Novel fixed double-arm experimental operation robot

Abstract

The utility model discloses a novel fixed double-arm experimental operation robot which comprises the components of a rack which comprises an operation platform and an experimental instrument which is arranged on the operation platform; the driving support column is mounted on the operation table, and a visual unit used for identifying the experimental apparatus is arranged at the top of the driving support column; the left mechanical arm and the right mechanical arm are fixedly installed on the left side and the right side of the driving supporting column respectively, and a detachable left tool assembly and a detachable right tool assembly are installed at the tail end of the left mechanical arm and the tail end of the right mechanical arm respectively. The beneficial effects of the utility model are that the rack is provided with the driving pillar, the top of the driving pillar is provided with the visual unit, and the two sides of the driving pillar are respectively provided with the left mechanical arm and the right mechanical arm, thereby simulating the visual identification of a human experimenter and the cooperative operation of both hands, and improving the experiment efficiency; the detachable left tool assembly and the detachable right tool assembly are arranged at the tail end of the left mechanical arm and the tail end of the right mechanical arm and serve as replaceable executing mechanisms, and the application range of the experiment operation robot is widened.

Description

Technical Field

[0001] This utility model relates to the field of laboratory robot technology, and in particular to a novel fixed dual-arm experimental operation robot. Background Technology

[0002] In the fields of intelligent testing, life sciences, chemical synthesis, and drug development, laboratory automation has become a core driving force for improving research efficiency and data reproducibility. However, traditional single-arm robotic arm systems, limited by degrees of freedom and operational logic, can only perform one task at a time. Therefore, numerous temporary operating positions need to be set up on the workbench to complement the single-arm robotic arm. This not only makes it difficult to simulate the delicate, coordinated operations of a human lab technician, but also results in low experimental efficiency. Especially when dealing with reagent handling, multi-step cross-experiments, or personalized experimental design, traditional single-arm robotic arm systems struggle to balance flexibility and safety. Utility Model Content

[0003] To address the aforementioned problems, this invention proposes a novel fixed dual-arm experimental robot, which mainly solves the problems of single-arm robotic arm systems being unable to simulate the precise operation of human experimenters' two hands working together, as well as the low experimental efficiency.

[0004] To solve the above-mentioned technical problems, the technical solution of this utility model is as follows:

[0005] A novel fixed dual-arm experimental manipulation robot includes:

[0006] The frame includes an operating table and experimental apparatus mounted on the operating table;

[0007] A trunk support is installed on the operating table, and a vision unit for identifying the experimental apparatus is provided on the top of the trunk support.

[0008] The left and right robotic arms are fixedly installed on the left and right sides of the drive column, respectively. The ends of the left and right robotic arms are respectively equipped with detachable left and right tool assemblies.

[0009] In some embodiments, the experimental apparatus includes a storage area component and an operating area component.

[0010] In some embodiments, the storage area assembly includes a nozzle positioning device, a centrifuge tube positioning device, a conical flask positioning device, and a flat plate storage device.

[0011] In some embodiments, the operating area assembly includes a conical cap transition position, a flat plate operating position, and a centrifuge tube operating position.

[0012] In some embodiments, the left tool assembly includes a first connecting flange for mounting at the end of the left robotic arm, a parallel gripper fixedly connected to the first connecting flange, and a pair of first gripping fingers controlled by the parallel gripper, wherein the inner side of the first gripping fingers is provided with an adapter block for adapting to a flat plate, centrifuge tube, and conical flask.

[0013] In some embodiments, a first camera is mounted on top of the parallel grippers.

[0014] In some embodiments, the right tool assembly includes a housing and a second connecting flange mounted on the upper end of the housing. The housing is provided with a rotary gripper and a translational electric cylinder. The movable end of the rotary gripper is equipped with a second gripping finger. The inner side of the second gripping finger is provided with an adapter block for adapting to centrifuge tubes and flat plates. The movable end of the translational electric cylinder is equipped with an electric pipette.

[0015] In some embodiments, a second camera is mounted on one side of the housing.

[0016] The beneficial effects of this utility model are as follows: by setting a drive column on the frame, setting a vision unit on the top of the drive column, and setting a left robotic arm and a right robotic arm on both sides respectively, it can imitate the visual recognition and hand-eye coordination of human experimenters, thereby improving experimental efficiency. Furthermore, detachable left and right tool components are set at the ends of the left and right robotic arms as replaceable actuators, thereby increasing the applicability of the experimental operation robot. Attached Figure Description

[0017] Figure 1 This is a perspective view of the novel fixed dual-arm experimental robot disclosed in an embodiment of the present utility model;

[0018] Figure 2 This is a perspective view of the left tool assembly disclosed in an embodiment of the present utility model;

[0019] Figure 3a This is a perspective view of the right tool component disclosed in an embodiment of the present utility model;

[0020] Figure 3b This is a perspective view of the right tool assembly after partially concealing the outer shell, as disclosed in an embodiment of the present utility model.

[0021] Wherein: 1-frame, 2-drive support, 3-left robotic arm, 4-right robotic arm, 5-left tool assembly, 6-right tool assembly, 201-vision unit, 501-first connecting flange, 502-parallel gripper, 503-first gripper finger, 504-first camera, 601-housing, 602-second connecting flange, 603-rotating gripper, 604-translation electric cylinder, 605-second gripper finger, 606-electric pipette, 607-second camera. Detailed Implementation

[0022] 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.

[0023] This embodiment proposes a novel fixed dual-arm experimental operation robot, such as... Figure 1 As shown, it includes:

[0024] The frame 1 includes an operating table and experimental apparatus mounted on the operating table. The experimental apparatus includes a storage area component and an operating area component. In this embodiment, the storage area component refers to the loading and positioning tool for the experimental apparatus. In one example, the storage area component includes a nozzle positioning device 7, a centrifuge tube positioning device 8, a conical flask positioning device 9, and a flat plate storage device 10. The operating area component refers to the loading and positioning tool that needs to temporarily fix the experimental apparatus during operation. In one example, the operating area component includes a conical flask cap transition position 11, a flat plate operating position 12, and a centrifuge tube operating position 13.

[0025] The drive column 2 is mounted on the operating table, and a vision unit 201 for identifying experimental equipment is provided on the top of the drive column 2. The vision unit 201 is located at the highest point of the device, with the largest field of view, which helps to obtain clear images of the experimental equipment. Specifically, the drive column 2 includes a longitudinal support and a cylinder mounted on the top of the longitudinal support. The left robotic arm 3 and the right robotic arm 4 can be fixed to both ends of the cylinder through flanges.

[0026] Left robotic arm 3 and right robotic arm 4 are fixedly mounted on the left and right sides of the drive support 2, respectively. To improve the flexibility of the robotic arms, both left robotic arm 3 and right robotic arm 4 are configured as 6-DOF joint robotic arms. The ends of left robotic arm 3 and right robotic arm 4 are respectively equipped with detachable left tool assembly 5 and right tool assembly 6.

[0027] In the above scheme, the vision unit 201, through the deployment of reinforcement learning vision algorithms, can achieve object state recognition. Simultaneously, combined with motion planning algorithms and a spatiotemporally synchronized optimization model, it enables the two arms to achieve sensitive anti-collision response within the shared workspace, realizing experimental operations such as "opening and closing the lid - pipetting - shaking". This device has a reserved communication interface, and its open architecture design allows for the integration of third-party instruments, enabling closed-loop control of detection and analysis with analytical equipment such as liquid chromatography and mass spectrometry through a standard LIMS interface.

[0028] In this embodiment, a drive column 2 is set on the frame 1, a vision unit 201 is set on the top of the drive column 2, and a left robotic arm 3 and a right robotic arm 4 are set on both sides respectively. This mimics the visual recognition and hand-eye coordination of a human experimenter, thereby improving experimental efficiency. Furthermore, detachable left tool assembly 5 and right tool assembly 6 are set at the ends of the left robotic arm 3 and the right robotic arm 4 as replaceable actuators, thereby expanding the applicability of the experimental operation robot.

[0029] It should be noted that the core of this solution lies in the anthropomorphic layout of the dual robotic arms and the vision unit, which is an innovative contribution compared to the single robotic arm system. The specific driver program can be written and burned according to the actual task, and is not limited here.

[0030] Using the nozzle positioning device 7, centrifuge tube positioning device 8, conical flask positioning device 9, and plate storage device 10 as the experimental apparatus to be operated, the following provides an optional example scheme for the structure and function of the left tool assembly 5 and the right tool assembly 6:

[0031] like Figure 2 As shown, the left tool assembly 5 includes a first connecting flange 501 for mounting at the end of the left robotic arm 3, a parallel gripper 502 fixedly connected to the first connecting flange 501, and a pair of first gripping fingers 503 controlled by the parallel gripper 502. The inner side of each first gripping finger 503 is provided with an adapter block adapted to flat plates, centrifuge tubes, and conical flasks. That is, by controlling the movement of the first gripping fingers 503, the first gripping fingers 503, in conjunction with the adapter block, can grip items of various shapes, not limited to flat plates, centrifuge tubes, and conical flasks. Furthermore, a first camera 504 is mounted on the top of the parallel gripper 502, which is used for identifying and positioning the items operated at the end of the left robotic arm 3.

[0032] like Figure 3a and 3b As shown, the right tool assembly 6 includes a housing 601 and a second connecting flange 602 mounted on the upper end of the housing 601. Inside the housing 601 are a rotating gripper 603 and a translational electric cylinder 604. A second gripping finger 605 is mounted on the moving end of the rotating gripper 603. An adapter block for fitting centrifuge tubes and flat plates is provided on the inner side of the second gripping finger 605. An electric pipette 606 is mounted on the moving end of the translational electric cylinder 604. A second camera 607 is mounted on one side of the housing 601. This second camera 607 is used for identifying and locating the items operated on by the end effector of the right robotic arm 4.

[0033] The following example of a typical microbial culture experiment illustrates the operation of this device:

[0034] (1) Place the experimental apparatus on the frame 1. Specifically, the pipette nozzle positioning device 7, centrifuge tube positioning device 8, conical flask positioning device 9 and plate storage device 10 on the operating table surface respectively fix batches of pipette nozzles, centrifuge tubes, conical flasks and plates to be used.

[0035] (2) The left robotic arm 3 and the right robotic arm 4 are in the initial state;

[0036] (3) The vision unit 201 acquires the position of all experimental instruments on the surface of the operating table and positions them in space. The left robotic arm 3 controls the left tool assembly 5 to move above the conical flask positioning device 9. The first camera 504 identifies the entire batch of conical flasks and controls the left tool assembly 5 (parallel gripper 502 controls the first gripper finger 503 to grasp the body of the conical flask) to take one conical flask. The right robotic arm 4 controls the right tool assembly 6 to approach the target conical flask. The second camera 607 identifies the conical flask. The right tool assembly 6 opens the stopper of the conical flask (after the second gripper finger 605 clamps the stopper, the right robotic arm 4 moves upward to open the stopper) and places it in the conical flask cap transition position 11.

[0037] (4) The right robotic arm 4 controls the right tool assembly 6 to move above the centrifuge tube positioning device 8 and picks up a centrifuge tube and places it in the centrifuge tube operating position 13; at the same time, the left robotic arm 3 controls the left tool assembly 5 to move above the centrifuge tube operating position 13 and clamps the body of the centrifuge tube, and the right tool assembly 6 opens the cap of the centrifuge tube (after the second gripper 605 clamps the cap of the centrifuge tube, the gripper 603 rotates to open the cap by self-spinning).

[0038] (5) The left tool assembly 5 picks up a blank tablet from the tablet storage device 10 and places it in the tablet operation position 12. The right tool assembly 6 drives the second gripper 605 to open the cover of the tablet. The second gripper 605 temporarily stores the cover of the tablet (the right robotic arm 4 controls the entire right tool assembly 6 to approach the tablet operation position 12, so that the second gripper 605 is parallel to the tablet. The clamping force of the second gripper 605 is used to open the cover of the tablet and temporarily store the cover of the tablet).

[0039] (6) The right tool assembly 6 controls the pipette to descend, picks up the disposable nozzle from the nozzle positioning device 7, draws liquid from the centrifuge tube, and then moves it to the plate on the plate operation position 12;

[0040] (7) Then, through the reverse operation of steps 3-6 above, the centrifuge tubes, conical flasks and plates are capped and sent back to the original storage area components.

[0041] (8) The left robotic arm 3 and the right robotic arm 4 return to their initial state.

[0042] The above embodiments are merely illustrative of the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made based on the substance of the content of this utility model should be covered within the scope of protection of this utility model.

Claims

1. A novel fixed dual-arm experimental operation robot, characterized by, The utility model relates to a laboratory equipment rack, which comprises: a rack including an operation table and experimental instruments arranged on the operation table; a driving column installed on the operation table, and a visual unit arranged on the top of the driving column for identifying the experimental instruments; a left mechanical arm and a right mechanical arm fixedly installed on the left and right sides of the driving column respectively, wherein the distal end of the left mechanical arm is installed with a detachable left tool assembly, and the distal end of the right mechanical arm is installed with a detachable right tool assembly.

2. The novel fixed dual-arm experimental operating robot according to claim 1, wherein The experimental instruments include a storage area assembly and an operation area assembly.

3. The novel fixed dual arm experimental robot as claimed in claim 2, wherein, The storage area assembly includes a gun nozzle positioning device, a centrifuge tube positioning device, a conical flask positioning device and a flat plate storage device.

4. The novel fixed dual-arm experimental operating robot according to claim 2, wherein The operation area assembly includes a conical flask cap transition position, a flat plate operation position and a centrifuge tube operation position.

5. The novel fixed dual arm experimental robot as claimed in claim 1, wherein, The left tool assembly includes a first connecting flange for installation at the distal end of the left mechanical arm, a parallel clamp jaw fixedly connected with the first connecting flange, and a pair of first clamp fingers controlled by the parallel clamp jaw, wherein the inner side of the first clamp fingers is provided with an adapter block adapted to flat plates, centrifuge tubes and conical flasks.

6. The novel fixed dual-arm experimental operating robot according to claim 5, wherein A first camera is installed on the top of the parallel clamp jaw.

7. The novel fixed dual arm experimental robotic according to claim 1, wherein, The right tool assembly includes a shell and a second connecting flange installed on the upper end of the shell, the interior of the shell is provided with a rotary clamp jaw and a translation electric cylinder, the moving end of the rotary clamp jaw is installed with a second clamp finger, wherein the inner side of the second clamp finger is provided with an adapter block adapted to centrifuge tubes and flat plates, and the moving end of the translation electric cylinder is installed with an electric pipette.

8. The novel fixed dual arm experimental robot as claimed in claim 7, wherein, A second camera is installed on one side of the shell.

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