Self-adaptive clamping AGV system for chemical synthesis automation platform

Abstract

The invention discloses a self-adaptive clamping AGV system for a chemical synthesis automation platform, and relates to the field of intelligent laboratory automation equipment. The system comprises an AGV chassis, a lifting stand column, a multi-degree-of-freedom clamping actuator, a sensing system and a control system. The multi-degree-of-freedom clamping actuator comprises a sealed double-shaft universal joint mechanism, a modularized quick-change clamping jaw and a miniature six-dimensional force / torque sensor. According to the sealed type double-shaft universal joint mechanism, a full-sealed structure is formed by a perfluoroether rubber sealing ring and a hastelloy shaft sleeve, and the pitching motion of + / -90 degrees and the yawing motion of 360 degrees are achieved. The sensing system comprises a visual camera used for recognizing the poses of the material baskets. The control system dynamically adjusts the clamping posture and the clamping force according to visual information and feedback of the force sensor, and flexible grabbing is achieved. The material basket grabbing mechanism is compact in structure, high in corrosion resistance, capable of grabbing material baskets placed at any angle in a self-adaptive mode, capable of accurately controlling the clamping force and suitable for automatic carrying of various materials in a chemical synthesis automatic platform.

Description

Technical Field

[0001] This invention relates to the field of intelligent laboratory automation equipment technology, and more specifically, to an adaptive gripping AGV system for an automated chemical synthesis platform. Background Technology

[0002] With the continuous development of chemical synthesis technology, high-throughput chemical synthesis platforms are increasingly widely used in drug development, materials manufacturing, and other fields. Automated Guided Vehicles (AGVs), due to their high efficiency and flexibility, are widely used for material transfer between reaction stations, storage areas, and analytical instruments. However, existing AGVs, when handling special materials such as reaction flasks and reagent containers in chemical experiments, typically use mechanical grippers with fixed orientations or limited to horizontal / vertical directions. This makes them unable to adapt to material baskets with non-standard placement angles, requiring strict alignment of workstations and reducing the system's flexibility and adaptability. Furthermore, the gripper joints are directly exposed to harsh environments such as volatile organic solvents and acid / alkali vapors, making them susceptible to corrosion and affecting their service life and performance.

[0003] To address the aforementioned issues, existing technologies attempt to introduce collaborative robotic arms, but these methods suffer from drawbacks such as high cost and large size, and lack specific protection and safety optimizations for chemical experimental scenarios. Furthermore, traditional grippers employ rigid structures, making it difficult to accurately control clamping force during the gripping process, potentially leading to damage to glass reactors and leakage risks. The expandability of existing grippers is also poor, making it difficult to accommodate material baskets of different sizes and interfaces. Therefore, there is an urgent need to develop a compact, corrosion-resistant, omnidirectional, and reliable AGV gripping system to solve the automated handling challenges posed by the random placement angles of material baskets and harsh environments in chemical synthesis platforms. Summary of the Invention

[0004] To address the aforementioned technical problems in related technologies, this invention proposes an adaptive gripping AGV system for an automated chemical synthesis platform, which can overcome the above-mentioned shortcomings of the prior art.

[0005] To achieve the above-mentioned technical objectives, the technical solution of the present invention is implemented as follows: An adaptive gripping AGV system for an automated chemical synthesis platform; The adaptive gripper AGV system for an automated chemical synthesis platform includes: An AGV chassis, which integrates a navigation module, a power supply and a main controller; A lifting column is mounted on the AGV chassis and is used to drive a multi-degree-of-freedom gripping actuator to move up and down in the vertical direction. A multi-degree-of-freedom gripping actuator includes a sealed dual-axis universal joint mechanism, a modular quick-change gripper, and a miniature six-dimensional force / torque sensor disposed between the sealed dual-axis universal joint mechanism and the modular quick-change gripper; the sealed dual-axis universal joint mechanism is used to drive the modular quick-change gripper to rotate in multiple degrees of freedom directions; the modular quick-change gripper is detachably connected to the end of the sealed dual-axis universal joint mechanism; A sensing system, comprising a vision camera mounted on the AGV chassis or lifting column, for identifying the position and posture of the target material basket; The control system is electrically connected to the AGV chassis, the lifting column, the multi-degree-of-freedom gripping actuator, and the sensing system, respectively. It is used to control the multi-degree-of-freedom gripping actuator to adjust its posture and perform gripping actions based on the pose information identified by the sensing system and the force information fed back by the miniature six-dimensional force / torque sensor.

[0006] Furthermore, the sealed biaxial universal joint mechanism includes an inner spherical shell, an outer spherical shell, and a perfluoroether rubber sealing ring and a Hastelloy bushing disposed at the connection between the inner and outer spherical shells to form a fully sealed structure.

[0007] Furthermore, the modular quick-change gripper includes one or more of the following: a self-centering three-finger gripper, a parallelogram linkage gripper, or a magnetic-mechanical composite gripper; the gripping surface of the modular quick-change gripper is provided with a polytetrafluoroethylene buffer pad.

[0008] Furthermore, the clamping surface has an arc-shaped groove structure.

[0009] Furthermore, the sensing system also includes an ambient gas sensor and a gyroscope; the ambient gas sensor is used to detect the concentration of surrounding ambient gases, and the gyroscope is used to calibrate the movement direction of the AGV.

[0010] Furthermore, the control system employs an adaptive impedance control algorithm to dynamically adjust the position and clamping force of the modular quick-change gripper based on the pose information identified by the sensing system and the force information fed back by the miniature six-dimensional force / torque sensor.

[0011] Furthermore, when the concentration of harmful gas detected by the ambient gas sensor exceeds a preset threshold, the control system controls the sealed biaxial universal joint mechanism to activate the internal positive pressure protection mode.

[0012] Furthermore, the lifting column is connected to the AGV chassis via a hydraulic cylinder, which is a double-acting hydraulic cylinder.

[0013] The beneficial effects of this invention are as follows: By employing a sealed dual-axis universal joint mechanism, adaptive gripping of material baskets at any spatial angle is achieved, significantly improving the system's flexibility and adaptability, thus solving the problem of limited posture in traditional AGVs; by using corrosion-resistant materials for a fully sealed design of the moving parts, the system's service life in harsh chemical environments is effectively extended; by introducing a miniature six-dimensional force / torque sensor and visual closed-loop control, precise control of the clamping force is achieved, effectively avoiding the risk of glassware breakage and thus improving operational safety; by adopting a modular quick-change gripper design, the system's compatibility with different material baskets is greatly expanded, meeting the diverse handling needs of chemical synthesis platforms. Detailed Implementation

[0014] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the implementation of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0015] An adaptive gripping AGV system for an automated chemical synthesis platform according to an embodiment of the present invention includes: An AGV chassis, which integrates a navigation module, a power supply and a main controller; A lifting column is mounted on the AGV chassis and is used to drive a multi-degree-of-freedom gripping actuator to move up and down in the vertical direction. A multi-degree-of-freedom gripping actuator includes a sealed dual-axis universal joint mechanism, a modular quick-change gripper, and a miniature six-dimensional force / torque sensor disposed between the sealed dual-axis universal joint mechanism and the modular quick-change gripper; the sealed dual-axis universal joint mechanism is used to drive the modular quick-change gripper to rotate in multiple degrees of freedom directions; the modular quick-change gripper is detachably connected to the end of the sealed dual-axis universal joint mechanism; A sensing system, comprising a vision camera mounted on the AGV chassis or lifting column, for identifying the position and posture of the target material basket; The control system is electrically connected to the AGV chassis, the lifting column, the multi-degree-of-freedom gripping actuator, and the sensing system, respectively. It is used to control the multi-degree-of-freedom gripping actuator to adjust its posture and perform gripping actions based on the pose information identified by the sensing system and the force information fed back by the miniature six-dimensional force / torque sensor.

[0016] According to an embodiment of the present invention, an adaptive gripping AGV system for an automated chemical synthesis platform is provided. In a specific embodiment, the sealed biaxial universal joint mechanism includes an inner spherical shell, an outer spherical shell, and a perfluoroether rubber sealing ring and a Hastelloy bushing disposed at the connection between the inner and outer spherical shells to form a fully sealed structure.

[0017] According to an embodiment of the present invention, an adaptive gripping AGV system for an automated chemical synthesis platform is provided. In a specific embodiment, the modular quick-change gripper includes one or more of a self-centering three-finger gripper, a parallelogram linkage gripper, or a magnetic-mechanical composite gripper; the gripping surface of the modular quick-change gripper is provided with a polytetrafluoroethylene buffer pad.

[0018] According to an embodiment of the present invention, an adaptive gripping AGV system for an automated chemical synthesis platform is provided, in a specific embodiment, wherein the gripping surface is an arc-shaped groove structure.

[0019] According to an embodiment of the present invention, an adaptive gripping AGV system for an automated chemical synthesis platform, in a specific embodiment, the sensing system further includes an ambient gas sensor and a gyroscope; the ambient gas sensor is used to detect the concentration of surrounding ambient gases, and the gyroscope is used to calibrate the movement direction of the AGV.

[0020] According to an embodiment of the present invention, an adaptive gripping AGV system for an automated chemical synthesis platform is provided. In a specific embodiment, the control system employs an adaptive impedance control algorithm to dynamically adjust the position and gripping force of the modular quick-change gripper based on the pose information identified by the sensing system and the force information fed back by the micro six-dimensional force / torque sensor.

[0021] According to an embodiment of the present invention, an adaptive gripping AGV system for an automated chemical synthesis platform is provided. In a specific embodiment, when the concentration of harmful gas detected by the ambient gas sensor exceeds a preset threshold, the control system controls the sealed dual-axis universal joint mechanism to activate the internal positive pressure protection mode.

[0022] According to an embodiment of the present invention, an adaptive gripping AGV system for an automated chemical synthesis platform is provided. In a specific embodiment, the lifting column is connected to the AGV chassis via a hydraulic cylinder, wherein the hydraulic cylinder is a double-acting hydraulic cylinder.

[0023] To facilitate understanding of the above technical solutions of the present invention, the following detailed description of the above technical solutions of the present invention is provided through specific technical details and embodiments.

[0024] In practical use, the adaptive gripping AGV system for an automated chemical synthesis platform according to the present invention includes an AGV chassis, a lifting column, a multi-degree-of-freedom gripping actuator, a sensing system, and a control system.

[0025] The AGV chassis integrates a navigation system, power supply, and main controller. Multiple omnidirectional wheels are installed at the bottom of the chassis to enable flexible movement and positioning of the AGV.

[0026] The lifting column is installed on the AGV chassis. The bottom of the lifting column is connected to the chassis via a hydraulic cylinder. The hydraulic cylinder is used to drive the lifting column to move in the vertical direction, thereby realizing the adjustment of the overall height of the AGV.

[0027] The multi-degree-of-freedom clamping actuator includes a sealed dual-axis universal joint mechanism, modular quick-change grippers, and a miniature six-dimensional force / torque sensor. The sealed dual-axis universal joint mechanism consists of an inner and outer spherical shell, with a crossed roller bearing installed between them. A perfluoroelastomer rubber seal and a Hastelloy bushing are installed at the connection between the inner and outer spherical shells, forming a fully sealed structure. This dual-axis universal joint mechanism can achieve ±90° pitch and 360° continuous yaw motion. The modular quick-change gripper is connected to the end of the dual-axis universal joint mechanism via a pneumatic or electric quick-change interface. The quick-change gripper adopts a modular design, including one or more of a self-centering three-finger gripper, a parallelogram linkage gripper, and a magnetic-mechanical composite gripper. The inner side of the quick-change gripper is embedded with a PTFE buffer pad, and the clamping surface is designed as an arc-shaped groove that matches the curvature of the bottle body, ensuring uniform stress distribution during clamping. The miniature six-dimensional force / torque sensor is embedded between the dual-axis universal joint mechanism and the quick-change gripper. It is connected to the control system via a data cable to monitor the force and torque data during the clamping process in real time and feed the information back to the control system.

[0028] The sensing system includes a top-mounted industrial-grade 3D vision camera, an ambient gas sensor, and a gyroscope. The 3D vision camera identifies the position and three-dimensional orientation of the material basket, the ambient gas sensor detects the concentration of surrounding gases, and the gyroscope calibrates the AGV's movement direction in real time. When harmful gases are detected exceeding a preset threshold, the system automatically pauses the gripping task and activates the positive pressure protection mode inside the sealed universal joint, injecting clean nitrogen into the sealed cavity to prevent harmful gases from entering the moving parts.

[0029] The control system includes a main controller and a human-machine interface. During the gripping process, the main controller identifies the material basket's pose through a vision system, calculates the target angle of the universal joint and the opening / closing amount of the grippers, and the vision system simultaneously provides initial pose estimation. Force sensors detect contact force and torque in real time. The control system employs an adaptive impedance control algorithm to dynamically adjust the gripper position and clamping force, achieving a "vision-guided, force-controlled, compliant" gripping strategy, ensuring safe gripping within a ±2mm positional error range. The human-machine interface is located in the AGV's cab, facilitating remote control and monitoring by operators.

[0030] During operation, the AGV chassis drive system controls the AGV to move to the target workstation, the lifting column drive system controls the lifting column to rise and fall to the appropriate height, and the dual-axis universal joint mechanism drive system controls the gripper to rotate to the correct angle. Simultaneously, a miniature six-dimensional force / torque sensor monitors the gripping status in real time. When the detected contact force reaches a preset value, the control system controls the gripper to perform a gripping action. After gripping, the AGV performs the transport task, and upon reaching the destination, it reverses to perform the placement operation.

[0031] Example 1 A multi-degree-of-freedom adaptive gripping AGV system for an automated chemical synthesis platform includes an AGV chassis 1, a lifting column 2, a multi-degree-of-freedom gripping actuator 3, a sensing system 4, and a control system 5.

[0032] The AGV chassis 1 integrates a navigation system, power supply, and main controller. Four omnidirectional wheels are installed at the bottom of the chassis for flexible movement and positioning of the AGV. A lifting column is mounted on the AGV chassis, and its bottom is connected to the chassis via a hydraulic cylinder. The hydraulic cylinder drives the lifting column to move vertically, thereby adjusting the overall height of the AGV.

[0033] The multi-degree-of-freedom clamping actuator 3 includes a sealed dual-axis universal joint mechanism 31, a modular quick-change gripper 32, and a miniature six-dimensional force / torque sensor 33. The sealed dual-axis universal joint mechanism 31 consists of an inner spherical shell 311 and an outer spherical shell 312. A crossed roller bearing 313 is installed between the inner spherical shell 311 and the outer spherical shell 312. A perfluoroether rubber sealing ring 314 and a Hastelloy bushing 315 are provided at the connection between the inner spherical shell 311 and the outer spherical shell 312 to form a fully sealed structure. This dual-axis universal joint mechanism 31 can achieve ±90° pitch and 360° continuous yaw motion. The modular quick-change gripper 32 is connected to the end of the dual-axis universal joint mechanism 31 via a pneumatic quick-change interface. The quick-change gripper 32 adopts a modular design, including various types such as a self-centering three-finger gripper, a parallelogram linkage gripper, and a magnetic-mechanical composite gripper. The gripper head of the quick-change gripper 32 is made of corrosion-resistant polymer material, capable of adapting to material baskets of different sizes and shapes. The miniature six-dimensional force / torque sensor 33 is embedded between the dual-axis universal joint mechanism 31 and the quick-change gripper 32, and is connected to the control system 5 via a data cable to monitor force and torque data during the clamping process in real time, feeding the information back to the control system 5.

[0034] The sensing system 4 includes a top-mounted industrial-grade structured light 3D vision camera 41, an ambient gas sensor 42, and a gyroscope 43. The 3D vision camera 41 is used to identify the position and three-dimensional posture of the material basket, the ambient gas sensor 42 is used to detect the concentration of surrounding ambient gases, and the gyroscope 43 is used to calibrate the movement direction of the AGV in real time.

[0035] The control system 5 includes a main controller 51 and a human-machine interface 52. The main controller 51 identifies the position and posture of the material basket through a vision system, calculates the target angle of the universal joint and the opening and closing amount of the gripper, and dynamically adjusts the clamping force based on force feedback information to achieve compliant gripping. The human-machine interface 52 is located in the AGV cab, facilitating remote control and monitoring by the operator.

[0036] During operation, the AGV chassis drive system controls the AGV to move to the target workstation, the lifting column drive system controls the lifting column to rise and fall to the appropriate height, and the dual-axis universal joint mechanism drive system controls the gripper to rotate to the correct angle. Simultaneously, a miniature six-dimensional force / torque sensor 33 monitors the gripping status in real time. When the detected contact force reaches 5N, the control system controls the gripper to perform a gripping action. After gripping, the AGV performs the transport task, and upon reaching the destination, it reverses to perform the placement operation.

[0037] Example 2 A multi-degree-of-freedom adaptive gripping AGV system for an automated chemical synthesis platform includes an AGV chassis 1, a lifting column 2, a multi-degree-of-freedom gripping actuator 3, a sensing system 4, and a control system 5.

[0038] The AGV chassis 1 integrates a navigation system, power supply, and main controller. Four omnidirectional wheels are installed at the bottom of the chassis for flexible movement and positioning of the AGV. A lifting column is mounted on the AGV chassis, and its bottom is connected to the chassis via a hydraulic cylinder. The hydraulic cylinder is a double-acting cylinder with a stroke of 500mm and a maximum lifting weight of 50kg, used to drive the lifting column to move vertically, thereby adjusting the overall height of the AGV.

[0039] The multi-degree-of-freedom clamping actuator 3 includes a sealed dual-axis universal joint mechanism 31, a modular quick-change gripper 32, and a miniature six-dimensional force / torque sensor 33. The sealed dual-axis universal joint mechanism 31 consists of an inner spherical shell 311 and an outer spherical shell 312. A crossed roller bearing 313 is installed between the inner spherical shell 311 and the outer spherical shell 312. A perfluoroether rubber sealing ring 314 and a Hastelloy bushing 315 are provided at the connection between the inner spherical shell 311 and the outer spherical shell 312 to form a fully sealed structure. This dual-axis universal joint mechanism 31 can achieve ±90° pitch and 360° continuous yaw motion. The modular quick-change gripper 32 is connected to the end of the dual-axis universal joint mechanism 31 via an electric quick-change interface. The quick-change gripper 32 adopts a modular design, including various types such as a self-centering three-finger gripper, a parallelogram linkage gripper, and a magnetic-mechanical composite gripper. The gripper head of the quick-change gripper 32 is made of polyimide material, which can adapt to material baskets of different sizes and shapes. The miniature six-dimensional force / torque sensor 33 is embedded between the dual-axis universal joint mechanism 31 and the quick-change gripper 32, and is connected to the control system 5 via a data cable to monitor the force and torque data during the clamping process in real time, and feeds the information back to the control system 5. The measurement range of the miniature six-dimensional force / torque sensor 33 is 0-50N force and 0-10Nm torque.

[0040] The sensing system 4 includes a top-mounted industrial-grade ToF 3D vision camera 41, an ambient gas sensor 42, and a gyroscope 43. The 3D vision camera 41 is used to identify the position and three-dimensional posture of the material basket, the ambient gas sensor 42 is used to detect the concentration of surrounding ambient gases, and the gyroscope 43 is used to calibrate the movement direction of the AGV in real time.

[0041] The control system 5 includes a main controller 51 and a human-machine interface 52. The main controller 51 identifies the position and posture of the material basket through a vision system, calculates the target angle of the universal joint and the opening and closing amount of the gripper, and dynamically adjusts the clamping force based on force feedback information to achieve compliant gripping. The human-machine interface 52 is located in the AGV cab, facilitating remote control and monitoring by the operator.

[0042] During operation, the AGV chassis drive system controls the AGV to move to the target workstation, the lifting column drive system controls the lifting column to rise and fall to the appropriate height, and the dual-axis universal joint mechanism drive system controls the gripper to rotate to the correct angle. Simultaneously, a miniature six-dimensional force / torque sensor 33 monitors the gripping status in real time. When the detected contact force reaches 5N, the control system controls the gripper to perform a gripping action. After gripping, the AGV performs the transport task, and upon reaching the destination, it reverses to perform the placement operation.

[0043] In summary, by employing the above-mentioned technical solutions of this invention, an adaptive gripping mechanism for material baskets at any spatial angle is achieved through the use of a sealed dual-axis universal joint mechanism, thereby significantly improving the system's flexibility and adaptability and solving the problem of limited posture in traditional AGVs. The use of corrosion-resistant materials for a fully sealed design of the moving parts effectively extends the system's service life in harsh chemical environments. The introduction of a miniature six-dimensional force / torque sensor and visual closed-loop control enables precise control of the clamping force, effectively avoiding the risk of glassware breakage and improving operational safety. The modular quick-change gripper design greatly expands the system's compatibility with different material baskets, meeting the diverse handling needs of chemical synthesis platforms.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive gripping AGV system for an automated chemical synthesis platform, characterized in that, include: An AGV chassis, which integrates a navigation module, a power supply and a main controller; A lifting column is mounted on the AGV chassis and is used to drive a multi-degree-of-freedom gripping actuator to move up and down in the vertical direction. A multi-degree-of-freedom gripping actuator includes a sealed dual-axis universal joint mechanism, a modular quick-change gripper, and a miniature six-dimensional force / torque sensor disposed between the sealed dual-axis universal joint mechanism and the modular quick-change gripper; the sealed dual-axis universal joint mechanism is used to drive the modular quick-change gripper to rotate in multiple degrees of freedom directions; the modular quick-change gripper is detachably connected to the end of the sealed dual-axis universal joint mechanism; A sensing system, comprising a vision camera mounted on the AGV chassis or lifting column, for identifying the position and posture of the target material basket; The control system is electrically connected to the AGV chassis, the lifting column, the multi-degree-of-freedom gripping actuator, and the sensing system, respectively. It is used to control the multi-degree-of-freedom gripping actuator to adjust its posture and perform gripping actions based on the pose information identified by the sensing system and the force information fed back by the miniature six-dimensional force / torque sensor.

2. The adaptive gripping AGV system for an automated chemical synthesis platform according to claim 1, characterized in that, The sealed biaxial universal joint mechanism includes an inner spherical shell, an outer spherical shell, a perfluoroether rubber sealing ring and a Hastelloy bushing located at the connection between the inner and outer spherical shells to form a fully sealed structure.

3. The adaptive gripping AGV system for an automated chemical synthesis platform according to claim 1, characterized in that, The modular quick-change gripper includes one or more of the following: a self-centering three-finger gripper, a parallelogram linkage gripper, or a magnetic-mechanical composite gripper; the gripping surface of the modular quick-change gripper is provided with a polytetrafluoroethylene (PTFE) buffer pad.

4. The adaptive gripping AGV system for an automated chemical synthesis platform according to claim 3, characterized in that, The clamping surface has an arc-shaped groove structure.

5. The adaptive gripping AGV system for an automated chemical synthesis platform according to claim 1, characterized in that, The sensing system also includes an ambient gas sensor and a gyroscope; the ambient gas sensor is used to detect the concentration of surrounding ambient gases, and the gyroscope is used to calibrate the movement direction of the AGV.

6. The adaptive gripping AGV system for an automated chemical synthesis platform according to claim 1, characterized in that, The control system employs an adaptive impedance control algorithm to dynamically adjust the position and clamping force of the modular quick-change gripper based on the pose information identified by the sensing system and the force information fed back by the miniature six-dimensional force / torque sensor.

7. The adaptive gripping AGV system for an automated chemical synthesis platform according to claim 5, characterized in that, When the concentration of harmful gas detected by the ambient gas sensor exceeds a preset threshold, the control system controls the sealed biaxial universal joint mechanism to activate the internal positive pressure protection mode.

8. The adaptive gripping AGV system for an automated chemical synthesis platform according to claim 1, characterized in that, The lifting column is connected to the AGV chassis via a hydraulic cylinder, which is a double-acting hydraulic cylinder.