Novel mobile double-arm experimental operation robot

Abstract

The utility model discloses a novel mobile double-arm experimental operation robot, which comprises an automatic guide vehicle, a body part and a transition placing table, the mechanical arms are installed on the two sides of the trunk part correspondingly, and a detachable left tool assembly and a detachable right tool assembly are arranged at the tail ends of the two mechanical arms correspondingly; and the visual unit is mounted at the top of the trunk part. The automatic guided vehicle has the beneficial effects that the two groups of mechanical arms and the transition placing table are arranged on the automatic guided vehicle, so that the automatic guided vehicle can replace an experimenter to move among multiple stations, transfer corresponding experimental samples and carry out experimental operation, and the cooperative capability between instruments and special equipment in a laboratory is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of laboratory robots, and particularly relates to a novel mobile double-arm experimental operation robot. BACKGROUND

[0002] In the field of intelligent detection, life science and drug research and development, laboratory automation is evolving from local process optimization to global intelligence. Although traditional automation equipment has improved the efficiency of some links, it still faces two bottlenecks: insufficient coordination between instruments and special equipment and space limitations of fixed workstations. Especially in multidisciplinary experiments, experimenters often need to transfer samples between balance rooms, centrifuges, incubators, analytical instruments and other equipment, and manual operation accounts for a high proportion, which is the main source of data errors and efficiency loss. At the same time, the one-time investment of fully enclosed automated production lines is huge, and the rigid functional architecture is difficult to adapt to the flexible needs of small and medium-sized laboratories. SUMMARY

[0003] To solve the above problems, the utility model provides a novel mobile double-arm experimental operation robot, which mainly solves the problem of insufficient coordination between instruments and special equipment in existing laboratories.

[0004] To solve the above problems, the utility model provides a novel mobile double-arm experimental operation robot, which mainly solves the problem of insufficient coordination between instruments and special equipment in existing laboratories.

[0005] A novel mobile double-arm experimental operation robot, comprising:

[0006] An automated guided vehicle having a trunk and a transition placement table installed on the top thereof;

[0007] Mechanical arms installed on both sides of the trunk, respectively, and a detachable left tool assembly and a right tool assembly provided at the ends of the two mechanical arms, respectively;

[0008] A vision unit installed on the top of the trunk.

[0009] In some embodiments, the trunk comprises a lifting device installed on the top of the automated guided vehicle, and a hollow support column installed on the movable end of the lifting device, and the vision unit is installed on the top of the hollow support column.

[0010] In some embodiments, the vision unit comprises a Z-axis rotation unit installed on the top of the hollow support column, an X-axis rotation unit connected with the Z-axis rotation unit, and a ToF camera installed on the movable end of the X-axis rotation unit.

[0011] In some embodiments, the right tool assembly comprises a first fixed flange for connecting with one group of the mechanical arms, and a parallel clamp jaw connected with the first fixed flange, a multifunctional clamp finger is installed at the movable end of the parallel clamp jaw, and a first camera and a first suction disc are respectively installed at the upper and lower ends of the parallel clamp jaw.

[0012] In some embodiments, the left tool assembly comprises a second fixed flange for connecting with another group of the mechanical arms, and a rotating clamp jaw connected with the second fixed flange, a parallel clamp finger is installed at the movable end of the rotating clamp jaw, and a second camera and a second suction disc are respectively installed at the two sides of the rotating clamp jaw.

[0013] The automatic guided vehicle is provided with two groups of mechanical arms and a transition placement table, which can replace the experimenter to move between multiple workstations, transfer corresponding experimental samples, and perform experimental operations, thereby improving the collaborative ability between instruments and special equipment in the laboratory. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 A perspective view of the novel mobile double-arm experimental operation robot is disclosed for the embodiments of the utility model;

[0015] Figure 2 A front view of the novel mobile double-arm experimental operation robot is disclosed for the embodiments of the utility model;

[0016] Figure 3 A perspective view of the right tool assembly is disclosed for the embodiments of the utility model;

[0017] Figure 4 A perspective view of the left tool assembly is disclosed for the embodiments of the utility model;

[0018] Wherein: 1-automatic guided vehicle, 2-trunk, 3-transition placement table, 4-mechanical arm, 5-left tool assembly, 6-right tool assembly, 7-vision unit, 201-lifting device, 202-hollow support column, 501-second fixed flange, 502-rotating clamp jaw, 503-parallel clamp finger, 504-second camera, 505-second suction disc, 601-first fixed flange, 602-parallel clamp jaw, 603-multifunctional clamp finger, 604-first camera, 605-first suction disc, 701-Z-axis rotating unit, 702-X-axis rotating unit, 703-ToF camera. DETAILED DESCRIPTION

[0019] To make the objectives, technical solutions, and advantages of this utility model clearer and more explicit, the content of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining this utility model and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this utility model are shown in the accompanying drawings, not all of them.

[0020] This embodiment proposes a novel mobile dual-arm experimental robot, such as... Figure 1 As shown, it includes:

[0021] An automated guided vehicle (AGV) 1, with a body 2 and a transition platform 3 mounted on its top, is an industrial vehicle capable of automatically operating along a pre-set route to complete material handling tasks. Its basic components include a mechanical system, a power system, an automatic control system, an automatic guidance system, and a safety protection system. Its working principle involves the automatic guidance system acquiring data such as site coordinates and operating conditions. The computer system then performs calculations based on this data and issues action commands through the automatic control system to drive the equipment to execute the next operation. In this design, the AGV 1 serves as the carrier for the body 2 and the transition platform 3, and is equipped with a 360° laser SLAM navigation system, enabling high positioning accuracy and dynamic obstacle avoidance in complex experimental environments.

[0022] Robotic arms 4 are mounted on both sides of the torso 2. The ends of the two robotic arms 4 are respectively equipped with a detachable left tool assembly 5 and a right tool assembly 6, allowing the user to replace these tool assemblies according to experimental requirements, thereby achieving the intended task. In one example, a high-precision dual-arm operating system is employed, consisting of two 7-DOF articulated robotic arms.

[0023] The vision unit 7 is installed on the top of the torso 2. The vision unit 7 is used to acquire the position of the sample on the workstation and control the corresponding robotic arm 4 to perform operations. The specific operation process varies depending on different experimental requirements and will not be described in detail here.

[0024] In this embodiment, by setting two sets of robotic arms 4 and a transition placement platform 3 on the automated guided vehicle 1, it is possible to replace the experimenter in moving between multiple workstations, transferring corresponding experimental samples, and performing experimental operations, thereby improving the coordination between instruments and special equipment in the laboratory.

[0025] In one example, such as Figure 2As shown, the trunk 2 includes a lifting device 201 mounted on the top of the automatic guided vehicle 1, and a hollow support column 202 mounted on the movable end of the lifting device 201, which mainly serves to carry the mechanical arm 4 and the vision unit 7, and can also accommodate the controller of the mechanical arm 4, and the vision unit 7 is installed on the top of the hollow support column 202. The lifting device 201 is used to realize the overall up and down of the mechanical arm 4 and the vision unit 7, which is convenient for the compatibility of different height experimental operations.

[0026] In an example, the vision unit 7 includes a Z-axis rotating unit 701 mounted on the top of the hollow support column 202, an X-axis rotating unit 702 connected with the Z-axis rotating unit 701, and a ToF camera 703 mounted on the movable end of the X-axis rotating unit 702. Among them, the Z-axis rotating unit 701 controls the ToF camera 703 to rotate 360 degrees along the longitudinal axis direction, and the X-axis rotating unit 702 controls the ToF camera 703 to flip, realizing the flexible rotation of the head vision, which is convenient for visual observation.

[0027] In an example, as shown in Figure 3 The right tool assembly 6 includes a first fixed flange 601 for connecting with one of the mechanical arms 4, and a parallel clamp jaw 602 connected with the first fixed flange 601, and a multifunctional clamp finger 603 is mounted on the movable end of the parallel clamp jaw 602, and a first camera 604 and a first suction disc 605 are mounted on the upper and lower ends of the parallel clamp jaw 602 respectively. The above-mentioned multifunctional clamp finger 603 refers to a clamp finger that can clamp two or more than two materials in one action, but not necessarily at the same time. For example, two mirror-symmetrical clamp fingers are provided, and the shape of the clamp finger is set to adapt to the shape of the conical bottle and the centrifuge tube. The first camera 604 is used to identify and position the object to be operated at the end of the mechanical arm 4, and the first suction disc 605 is used as a supplement to the multifunctional clamp finger 603, which is used to suck the slide plate.

[0028] In an example, as shown in Figure 4 The left tool assembly 5 includes a second fixed flange 501 for connecting with the other mechanical arm 4, and a rotating clamp jaw 502 connected with the second fixed flange 501, and a parallel clamp finger 503 is mounted on the movable end of the rotating clamp jaw 502, and a second camera 504 and a second suction disc 505 are mounted on the two sides of the rotating clamp jaw 502 respectively. In this scheme, the rotating clamp jaw 502 can drive the parallel clamp finger 503 to spin, and the parallel clamp finger 503 is provided with a micro electric cylinder, which can perform clamping tasks.

[0029] The following describes the control process of the microbial culture task:

[0030] 1. The automatic guided vehicle 1 moves to a specific experimental table to be in place, and the materials on the experimental table are placed in place;

[0031] 2. The left and right groups of mechanical arms 4 are in the initial state;

[0032] 3. One of the groups of mechanical arms 4 controls the corresponding right tool assembly 6 to approach the material, and adopts the parallel gripper 602 to drive the multifunctional gripper 603 to clamp a bottle conical bottle culture solution. The other group of mechanical arms 4 controls the corresponding left tool assembly 5 to approach the conical bottle culture solution. After the parallel gripper 503 clamps the bottle plug, the left tool assembly 5 is controlled by the mechanical arm 4 to move as a whole to open the bottle plug, and the bottle plug is placed on the transition placement table 3 (conical bottle cap transition position);

[0033] 4. The left tool assembly 5 takes a centrifugal tube to the centrifugal tube operation position, and then the right tool assembly 6 moves to the centrifugal tube operation position to clamp the centrifugal tube body. The parallel gripper 503 on the left tool assembly 5 clamps the centrifugal tube cap, the rotating gripper 502 drives the parallel gripper 503 to rotate, and the centrifugal tube cap is opened;

[0034] 5. The right tool assembly 6 pours the liquid in the centrifugal tube into the conical bottle through the pouring action;

[0035] 6. Then, the reverse operation of the above steps 3-5 is adopted to realize the closing of the centrifugal tube and the conical bottle and return to the original storage position;

[0036] 7. The whole column of centrifugal tube samples is placed on the transition placement table 3;

[0037] 8. The left and right groups of mechanical arms 4 return to the initial state;

[0038] 9. The automatic guide vehicle 1 moves to the next experimental table to perform the next experimental operation.

[0039] The above embodiment is only used to illustrate the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made according to the essence of the present application should be covered within the protection scope of the present application.

Claims

1. A novel mobile dual-arm experimental operating robot, characterized by, The utility model relates to an automatic guided vehicle, which comprises a torso and a transition placement table mounted on the top of the automatic guided vehicle; two mechanical arms are mounted on the two sides of the torso respectively, and the ends of the two mechanical arms are respectively provided with detachable left and right tool assemblies; a vision unit is mounted on the top of the torso. The torso comprises a lifting device mounted on the top of the automatic guided vehicle and a hollow support column mounted on the movable end of the lifting device, and the vision unit is mounted on the top of the hollow support column. The vision unit comprises a Z-axis rotating unit mounted on the top of the hollow support column, an X-axis rotating unit connected with the Z-axis rotating unit, and a ToF camera mounted on the movable end of the X-axis rotating unit. The right tool assembly comprises a first fixed flange for connecting with one of the mechanical arms and a parallel clamp jaw connected with the first fixed flange, and the movable end of the parallel clamp jaw is provided with a multifunctional clamp finger, and the upper and lower ends of the parallel clamp jaw are respectively provided with a first camera and a first suction cup.

2. The novel mobile dual-arm experimental operating robot according to claim 1, wherein The left tool assembly comprises a second fixed flange for connecting with the other mechanical arm and a rotating clamp jaw connected with the second fixed flange, and the movable end of the rotating clamp jaw is provided with a parallel clamp finger, and the two sides of the rotating clamp jaw are respectively provided with a second camera and a second suction cup.

3. The novel mobile dual-arm experimental operating robot according to claim 2, wherein ​ 4. The novel mobile dual-arm experimental operating robot according to claim 1, wherein ​ 5. The novel mobile dual-arm experimental operating robot according to claim 1, wherein ​

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