Composite AGV device for automatic laboratory sample circulation

Abstract

The utility model provides a composite AGV (Automatic Guided Vehicle) device for automatically transferring laboratory samples. The composite AGV device comprises a multi-axis mechanical arm assembly and an AGV robot, the multi-axis mechanical arm assembly at least comprises a base and a mechanical gripper. The AGV robot at least comprises a shell; a base of the multi-axis mechanical arm assembly is fixed to a shell of the AGV robot, and therefore the multi-axis mechanical arm assembly is installed on the AGV robot. Six joints are arranged between the base and the mechanical gripper, so that the mechanical gripper can rotate by + / -360 degrees; four wheels are installed at the bottom of a shell of the AGV robot to drive the whole composite AGV device to run on the ground. According to the utility model, repeated operation of manual sample transfer is replaced, the workload of manual sample transfer in a laboratory is greatly reduced, and the sample transfer efficiency is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of AGV (Automated Guided Vehicle) technology, and in particular to a composite AGV device for automated laboratory sample transfer. Background Technology

[0002] Currently, improving work efficiency and achieving intelligent sample management has become an urgent need for the construction of environmental testing laboratories. Traditional laboratories rely heavily on manual labor to complete the entire process of sample management, including sample reception, temporary storage, and transfer. This is insufficient to meet the requirements of fast and efficient work, and also fails to reach the management level of modern intelligent laboratories.

[0003] AGVs (Automated Guided Vehicles) are automated guided vehicles equipped with electronic information control and navigation systems. They can run along predetermined paths and complete operational tasks. Due to their flexibility, intelligence, efficiency, and convenience, AGVs are increasingly widely used and have become one of the key pieces of equipment in modern industrial automated logistics systems. They greatly improve the efficiency of warehousing and logistics transportation, shorten product production cycles, and save a significant amount of labor.

[0004] Applying AGVs to sample transfer in intelligent laboratories can, to some extent, reduce labor costs, lower labor intensity, and improve work efficiency, thus promoting the development of intelligent laboratories. Utility Model Content

[0005] This invention proposes a composite AGV device for automated laboratory sample transfer, which solves the technical problem that traditional laboratories rely heavily on manual labor in the entire process of sample management, such as sample reception, temporary storage, and transfer, making it difficult to meet the requirements of fast and efficient work.

[0006] One aspect of this utility model is to provide a composite AGV device for automating laboratory sample transfer, the composite AGV device comprising a multi-axis robotic arm assembly and an AGV robot;

[0007] The multi-axis robotic arm assembly includes at least a base and a robotic gripper; the AGV robot includes at least a housing.

[0008] The base of the multi-axis robotic arm assembly is fixed to the housing of the AGV robot, thereby mounting the multi-axis robotic arm assembly onto the AGV robot;

[0009] The base and the mechanical gripper are connected by six joints, which enable the mechanical gripper to rotate ±360°.

[0010] The AGV robot has four wheels installed at the bottom of its housing, which drive the composite AGV device to move on the ground.

[0011] In a preferred embodiment, the base is rotatably connected to a first joint, the first joint is rotatably connected to a second joint, the second joint is rotatably connected to a third joint, the third joint is rotatably connected to a fourth joint, the fourth joint is rotatably connected to a fifth joint, and the fifth joint is rotatably connected to a sixth joint.

[0012] The sixth joint is connected to the mechanical gripper, and the mechanical gripper can rotate ±360° through the six joints.

[0013] In a preferred embodiment, a first visual identifier is provided at the end of the sixth joint for identifying the location where the sample is stored.

[0014] In a preferred embodiment, a second vision identifier is installed on the housing of the AGV robot, the second vision identifier being used to locate the position of the AGV robot.

[0015] In a preferred embodiment, of the four wheels installed at the bottom of the housing, any two adjacent wheels are omnidirectional wheels, thereby enabling the composite AGV device to steer flexibly when traveling on the ground.

[0016] In a preferred embodiment, the mechanical gripper has a sheet-like structure.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] This invention proposes a composite AGV device for automated laboratory sample transfer. The device uses a multi-axis robotic arm assembly to grasp samples, and the AGV robot drives the multi-axis robotic arm assembly and the samples grasped by the multi-axis robotic arm assembly to transfer samples within the laboratory. This replaces manual sample transfer, reduces labor costs, lowers labor intensity, improves work efficiency, and promotes the development of intelligent laboratories.

[0019] This invention proposes a composite AGV device for automated laboratory sample transfer, which replaces the repetitive manual sample transfer operation, greatly reducing the workload of manual sample transfer in the laboratory and effectively improving the efficiency of sample transfer.

[0020] This invention proposes a composite AGV device for automated laboratory sample transfer, which can meet the sample transfer needs of different scenarios and is not affected by cold / heat environments. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of this utility model 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 this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a composite AGV device for automated laboratory sample transfer according to this utility model. Detailed Implementation

[0023] To make the above and other features and advantages of this utility model clearer, the utility model will be further described below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explanation to those skilled in the art, and are exemplary only, not restrictive.

[0024] Combination Figure 1 According to an embodiment of the present invention, a composite AGV device for automating laboratory sample transfer is provided. The composite AGV device includes a multi-axis robotic arm assembly and an AGV robot.

[0025] The multi-axis robotic arm assembly includes at least a base 1 and a robotic gripper 9. Six joints are configured between the base 1 and the robotic gripper 9, enabling the robotic gripper 9 to rotate ±360°.

[0026] Specifically, the base 1 is rotatably connected to the first joint 2, the first joint 2 is rotatably connected to the second joint 3, the second joint 3 is rotatably connected to the third joint 4, the third joint 4 is rotatably connected to the fourth joint 5, the fourth joint 5 is rotatably connected to the fifth joint 6, and the fifth joint 6 is rotatably connected to the sixth joint 7.

[0027] The sixth joint 7 connects to the mechanical gripper 9, enabling the mechanical gripper 9 to rotate ±360° through the six joints.

[0028] Furthermore, a first visual identifier 8 is provided at the end of the sixth joint 7 to identify the location where the sample is stored. In a specific embodiment, the first visual identifier 8 is calibrated at nine points. After the first visual identifier 8 is calibrated at nine points, it identifies the location where the sample is stored.

[0029] The nine-point calibration of the first visual recognizer 8 is performed using the existing nine-point calibration method, which will not be described in detail in this embodiment.

[0030] Furthermore, the mechanical gripper 9 of this utility model has a sheet-like structure, which allows the mechanical gripper 9 to be easily inserted into the tray insertion hole for storing samples, so as to grasp and store the samples.

[0031] According to an embodiment of the present invention, the AGV robot includes at least a housing 10. A base 1 of the multi-axis robotic arm assembly is fixed to the housing 10 of the AGV robot, thereby mounting the multi-axis robotic arm assembly onto the AGV robot. Preferably, the base 1 is fixed at the center position above the housing 10 of the AGV robot.

[0032] The AGV robot's housing 10 has four wheels mounted on its bottom, enabling the composite AGV device to move across the ground. Preferably, any two adjacent wheels on the bottom of the housing 10 are omnidirectional wheels, allowing the composite AGV device to steer flexibly when moving across the ground. For example, the two front wheels on the bottom of the housing 10 are omnidirectional wheels.

[0033] Furthermore, a second vision sensor 12 and a lidar sensor 13 are installed on the shell 10 of the AGV robot. The second vision sensor 12 is used to locate the position of the AGV robot.

[0034] Specifically, the second vision recognizer 12 is installed at the bottom of the housing 10. The second vision recognizer 12 identifies the QR code on the ground along the AGV robot's driving path and locates the position of the AGV robot.

[0035] The lidar 13 is installed at the front of the housing 10. Together with the second vision sensor 12, the lidar 13 helps the AGV robot avoid obstacles along its path. Preferably, the lidar 13 is installed at a lower position at the front of the housing 10.

[0036] In one specific embodiment, the second visual recognizer 12 and the lidar 13 use a visual-radar target fusion method to identify obstacles in the AGV robot's travel path, thereby avoiding obstacles in the AGV robot's travel path.

[0037] The visual-radar target fusion algorithm of the second visual recognizer 12 and the lidar 13 adopts the existing visual-radar target fusion algorithm, which will not be described in detail in this embodiment.

[0038] An AGV robot cavity 11 is formed inside the shell 10 of the AGV robot, and a control module (not shown in the figure) is installed inside the AGV robot cavity 11.

[0039] The control module controls the mechanical gripper 9 to rotate and grab the sample based on the location of the sample identified by the first vision recognition device 8, and controls the AGV robot to move and stop based on the location of the AGV robot identified by the second vision recognition device 12 and the obstacle identification of the AGV robot's travel path by the second vision recognition device 12 and the lidar 13.

[0040] An emergency stop button 14 is installed on the shell 10 of the AGV robot. In case of emergency, the emergency stop button 14 can be used to control the composite AGV device to stop driving and stop grabbing and storing samples.

[0041] This invention replaces the repetitive manual sample transport operation, greatly reducing the workload of manual sample transport in the laboratory and effectively improving the efficiency of sample transport.

[0042] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A composite AGV device for automating laboratory sample transfer, characterized in that, The composite AGV device includes a multi-axis robotic arm assembly and an AGV robot; The multi-axis robotic arm assembly includes at least a base and a robotic gripper; the AGV robot includes at least a housing. The base of the multi-axis robotic arm assembly is fixed to the housing of the AGV robot, thereby mounting the multi-axis robotic arm assembly onto the AGV robot. The base and the mechanical gripper are connected by six joints, which enable the mechanical gripper to rotate ±360°. The AGV robot has four wheels installed at the bottom of its housing, which drive the composite AGV device to move on the ground.

2. The composite AGV device according to claim 1, characterized in that, The base is rotatably connected to the first joint, the first joint is rotatably connected to the second joint, the second joint is rotatably connected to the third joint, the third joint is rotatably connected to the fourth joint, the fourth joint is rotatably connected to the fifth joint, and the fifth joint is rotatably connected to the sixth joint. The sixth joint is connected to the mechanical gripper, and the mechanical gripper can rotate ±360° through the six joints.

3. The composite AGV device according to claim 2, characterized in that, The sixth joint is equipped with a first visual identifier at its end, which is used to identify the location where the sample is stored.

4. The composite AGV device according to claim 1, characterized in that, A second vision recognition device is installed on the shell of the AGV robot, and the second vision recognition device is used to locate the position of the AGV robot.

5. The composite AGV device according to claim 1, characterized in that, Of the four wheels installed at the bottom of the housing, any two adjacent wheels are omnidirectional wheels, which allows the composite AGV device to steer flexibly when traveling on the ground.

6. The composite AGV device according to claim 1, characterized in that, The mechanical gripper has a sheet-like structure.

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