Mechanical arm control method and system for chemical synthesis
By using a robotic arm control method that allows for rapid expansion of customized process flows and end effectors, the problems of low flexibility and poor hardware scalability in existing robotic arm control schemes are solved, thereby improving the flexibility and hardware scalability of chemical synthesis processes.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- XIAMEN UNIV
- Filing Date
- 2026-03-16
- Publication Date
- 2026-04-17
AI Technical Summary
Existing robotic arm control schemes in chemical synthesis systems suffer from low flexibility and poor hardware scalability. They require complete process editing and replacement of end effectors to adapt to process changes, resulting in inconvenience and difficulty in hardware expansion.
It provides a robotic arm control method for chemical synthesis, allowing users to customize the process flow in the user interface, save and read the action sequence through JSON files, and quickly expand the end effector. Flexible control can be achieved by defining single process class parameters and action types.
It improves the flexibility and hardware scalability of chemical synthesis processes, allowing users to quickly optimize process schemes during experiments, and enabling various operations to be performed without physical replacement of end-effectors.
Smart Images
Figure CN121870718A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the fields of chemical synthesis and laboratory automation, and in particular to robotic arm control methods and systems for chemical synthesis. Background Technology
[0002] In existing chemical synthesis systems, robotic arms are the core execution units of automated chemical synthesis systems. They are used to collaborate with other equipment (such as reaction vessels and sample feeders) to achieve full-process automation from raw material handling to product transfer, supporting high-throughput experiments and large-scale synthesis. Currently, the control methods for robotic arms in chemical synthesis systems generally include the following: 1) Programmable Logic Controller (PLC) Control Scheme: The PLC can accept instructions from the host computer or user interface, process and convert them to drive the actuator. By configuring a motor driver compatible with the robotic arm and connecting the corresponding input / output (IO) points, precise position control of the robotic arm can be achieved.
[0003] 2) PC-based bus control scheme: Based on industrial bus protocols such as RS485, MODBUS, and CAN, this scheme uses dedicated motion control software and connects to hardware such as the servo driver of the robotic arm via an interface card. It can implement complex control algorithms and trajectory planning, process large amounts of data, and is suitable for chemical synthesis tasks requiring high precision and flexibility.
[0004] The robotic arm itself is used for transfer, while its implementation of processes in chemical synthesis relies on end effectors. Common end effectors include the following: 1) Pipette: Used for precise transfer, dispensing, or injection of liquid reagents, adaptable to different volume ranges (microliters to milliliters), often paired with an electric drive module to achieve quantitative control and avoid errors from manual pipetting. For example, in high-throughput screening, it can quickly complete the liquid preparation of multiple reaction systems.
[0005] 2) Syringe: Combined with a syringe, the speed and dosage are controlled by a robotic arm, which is suitable for scenarios that require continuous and precise delivery of liquids (such as adding reaction reagents or preparing solutions with gradient concentrations).
[0006] 3) Mechanical grippers: These grippers open and close via pneumatic pressure or a motor, and are used to grasp rigid objects such as reaction containers (beakers, test tubes, centrifuge tubes) and reagent bottles. The inner side of the grippers is often designed with anti-slip textures or flexible pads to prevent the containers from being crushed.
[0007] The above technology has the following problems: 1) Low flexibility: Current robotic arm control solutions require the complete editing of a fixed process, including displacement and actuator movements, for each operation in chemical synthesis (such as vacuuming and liquid addition). The process is also strongly bound to the user interface. If the sequence of the process changes, internal modifications are required at the code level, which increases the inconvenience for users.
[0008] 2) Poor hardware scalability: The end effector of the robotic arm is physically connected. To achieve two different operations, the end effector needs to be replaced at the physical level. To achieve a quick replacement, a customized mechanism or manual intervention is required. Summary of the Invention
[0009] In view of this, the purpose of the present invention is to provide a robotic arm control method and system for chemical synthesis, in which users can customize the action sequence of the robotic arm and actuators according to the process flow in the user interface, and save and read the process flow file at any time, so as to facilitate the optimization and iteration of the process scheme during the experiment; the end effector can be quickly expanded, thereby improving the scalability of the hardware.
[0010] In a first aspect, embodiments of the present invention provide a robotic arm control method for chemical synthesis, the method comprising: Obtain the parameters of a single process class, wherein the parameters of the single process class include the target end point, the target reactor, and the end point action type; When the coordinate axis moves from the initial position to the position of the target end, the robotic arm is controlled to perform a gripping action, causing the robotic arm to move to the target reactor; The operation of the actuator is determined based on the type of end effector action. Once the execution is complete, the coordinate axis is moved to the position of the target end. After the opening action is performed, the coordinate axis is moved to the initial position; Get the parameters of the edited single-flow class as input by the user; Save the parameters of the edited single-process class as a JSON file; Sort and change workflow parameters based on the JSON file.
[0011] Furthermore, based on the type of end effector action, the operation of the actuator is determined, including: When the end effector type is a pipetting action, the actuator performs a pipetting operation; When the end effector type is a vacuum action, the actuator performs a vacuum operation.
[0012] Furthermore, the connector at the target end is fixed as a mechanical gripper, a base is provided within the gripping range of the mechanical gripper, and a sample feeding head is provided on the base.
[0013] Furthermore, the clamping action is to clamp the sample dispensing head, and the opening action is for the mechanical grippers to open to put down the sample dispensing head.
[0014] Furthermore, after the robotic arm moves to the target reactor and before determining the operation of the actuator, the method further includes: When the coordinate axis moves to the reactor position, the coil address and corresponding command value are passed from external parameters to the program in tabular form, and then a single action is executed; the single action includes a start function, a condition function, and a termination function. The startup function writes the command value true at the coil address; The conditional function reads the status value of the coil address; When the status value is true, proceed to the next step. The termination function writes the command value false at the coil address.
[0015] Secondly, embodiments of the present invention provide a robotic arm control system for chemical synthesis, the system comprising: The parameter acquisition module is used to acquire parameters of a single process class, wherein the parameters of the single process class include the target end point, the target reactor, and the end point action type; The control module is used to control the robotic arm to perform a gripping action after the coordinate axis moves from the initial position to the position of the target end, so that the robotic arm moves to the target reactor; The determination module is used to determine the operation of the actuator based on the type of end effector action. The first moving module is used to move the coordinate axis to the position of the target end after the execution is completed; The second moving module is used to move the coordinate axis to the initial position after the opening action is performed; The edited parameter acquisition module is used to acquire the parameters of the edited single-flow class input by the user; The save module is used to save the parameters of the edited single-process class as a JSON file; The sorting and modification module is used to sort and modify workflow parameters based on the JSON file.
[0016] Furthermore, the determining module includes a first control module and a second control module; The first control module is configured to have the actuator perform a pipetting operation when the end effector type is a pipetting action; The second control module is used to enable the actuator to perform a vacuum operation when the end effector type is a vacuum action.
[0017] Furthermore, the connector at the target end is fixed as a mechanical gripper, a base is provided within the gripping range of the mechanical gripper, and a sample feeding head is provided on the base.
[0018] Thirdly, embodiments of the present invention provide an electronic device, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the method described above.
[0019] Fourthly, embodiments of the present invention provide a computer-readable medium having processor-executable non-volatile program code that causes the processor to perform the method described above.
[0020] This invention provides a robotic arm control method and system for chemical synthesis, comprising: acquiring parameters of a single-process class, the parameters of which include a target end effector, a target reactor, and an end effector action type; controlling the robotic arm to perform a gripping action after the coordinate axis moves from the initial position to the target end effector position, thereby moving the robotic arm to the target reactor; determining the operation of the actuator based on the end effector action type; moving the coordinate axis to the target end effector position after the actuator operation is completed; moving the coordinate axis back to the initial position after performing an opening action; acquiring the edited parameters of the single-process class input by the user; saving the edited parameters of the single-process class as a JSON file; sorting and modifying the workflow parameters based on the JSON file; allowing the user to customize the action sequence of the robotic arm and actuators according to the process flow in the user interface, and to save and read the process flow file at any time, facilitating optimization and iteration of the process scheme during experiments; and enabling rapid expansion of the end effector, thereby improving the hardware scalability.
[0021] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.
[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0024] Figure 1 This is a flowchart of a robotic arm control method for chemical synthesis provided in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the action sequence of a standard motion workflow with a single process class as input, provided in Embodiment 1 of the present invention. Figure 3 This is a schematic diagram of the execution process of the execution workflow provided in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the encapsulation process of the standard workflow provided in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the interface editing provided in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the robotic arm control system for chemical synthesis provided in Embodiment 2 of the present invention. Detailed Implementation
[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions 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, 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.
[0026] To facilitate understanding of this embodiment, the embodiments of the present invention will be described in detail below.
[0027] Example 1: Figure 1 This is a flowchart of a robotic arm control method for chemical synthesis provided in Embodiment 1 of the present invention.
[0028] Reference Figure 1 The method includes the following steps: Step S101: Obtain the parameters of a single process class. The parameters of a single process class include the target end point, the target reactor, and the end point action type. Step S102: When the coordinate axis moves from the initial position to the target end position, after controlling the robotic arm to perform the gripping action, the robotic arm moves to the target reactor. Step S103: Determine the operation of the actuator based on the type of end effector action; Step S104: After the execution is completed, move the coordinate axis to the position of the target end. Step S105: After the opening action is performed, the coordinate axis is moved to the initial position; wherein, the gripping action is gripping the sample feeding head, and the opening action is opening the sample feeding head; Step S106: Obtain the parameters of the edited single-process class input by the user; Step S107: Save the edited parameters of the single-process class as a JSON file; Step S108: Sort and change the workflow parameters according to the JSON file.
[0029] Specifically, this robotic arm control scheme uses a single process as a unit, which is the specific descriptive unit. A single process class is defined in the code, and this single process class contains the following three parameters: target end effector `robot_end`, ... Target reactor and end-point action type.
[0030] Taking a single-process type as input, the cycle of a standard motion is defined as follows: with the X / Y / Z axes as the origin as the initial point of a single motion cycle, a single motion cycle completes the process of grasping the target robotic arm end effector, placing the target reactor, completing the end effector action, returning the target robotic arm end effector, and returning to the origin. For example... Figure 2 As shown in Table 1, the sequence of actions in a standard motion workflow with a single process class as input is as follows: Table 1
[0031] To address the problems existing in the prior art, this application proposes a robotic arm control method for chemical synthesis, which can achieve the following general functions for chemical synthesis systems that require multiple different operations: 1) High flexibility: Users can customize the action sequence of the robotic arm and actuators according to the process flow in the user interface, and save and read the process flow file at any time, which facilitates the optimization and iteration of the process plan during the experiment.
[0032] 2) High hardware scalability: The end-effector can be quickly expanded. If an operation is added to the end-effector during the experiment, no physical changes are required; only the corresponding driver function for the end-effector needs to be added at the code level to implement the action.
[0033] Furthermore, step S103 includes the following steps: Step S201: When the end effector type is pipetting, the actuator performs the pipetting operation; Step S202: When the end effector type is vacuum action, the actuator performs a vacuum operation.
[0034] Furthermore, the connector at the end of the target is fixed as a mechanical gripper, and a base is provided within the gripping range of the mechanical gripper, with a sample feeding head provided on the base.
[0035] Specifically, the end effector of the robotic arm is fixed as a mechanical gripper, and a sample dispensing head base is placed within the gripper's holding range. The base can hold various other functional actuators. During chemical operations, the mechanical gripper first clamps the sample dispensing head on the base, making the gripper and sample dispensing head a complete end effector capable of performing the chemical operation. After the chemical operation is completed, the mechanical gripper returns the sample dispensing head to the base, returning it to its ready-to-grip state.
[0036] Furthermore, after the robotic arm moves to the target reactor and before determining the actuator operation, the method further includes the following steps: Step S301: When the coordinate axis moves to the reactor position, the coil address and corresponding command value are passed from external parameters to the program in a table format, and then a single action is executed; the single action includes a start function, a condition function, and a termination function. Step S302: The start function writes the command value true at the coil address; Step S303: The condition function reads the status value of the coil address; Step S304: When the status value is true, proceed to the next step. Step S305: The termination function writes the command value false at the coil address.
[0037] Specifically, each action in Table 1 is executed by the same function, named `execute_flow`, and its workflow is as follows: Figure 3 As shown, its specific workflow is as follows: Taking the triaxial movement to the reactor position as an example, after the coil address and corresponding command value are passed to the program from external parameters in tabular form, a single action is executed. Each action consists of a start function `start_func` (judged by the condition function `condition_function`) and a final stop function `stop_fun`. In this example, the start function `start_func` writes the command value `true` to the coil address `cmd`; the condition function `condition_function` reads the status value at the coil address `status`, and proceeds to the next step when the status value is `true`; the stop function `stop_fun` writes the command value `false` to the coil address `cmd`.
[0038] Combining workflow and sample application head actions, a standard workflow encapsulation is as follows: Figure 4 As shown, the entire action flow is as follows: A standard workflow receives a single process class and obtains three parameters. Based on the parameters of the target end robot_end and the target reactor, the program controls the robotic arm to pick up the specified sample head and move it to the target reactor. Then, based on the target action type, it executes the execution operation and returns along the original path, puts down the sample head and moves back to the initial position.
[0039] like Figure 5 As shown, parameters for a single workflow can be edited through the interface. After selection and editing in the user interface, the parameters can be saved as a JSON file. By reading and inputting the JSON file, workflow parameters can be sorted and modified. The controls include reading workflow file, saving workflow file, executing workflow, and pausing workflow. By clicking these controls, the corresponding operation type, parameter settings, and values / options can be edited.
[0040] Example 2: Figure 6 This is a schematic diagram of the robotic arm control system for chemical synthesis provided in Embodiment 2 of the present invention.
[0041] Reference Figure 6 The system includes: The parameter acquisition module is used to acquire parameters for a single process class. The parameters for a single process class include the target end point, the target reactor, and the end point action type. The control module is used to control the robotic arm to perform a gripping action after the coordinate axis moves from the initial position to the target end position, so that the robotic arm moves to the target reactor; The determination module is used to determine the operation of the actuator based on the type of end effector action; The first moving module is used to move the coordinate axis to the position of the target end after the execution is completed; The second movement module is used to move the coordinate axis to the initial position after the opening action is performed; The edited parameter acquisition module is used to acquire the parameters of the edited single-flow class input by the user; The save module is used to save the parameters of the edited single-process class as a JSON file; The sorting and modification module is used to sort and modify workflow parameters based on a JSON file.
[0042] Furthermore, the determining module includes a first control module and a second control module; The first control module is used to execute the pipetting operation when the end effect type is pipetting. The second control module is used to perform vacuum operation when the end effector is a vacuum action.
[0043] Furthermore, the connector at the end of the target is fixed as a mechanical gripper, and a base is provided within the gripping range of the mechanical gripper, with a sample feeding head provided on the base.
[0044] Furthermore, the gripping action is to grip the sample dispensing head, and the opening action is for the mechanical grippers to open to lower the sample dispensing head.
[0045] Furthermore, after the robotic arm moves to the target reactor, before determining the actuator operation, the system also includes: The first execution module is used to start executing a single action after passing the coil address and corresponding command value from external parameters to the program in a table format when the coordinate axis moves to the reactor position. The single action includes a start function, a condition function, and a termination function. The first writing module is used to start the function by writing the command value true at the coil address; The read module is used to read the status value of the coil address using conditional functions; The second execution module is used to execute the next operation when the status value is true; The second write module is used to terminate the function by writing the command value false at the coil address.
[0046] This invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the robotic arm control method for chemical synthesis provided in the above embodiments.
[0047] This invention also provides a computer-readable medium having processor-executable non-volatile program code, on which a computer program is stored, and which, when run by a processor, executes the steps of the robotic arm control method for chemical synthesis described above.
[0048] The computer program product provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.
[0049] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0050] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.
[0051] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0052] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0053] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. A method for controlling a robotic arm in chemical synthesis, characterized in that, The method includes: Obtain the parameters of a single process class, wherein the parameters of the single process class include the target end point, the target reactor, and the end point action type; When the coordinate axis moves from the initial position to the position of the target end, the robotic arm is controlled to perform a gripping action, causing the robotic arm to move to the target reactor; The operation of the actuator is determined based on the type of end effector action. Once the execution is complete, the coordinate axis is moved to the position of the target end. After the opening action is performed, the coordinate axis is moved to the initial position; Get the parameters of the edited single-flow class as input by the user; Save the parameters of the edited single-process class as a JSON file; Sort and change workflow parameters based on the JSON file.
2. The robotic arm control method for chemical synthesis according to claim 1, characterized in that, Based on the type of end effector action, the operation of the actuator is determined, including: When the end effector type is a pipetting action, the actuator performs a pipetting operation; When the end effector type is a vacuum action, the actuator performs a vacuum operation.
3. The robotic arm control method for chemical synthesis according to claim 1, characterized in that, The connector at the end of the target is fixed as a mechanical gripper, and a base is provided within the gripping range of the mechanical gripper, with a sample feeding head provided on the base.
4. The robotic arm control method for chemical synthesis according to claim 3, characterized in that, The clamping action is to clamp the sample dispensing head, and the opening action is for the mechanical grippers to open to put down the sample dispensing head.
5. The robotic arm control method for chemical synthesis according to claim 1, characterized in that, After the robotic arm moves to the target reactor and before the actuator operates, the method further includes: When the coordinate axis moves to the reactor position, the coil address and corresponding command value are passed from external parameters to the program in tabular form, and then a single action is executed; the single action includes a start function, a condition function, and a termination function. The startup function writes the command value true at the coil address; The conditional function reads the status value of the coil address; When the status value is true, proceed to the next step. The termination function writes the command value false at the coil address.
6. A control system for a chemically synthesized robotic arm, characterized in that, The system includes: The parameter acquisition module is used to acquire parameters of a single process class, wherein the parameters of the single process class include the target end point, the target reactor, and the end point action type; The control module is used to control the robotic arm to perform a gripping action after the coordinate axis moves from the initial position to the position of the target end, so that the robotic arm moves to the target reactor; The determination module is used to determine the operation of the actuator based on the type of end effector action. The first moving module is used to move the coordinate axis to the position of the target end after the execution is completed; The second moving module is used to move the coordinate axis to the initial position after the opening action is performed; The edited parameter acquisition module is used to acquire the parameters of the edited single-flow class input by the user; The save module is used to save the parameters of the edited single-process class as a JSON file; The sorting and modification module is used to sort and modify workflow parameters based on the JSON file.
7. The robotic arm control system for chemical synthesis according to claim 6, characterized in that, The determining module includes a first control module and a second control module; The first control module is configured to have the actuator perform a pipetting operation when the end effector type is a pipetting action; The second control module is used to enable the actuator to perform a vacuum operation when the end effector type is a vacuum action.
8. The robotic arm control system for chemical synthesis according to claim 6, characterized in that, The connector at the end of the target is fixed as a mechanical gripper, and a base is provided within the gripping range of the mechanical gripper, with a sample feeding head provided on the base.
9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the method described in any one of claims 1 to 5.
10. A computer-readable medium having processor-executable non-volatile program code, characterized in that, The program code causes the processor to execute the method described in any one of claims 1 to 5.