An adaptive collaborative work fixture for operation of a chemical and physical laboratory and a control method thereof

Abstract

This invention belongs to the field of laboratory automation equipment, specifically disclosing an adaptive collaborative work fixture and its control method for physical and chemical laboratory operations. Addressing the problems of poor adaptability, weak collaborative capabilities, and high costs in existing laboratory automation technologies, the fixture includes a gripping component and a functional operation component: the gripping component is used to hold and fix objects, while the functional operation component performs operations such as screwing on bottle caps and drawing liquids with a syringe; both are equipped with vision sensors to collect the spatial position, shape, and posture information of the target, and have built-in motor drivers to achieve closed-loop control of the gripping force. The control method completes the task through commands issued by a host computer, visual data acquisition and analysis, generation of execution strategies, collaborative operation, and real-time monitoring. This invention can adapt to experimental objects of various sizes, achieving stable gripping and precise operation in synergy, improving equipment operating power, reducing automation costs, and ensuring experimental consistency and efficiency.

Description

Technical Field

[0001] This invention relates to the field of laboratory automation equipment technology, and in particular to an adaptive collaborative work fixture and its control method for physical and chemical laboratory operations. Background Technology

[0002] Third-party testing laboratories, enterprise laboratories, and quality control departments of research institutions all have a large volume of testing, measurement, and calibration work. This type of work is tedious, varied, and involves diverse objects and processing methods, resulting in consistently low efficiency and high labor costs. Furthermore, experiments require process stability and consistency to ensure the reliability of results. However, manual implementation also introduces certain uncertainties. Therefore, reducing labor costs and increasing the degree of automation and standardization has become a key aspect of cost control and breakthroughs in the testing industry. Laboratory automation mainly involves the operation and transfer of containers and equipment, the setup and operation of instruments and devices, frequent sample dispensing and transfer, reagent addition, and instrument testing. These tasks are typically tedious and repetitive, and manual operation is prone to fatigue and errors. Robots or automated devices can improve efficiency and accuracy.

[0003] The biggest challenge in implementing laboratory automation and introducing robots lies in the diversity of tasks and objects being operated on. Current laboratory automation methods target specific single processes or functions, resulting in low usage frequency and low uptime of automated devices, as well as high investment costs.

[0004] Robots need to transport or manipulate a wide variety of laboratory containers and instruments, such as sample bottles, test tubes, petri dishes, burettes, and so on, in various sizes, materials, and shapes. They also need to set up or operate various instruments and devices, such as nitrogen blowers, ultrasonic extractors, shakers, centrifuges, and so on, in various types, sizes, and functions. Given the diverse tasks and objects being manipulated, it's difficult to find a single, universal device that can meet the automation needs of all these tasks and objects.

[0005] In laboratory automation, there are numerous tasks requiring the coordinated use of both hands. For example, pipetting requires operating the pipetting tools while simultaneously connecting the corresponding solvent containers; other examples include opening and closing sample vials and assembling containers in pairs.

[0006] In summary, existing laboratory automation technologies suffer from poor adaptability, high cost, weak collaborative capabilities, and insufficient intelligence, making it difficult to meet the "diversified, low-cost, and efficient" automation requirements of physicochemical experiments. There is an urgent need for a low-cost fixture and control method that can accommodate multiple object sizes, enable bi-handed collaborative operation, and possess intelligent sensing and adaptive control capabilities to overcome current technological bottlenecks. Summary of the Invention

[0007] The purpose of this invention is to provide an adaptive collaborative work fixture for physical and chemical laboratory operations. Through the collaborative design of the holding components and the functional operation components, it can simultaneously achieve stable holding and precise operation of experimental vessels, adapt to experimental objects of various specifications and shapes, increase the frequency of use and uptime of the equipment, and reduce the cost of automation transformation.

[0008] The technical solution adopted by this invention to solve its technical problem is as follows: An adaptive collaborative work fixture for physical and chemical laboratory operations is provided, comprising a gripping component and a functional operation component; the gripping component is used to clamp and fix objects; the functional operation component is used to perform specific operations; the functional operation component includes a functional operation mounting flange, a functional operation driving body, a fixture rotating part, sliding members, clamping parts, and clamping fingers; the functional operation driving body is fixedly mounted on the functional operation mounting flange, and the fixture rotating part is fixedly mounted on the side wall of the functional operation driving body; two sliding members are provided, parallel and slidably assembled on the side of the fixture rotating part away from the functional operation driving body, and the two sliding members move relative to or away from each other; two clamping parts are provided, each clamping part is fixedly mounted on one of the two sliding members, and a clamping finger is fixedly mounted on the side wall of each clamping part, with a detachable clamping finger sleeve fitted on the outside of the clamping finger.

[0009] Further, the gripping assembly includes a gripping mounting flange, a gripping drive body, a sliding block, a first gripping finger, a second gripping finger, a finger sleeve, a secondary gripping finger, and a secondary finger sleeve; the gripping drive body is fixedly mounted on the gripping mounting flange; two sliding blocks are provided, and the two sliding blocks are respectively slidably assembled on the upper and lower slide rails on the upper and lower sides of the gripping drive body away from the gripping mounting flange, and the gripping drive body is used to drive the two sliding blocks to move relative to or away from each other in the horizontal direction; the first gripping finger is fixedly connected to the upper sliding block, and the second gripping finger is fixedly connected to the lower sliding block; the secondary gripping finger is fixedly fixed on the opposite sidewall of the first gripping finger and the second gripping finger, and the secondary finger sleeve is detachably sleeved on the secondary gripping finger.

[0010] Furthermore, both the functional operation driving body and the gripping driving body are fixedly mounted with a vision sensor mounting plate. A vision sensor is fixedly mounted on the vision sensor mounting plate. The vision sensor is used to collect the spatial position information, physical shape information and posture information of the target object.

[0011] Furthermore, grooves are respectively provided on the inner sidewalls of the first and second finger clips, and the finger sleeves are respectively fixedly embedded in the grooves, and the concave surface of the finger sleeves is used to adapt to columnar objects of appropriate size.

[0012] Furthermore, the functional operation component also includes a syringe grip and a syringe. The syringe grip is fixedly installed on the side wall of the clamping part. The syringe grip has a slot for nesting the syringe barrel ear and the plunger ear. The opening end of the slot has a flared guide structure. The syringe is fixed in the slot of the syringe barrel ear and the plunger ear.

[0013] Furthermore, both the gripping drive body and the functional operation drive body have built-in motor drivers. The motor drivers are used to drive the sliding block or the sliding member to move and can generate a clamping force signal based on the motor load current feedback.

[0014] This application also provides a control method for an adaptive collaborative work fixture for physical and chemical laboratory operations, applied to the aforementioned adaptive collaborative work fixture, comprising the following steps:

[0015] S1: The host computer sends task execution instructions to the gripping components, functional operation components and vision sensors of the adaptive collaborative work fixture according to the preset experimental task.

[0016] S2: The visual sensor collects the spatial location, physical shape, and posture information of the target object within the target area and feeds the collected information back to the host computer;

[0017] S3: The host computer analyzes the information and generates a task execution strategy. The task execution strategy includes the task division of the gripping component and the functional operation component, the operation posture, the target gripping position, the pre-opening degree of the gripper, and the target gripping force parameters.

[0018] S4: The gripping component and the functional operation component move to the preset position of the target object according to the task execution strategy, and adjust the gripper to the pre-opening degree of the gripper;

[0019] S5: The gripping component and the functional operation component perform clamping or operation actions. The clamping force is controlled by closed-loop feedback of the motor load current. When the clamping force reaches the target clamping force, the gripper state is maintained.

[0020] S6: The control components and functional operation components work together to perform actions according to the timeline nodes of the task execution strategy to complete the preset experimental tasks, and feed back the running status to the host computer in real time. The host computer monitors and adjusts the running status.

[0021] Furthermore, in step S3, the task division includes: the holding component performs the object holding action, and the function operation component performs the object operation action; the object operation action includes screwing on the bottle cap, drawing liquid with a syringe, pressing the button on the pipette, or operating the dispenser.

[0022] Furthermore, in step S5, when the bottle cap is screwed on: the functional operation component drives the gripper finger to rotate through the clamp rotating part, and moves along the bottle body axis at the same time; the host computer monitors the rotation torque and the displacement along the bottle body axis in real time. When the rotation torque drops to near zero and the displacement along the bottle body axis reaches a preset threshold, it is determined that the bottle cap is screwed on; when the rotation torque reaches a preset locking threshold, it is determined that the bottle cap is tightened.

[0023] Furthermore, when performing the syringe injection action, step S5 also includes: the functional operation component, through the syringe handle nesting the syringe barrel ear and the push rod ear, widens the gap by driving the slider to pull the push rod to achieve liquid aspiration, and narrows the gap by driving the slider to push the push rod to achieve liquid injection.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] (1) Through the coordinated design of the holding component and the functional operation component, the present invention can simultaneously achieve stable holding and precise operation of experimental vessels, adapt to experimental objects of various specifications and shapes, increase the frequency of use and utilization rate of equipment, and reduce the cost of automation transformation.

[0026] (2) The present invention integrates a vision sensor to obtain the spatial position, shape and posture information of the target object in real time, and combines the motor load current feedback to realize precise closed-loop control of the clamping force, so as to avoid clamping too tightly or too loosely, and ensure operational safety and experimental consistency.

[0027] (3) This invention supports two-handed operation, such as holding the bottle with one hand and screwing on the cap with the other, or fixing the container with one hand and performing injection / pipette operation with the other, which highly simulates the manual operation process and is suitable for a variety of complex experimental scenarios.

[0028] (4) The structure of the finger clip, finger sleeve, syringe grip and other parts of the present invention adopts a detachable and replaceable design, which makes it easy to quickly replace the functional modules according to different tasks, with strong expandability and convenient maintenance.

[0029] (5) This invention ensures the accuracy and repeatability of each step of the operation through intelligent scheduling and real-time monitoring by the host computer, combined with high-precision motor drive and sensor feedback, which significantly improves experimental efficiency and data reliability. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of an adaptive collaborative work fixture for physical and chemical laboratory operations according to the present invention;

[0031] Figure 2 This is a schematic diagram of the functional operation component of an adaptive collaborative work fixture for physical and chemical laboratory operations according to the present invention;

[0032] Figure 3 This is a schematic diagram of the holding component of an adaptive collaborative work fixture for physical and chemical laboratory operations according to the present invention;

[0033] Figure 4 This invention relates to an adaptive collaborative work fixture for physical and chemical laboratory operations. Figure 1 Schematic diagram of the structure at point A;

[0034] Figure 5 This is a flowchart of a control method for an adaptive collaborative work fixture for physical and chemical laboratory operations according to the present invention;

[0035] The components in the attached diagram are labeled as follows:

[0036] 1. Holding assembly; 10. Holding mounting flange; 11. Holding drive body; 12. Sliding block; 13. First gripping finger; 14. Second gripping finger; 15. Finger sleeve; 16. Secondary gripping finger; 17. Secondary finger sleeve; 18. Groove; 2. Functional operation assembly; 20. Functional operation mounting flange; 21. Functional operation drive body; 22. Clamp rotating part; 23. Sliding element; 24. Clamping part; 25. Gripping finger; 26. Syringe holding part; 27. Syringe; 28. Slot; 29. ​​Finger sleeve; 3. Vision sensor mounting plate; 4. Vision sensor. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Example 1:

[0039] This embodiment discloses an adaptive collaborative work fixture for physical and chemical laboratory operations, such as... Figures 1 to 3As shown, the system consists of a gripping assembly 1 and a functional operation assembly 2, both of which are connected to the robotic arm to achieve collaborative operation. The gripping assembly 1 is used to stably hold the experimental apparatus. Its structure includes: a gripping mounting flange 10 with four evenly distributed M8 bolt holes in the center for fixed connection to the end effector of a six-degree-of-freedom robotic arm (model: KUKAKR6R900); a gripping drive body 11 with a built-in servo motor driver and a 57 series stepper motor with a torque of 2.5 N·m, which drives the sliding blocks 12 to slide. Two sliding blocks 12 are provided, cooperating with the slide rails 19 of the gripping drive body 11 to ensure smooth horizontal movement. A first gripping finger 13 and a second gripping finger 14 are also included; the first gripping finger 13 is fixed to the upper sliding block 12, and the second gripping finger 14 is similarly fixed to the lower sliding block 12. Finger sleeves 15 are fitted into grooves 18 inside the first and second gripping fingers 13 and 14. The radius of curvature of the concave surface of the finger sleeves is adapted to cylindrical objects of 9mm-90mm, such as 50mL centrifuge tubes and 100mL beakers. The auxiliary gripping fingers 16 are vertically fixed to the outer walls of the first and second gripping fingers 13 and 14. Two auxiliary finger sleeves 17 are fitted onto the auxiliary gripping fingers 16, which can hold thin plate objects such as glass slides.

[0040] The functional operation component 2 is used to perform fine operations and includes: a functional operation mounting flange 20, a functional operation drive body 21, a clamping rotating part 22, a sliding member 23, a clamping part 24, and a clamping finger 25; the functional operation drive body 21 is fixedly mounted on the functional operation mounting flange 20, and the clamping rotating part 22 is fixedly mounted on the side wall of the functional operation drive body 21; there are two sliding members 23, which are parallel and slidably assembled on the side of the clamping rotating part 22 away from the functional operation drive body 21, and the two sliding members 23 can move relative to or away from each other; there are two clamping parts 24, which are fixedly mounted on the two sliding members 23 respectively, and a clamping finger 25 is fixedly mounted on the side wall of each clamping part 24, and a clamping finger sleeve 29 is detachably sleeved on the outside of the clamping finger 25.

[0041] Furthermore, both the functional operation driving body 21 and the gripping driving body 11 are fixedly mounted with a vision sensor mounting plate 3, and a vision sensor 4 is fixedly mounted on the vision sensor mounting plate 3. The vision sensor 4 is used to collect the spatial position information, physical shape information and posture information of the target object.

[0042] Furthermore, grooves 18 are respectively provided on the inner sidewalls of the first finger clip 13 and the second finger clip 14, and the finger sleeves 15 are respectively fixedly embedded in the grooves 18, and the concave surface of the finger sleeves 15 is adapted to columnar objects with a diameter of 9mm-90mm.

[0043] Furthermore, such as Figure 4As shown, the functional operation component 2 also includes a syringe handle 26 and a syringe 27. The syringe handle 26 is fixedly installed on the side wall of the clamping part 24. The syringe handle 26 has a slot 28 for nesting the syringe barrel ear-shaped part and the plunger ear-shaped part. The opening end of the slot 28 has a flared guide structure. The syringe 27 is fixed in the slot 28 of the syringe barrel ear-shaped part and the plunger ear-shaped part.

[0044] Furthermore, both the gripping drive body 11 and the functional operation drive body 21 have built-in motor drivers. The motor drivers are used to drive the sliding block 12 or the sliding member 23 to move, and can generate a clamping force signal based on the motor load current feedback.

[0045] Example 2:

[0046] A control method for an adaptive collaborative work fixture for physical and chemical laboratory operations, such as Figure 5 As shown, it includes the following steps:

[0047] S1: The host computer, based on the preset experimental task, sends task execution commands to the gripping component, functional operation component, and vision sensor of the adaptive collaborative work fixture. The host computer uses an Advantech IPC-610H industrial computer, configured with an i5-10400 processor, and creates a "screw cap open" task using self-developed control software version V2.0, setting the parameters as follows: target clamping force 8N for the gripping component, 6N for the functional operation component, screw-open torque threshold ≤0.6N・m, bottle body axis displacement threshold ≥20mm (bottle cap height). After parameter confirmation, the host computer sends start commands to gripping component 1, functional operation component 2, and vision sensor 4 via the Modbus TCP protocol.

[0048] S2: The vision sensor collects the spatial position, physical shape, and posture information of the target object within the target area and feeds the collected information back to the host computer; after the vision sensor 28 is started, it scans the target area of ​​the experimental platform and collects the spatial coordinates of the sample bottle, the angle of the bottle axis, and the outline dimensions of the bottle cap; the collected data is fed back to the host computer in real time via Ethernet, and the host computer uses the Kalman filter algorithm to filter the data and eliminate errors caused by ambient light interference.

[0049] S3: The host computer analyzes the information and generates a task execution strategy. This strategy includes the task division of labor between the gripping component and the functional operation component, their operating postures, target clamping positions, pre-opening degree of the grippers, and target clamping force parameters. Task division includes: the gripping component performs object gripping actions, and the functional operation component performs object operation actions; object operation actions include screwing on bottle caps, injecting liquid with a syringe, pressing buttons on a pipette, or operating a dispenser. Division of labor: Gripping component 1 is responsible for gripping the lower middle part of the bottle, while functional operation component 2 is responsible for gripping the bottle cap and performing a rotation action; Posture: Gripping component 1 maintains a horizontal posture with its gripping fingers perpendicular to the bottle axis, while functional operation component 2 maintains a vertical posture with its gripping fingers coaxial with the bottle cap axis; Parameters: Gripping component 1 controls the grippers to the pre-opening degree, with a target clamping force of 8N; functional operation component 2 sets the pre-opening degree of the grippers to 35mm, the target clamping force to 6N, and the rotation direction to counterclockwise, adapting to right-hand threaded bottle caps.

[0050] S4: The gripping component and the functional operation component move to the preset position of the target object according to the task execution strategy, and adjust the gripper to the pre-opening degree; according to the instructions of the host computer, the two robotic arms drive the gripping component 1 to move to the lower middle part of the bottle body, and the gripping drive body 11 drives the sliding block 12 to drive the first gripping finger 13 and the second gripping finger 14 to close to the pre-opening degree; at the same time, the functional operation component 2 moves to a certain position directly above the bottle cap, the clamping rotation part 22 adjusts the gripping finger 25 to a vertical position, and the sliding part 23 drives the clamping part 24 to close to the pre-opening degree, waiting for the clamping instruction.

[0051] S5: The gripping component and the functional operation component perform clamping or operation actions. The clamping force is controlled by closed-loop feedback of the motor load current. When the clamping force reaches the target clamping force, the gripper is kept in the gripping state. Bottle body gripping: The servo motor driver of the gripping component 1 monitors the current feedback in real time and drives the sliding block 12 to close slowly. When the clamping force reaches the preset threshold, the motor stops rotating and the gripping finger is kept in the gripping state to prevent the bottle body from rotating during the twisting process. Bottle cap gripping: The functional operation component 2 moves downward so that the gripping finger 25 fits against the side wall of the bottle cap and drives the sliding part 23 to close. When the clamping force reaches the preset threshold, the closing stops. Twisting and displacement control: The clamping rotating part 22 is started, driving the gripping finger 25 to rotate counterclockwise. At the same time, the robotic arm drives the functional operation component 2 to move slowly upward along the bottle body axis. The host computer collects the rotation torque and displacement data in real time through the motor driver. When the rotation torque decreases to the preset threshold and the displacement along the bottle body axis reaches the height of the bottle cap, it is determined that the bottle cap is fully unscrewed.

[0052] S6: The control components and functional operation components work together to perform actions according to the timeline nodes of the task execution strategy to complete the preset experimental tasks, and feed back the running status to the host computer in real time. The host computer monitors and adjusts the running status.

[0053] In step S5, when the bottle cap is screwed on: the functional operation component drives the gripper finger to rotate through the clamp rotating part and moves along the bottle axis at the same time; the host computer monitors the rotation torque and displacement along the bottle axis in real time. When the rotation torque drops to near zero and the displacement along the bottle axis reaches a preset threshold, it is determined that the bottle cap is screwed on; when the rotation torque reaches a preset locking threshold, it is determined that the bottle cap is tightened.

[0054] When performing the syringe injection action, step S5 further includes: the functional operation component, through the syringe handle nesting the syringe barrel ear and the push rod ear, widens the gap by driving the slider to pull the push rod to achieve liquid aspiration, and narrows the gap by driving the slider to push the push rod to achieve liquid injection.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An adaptive collaborative work fixture for physical and chemical laboratory operations, characterized in that, It includes a gripping component (1) and a functional operation component (2); the gripping component (1) is used to clamp and fix the object; the functional operation component (2) is used to perform specific operations; the functional operation component (2) includes a functional operation mounting flange (20), a functional operation driving body (21), a clamping rotating part (22), a sliding part (23), a clamping part (24), and a clamping finger (25); the functional operation driving body (21) is fixedly installed on the functional operation mounting flange (20), and the clamping rotating part (22) is fixedly installed on the functional operation... On the side wall of the drive body (21), there are two sliding members (23), which are parallel and slidably assembled on the side of the clamp rotating part (22) away from the functional operation drive body (21), and the two sliding members (23) move relative to each other or away from each other; there are two clamping parts (24), which are fixedly installed on the two sliding members (23) respectively, and the clamping fingers (25) are fixedly installed on the side wall of each clamping part (24), and the clamping fingers (25) are detachably fitted with clamping finger sleeves (29) on the outside of the clamping fingers (25); The gripping assembly (1) includes a gripping mounting flange (10), a gripping drive body (11), a sliding block (12), a first gripping finger (13), a second gripping finger (14), a finger sleeve (15), a secondary gripping finger (16), and a secondary finger sleeve (17); the gripping drive body (11) is fixedly mounted on the gripping mounting flange (10); there are two sliding blocks (12), and the two sliding blocks (12) are respectively slidably assembled on the upper and lower ends of the gripping drive body (11) away from the gripping mounting flange (10). On the side slide rail (19), the gripping drive body (11) is used to drive the two sliding blocks (12) to move relative to each other or opposite to each other in the horizontal direction; the first gripping finger (13) is fixedly connected to the upper sliding block (12), and the second gripping finger (14) is fixedly connected to the lower sliding block (12); the first gripping finger (13) and the second gripping finger (14) are respectively fixed on the opposite side walls, and the second gripping finger (16) is detachably fitted with the second gripping finger sleeve (17). The functional operation component (2) further includes a syringe holding part (26) and a syringe (27). The syringe holding part (26) is fixedly installed on the side wall of the clamping part (24). The syringe holding part (26) is provided with a slot (28) for nesting the syringe barrel ear-shaped part and the push rod ear-shaped part. The opening end of the slot (28) is provided with a flared mouth guide structure. The syringe (27) is fixed in the slot (28) of the syringe barrel ear-shaped part and the push rod ear-shaped part.

2. The self-adapting collaborative workbench for physico-chemical laboratory operations of claim 1, wherein, Both the functional operation driving body (21) and the gripping driving body (11) are fixedly mounted with a vision sensor mounting plate (3), and a vision sensor (4) is fixedly mounted on the vision sensor mounting plate (3). The vision sensor (4) is used to collect the spatial position information, physical shape information and posture information of the target object.

3. The self-adapting collaborative workbench for physio-chemical laboratory operations as claimed in claim 1 wherein, The first finger clip (13) and the second finger clip (14) are respectively provided with grooves (18) on their respective inner sidewalls. Two finger sleeves (15) are provided. The finger sleeves (15) are respectively fixedly embedded in the grooves (18), and the concave surface of the finger sleeves (15) is used to adapt to columnar objects of appropriate size.

4. The self-adapting collaborative workbench for physio-chemical laboratory operations as claimed in claim 1 wherein, Both the gripping drive body (11) and the functional operation drive body (21) have built-in motor drivers. The motor drivers are used to drive the sliding block (12) or the sliding member (23) to move, and can generate a clamping force signal based on the motor load current feedback.

5. A control method for an adaptive collaborative work jig for a physicochemical laboratory operation, applied to the adaptive collaborative work jig according to any one of claims 1 to 4, characterized in that, Includes the following steps: S1: The host computer sends task execution instructions to the gripping components, functional operation components and vision sensors of the adaptive collaborative work fixture according to the preset experimental task. S2: The visual sensor collects the spatial location, physical shape, and posture information of the target object within the target area and feeds the collected information back to the host computer; S3: The host computer analyzes the information and generates a task execution strategy. The task execution strategy includes the task division of the gripping component and the functional operation component, the operation posture, the target gripping position, the pre-opening degree of the gripper, and the target gripping force parameters. S4: The gripping component and the functional operation component move to the preset position of the target object according to the task execution strategy, and adjust the gripper to the pre-opening degree of the gripper; S5: The gripping component and the functional operation component perform clamping or operation actions. The clamping force is controlled by closed-loop feedback of the motor load current. When the clamping force reaches the target clamping force, the gripper state is maintained. S6: The control components and functional operation components work together to perform actions according to the timeline nodes of the task execution strategy to complete the preset experimental tasks, and feed back the running status to the host computer in real time. The host computer monitors and adjusts the running status.

6. The control method of adaptive collaborative work cell for physico-chemical laboratory operations according to claim 5, characterized in that, In step S3, the task division includes: the holding component performs the object holding action, and the function operation component performs the object operation action; the object operation action includes screwing on the bottle cap, injecting liquid with a syringe, pressing the button on the pipette, or operating the dispenser.

7. The control method of adaptive collaborative work cell for physico-chemical laboratory operations according to claim 5, characterized in that, In step S5, when the bottle cap is screwed on: the functional operation component drives the gripper to rotate through the clamp rotating part and moves along the bottle axis at the same time; the host computer monitors the rotation torque and displacement along the bottle axis in real time. When the rotation torque drops to near zero and the displacement along the bottle axis reaches a preset threshold, it is determined that the bottle cap is screwed on. When the rotational torque reaches the preset locking threshold, the bottle cap is determined to be tightened.

8. The control method for the adaptive collaborative work fixture for physical and chemical laboratory operations according to claim 5, characterized in that, When performing the syringe injection action, step S5 further includes: the functional operation component, through the syringe handle nesting the syringe barrel ear and the push rod ear, widens the gap by driving the slider to pull the push rod to achieve liquid aspiration, and narrows the gap by driving the slider to push the push rod to achieve liquid injection.

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