, so as to clamp and transport the centrifugal tubes that meet the taking conditions from the centrifugal tube storage area to the centrifugal tube temporary storage area; S2. Centrifugal processing: controlling the lifting robot to run to a second taking position, and identifying and analyzing the shape features of the centrifugal tubes through the second visual detection module, so as to clamp and transport the centrifugal tubes that meet the taking conditions from the centrifugal tube temporary storage area to the centrifuge, and then clamping and transporting the centrifuged centrifugal tubes back to the centrifugal tube temporary storage area by means of the lifting robot; S3. Super-clean processing: controlling the folding robot to run to the second taking position, and adding target reagents to the centrifugal tubes after centrifugal processing by means of the folding robot operating the pipette; after the pipetting is completed, the folding robot is controlled to put the centrifugal tubes back to the centrifugal tube temporary storage area; S4. Component analysis: controlling the rotary robot to run to the second taking position, and the rotary robot is used to grab the centrifugal tubes and align the centrifugal tube port with the sample inlet of the chromatograph; after the analysis is completed, the centrifugal tubes are put back to the centrifugal tube temporary storage area by means of the rotary robot; S5. Sample return: control the rotary robot to clamp the centrifuge tube after analysis from the centrifuge tube temporary storage area to the centrifuge tube storage area.

[0005] As a further optimization scheme of the present application, the first visual detection module and the second visual detection module respectively comprise an image capture module and a liquid level detection module, the image capture module is used to acquire the thread engagement state of the annular area at the centrifuge tube mouth, and the liquid level detection module is used to acquire the sample liquid level height in the centrifuge tube.

[0006] As a further optimization scheme of the present application, in step S1, the step of identifying the shape features of the analysis centrifuge tube by the first visual detection module comprises: acquiring real-time images of the annular area at the centrifuge tube mouth by the image capture module; measuring the real-time liquid level height of the sample in the centrifuge tube by the liquid level detection module; comparing the real-time image data with the pre-stored standard image data, and comparing the real-time liquid level height with the standard liquid level height, when the tube cap thread engagement image similarity is above 95%, and the sample liquid level height is within ±5% of the standard liquid level height, it is concluded that the centrifuge tube meets the material taking condition.

[0007] As a further optimization scheme of the present application, the lower end of the lifting robot is provided with a lifting mechanism, and in step S2, the step of clamping the centrifuge tube that meets the material taking condition from the centrifuge tube temporary storage area into the centrifuge comprises: controlling the lifting robot to take out the centrifuge tube that meets the material taking condition from the centrifuge tube temporary storage area; adjusting the centrifuge tube grabbed by the lifting robot to adapt to the feed port height of the centrifuge by starting the lifting mechanism, and controlling the lifting robot to send the centrifuge tube into the centrifuge for fixation.

[0008] As a further optimization scheme of the present application, the folding robot has a pair of folding mechanical arms, wherein one folding mechanical arm of the folding robot is used to grab the centrifuge tube, and the other arm is used to hold the pipette.

[0009] As a further optimization scheme of the present application, the inside of the clamping jaw of the rotary robot, the lifting robot and the folding robot is provided with a force sensor, the force sensor is used to detect the clamping force of the clamping jaw on the centrifuge tube in real time, and the placement state of the centrifuge tube is perceived by the force of the force sensor.

[0010] As a further optimization scheme of the present application, the first visual module further comprises a rotation module and a deviation correction module, the rotation module and the deviation correction module are respectively arranged at the grabbing end of the gripper of the rotating robot, the rotation module is used for pre-grabbing the centrifugal tube to be indexed to the position where the label of the centrifugal tube is away from the detection end of the liquid level detection module, when the detection end of the liquid level detection module is blocked by the label on the centrifugal tube, the centrifugal tube is pre-grabbed to be indexed to the position where the label of the centrifugal tube is away from the detection end of the liquid level detection module by the rotation module; when the centrifugal tube meeting the material taking condition is clamped and conveyed from the centrifugal tube storage area to the centrifugal tube temporary storage area, the centrifugal tube is controlled to rotate for deviation correction by the deviation correction module, so that the label end of the centrifugal tube is always kept facing the position directly in front of the tray structure placement rack.

[0011] In a second aspect, the present application provides a novel composite robot system applied to a novel composite robot processing method, the system comprises: A rotating robot is used for clamping and conveying the centrifugal tube meeting the material taking condition from the centrifugal tube storage area to the centrifugal tube temporary storage area, the rotating robot comprises a first visual detection module, the first visual detection module is used for identifying and acquiring the shape features of the centrifugal tube; A lifting robot is used for clamping and conveying the centrifugal tube meeting the material taking condition from the centrifugal tube temporary storage area to the centrifuge, and placing the centrifugal tube after centrifugation back to the centrifugal tube temporary storage area; A folding robot is used for aligning the centrifugal tube port with the sample inlet of the chromatograph, and placing the centrifugal tube back to the centrifugal tube temporary storage area after analysis.

[0012] As a further optimization scheme of the present application, the first visual detection module comprises an image capturing module and a liquid level detection module, the image capturing module is used for acquiring the real-time image of the annular area at the centrifugal tube port, and the liquid level detection module is used for acquiring the real-time liquid level height of the sample in the centrifugal tube.

[0013] As a further optimization scheme of the present application, the first visual module further comprises a rotation module and a deviation correction module, the rotation module and the deviation correction module are respectively arranged at the grabbing end of the gripper of the rotating robot, the rotation module is used for pre-grabbing the centrifugal tube to be indexed to the position where the label of the centrifugal tube is away from the detection end of the liquid level detection module, the deviation correction module is used for keeping the label end of the centrifugal tube always facing the position directly in front of the tray structure placement rack during the clamping and conveying process.

[0014] The present application has at least the following beneficial effects: the present application provides a new type of composite robot system and a processing method, which comprises the following steps: sample taking out, centrifugal processing, ultra-clean processing, component analysis and sample returning to the library, the whole process is automatically completed by the cooperation of the composite robot composed of a rotating robot, a folding robot and a lifting robot, realizing the full automation of the centrifugal tube processing flow, greatly improving the efficiency of laboratory sample processing. Each robot is equipped with a visual detection module, which can accurately detect the shape features, liquid level height and the like of the centrifugal tube, ensuring the accuracy of the operation and reducing human error. The cooperation process between the robots is clear and orderly, the system stability is high, and it can be stably operated for a long time; Moreover, in the sample taking out step, when the detection end of the liquid level detection module is blocked by the label on the centrifugal tube, the rotating module pre-grasps the centrifugal tube and rotates it to a position where the label of the centrifugal tube is away from the detection end of the liquid level detection module, so as to avoid the label from blocking the liquid level detection module; during the process of moving the centrifugal tube meeting the taking condition from the centrifugal tube storage area to the centrifugal tube temporary storage area, the deviation correction module controls the centrifugal tube to rotate for deviation correction, so that the label end of the centrifugal tube is always directed to the front of the tray structure placement rack, and when the rotating robot controls the gripper to place the centrifugal tube in the centrifugal tube temporary storage area, the label side of the centrifugal tube is regularly placed outward, which facilitates the subsequent grasping of other robots, reduces the rotating work of the rotating module, and facilitates the staff to check and verify the label information of the centrifugal tube when the tray structure is finally uniformly transferred, without the need to rotate and check the label information one by one. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a processing method of a new type of composite robot provided by the present application Figure One ; Figure 2 is a processing method of a new type of composite robot provided by the present application Figure Two . DETAILED DESCRIPTION

[0016] It is necessary to point out here that the following detailed description is only used to further illustrate the present application and cannot be understood as limiting the protection scope of the present application, and those skilled in the art can make some non-essential improvements and adjustments to the present application according to the above application content.

[0017] As shown in Figure 1 , the processing method of a new type of composite robot provided by the present application comprises the following steps: S1. Sample taking: control the rotating robot to run to the first taking position, and identify and analyze the shape features of the centrifugal tube through the first visual detection module, and clamp the centrifugal tube meeting the taking conditions from the centrifugal tube storage area to the centrifugal tube temporary storage area; S2. Centrifugal processing: control the lifting robot to run to the second taking position, and identify and analyze the shape features of the centrifugal tube through the second visual detection module, and clamp the centrifugal tube meeting the taking conditions from the centrifugal tube temporary storage area to the centrifugal machine, and then clamp the centrifuged centrifugal tube back to the centrifugal tube temporary storage area by means of the lifting robot; S3. Ultra-clean processing: control the folding robot to run to the second taking position, and add target reagents to the centrifugal tube after centrifugal processing by operating the pipette gun through the folding robot; after the pipetting is completed, control the folding robot to put the centrifugal tube back to the centrifugal tube temporary storage area; S4. Component analysis: control the rotating robot to run to the second taking position, and the rotating robot is used to grab the centrifugal tube and align the centrifugal tube port with the sample inlet of the chromatograph; after the analysis is completed, the centrifugal tube is put back to the centrifugal tube temporary storage area by the rotating robot; S5. Sample return to the warehouse: control the rotating robot to clamp the centrifugal tube after analysis from the centrifugal tube temporary storage area to the centrifugal tube storage area.

[0018] It should be noted that the existing technical problems in the prior art, for example: 1) low automation degree because biological laboratories rely on manual operation, which is prone to sample contamination (such as manual contact with samples in the ultra-clean bench operation) or low processing efficiency; local links in semiconductor processing require manual assistance, affecting the continuity of the production line; 2) poor equipment adaptability because existing single-function robots cannot adapt to different heights at the same time, such as the height difference between the incubator and the centrifuge in a biological laboratory, which requires multiple independent systems, increasing costs and complicating scheduling; 3) process concatenation breakage because in a biological laboratory, the centrifugal tube temporary storage area lacks organic connection with the chromatograph, incubator, and ultra-clean bench, and samples are prone to be stranded; 4) sample management confusion because the storage and temporary storage of centrifugal tubes, conical flasks, and other samples in a biological laboratory lack automated identification and positioning, which is prone to confusion.

[0019] Therefore, through the above steps of the present application, the transfer of centrifugal tube samples is automatically completed by the collaborative operation of the composite robot composed of the rotating robot, the folding robot, and the lifting robot, realizing the full automation of the centrifugal tube processing flow and greatly improving the efficiency of laboratory sample processing. Each robot is equipped with a visual detection module, which can accurately detect the shape features, liquid level height, and other features of the centrifugal tube, ensuring the accuracy of the operation and reducing human error. The cooperation process between the robots is clear and orderly, and the system has high stability and can run stably for a long time.

[0020] Exemplarily, the first visual detection module and the second visual detection module respectively include an image capturing module and a liquid level detection module, the image capturing module is used to acquire the thread engagement state of the annular area at the centrifuge tube mouth, and the liquid level detection module is used to acquire the sample liquid level height in the centrifuge tube.

[0021] Exemplarily, in step S1, the step of identifying and analyzing the external features of the centrifuge tube by the first visual detection module includes: The image capturing module is used to acquire the real-time image of the annular area at the centrifuge tube mouth, and exemplarily, the image capturing module includes a visual camera, the visual camera is used to collect the thread image of the annular area at the tube mouth, for example, the resolution of the visual camera is greater than 1280x720, so as to ensure that the thread teeth are clear; The liquid level detection module is used to measure the real-time liquid level height of the sample in the centrifuge tube, and specifically, the liquid level detection module includes an optical sensor, the optical sensor is used to perform optical detection on the corresponding scale line area of the centrifuge tube body according to the standard liquid level height, so as to measure whether the liquid level height of the reagent sample in the centrifuge tube reaches the standard liquid level height, instead of focusing on the whole centrifuge tube body, so as to avoid measurement deviation caused by optical interference of other parts of the tube body, such as threads and labels, and improve the liquid level detection efficiency, wherein the centrifuge tube is a transparent tube with a threaded cap. The real-time image data is compared with the pre-stored standard image data, and the real-time liquid level height is compared with the standard liquid level height, when the tube cap thread engagement image similarity is above 95%, it indicates that the tube cap of the centrifuge tube is screwed in place, the tube cap sealing condition is good, and the sample liquid level height is within ±5% of the standard liquid level height, which indicates that the amount of liquid reagent in the centrifuge tube meets the current biological test requirements, and it is concluded that the centrifuge tube meets the sample taking conditions.

[0022] It should be noted that the image capturing module is also used to capture the tube body image of the centrifuge tube, and compare and analyze whether there are damage signs such as cracks and scratches on the tube body, so as to fully ensure that the centrifuge tube meets the sample taking conditions, i.e., the lateral surface ensures that the reagent sample in the centrifuge tube meets the experimental requirements.

[0023] In the case of meeting the sample taking conditions, the rotating robot grabs the centrifuge tube and clamps it from the centrifuge tube storage area to the centrifuge tube temporary storage area, wherein the centrifuge tube storage area and the centrifuge tube temporary storage area are both tray structures, and the tray is provided with a positioning groove to facilitate vertical placement of the centrifuge tube.

[0024] Continuing to refer to Figure 2If the target centrifuge tube does not meet the picking condition after the rotating robot is visually detected by the first visual detection module, the target is transferred, and visual detection is started on the next centrifuge tube until the centrifuge tube meets the picking condition, and the gripper of the rotating robot is controlled to clamp and send it from the centrifuge tube storage area to the centrifuge tube temporary storage area. The input end of the gripper of the rotating robot has a 360-degree rotating joint, which can accurately grab the centrifuge tube.

[0025] For example, the lower end of the lifting robot is provided with a lifting mechanism, and in step S2, the step of clamping the centrifuge tube meeting the picking condition from the centrifuge tube temporary storage area to the centrifuge machine includes: The lifting robot is controlled to take out the centrifuge tube meeting the picking condition from the centrifuge tube temporary storage area; The height of the lifting mechanism is adjusted to adapt to the feeding port height of the centrifuge machine, and the lifting robot is controlled to send the centrifuge tube into the centrifuge machine.

[0026] The second visual detection module identifies and analyzes the shape characteristics of the centrifuge tube, which is based on the identification steps of the first visual detection module, so that when the centrifuge tube enters the next step for ultraclean processing, the quality of the reagent sample is ensured, and unqualified samples are prevented from entering the ultraclean area.

[0027] The centrifuge separates different density components in the centrifuge tube sample by centrifugal force, such as blood separation and cell sedimentation.

[0028] The folding robot has a pair of folding mechanical arms, and the width of the folding mechanical arms after folding is ≤20 cm, so that the folding mechanical arms can enter the interior of the super-clean workbench through the narrow entrance of the super-clean workbench and adapt to the operation space of the super-clean workbench. The super-clean workbench is used to provide a sterile operation space for sample inoculation, pipetting and other fine operations. One folding mechanical arm of the folding robot is used to grab the centrifuge tube, and the other arm is used to hold the pipette gun. In the operation space of the super-clean workbench, the folding mechanical arms are flexibly adjusted to operate the pipette gun, and according to the demand, the corresponding specification of the sterile nozzle is taken from the stacked nozzle rack to add the target reagent to the centrifuge tube after centrifugal processing for pipetting operation.

[0029] After the pipetting is completed, the folding robot is controlled to reset the folding mechanical arms, the right arm puts the centrifuge tube back into the temporary storage area, and the left arm discards the used nozzle.

[0030] It should be noted that the inside of the clamping jaw of the rotating robot, the lifting robot and the folding robot is provided with a force sensor, which is used for real-time detection of the clamping force of the clamping jaw on the centrifugal tube. The placement state of the centrifugal tube is sensed by the force exerted by the force sensor. When the force detected by the force sensor is zero, it indicates that the clamping jaw no longer exerts a clamping force on the centrifugal tube, indicating that the centrifugal tube has been placed in the working area under the action of gravity. Otherwise, it indicates that the centrifugal tube is not placed in place, such as tilting due to the centrifugal tube abutting against the side of the tray hole, and not placed in the tray hole. Therefore, the clamping jaw needs to be controlled to re-grab the centrifugal tube to keep the centrifugal tube vertical and re-place it, so as to ensure that the centrifugal tube is placed in place. Moreover, in the process of transferring the centrifugal tube, the clamping force is detected in real time by the force sensor to ensure the stability of the clamping of the centrifugal tube and avoid deformation of the centrifugal tube due to excessive force.

[0031] In another embodiment, based on the above-mentioned embodiment, the first vision module further comprises a rotating module and a deviation correction module, which are respectively arranged at the grabbing end of the clamping jaw of the rotating robot. The rotating module is used for pre-grabbing the centrifugal tube to rotate the centrifugal tube to a position where the label of the centrifugal tube is away from the detection end of the liquid level detection module. When the detection end of the liquid level detection module is blocked by the label on the centrifugal tube, the centrifugal tube is pre-grabbed by the rotating module to rotate the centrifugal tube to a position where the label of the centrifugal tube is away from the detection end of the liquid level detection module, that is, the scale line area of the centrifugal tube faces the detection end of the liquid level detection module, so as to avoid the shielding of the label on the liquid level detection module. The rotating process of the rotating module on the centrifugal tube is always carried out on the tray structure. For example, the rotating module is a micro servo motor integrated at the end of the clamping jaw of the rotating robot, which can drive the centrifugal tube to rotate along the axis of the centrifugal tube. During the process of transferring the centrifugal tube meeting the taking condition from the centrifugal tube storage area to the centrifugal tube temporary storage area, the centrifugal tube is controlled to rotate by the deviation correction module. That is, even if the rotating robot turns during the transfer process of the centrifugal tube, the label end of the centrifugal tube always faces the front direction of the tray structure placement rack, so that when the rotating robot controls the clamping jaw to place the centrifugal tube in the centrifugal tube temporary storage area, the label side of the centrifugal tube is regularly placed outward. This facilitates the subsequent grabbing of other robots, reduces the rotating work of the rotating module, and facilitates the staff to check and verify the label information of the centrifugal tube when the tray structure is finally uniformly transferred.

[0032] The above-mentioned actions are repeated, so that the new composite robot system can process multiple centrifugal tubes to complete the experimental content.

[0033] In another embodiment, the present application further provides a new composite robot system applied to the processing method of the new composite robot. A rotating robot is used to clamp the centrifuge tube meeting the taking condition from the centrifuge tube storage area to the centrifuge tube temporary storage area, the rotating robot comprises a first visual detection module, the first visual detection module is used to identify the external features of the centrifuge tube; A lifting robot is used to clamp the centrifuge tube meeting the taking condition from the centrifuge tube temporary storage area to the centrifuge machine, and put the centrifuge tube after centrifugation back to the centrifuge tube temporary storage area; A folding robot is used to align the centrifuge tube nozzle with the sample inlet of the chromatograph, and put the centrifuge tube back to the centrifuge tube temporary storage area after analysis.

[0034] The first visual detection module comprises an image capture module and a liquid level detection module, the image capture module is used to obtain the real-time image of the annular area at the centrifuge tube nozzle, and the liquid level detection module is used to obtain the real-time liquid level height of the sample in the centrifuge tube.

[0035] The first visual module further comprises a rotation module and a deviation correction module, the rotation module and the deviation correction module are respectively arranged at the grabbing end of the clamping jaw of the rotating robot, the rotation module is used to pre-grab the centrifuge tube to rotate to the position where the label of the centrifuge tube is away from the detection end of the liquid level detection module, and the deviation correction module is used to keep the label end of the centrifuge tube always facing the front direction of the tray structure placement rack during clamping.

[0036] It should be noted that the processing method of the new composite robot, when in use, controls the rotating robot to run to the first taking position, and analyzes the external features of the centrifuge tube through the first visual detection module. Specifically, the real-time image of the annular area at the centrifuge tube nozzle is obtained through the image capture module, the real-time liquid level height of the sample in the centrifuge tube is measured through the liquid level detection module, the real-time image data is compared with the pre-stored standard image data, and the real-time liquid level height is compared with the standard liquid level height. When the image similarity of the cap thread engagement is above 95%, it indicates that the cap of the centrifuge tube is screwed in place, the cap sealing condition is good, and the sample liquid level height is within ±5% of the standard liquid level height, which means that the liquid reagent amount in the centrifuge tube meets the current biological test requirement, and it is concluded that the centrifuge tube meets the taking condition. The centrifuge tube meeting the taking condition is clamped from the centrifuge tube storage area to the centrifuge tube temporary storage area. For the target centrifuge tube, before the liquid level detection module measures the real-time liquid level height of the sample in the centrifuge tube, the rotation module is used to grab the centrifuge tube on the tray structure to rotate to the position where the label of the centrifuge tube is away from the detection end of the liquid level detection module, that is, the scale line area of the centrifuge tube faces the detection end of the liquid level detection module, thereby avoiding the label from shielding the liquid level detection module. Moreover, during the grabbing and transporting process of the centrifuge tube, the deviation correction module is used to control the centrifuge tube to rotate for deviation correction, so as to keep the label end of the centrifuge tube always facing the front direction of the tray structure placement rack, so that when the rotating robot controls the clamping jaw to put the centrifuge tube into the centrifuge tube temporary storage area, the label side of the centrifuge tube is regularly placed outward. The lifting robot is controlled to run to the second picking position, and the appearance features of the centrifugal tube are identified and analyzed by the second visual detection module, wherein the lower end of the lifting robot is provided with a lifting mechanism, and the centrifugal tube meeting the picking condition is picked up from the centrifugal tube temporary storage area by the lifting robot; the height of the centrifugal tube gripped by the lifting robot is adjusted by starting the lifting mechanism to adapt to the feeding port height of the centrifuge, and the centrifugal tube is sent into the centrifuge by the lifting robot for fixation, and the centrifugal tube that has completed centrifugal processing is sent back to the centrifugal tube temporary storage area by the lifting robot; The folding robot is controlled to run to the second picking position, and the target reagent is added into the centrifugal tube after centrifugal processing by the folding robot operating the pipette, specifically, the folding robot has a pair of folding mechanical arms, the folding width of the folding mechanical arms is less than or equal to 20 centimeters, so that the folding mechanical arms can enter the interior of the clean bench through the narrow entrance of the workbench and adapt to the operation space of the clean bench, one folding mechanical arm of the folding robot is used to grip the centrifugal tube, and the other folding mechanical arm is used to hold the pipette, in the operation space of the clean bench, the folding mechanical arms are flexibly adjusted to operate the pipette, and according to the demand, the corresponding specification of the sterile nozzle is taken from the stacked nozzle rack to add the target reagent into the centrifugal tube after centrifugal processing for pipetting operation, and after the pipetting is completed, the centrifugal tube is placed back to the centrifugal tube temporary storage area by the folding robot; Then, the rotating robot is controlled to run to the second picking position, and the rotating robot is used to grip the centrifugal tube and align the centrifugal tube port with the sample inlet of the chromatograph; after the analysis is completed, the centrifugal tube is placed back to the centrifugal tube temporary storage area by the rotating robot; The above steps are repeated, and the experimental operation on multiple centrifugal tubes can be performed, and the whole process is automatically completed by the cooperative operation of the composite robot composed of the rotating robot, the folding robot and the lifting robot, the transfer of the centrifugal tube sample is automatically completed, the full automation of the centrifugal tube processing process is realized, and the efficiency of the laboratory sample processing is greatly improved. The robots are equipped with visual detection modules, which can accurately detect the appearance features, liquid level height and the like of the centrifugal tube, ensure the accuracy of the operation, and reduce human errors. The cooperation process between the robots is clear and orderly, the system stability is high, and the system can be stably operated for a long time.

[0037] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as limiting the scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application.

Claims

1. A processing method of a new type of composite robot, characterized by, The method comprises the following steps: S1. Sample taking: control the rotating robot to run to the first taking position, and identify and analyze the shape features of the centrifuge tube through the first visual detection module, and clamp the centrifuge tube meeting the taking conditions from the centrifuge tube storage area to the centrifuge tube temporary storage area; S2. Centrifugal processing: control the lifting robot to run to the second taking position, and identify and analyze the shape features of the centrifuge tube through the second visual detection module, and clamp the centrifuge tube meeting the taking conditions from the centrifuge tube temporary storage area to the centrifuge machine, and then clamp the centrifuged centrifuge tube back to the centrifuge tube temporary storage area by means of the lifting robot; S3. Ultra-clean processing: control the folding robot to run to the second taking position, and add the target reagent to the centrifuge tube after centrifugal processing by operating the pipette through the folding robot; after the pipetting is completed, control the folding robot to put the centrifuge tube back to the centrifuge tube temporary storage area; S4. Component analysis: control the rotating robot to run to the second taking position, and the rotating robot is used for grabbing the centrifuge tube and aligning the centrifuge tube mouth with the sample inlet of the chromatograph; after the analysis is completed, the centrifuge tube is put back to the centrifuge tube temporary storage area through the rotating robot; S5. Sample returning to the warehouse: control the rotating robot to clamp the centrifuge tube after the analysis is completed from the centrifuge tube temporary storage area to the centrifuge tube storage area.

2. The processing method of a new type of composite robot according to claim 1, characterized in that, The first visual detection module and the second visual detection module respectively comprise an image capture module and a liquid level detection module, the image capture module is used for acquiring the thread engagement state of the annular area at the centrifuge tube mouth, and the liquid level detection module is used for acquiring the sample liquid level height in the centrifuge tube.

3. The processing method of a novel composite robot according to claim 2, characterized in that, In step S1, the step of identifying and analyzing the shape features of the centrifuge tube through the first visual detection module comprises: acquiring the real-time image of the annular area at the centrifuge tube mouth through the image capture module; measuring the real-time liquid level height of the sample in the centrifuge tube through the liquid level detection module; comparing the real-time image data with the pre-stored standard image data, and comparing the real-time liquid level height with the standard liquid level height, when the tube cover thread engagement image similarity is above 95%, and the sample liquid level height is within ±5% of the standard liquid level height, it is concluded that the centrifuge tube meets the taking conditions.

4. The processing method of a novel composite robot according to claim 3, characterized in that, The lower end of the lifting robot is provided with a lifting mechanism, and in step S2, the step of clamping the centrifuge tube meeting the taking conditions from the centrifuge tube temporary storage area to the centrifuge machine comprises: control the lifting robot to take out the centrifuge tube meeting the taking conditions from the centrifuge tube temporary storage area; adjust the height of the centrifuge tube grabbed by the lifting robot to adapt to the feeding port height of the centrifuge machine by starting the lifting mechanism, and control the lifting robot to send the centrifuge tube into the centrifuge machine for fixation.

5. The processing method of a novel composite robot according to claim 4, characterized in that, The folding robot has a pair of folding mechanical arms, wherein one folding mechanical arm of the folding robot is used for grabbing the centrifuge tube, and the other arm is used for holding the pipette.

6. The processing method of a novel composite robot according to claim 5, characterized in that, The inner side of the clamping jaw of the rotating robot, the lifting robot and the folding robot is provided with a force sensor, and the force sensor is used for real-time detection of the clamping force of the clamping jaw on the centrifuge tube, and the placement state of the centrifuge tube is perceived through the force of the force sensor.

7. The processing method of a novel composite robot according to claim 6, characterized in that, The first visual module further comprises a rotating module and a deviation correction module, the rotating module and the deviation correction module are respectively arranged at the grabbing end of the gripper of the rotating robot, the rotating module is used for pre-grabbing the centrifugal tube to be indexed to the position where the label of the centrifugal tube is away from the detection end of the liquid level detection module, when the detection end of the liquid level detection module is blocked by the label on the centrifugal tube, the centrifugal tube is pre-grabbed to be indexed to the position where the label of the centrifugal tube is away from the detection end of the liquid level detection module by the rotating module; when the centrifugal tube meeting the material taking condition is clamped and sent from the centrifugal tube storage area to the centrifugal tube temporary storage area, the centrifugal tube is controlled to rotate for deviation correction by the deviation correction module, so that the label end of the centrifugal tube is always directed to the position directly in front of the tray structure placing rack.

8. A novel composite robotic system characterized in that, The processing method of the novel composite robot is applied to any one of claims 1-7, and the system comprises: A rotating robot is used for clamping and sending the centrifugal tube meeting the material taking condition from the centrifugal tube storage area to the centrifugal tube temporary storage area, the rotating robot comprises a first visual detection module, and the first visual detection module is used for identifying and acquiring the shape features of the centrifugal tube; A lifting robot is used for clamping and sending the centrifugal tube meeting the material taking condition from the centrifugal tube temporary storage area to the centrifuge, and placing the centrifugal tube after centrifugation back to the centrifugal tube temporary storage area; A folding robot is used for aligning the centrifugal tube port with the sample inlet of the chromatograph, and placing the centrifugal tube back to the centrifugal tube temporary storage area after analysis.

9. A novel hybrid robotic system as claimed in claim 8, wherein, The first visual detection module comprises an image capturing module and a liquid level detection module, the image capturing module is used for acquiring real-time images of the annular area at the centrifugal tube port, and the liquid level detection module is used for acquiring the real-time liquid level height of the sample in the centrifugal tube.

10. A novel composite robotic system as claimed in claim 9, wherein, The first visual module further comprises a rotating module and a deviation correction module, the rotating module and the deviation correction module are respectively arranged at the grabbing end of the gripper of the rotating robot, the rotating module is used for pre-grabbing the centrifugal tube to be indexed to the position where the label of the centrifugal tube is away from the detection end of the liquid level detection module, the deviation correction module is used for keeping the label end of the centrifugal tube during clamping and sending always directed to the position directly in front of the tray structure placing rack.

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