A fully automatic liquid detection cooperation station

Abstract

The application is suitable for the technical field of laboratory liquid processing equipment, and provides a full-automatic liquid detection cooperative workstation, which comprises a rack, a first buffer mechanism, a material conveying mechanism, a cap screwing and clamping mechanism, a first six-axis robot, a second six-axis robot, a transplanting movement mechanism, a three-axis transplanting liquid sucking mechanism, a rinsing mechanism and a main control system, the top of the rack forms a work platform, the first buffer mechanism is arranged at the side of the work platform, the material conveying mechanism is connected to the bottom of the first buffer mechanism, the cap screwing and clamping mechanism is arranged in the middle of the work platform, the cap screwing and clamping mechanism comprises a lifting driving mechanism, an opening and closing cap mechanism and a clamping mechanism, and the output end of the lifting driving mechanism is connected to the opening and closing cap mechanism, so as to drive the opening and closing cap mechanism to perform lifting movement. The full-process complicated operation of laboratory liquid detection is completed through the setting of multiple mechanism cooperation linkage, and multi-station and multi-process automatic continuous operation is realized.

Description

Technical Field

[0001] This invention relates to the field of laboratory liquid handling equipment technology, and more specifically, to a fully automated liquid detection collaborative workstation. Background Technology

[0002] Currently, most laboratory liquid physicochemical analysis and component detection work relies on manual labor for a series of operations, including sample transfer, pipetting, clamping and positioning, and reagent preparation. This manual process is cumbersome and involves repetitive, high-intensity work. For volatile, highly corrosive, toxic, and hazardous liquid samples, direct manual contact poses significant safety risks. Furthermore, manual pipetting suffers from poor accuracy and inconsistent movements, easily leading to spills and leaks, causing secondary contamination of the samples and severely impacting the accuracy of experimental data. To address these issues, the field has been exploring the development of automated equipment to replace manual labor.

[0003] However, existing automated equipment has a simple structure, insufficient degrees of freedom of movement, and cannot complete continuous linkage operations of multiple workstations and processes. It also has poor adaptability and cannot meet the needs of modern high-standard laboratories for batch, efficient, and safe liquid testing operations. Summary of the Invention

[0004] In view of the shortcomings of existing technologies, the purpose of this invention is to provide a fully automated liquid detection collaborative workstation.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a fully automatic liquid detection collaborative workstation, including a frame, a working platform formed on the top of the frame, a first buffer mechanism provided on the side of the working platform, and a material conveying mechanism connected to the bottom of the first buffer mechanism; A cap clamping mechanism is located in the middle of the working platform and includes a lifting drive mechanism, a cap opening and closing mechanism and a clamping mechanism. The output end of the lifting drive mechanism is connected to the cap opening and closing mechanism to drive the cap opening and closing mechanism to perform lifting and lowering movements. The first six-axis robot and the second six-axis robot are respectively disposed on both sides of the cap clamping mechanism. The ends of the first six-axis robot and the second six-axis robot are integrated with a barcode scanning device and a clamping device. The transplanting mechanism includes a mobile carrier and a transplanting drive unit. The transplanting drive unit is installed at the bottom of the working platform and drives the mobile carrier to move along a moving path opened on the working platform. The moving path passes through the working area of ​​the cap clamping mechanism. The three-axis transplanting and aspiration mechanism is installed on the side of the working platform away from the first buffer mechanism. The three-axis transplanting and aspiration mechanism includes an X-axis drive mechanism, a Y-axis drive mechanism and a Z-axis drive mechanism. The output end of the Z-axis drive mechanism is connected to a pipette and a rotary electric gripper. A rinsing mechanism is disposed between the three-axis transplanting and liquid aspiration mechanism and the second six-axis robot; The main control system is electrically connected to the material conveying mechanism, the first six-axis robot, the capping and clamping mechanism, the transplanting motion mechanism, the three-axis transplanting and liquid suction mechanism, the second six-axis robot, and the rinsing mechanism, respectively, to coordinate and control each mechanism to complete the fully automatic liquid detection operation.

[0006] The present invention is further configured such that: the first buffer mechanism includes two parallel buffer bins, namely a primary bottle feeding buffer area and a primary bottle empty bottle recycling buffer area.

[0007] The present invention is further configured such that: one end of the moving path is close to the first buffer mechanism, serving as the loading and unloading position of the primary bottle, and the other end of the moving path is close to the rinsing mechanism, serving as the liquid dispensing position of the primary bottle.

[0008] The present invention is further configured such that: the opening and closing cover mechanism includes a rotary motor and a gripper cylinder; the clamping mechanism is installed directly below the opening and closing cover mechanism; and the clamping mechanism consists of two opposing cylinders and their driven arc-shaped clamping blocks.

[0009] The present invention is further configured such that the rinsing mechanism includes: A collection tank having an upward-facing opening for collecting liquid splashed out during the rinsing process; A rinsing clamping cylinder is disposed inside the collection tank; A rinsing drive unit is disposed outside the collection tank. The rinsing drive unit is connected to the rinsing clamping cylinder for driving the rinsing clamping cylinder to rotate with its rotating shaft.

[0010] The present invention is further configured such that the rinsing mechanism further includes: A waste liquid dumping pipe is installed through the working platform and located outside the collection tank. The waste liquid dumping pipe has an upward-opening opening. A drainage funnel is located at the bottom of the work platform and connected to the bottom of the waste liquid pouring pipe; The washing liquid collection tank is located at the bottom of the frame, below the liquid outlet of the drainage funnel.

[0011] The present invention is further configured such that: a rinsing isolation shell is provided on the outside of the rinsing mechanism, the rinsing isolation shell is fixedly installed on the working platform and the collection tank is accommodated inside it, and the top of the rinsing isolation shell is provided with an opening.

[0012] The present invention is further configured such that: a second buffer mechanism is provided on the working platform, the second buffer mechanism is located in the working area of ​​the triaxial transfer and aspiration mechanism; the second buffer mechanism includes a tip head feeding buffer mechanism and a secondary bottle feeding buffer mechanism.

[0013] The present invention is further configured such that: the working platform is also provided with a third buffer mechanism and a fourth buffer mechanism, the third buffer mechanism and the fourth buffer mechanism being respectively disposed on both sides of the second six-axis robot.

[0014] The invention is further configured to include a protective cabin, which is disposed on the outside of the frame and covers the entire working area of ​​the equipment.

[0015] By adopting the above technical solution, this application includes at least one of the following beneficial technical effects: 1. This invention, through the integrated setup of a material conveying mechanism, a first six-axis robot, a capping and clamping mechanism, a transfer motion mechanism, a three-axis transfer and liquid aspiration mechanism, a second six-axis robot, and a rinsing mechanism, replaces manual labor in completing the tedious operations of the entire laboratory liquid testing process, realizing automated continuous operation of multiple workstations and processes, and meeting the needs of modern high-standard laboratories for batch, efficient, and safe liquid testing operations.

[0016] 2. This invention employs a three-axis transfer and aspiration mechanism combined with a second six-axis robot to achieve automatic liquid collection. It can adapt to different test tube sizes and sampling requirements at different tilt angles, and is compatible with various laboratory liquid testing scenarios. Simultaneously, the three-axis transfer and aspiration mechanism integrates a high-precision, drip-proof pipette to avoid liquid spillage and secondary sample contamination, ensuring the accuracy of the test data.

[0017] 3. The present invention features a protective cabin that covers the entire working area of ​​the equipment, which can replace manual entry into high-risk experimental areas and effectively avoid the safety risks caused by toxic, harmful, and volatile liquids. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 In this invention Figure 1 A top-view structural diagram; Figure 3 In this invention Figure 1 A schematic diagram of the rear view structure; Figure 4This is a schematic diagram of the material conveying mechanism in this invention; Figure 5 This is a schematic diagram of the transplanting mechanism and its movement path in this invention; Figure 6 This is a schematic diagram of the transplanting mechanism in this invention; Figure 7 This is a schematic diagram of the cap clamping mechanism in this invention; Figure 8 This is a schematic diagram of the triaxial transplanting and liquid aspiration mechanism in this invention; Figure 9 In this invention Figure 8 A magnified structural diagram of region A; Figure 10 This is a schematic diagram of the washing mechanism in this invention; Figure 11 This is a partial structural schematic diagram of the washing mechanism in this invention; Figure 12 This is a schematic diagram of the protective cabin structure in this invention; Figure label: 1. Rack; 2. First cache mechanism; 3. Material conveying mechanism; 4. The first six-axis robot; 5. Cap clamping mechanism; 51. Lifting drive mechanism; 511. Slider; 52. Cap opening and closing mechanism; 53. Clamping mechanism; 6. Transplanting mechanism; 61. Mobile vehicle; 62. Transplanting drive unit; 7. Three-axis transfer and aspiration mechanism; 71. X-axis drive mechanism; 72. Y-axis drive mechanism; 73. Z-axis drive mechanism; 74. Pipette; 75. Rotary electric gripper; 8. The second six-axis robot; 9. Secondary buffer mechanism; 91. Tip head feeding buffer mechanism; 92. Secondary bottle feeding buffer mechanism; 10. Rinsing mechanism; 101. Rinsing drive unit; 102. Rinsing clamping cylinder; 103. Collection tank; 104. Waste liquid pouring pipe; 105. Drainage funnel; 106. Rinsing liquid collection tank; 11. Third caching mechanism; 12. Fourth caching mechanism; 13. Protective cabin. Detailed Implementation

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0021] Please see Figures 1 to 12 The present invention provides the following technical solutions: Example 1, see Figures 1 to 3 A fully automatic liquid testing collaborative workstation includes a frame 1, with a working platform formed on the top of the frame 1. The bottom of the frame 1 is equipped with casters and feet for easy movement and fixation. A first buffer mechanism 2 is provided on the side of the working platform. The first buffer mechanism 2 is used for loading and unloading primary bottles. The primary bottle refers to the original liquid bottle of the liquid sample to be tested. The bottom of the first buffer mechanism 2 is connected to a material conveying mechanism 3, which is used to realize the automatic loading and unloading of primary bottles.

[0022] The working platform is equipped with a capping and clamping mechanism 5 in the middle, which is used for opening and closing the caps of bottles. A first six-axis robot 4 and a second six-axis robot 8 are respectively set on both sides of the capping and clamping mechanism 5. Both the first six-axis robot 4 and the second six-axis robot 8 are six-axis collaborative robots, and their ends are integrated with a barcode scanning device and a clamping device.

[0023] The work platform is also equipped with a transplanting mechanism 6, which is used to move the primary bottles between different workstations.

[0024] A three-axis transfer and aspiration mechanism 7 is installed on the side of the work platform away from the first buffer mechanism 2. The three-axis transfer and aspiration mechanism 7 includes an X-axis drive mechanism 71, a Y-axis drive mechanism 72 and a Z-axis drive mechanism 73. The output end of the Z-axis drive mechanism 73 is connected to a pipette 74 and a rotary electric gripper 75, which are used to perform actions such as tip picking, secondary bottle gripping, pipetting, opening and closing the cap, and tilting. The secondary bottle is a container used to receive the liquid transferred from the primary bottle and to rinse, fill and test it. The secondary bottle is initially empty.

[0025] A rinsing mechanism 10 is provided between the three-axis transplanting and aspiration mechanism 7 and the second six-axis robot 8. The rinsing mechanism 10 is used to rinse the secondary bottle.

[0026] Material conveying mechanism 3, first six-axis robot 4, capping and clamping mechanism 5, transplanting motion mechanism 6, three-axis transplanting and liquid suction mechanism 7, second six-axis robot 8, and washing mechanism 10 are electrically connected to the main control system. The main control system is used to coordinate and control each mechanism to complete the fully automatic liquid detection work.

[0027] Specifically, see Figure 4The first buffer mechanism 2 includes two parallel buffer bins, namely a primary bottle feeding buffer area and a primary bottle empty bottle recycling buffer area. The bottom of the first buffer mechanism 2 is connected to a material conveying mechanism 3, which is a conveyor line. The material conveying mechanism 3 includes a conveyor belt and a drive motor. The conveyor belt at the bottom of the primary bottle feeding buffer area transports the primary bottles to the working area that the first six-axis robot 4 can grasp. The conveyor belt at the bottom of the primary bottle empty bottle recycling buffer area moves in the opposite direction to recycle the primary bottle empty bottles.

[0028] See Figures 5 to 6 The working area of ​​the lifting drive mechanism 51 on the working platform extends along the X-axis and has a moving path. One end of the moving path is close to the first buffer mechanism 2 and the other end is close to the rinsing mechanism 10. The transfer motion mechanism 6 includes a moving carrier 61 and a transfer drive unit 62. The moving carrier 61 has a placement slot for placing single-use bottles. The transfer drive unit 62 is installed at the bottom of the working platform. The mover of the transfer drive unit 62 passes upward through the clearance slot where the moving path is located and is fixedly connected to the moving carrier 61. The transfer drive unit 62 drives the moving carrier 61 to move on the moving path, moving the single-use bottle from the loading position of the first six-axis robot 4 to the capping position of the capping clamping mechanism 5, and then to the picking position of the second six-axis robot 8. After the liquid is picked up, it returns to the capping position for capping and finally returns to the working area of ​​the first six-axis robot 4 to unload the single-use bottle.

[0029] See Figure 7 The cap clamping mechanism 5 includes a lifting drive mechanism 51, a cap opening and closing mechanism 52, and a clamping mechanism 53. The lifting drive mechanism 51 is a linear module that is vertically installed on the work platform. Its slider 511 can move up and down along the Z-axis. The cap opening and closing mechanism 52 is connected to the slider 511 and moves up and down synchronously with the slider 511.

[0030] Specifically, the cap opening and closing mechanism 52 includes a rotary motor and a gripper cylinder. The output shaft of the rotary motor is connected to the gripper cylinder. The lower part of the two grippers of the gripper cylinder has an arc-shaped groove for stably gripping the cap of the primary bottle. The upper part of the two grippers of the gripper cylinder has a semi-circular structure. When the two grippers are closed, the two semi-circular structures on the upper part of the grippers abut against the cap of the primary bottle from above, limiting the axial displacement of the cap. When opening the cap, as the rotary motor drives the gripper cylinder to rotate, the cap of the primary bottle rotates upward under the action of torque. At this time, the upper semi-circular surface of the gripper abuts against the cap, ensuring that the cap will not jump upward out of the gripper. When closing the cap, the upper semi-circular structure of the gripper also plays a guiding and limiting role, ensuring that the cap can be smoothly screwed downward into the mouth of the primary bottle without deflection.

[0031] The clamping mechanism 53 consists of two opposing cylinders and their driven arc-shaped clamping blocks, and is installed directly below the cap opening and closing mechanism 52. It is used to clamp the bottle body of the bottle from both sides. The coordinated work of the cap opening and closing mechanism 52 and the clamping mechanism 53 ensures the stability and reliability of the capping process.

[0032] See Figures 8 to 9 The three-axis transfer and aspiration mechanism 7 is a three-axis servo linear module, including an X-axis drive mechanism 71, a Y-axis drive mechanism 72, and a Z-axis drive mechanism 73. The output end of the Z-axis drive mechanism 73 is connected to a pipette 74 and a rotary electric gripper 75. The rotary electric gripper 75 opens and closes to grip the secondary bottle. Preferably, the pipette 74 is a high-precision pipette to achieve anti-drip pipetting. The rotary electric gripper 75 consists of a drive motor, a reducer, and grippers. The grippers can open and close to grip the secondary bottle. When the secondary bottle is clamped and fixed, the drive motor drives the grippers to rotate around its axis to realize the opening and closing action of the secondary bottle cap.

[0033] See Figures 10 to 11 The rinsing mechanism 10 includes a rinsing drive unit 101, a rinsing clamping cylinder 102, a collection tank 103, a waste liquid pouring pipe 104, a drainage funnel 105, and a rinsing liquid collection tank 106. The rinsing mechanism 10 is used for clamping and opening / closing the cap of the secondary bottle, as well as for rinsing the inner wall of the secondary bottle. Specifically, the rinsing drive unit 101 is a servo motor or stepper motor, installed at the rear end of the rinsing clamping cylinder 102, driving the rinsing clamping cylinder 102 to rotate around the rotation axis of the rinsing drive unit 101, with a rotation angle range of 0°~360°. The grippers of the rinsing clamping cylinder 102 extend into the collection tank 103, which is a square tank with an open top, fixed to the work platform. The waste liquid pouring pipe 104 is a round pipe vertically installed on the work platform, located outside the collection tank 103. The bottom of the 104 penetrating work platform connects to the drainage funnel 105 and the rinsing liquid collection tank 106, which is located at the bottom of the frame 1, below the liquid outlet of the drainage funnel 105. Furthermore, the rinsing mechanism 10 is provided with a rinsing isolation shell on the outside. The rinsing isolation shell is fixedly installed on the work platform and houses the collection tank 103 inside it. The rinsing isolation shell is rectangular box-shaped, and its top is provided with an opening for taking out and putting in the secondary bottle. By setting the rinsing isolation shell, the rinsing liquid is prevented from splashing out of the rinsing mechanism 10 during rinsing.

[0034] See Figure 12 The frame 1 is equipped with a protective cabin 13 on the outside, which encloses the entire working area, is suitable for high-risk liquid operations, and can isolate the spread of harmful gases.

[0035] See Figure 2The operating platform is equipped with a second buffer mechanism 9, which is located in the operating area of ​​the three-axis transfer and liquid aspiration mechanism 7. It includes a tip head feeding buffer mechanism 91 and a secondary bottle feeding buffer mechanism 92, which are used for feeding buffer of the tip head and feeding buffer of the secondary bottle. Furthermore, a third buffer mechanism 11 and a fourth buffer mechanism 12 are respectively provided on both sides of the second six-axis robot 8. The third buffer mechanism 11 is used for storing the secondary bottles to be tested after filling, and the fourth buffer mechanism 12 is used for buffering the turnover of the secondary bottles after testing.

[0036] In this embodiment, the workflow of the present invention includes: Step 1: Material Preparation The operator places the primary bottle containing the concentrate into the feeding buffer area of ​​the first buffer mechanism 2; places the tip head into the tip head feeding buffer mechanism 91, and places the secondary bottle into the secondary bottle feeding buffer mechanism 92; closes the protective chamber 13, and starts the equipment.

[0037] Step 2: Grabbing and conveying the bottle The material conveying mechanism 3 transports the primary bottles from the feeding buffer area of ​​the first buffer mechanism 2 to the gripping position near the first six-axis robot 4. The first six-axis robot 4 moves to the gripping position, picks up the primary bottles, and performs a rotary barcode scan, uploading the information to the main control system. Subsequently, the first six-axis robot 4 places the primary bottles into the moving carrier 61 of the transfer mechanism 6. Step 3: Transplanting and opening the bottle The transplant drive unit 62 is activated, driving the moving carrier 61 to move along the moving path. It first reaches the capping position of the capping clamping mechanism 5. The cylinder of the clamping mechanism 53 pushes out to clamp the bottle body of the primary bottle. The lifting drive mechanism 51 drives the slider 511 to descend. The jaws of the cap opening and closing mechanism 52 close to clamp the cap of the primary bottle. The rotary motor is activated to open the cap. After the cap is opened, the lifting drive mechanism 51 drives the cap opening and closing mechanism 52 to rise with the cap and leave the bottle body of the primary bottle. Then the transplant drive unit 62 continues to drive the moving carrier 61 to move to the liquid taking position on the side of the rinsing mechanism 10.

[0038] Step 4: Preparation for rinsing the second bottle The three-axis transfer and aspiration mechanism 7 moves to the tip feeding buffer mechanism 91 position, inserts a tip into the pipette 74, and then moves to the secondary bottle feeding buffer mechanism 92 position. The rotating electric gripper 75 picks up an empty secondary bottle and places it into the collection tank 103 of the rinsing mechanism 10. The rinsing clamping cylinder 102 clamps the body of the secondary bottle, and the rotating electric gripper 75 clamps the bottle cap of the secondary bottle again and rotates to open the cap.

[0039] Next, the three-axis transfer and aspiration mechanism 7 moves to the primary bottle, the pipette 74 is inserted into the primary bottle to aspirate the set volume of stock solution, and then the pipette 74 is moved directly above the secondary bottle to inject the stock solution into the secondary bottle.

[0040] Step 5: Rinsing the second bottle The rinsing drive unit 101 is activated, driving the rinsing clamping cylinder 102 to clamp the secondary bottle and rotate it, allowing the original liquid to fully rinse the secondary bottle. A small amount of liquid thrown out during the rotation falls into the collection tank 103 below. After the rotation stops, the rotating electric gripper 75 of the three-axis transfer and suction mechanism 7 clamps the body of the secondary bottle again, the rinsing clamping cylinder 102 is released, and the three-axis transfer and suction mechanism 7 moves the secondary bottle above the waste liquid pouring pipe 104. Then, the rotating electric gripper 75 rotates 180° to pour the waste liquid in the secondary bottle into the waste liquid pouring pipe 104. The waste liquid enters the rinsing liquid collection tank 106 through the drainage funnel 105. Then, the rotating electric gripper 75 puts the secondary bottle back into the rinsing clamping cylinder 102, and repeats the above rinsing process to complete the second rinsing.

[0041] Step 6: Filling and capping the secondary bottles After the secondary bottle is rinsed, the triaxial transfer and aspiration mechanism 7 draws the test solution from the primary bottle again and injects it into the secondary bottle. The electric gripper 75 is rotated to place the bottle cap back into the secondary bottle opening, and the cap is rotated to close it. Then, the triaxial transfer and aspiration mechanism 7 moves the filled secondary bottle to the temporary fixing groove outside the rinsing mechanism 10.

[0042] Step 7: Buffering and Discharging of Secondary Bottles The second six-axis robot 8 picks up the filled secondary bottles and moves them to the third buffer mechanism 11, waiting for the external testing equipment to retrieve them. After the external testing equipment completes the testing, the bottles are returned to the third buffer mechanism 11, and the second six-axis robot 8 picks them up again and puts them into the fourth buffer mechanism 12.

[0043] Step 8: Recycling empty single-use bottles Once the original liquid in the bottle is emptied, the main control system issues a command, and the transfer motion mechanism 6 moves the empty bottle from the material handling displacement back to the capping position of the capping clamping mechanism 5. The capping clamping mechanism 5 clamps the bottle body again, and the clamping mechanism 53 descends and screws the cap on. After the cap is closed, the transfer motion mechanism 6 moves the empty bottle to the working area of ​​the first six-axis robot 4. The first six-axis robot 4 picks up the empty bottle and puts it into the empty bottle recycling buffer area of ​​the first buffer mechanism 2.

[0044] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

Claims

1. A fully automated liquid detection collaborative workstation, characterized in that, include: A frame (1) is formed on the top of the frame (1), and a first buffer mechanism (2) is provided on the side of the working platform. A material conveying mechanism (3) is connected to the bottom of the first buffer mechanism (2). The cap clamping mechanism (5) is located in the middle of the working platform and includes a lifting drive mechanism (51), a cap opening and closing mechanism (52) and a clamping mechanism (53). The output end of the lifting drive mechanism (51) is connected to the cap opening and closing mechanism (52) to drive the cap opening and closing mechanism (52) to perform lifting and lowering movements. The first six-axis robot (4) and the second six-axis robot (8) are respectively disposed on both sides of the cap clamping mechanism (5). The ends of the first six-axis robot (4) and the second six-axis robot (8) are integrated with a barcode scanning device and a clamping device. The transplanting mechanism (6) includes a mobile carrier (61) and a transplanting drive unit (62). The transplanting drive unit (62) is installed at the bottom of the working platform and drives the mobile carrier (61) to move along a moving path opened on the working platform. The moving path passes through the working area of ​​the cap clamping mechanism (5). The three-axis transplanting and aspiration mechanism (7) is installed on the side of the working platform away from the first buffer mechanism (2). The three-axis transplanting and aspiration mechanism (7) includes an X-axis drive mechanism (71), a Y-axis drive mechanism (72) and a Z-axis drive mechanism (73). The output end of the Z-axis drive mechanism (73) is connected to a pipette (74) and a rotary electric gripper (75). A rinsing mechanism (10) is disposed between the three-axis transplanting and liquid aspiration mechanism (7) and the second six-axis robot (8); as well as The main control system is electrically connected to the material conveying mechanism (3), the first six-axis robot (4), the capping clamping mechanism (5), the transplanting motion mechanism (6), the three-axis transplanting liquid suction mechanism (7), the second six-axis robot (8), and the washing mechanism (10) to coordinate and control each mechanism to complete the fully automatic liquid detection operation.

2. The fully automated liquid detection collaborative workstation according to claim 1, characterized in that, The first buffer mechanism (2) includes two parallel buffer bins, namely a primary bottle feeding buffer area and a primary bottle empty bottle recycling buffer area.

3. The fully automated liquid detection collaborative workstation according to claim 1, characterized in that, One end of the moving path is close to the first buffer mechanism (2) as the loading and unloading position of the primary bottle, and the other end of the moving path is close to the rinsing mechanism (10) as the liquid taking position of the primary bottle.

4. The fully automated liquid detection collaborative workstation according to claim 1, characterized in that, The opening and closing mechanism (52) includes a rotary motor and a gripper cylinder. The clamping mechanism (53) is installed directly below the opening and closing mechanism (52). The clamping mechanism (53) consists of two opposing cylinders and their driven arc-shaped clamping blocks.

5. The fully automated liquid detection collaborative workstation according to claim 1, characterized in that, The rinsing mechanism (10) includes: A collection tank (103) having an upward-facing opening for receiving liquid splashed out during the rinsing process; A rinsing clamping cylinder (102) is disposed inside the collection tank (103); A rinsing drive unit (101) is disposed outside the collection tank (103). The rinsing drive unit (101) is connected to the rinsing clamping cylinder (102) for driving the rinsing clamping cylinder (102) to rotate with its shaft.

6. The fully automated liquid detection collaborative workstation according to claim 5, characterized in that, The rinsing mechanism (10) further includes: Waste liquid dumping pipe (104) is installed through the working platform and located outside the collection tank (103). The waste liquid dumping pipe (104) has an upward-opening opening. A drainage funnel (105) is set at the bottom of the working platform and connected to the bottom of the waste liquid pouring pipe (104); The washing liquid collection tank (106) is located at the bottom of the frame (1) and below the outlet of the drainage funnel (105).

7. The fully automated liquid detection collaborative workstation according to claim 5, characterized in that, The rinsing mechanism (10) is provided with a rinsing isolation shell on the outside. The rinsing isolation shell is fixedly installed on the working platform and houses the collection tank (103) inside it. The top of the rinsing isolation shell is provided with an opening.

8. The fully automated liquid detection collaborative workstation according to claim 1, characterized in that: The work platform is provided with a second buffer mechanism (9), which is located within the working area of ​​the triaxial transplanting and liquid aspiration mechanism (7); The second buffer mechanism (9) includes a tip feeding buffer mechanism (91) and a secondary bottle feeding buffer mechanism (92).

9. The fully automated liquid detection collaborative workstation according to claim 1, characterized in that: The work platform is also provided with a third buffer mechanism (11) and a fourth buffer mechanism (12), which are respectively located on both sides of the second six-axis robot (8).

10. A fully automated liquid detection collaborative workstation according to claim 1, characterized in that: It also includes a protective cabin (13), which is located on the outside of the frame (1) and covers the entire working area of ​​the equipment.

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