Oil sample experiment cabin AGV trolley working system and working process

Abstract

The invention discloses an oil sample experiment bin AGV working system and a working process, the oil sample experiment bin AGV working system comprises a working table, a function module arranged on the working table and a control unit, the working table is of a semi-surrounding structure, an AGV and a trolley moving belt are arranged on the ground of the semi-surrounding structure of the working table, and the AGV is in communication connection with the control unit; the AGV trolley comprises a trolley body, a sample frame and a robot are arranged on the trolley body, the robot is arranged at the front end of the trolley body, the sample frame is arranged at the rear end of the trolley body, an arm extension space is reserved between the robot and the sample frame, and when the AGV trolley operates the function module, the arm extension of the robot can move to the sample frame; and the control unit controls the AGV to prepare a sample to the sample rack, controls the driving path of the AGV, and controls the AGV to perform corresponding function operation at the position of the function module. According to the invention, automatic taking and placing of samples in the experiment cabin can be realized.

Description

Technical Field

[0001] This invention belongs to the technical field of automated equipment, and specifically relates to the working system and workflow of the AGV trolley for oil sample testing chamber. Background Technology

[0002] The quality of lubricating oil used in power plant equipment directly affects the normal operation of the equipment. The power plant's oil sample testing chamber enables fully automated testing of sample oils, with each testing unit positioned at a different location on the workbench. Since some testing units are independent while others are interconnected, each unit must perform its own pre-processing, testing, and post-processing, placing high demands on sample setup and storage.

[0003] Existing experimental chambers typically classify samples and store them near their respective detection units. Each detection unit is equipped with an automated robotic arm, enabling each unit to perform detection work independently.

[0004] However, due to the large number of testing items and the limited space in the experimental chamber, each testing unit is equipped with a set of storage devices and one or more sets of robotic arms, which not only occupies limited space but also increases costs dramatically. The control process of multiple devices also becomes more complex and variable, and the failure rate increases. Summary of the Invention

[0005] This invention provides an AGV (Automated Guided Vehicle) system and workflow for an oil sample testing chamber, in order to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: On the one hand, this application provides an AGV trolley working system for an oil sample test chamber, including a workbench, functional modules set on the workbench, and a control unit. The workbench has a semi-enclosed structure, and an AGV trolley and a trolley moving belt are set on the ground of the semi-enclosed structure of the workbench. The AGV trolley is communicatively connected to the control unit. The AGV includes a body, on which a sample rack and a robot are mounted. The robot is located at the front end of the body, and the sample rack is located at the rear end of the body. An arm span is left between the robot and the sample rack. When the AGV operates the functional modules, the robot's arm span can move to reach the sample rack. The control unit controls the AGV to prepare samples to the sample rack, controls the AGV's travel path, and controls the AGV to perform corresponding functional operations at the functional module locations.

[0007] Furthermore, the sample holder includes a base and two support columns on both sides. The base is fixed to the rear end of the trolley by fasteners and is arranged along the width direction of the rear end of the trolley. Multiple partitions are arranged between the support columns. The partitions are used to place samples. The robot performs input and output operations on the samples.

[0008] Furthermore, a positioning pin is provided on the partition plate to fix the container rack in place. The container rack is provided with a sample receiving hole for placing a sample container.

[0009] Furthermore, the sample container includes one or more of the following: a wide-mouth bottle, an oil cup, a centrifuge tube, a test tube, and a pipette tip.

[0010] Furthermore, the sample container is a bottle with a cap, and the container base on the partition includes a bottle body frame and a cap frame. The receiving hole on the bottle body frame is used to place the bottle body, and the receiving hole on the cap frame is used to place the corresponding cap.

[0011] Furthermore, the AGV's operation of the functional modules includes transferring the container rack from the storage location to the sample rack of the AGV; and transferring the sample container from the sample rack of the AGV to the worktable.

[0012] On the other hand, this application provides a workflow for an AGV (Automated Guided Vehicle) trolley for an oil sample testing chamber, the container input / output process including the following steps: Step 1: The control unit controls the trolley to move to the sample storage position; Step 2: The robot moves the sample from the storage location to the sample rack on the cart. Step 3: Control the trolley to move to the position of the functional module; Step 4: Use a robot to move the sample from the sample holder to the worktable of the functional module.

[0013] Furthermore, the samples in step two correspond to multiple functional modules. The robot transfers the samples used by multiple functional modules to the sample rack of the cart in one go. In step four, the samples used by the corresponding functional modules are transferred from the sample rack.

[0014] Furthermore, it also includes the step of opening and closing the sample container. The sample container is a container with a cap. The opening process is as follows: the robot sends the container with a cap on the worktable to the opening and closing mechanism. The robot holds the cap with a mechanical arm. The opening and closing mechanism rotates the bottle body to open the container with a cap. The robot sends the cap to the cap rack on the cart. The closing process is the reverse of the opening process.

[0015] Furthermore, it also includes a control unit for motion control of the AGV, which controls the AGV to move forward, backward, turn, and make U-turns on the AGV moving belt; when the AGV's battery level is lower than a threshold, the control unit controls the AGV to self-charge.

[0016] The present invention can achieve the following beneficial effects: 1. The oil sample test chamber AGV cart working system of this application effectively solves the pain point of the existing test chamber equipment by integrating sample rack and robot through the design of AGV cart. Originally, each detection function module required a separate storage device and robotic arm, which not only occupied a lot of space, but also increased hardware costs and control complexity. AGV cart can replace these scattered devices, which can not only reduce the ineffective space occupation, but also reduce hardware procurement and maintenance investment. At the same time, the unified control unit simplifies the operation logic and reduces the failure rate of multi-device collaboration.

[0017] 2. The working system of this application significantly improves the overall efficiency of oil sample testing. With its mobility and batch carrying capacity, the AGV can carry the samples required by multiple functional modules at one time, avoiding the time loss of multiple round trips for sampling. Moreover, the control unit can plan the optimal driving path to reduce unnecessary movement. During idle periods, the AGV can also complete some sample pretreatment in advance without occupying the core testing time, further accelerating the overall process turnover.

[0018] 3. In traditional designs, each testing unit operates independently and is prone to shutdown due to sample shortages or equipment failures. However, AGVs can dynamically replenish samples for each module, avoiding the impact of a single module's problem on the whole. At the same time, the sample rack supports adaptation to multiple types of containers. When adding new testing items in the future, there is no need for large-scale hardware modifications. Only the path planning of the control unit needs to be updated to quickly adapt to new requirements, improving the system's long-term flexibility. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall system structure of the present invention; Figure 2 This is a partially enlarged view of the location of the opening and closing cover mechanism on the worktable of the present invention; Figure 3 This is a schematic diagram of the overall structure of the AGV vehicle of the present invention; Figure 4 This is a schematic diagram of the sample rack on the AGV trolley of the present invention; Figure 5 This is a partial enlarged view of the positions of the bottle body holder and bottle cap holder on the sample holder of the present invention; Figure 6 This is a three-dimensional structural diagram of the container rack of the present invention.

[0020] The attached diagram lists the components represented by each number as follows: 1. Workbench; 2. Functional module; 3. AGV trolley; 4. Trolley moving belt; 5. Body; 6. Sample rack; 7. Robot; 8. Sample container; 9. Base; 10. Support column; 11. Partition; 12. Container rack; 13. Sample receiving hole; 14. Positioning hole; 15. Bottle rack; 16. Bottle cap rack; 17. Opening and closing cap mechanism. Detailed Implementation

[0021] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0022] The AGV (Automated Guided Vehicle) system for the oil sample testing chamber is shown in the appendix. Figure 1 The system includes a workbench 1 with an oil sample testing chamber and a control unit. The workbench is equipped with various functional modules 2; only one functional module is shown in the accompanying drawings. The control unit controls each functional module 2. The workbench 1 is configured in a semi-enclosed structure. An AGV (Automated Guided Vehicle) trolley 3 and a trolley moving belt 4 are positioned on the ground within this semi-enclosed structure. The AGV trolley 3 is communicatively connected to the control unit, which controls its movement between the functional modules 2, assisting each module 2 in completing its testing functions. The semi-enclosed structure of the workbench 1 allows the AGV trolley 3 to complete various functions using the shortest path.

[0023] See appendix Figure 2 The AGV trolley 3 includes a body 5, a sample rack 6 and a robot 7 mounted on the body 5. Different sample containers 8 are placed on the sample rack 6. The robot 7 is located at the front end of the body 5, and the sample rack 6 is located at the rear end of the body 5. An arm span is left between the robot 7 and the sample rack 6. When the AGV trolley 3 operates the functional module 2, the arm span of the robot 7 can reach the sample container 8 to perform the operation.

[0024] The main functions of the AGV cart 3 include the input and output of samples in each functional module 2, and assisting the functional module 2 in opening and closing the sample container 8. Due to the mobility of the AGV cart 3, the samples required by each functional module 2 can be placed in a unified location, such as a storage cabinet. The AGV cart 3 can then retrieve the samples required by each functional module 2 from the storage cabinet and temporarily place them on the sample rack 6. The AGV cart 3 can then dispatch and deliver the samples to each functional module 2, saving storage space and reducing the need for robotic arms in each functional module 2.

[0025] The AGV trolley 3 is controlled by a control unit to move and operate the sample rack 6 and robot 7 on the trolley 3. The control unit controls the AGV trolley 3 to prepare samples to the sample rack 6, controls the AGV trolley 3's travel path, and controls the AGV trolley 3 to perform corresponding functional operations at the location of functional module 2. The existing AGV trolley 3 has built-in laser positioning and path scanning functions, and is positioned and achieves precise movement through the trolley moving belt 4.

[0026] See appendix Figure 3 To be continued Figure 6 The sample holder 6 on the AGV 3 includes a base 9 and two support columns 10 on both sides. The base 9 is fixed to the rear end of the AGV 3 with fasteners and is set along the width direction of the rear end of the AGV 3. Multiple partitions 11 are set between the support columns 10. The partitions 11 are used to place samples, and the robot 7 performs input and output operations on the samples. Positioning pins (not shown in the figure) are set on the partitions 11 to fix the container holder 12. The container holder 12 is provided with sample receiving holes 13, and the sample container 8 is placed in the sample receiving holes 13. Positioning holes 14 are provided at the bottom of the container holder 12 to ensure that the container holder 12 can be accurately positioned and effectively clamped each time the robot 7 performs input and output operations on the container holder 12.

[0027] Sample containers 8 include wide-mouth bottles, oil cups, centrifuge tubes, test tubes, pipette tips, etc., which are fixed by various corresponding container racks 12. All containers have undergone pretreatment processes such as liquid filling and mixing before the detection experiment.

[0028] Taking a wide-mouth bottle as an example, the wide-mouth bottle is a covered container. A bottle body rack 15 and a bottle cap rack 16 are installed on the partition 11 of the sample rack 6. The sample receiving hole 13 on the bottle body rack 15 is used to hold the bottle body, and the sample receiving hole 13 on the bottle cap rack 16 is used to hold the bottle cap 18. When the wide-mouth bottle is opened, the opened bottle cap is temporarily placed on the bottle cap rack 16. When closing the bottle, the bottle cap is removed from the bottle cap rack 16.

[0029] The AGV (Automated Guided Vehicle) 3 is controlled by a control unit to perform operations such as forward movement, backward movement, turning, changing direction, and stopping on the moving belt 4. The AGV 3 is equipped with a rechargeable battery for power, and the control unit controls the AGV 3 to automatically recharge based on its battery level. Charging ports are set along the AGV 3's travel path in the system, and the control unit guides the AGV 3 to automatically recharge when it reaches a charging port. The basic functions of the AGV 3 are integrated into the control system via an interface.

[0030] The AGV (Automated Guided Vehicle) system for oil sample testing chambers can handle sample input / output and auxiliary operations for wide-mouth bottles. This application also provides a workflow for the AGV system to realize sample input / output, specifically including the following steps: Step 1: The control unit controls the trolley 3 to move to the sample storage position; Step 2: The robot 7 moves the sample from the storage location to the sample rack 6 on the cart 3; Step 3: Control the movement of the trolley 3 to the position of functional module 2; Step 4: The robot 7 moves the sample from the sample holder 6 to the workbench 1 of the functional module 2.

[0031] When multiple functional modules 2 work simultaneously, the samples on the cart 3 can correspond to multiple functional modules 2. The robot 7 transfers the samples used by multiple functional modules 2 to the sample holder 6 of the cart 3 in one go, and then transfers the samples used by the corresponding functional modules 2 from the sample holder 6.

[0032] The trolley 3 performs the opening and closing operation on the wide-mouth bottle. When opening, the robot 7 delivers the wide-mouth bottle from the workbench 1 to the opening and closing mechanism 17. The robot 7 grips the cap with its robotic arm, and the opening and closing mechanism 17 rotates the bottle body, opening the wide-mouth bottle. The robot 7 then delivers the cap to the cap holder 16 on the trolley 3. The closing process is the reverse of the opening process. The opening and closing mechanism is existing technology equipped in functional module 2, including a gripping and rotating mechanism. After the wide-mouth bottle is placed inside, it is gripped and rotated. The robot 7 grips the cap with the grippers on its robotic arm, causing relative movement between the cap and the bottle body, thus opening and closing the cap.

[0033] The control unit controls the AGV trolley 3 to work alternately between the various functional modules 2. Based on the working requirements of each functional module 2, the control unit configures the optimal driving path for the trolley 3 so that the entire working system reaches its optimal state.

[0034] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An oil sample experiment bin AGV trolley working system, characterized in that: The utility model provides a kind of automatic guided vehicle (AGV) system, including workbench (1), functional module (2) being arranged on workbench (1) and control unit, the workbench (1) is half-enclosed structure, AGV trolley (3) and trolley moving belt (4) are arranged on the ground of workbench (1) half-enclosed structure, the AGV trolley (3) is connected with control unit communication; The AGV trolley (3) includes a vehicle body (5), a sample holder (6) and a robot (7) are provided on the vehicle body (5), the robot (7) is arranged at the front end of the vehicle body (5), the sample holder (6) is arranged at the rear end of the vehicle body (5), and the robot (7) and the sample holder (6) are left out of arm span space, when the AGV trolley (3) operates the functional module (2), the arm span of the robot (7) can be moved to reach the sample holder (6). The control unit controls the AGV trolley (3) to prepare samples to the sample holder (6), controls the driving path of the AGV trolley (3), and controls the AGV trolley (3) to perform corresponding functional operations at the position of the functional module (2).

2. The oil sample laboratory rack AGV cart working system according to claim 1, characterized in that: The sample holder (6) includes a base (9) and support columns (10) on both sides, the base (9) is fixed to the rear end of the trolley (3) by fasteners and is arranged along the width direction of the rear end of the trolley (3), a plurality of partitions (11) are arranged between the support columns (10), the partitions (11) are used to place samples, and the robot (7) inputs and outputs the samples.

3. The oil sample laboratory rack AGV cart operating system according to claim 2, characterized in that: A positioning pin is arranged on the partition (11), a container holder (12) is fixedly arranged by the positioning pin, a sample container hole (13) is arranged on the container holder (12), and the sample container hole (13) is used to place a sample container (8).

4. The oil sample experimental cell AGV trolley working system according to claim 3, characterized in that: The sample container (8) includes one or more of a wide-mouth bottle, an oil cup, a centrifuge tube, a test tube, and a suction head.

5. The oil sample experimental cell AGV trolley working system according to claim 3, characterized in that: The sample container (8) is a capped bottle, the container base (9) on the partition (11) includes a bottle body holder (15) and a bottle cap holder (16), the sample container hole (13) on the bottle body holder (15) is used to place a bottle body, and the sample container hole (13) on the bottle cap holder (16) is used to place a corresponding bottle cap.

6. The oil sample experimental cell AGV dolly working system according to any one of claims 1 to 5, characterized in that: The operation of the AGV trolley (3) on the functional module (2) includes transferring the container holder (12) from the storage position to the sample holder (6) of the AGV trolley (3), and transferring the sample container (8) from the sample holder (6) of the AGV trolley (3) to the workbench (1).

7. An oil sample laboratory pod AGV cart workflow, characterized by: The container input and output process includes the following steps: Step one, the control unit controls the trolley (3) to move to the sample storage position; Step two, the robot (7) moves the sample from the storage position to the sample holder (6) of the trolley (3); Step three, the control unit controls the trolley (3) to move to the position of the functional module (2); Step four, the robot (7) moves the sample from the sample holder (6) to the workbench (1) of the functional module (2).

8. The oil sample laboratory pod AGV cart workflow of claim 7, wherein: The sample in step two corresponds to a plurality of functional modules (2), the robot (7) transfers the samples applied by a plurality of functional modules (2) to the sample holder (6) of the trolley (3) at a time, and the sample used by the corresponding functional module (2) is transferred from the sample holder (6) in step four.

9. The oil sample laboratory pod AGV cart workflow of claim 7, wherein: Also include the step of opening and closing the cover of the sample container (8), the sample container (8) is a container with cover, the process of opening the cover is that the robot (7) sends the container with cover on the workbench (1) to the opening and closing mechanism (17), the robot (7) clamps the bottle cap through the mechanical arm, the opening and closing mechanism (17) rotates the bottle body, so that the container with cover completes the opening of the cover, and the robot (7) sends the bottle cap to the bottle cap rack (16) of the trolley (3), and the closing process is opposite to the opening process.

10. The oil sample laboratory pod AGV cart workflow of claim 7, wherein: Also include the motion control of the AGV trolley (3) by the control unit, the control unit controls the trolley (3) to advance, retreat, turn and U-turn on the trolley (3) moving belt; when the power of the AGV trolley (3) is lower than the threshold value, the control unit controls the AGV trolley (3) to self-charge.

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