Transfer vehicle for an unmanned laboratory, unmanned laboratory system

Abstract

The utility model relates to the technical field of unmanned laboratory, concretely provides a kind of unmanned laboratory transfer trolley, unmanned laboratory system, and transfer trolley includes: mobile main body upper portion is provided with integrated rigid installation platform;Integrated rigid installation platform is provided with vehicle-mounted rack, and vehicle-mounted rack is provided with the installation position of multiple detection containers;Six-axis mechanical arm is installed on the side of integrated rigid installation platform away from vehicle-mounted rack, and the base of six-axis mechanical arm is fixed on integrated rigid installation platform, and is connected with the drive equipment inside mobile main body;Integrated rigid installation platform is also provided with multiple mechanical hand supports, and mechanical hand support is all located in the action coverage range of six-axis mechanical arm;The end of six-axis mechanical arm is provided with automatic quick-change male head, and mechanical hand is provided with the automatic quick-change female head matched with automatic quick-change male head. To solve the problem that carrying trolley in the related art can only carry out single action according to fixed route, and the degree of intelligence is low.

Description

Technical Field

[0001] This application relates to the field of unmanned laboratory technology, and in particular to a transport vehicle and unmanned laboratory system for an unmanned laboratory. Background Technology

[0002] Traditional water quality testing laboratories rely heavily on manual labor for water sample sorting, container transport, testing operations, and waste disposal. This process is cumbersome, inefficient, and prone to human error. While AGV (Automated Guided Vehicle) transport vehicles are gradually replacing manual labor with the promotion of unmanned laboratories, existing equipment has significant drawbacks: First, the onboard mechanism lacks sufficient rigidity, causing the robotic arm to easily deviate, affecting the accuracy of container gripping and docking at workstations. Second, the positioning and locking of racks and containers rely on manual assistance, resulting in low automation and a tendency for loosening and tipping during batch transport. Third, the end effector has poor versatility, requiring multiple sets of robotic arms, leading to cumbersome replacements, high costs, and large space requirements. Fourth, the clamping of various container sizes, such as test tubes, digestion tubes, and conical flasks, is prone to breakage or slippage, and the stability of heavy-duty racks is poor. Fifth, waste disposal relies on manual labor or simple tilting mechanisms, resulting in uncontrollable angles and a risk of leakage and contamination. These systems fail to meet the demands for fully unmanned, high-precision, and high-safety water quality testing operations.

[0003] In the context of unmanned water quality testing laboratories, the transfer vehicle cannot integrate high rigidity load-bearing capacity, precise autonomous positioning, multi-container compatibility and clamping, whole-rack material transfer and fully automatic robotic arm quick change on a single platform, making it difficult to stably complete the entire unmanned operation of water sample sorting, testing and transfer, pretreatment loading and waste liquid dumping. Currently, no effective solution has been proposed. Utility Model Content

[0004] This utility model provides a transfer vehicle and unmanned laboratory system for an unmanned laboratory, which at least solves the problem that in the scenario of an unmanned laboratory for water quality testing, the transfer vehicle cannot integrate high rigidity load-bearing, precise autonomous positioning, multi-container compatible clamping, whole rack transfer and fully automatic robotic arm quick change on a single platform, making it difficult to stably complete the unmanned operation of the entire process of water sample sorting, testing and transfer, pretreatment loading and waste liquid dumping.

[0005] This utility model provides a transfer vehicle for an unmanned laboratory, comprising: a mobile main body, a vehicle-mounted material rack, a six-axis robotic arm, and various robotic arms; an integrated rigid mounting platform is provided on the upper part of the mobile main body; the vehicle-mounted material rack is provided on the integrated rigid mounting platform, and the vehicle-mounted material rack has installation positions for various testing containers; the six-axis robotic arm is installed on the side of the integrated rigid mounting platform away from the vehicle-mounted material rack, and the base of the six-axis robotic arm is fixed to the integrated rigid mounting platform and connected to the drive device inside the mobile main body; the integrated rigid mounting platform is also provided with multiple robotic arm brackets, the robotic arm brackets are used to install corresponding types of robotic arms, the robotic arms are used to grip corresponding types of testing containers, and the robotic arm brackets are all located within the action coverage range of the six-axis robotic arm; the end of the six-axis robotic arm is provided with an automatic quick-change male connector, and the robotic arm is provided with an automatic quick-change female connector that matches the automatic quick-change male connector.

[0006] As an optional solution, the vehicle-mounted rack includes a multi-layer rack body and multiple rack mounting slots on each layer. The rack mounting slots are used to place standard racks for corresponding testing containers. Each rack mounting slot is equipped with an elastic locking mechanism and a first positioning sensor. The standard racks are positioned and engaged with the multi-layer rack body through the rack mounting slots and are rigidly locked by the elastic locking mechanism. The standard racks have multiple container slots inside, each for placing a corresponding testing container. The testing containers include pH testing containers, CODcr testing containers, and potassium permanganate testing containers.

[0007] As an optional solution, a rotating module is provided at the top of the vehicle-mounted material rack. The rotating module is configured to rotate the standard material rack so that the robotic arm can grip inspection containers at different positions. The rotating module includes a fixed base, a rotary support bearing, a rotating support platform, and a servo motor. The fixed base is fixed to the top of the multi-layer material rack body. The rotating support platform is rotatably mounted on the fixed base via the rotary support bearing. The rotating support platform is also provided with a positioning boss, which is configured to match the groove at the bottom of the standard material rack. The servo motor is configured to drive the rotating support platform to rotate according to control commands.

[0008] As an optional solution, the robotic arm includes a gripping device, and the automatic quick-change female head is mounted on the gripping device; the automatic quick-change female head includes a quick-change structure and a transmission mechanism, the transmission mechanism is drivenly connected to the six-axis robotic arm, the quick-change structure is configured to cooperate with the automatic quick-change male head, and the output end of the transmission mechanism is drivenly connected to the gripping device for driving the gripping device to perform gripping; various robotic arms include test tube gripping robotic arms, material rack gripping robotic arms, and waste liquid dumping robotic arms.

[0009] As an alternative, multiple robotic arms are mounted on corresponding robotic arm supports, which are fixed to the mounting platform. The end of each six-axis robotic arm is equipped with an industrial camera to identify the QR codes corresponding to different testing devices in order to determine the robotic arm to be replaced and the corresponding testing container.

[0010] As an optional solution, the test tube gripper includes a gripper body and gripping execution fingers; the automatic quick-change female head is fixed to the top of the gripper body, and the gripping execution fingers include symmetrically arranged fixed fingers and movable fingers, both of which are L-shaped bent structures; the fixed fingers are fixed to the gripper body, and the movable fingers are movably mounted on the gripper body and are connected to the output end of the transmission mechanism; the moving direction of the movable fingers is towards / away from the fixed fingers.

[0011] As an optional solution, a semi-U-shaped support groove is formed on the opposite side of the fixed gripper and the movable gripper, which, when closed, forms a complete circular limiting structure to support the flange edge of the outer surface of the test tube; the inner side of the semi-U-shaped support groove is covered with a silicone buffer pad and equipped with a contact pressure sensor; a limiting rod is also provided on the fixed gripper and the movable gripper; the limiting rod is vertically arranged on the lower surface of the fixed gripper and the movable gripper, and the lower surface is configured to face the bottom of the test tube when the test tube gripping robot holds the test tube, and a rubber buffer sleeve is also provided on the free end of the limiting rod.

[0012] As an optional solution, the rack gripping robot includes a gripper base and hook-shaped gripping fingers; the automatic quick-change female head is mounted on the top of the gripper base via a flange; the hook-shaped gripping fingers include a gripping finger body and a Z-shaped bending structure disposed on the upper surface of the gripping finger body, one end of the Z-shaped bending structure is fixed to the gripping finger body so that the middle part of the Z-shaped bending structure is fitted and fixed to the upper surface, and the other end of the Z-shaped bending structure is configured as multiple lifting hooks arranged along the length direction of the gripping finger body, the multiple lifting hooks being adapted to the gripping groove of the outer supporting edge of the standard rack; the hook-shaped gripping fingers are configured as two relatively movable gripping fingers; both hook-shaped gripping fingers are drively connected to the output end of the transmission mechanism; the rack gripping robot is also equipped with a pneumatic pin-type mechanical locking mechanism to lock the hook-shaped gripping fingers after gripping in place.

[0013] As an optional solution, the waste liquid dumping robot includes a main platform, a drive cylinder, a tilting flange, and clamping fingers. An automatic quick-change female connector is installed on the main platform, and the drive cylinder is located below the main platform. The tilting flange is fixed to the side of the main platform near the output end of the drive cylinder, and a servo motor is built into the tilting flange. The rotating part of the tilting flange is driven by the servo motor. The clamping fingers include multiple elastic fingers, one end of which is movably mounted on the rotating part and driven by the output end of the drive cylinder. All elastic fingers have a symmetrical semi-Y-shaped bending structure. The inner side of the free end of each elastic finger has an arc-shaped contact surface adapted to the container body, and the arc-shaped contact surface is covered with an anti-corrosion and anti-slip silicone layer.

[0014] This utility model also provides an unmanned laboratory system, characterized in that it includes sample dispensing equipment, pretreatment equipment, and various testing equipment respectively set in different locations in the laboratory; as well as a transport vehicle for the unmanned laboratory as described in any one of the above.

[0015] The unmanned laboratory transport vehicle provided by this utility model solves key problems such as unstable installation, positioning deviation, functional limitations, and low automation from the structural level through rigid integrated installation, reasonable spatial layout, automatic quick-change mechanism, and integration of multiple robotic arms. This basic architecture is not only a prerequisite for achieving precise clamping, stable transport, and safe dumping, but also a necessary guarantee for the unmanned laboratory to achieve continuous, efficient, and standardized operation, significantly improving the stability, safety, and intelligence of water quality testing operations. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 This is a schematic diagram of the structure of a transport vehicle for an unmanned laboratory, according to an embodiment of this application.

[0018] Figure 2 yes Figure 1 A structural diagram from a relative perspective.

[0019] Figure 3 This is a schematic diagram of the structure of the test tube gripper robot according to an embodiment of this application.

[0020] Figure 4 This is a schematic diagram of the structure of the material rack gripping robot according to an embodiment of this application.

[0021] Figure 5 This is a schematic diagram of the structure of the waste liquid dumping robot according to an embodiment of this application.

[0022] The above figures include the following reference numerals:

[0023] 1. Mobile main body; 11. Integrated rigid installation platform;

[0024] 2. Vehicle-mounted material rack; 21. Testing container; 22. Multi-layer material rack body; 23. Material rack mounting slot; 24. Standard material rack; 25. Container slot; 26. Rotating module;

[0025] 3. Six-axis robotic arm; 31. Automatic quick-change male connector; 32. Automatic quick-change female connector;

[0026] 4. Robotic arm; 41. Robotic arm support;

[0027] 42. Test tube gripper; 421. Gripper body; 422. Gripping fingers; 4221. Fixed gripper; 4222. Movable gripper; 4223. Semi-U-shaped support groove; 4224. Limiting rod;

[0028] 43. Material rack gripping robot; 431. Gripper base; 432. Hook-shaped gripping fingers; 4321. Gripper body; 4322. Z-shaped bending structure; 4323. Lifting hook;

[0029] 44. Waste liquid dumping robot; 441. Main platform; 442. Drive cylinder; 443. Tilting flange; 444. Clamping fingers; 4431. Rotating component; 4441. Elastic finger; 4442. Arc-shaped clamping surface. Detailed Implementation

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0032] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0033] See Figures 1 to 5 As shown, this application provides a transfer vehicle for an unmanned laboratory, including: a mobile body 1, a vehicle-mounted material rack 2, a six-axis robotic arm 3, and various robotic hands 4.

[0034] The mobile main body 1 is equipped with an integrated rigid mounting platform 11, which provides a uniform and deformation-free mounting benchmark for all vehicle-mounted components. The integrated rigid mounting platform 11 is equipped with a vehicle-mounted material rack 2, which has various installation positions for testing containers 21, for classifying and placing various testing containers 21 to form a stable loading area.

[0035] The six-axis robotic arm 3 is mounted on the integrated rigid mounting platform 11 on the side away from the vehicle-mounted material rack 2, which ensures sufficient operating space, avoids interference with the material rack, and also provides a larger interaction space when interacting with the testing equipment and transferring the corresponding testing containers.

[0036] Meanwhile, the six-axis robotic arm 3 is connected to the internal drive and control system of the mobile body to realize power supply and action command response. The base of the six-axis robotic arm 3 is fixed on the integrated rigid mounting platform 11 and connected to the drive equipment inside the mobile body.

[0037] The integrated rigid mounting platform 11 is also equipped with multiple robotic arm brackets 41. The robotic arm brackets 41 are used to install corresponding types of robotic arms 4. The robotic arms 4 are used to hold corresponding types of inspection containers 21. The robotic arm brackets 41 are all within the motion coverage of the six-axis robotic arm 3, ensuring that the six-axis robotic arm can smoothly pick up and place any robotic arm 4.

[0038] The end of the six-axis robotic arm 3 is equipped with an automatic quick-change male connector 31, and the robotic arm 4 is equipped with an automatic quick-change female connector 32 that matches the automatic quick-change male connector 31. The two can quickly dock and lock together, and simultaneously complete the connection of the drive circuit and signal path.

[0039] After the transport vehicle starts, the mobile unit 1 autonomously travels to the sample sorting, filtering, or testing station according to the preset path. Upon reaching the designated position, the six-axis robotic arm 3 moves to the corresponding robotic arm bracket 41 according to the task requirements, and completes the grasping and docking of the target robotic arm 4 through the automatic quick-change structure.

[0040] After the changeover is completed, the robotic arm drives the corresponding robotic arm 4 to pick up the test tubes, digestion tubes, conical flasks and other testing containers 21 from the vehicle-mounted material rack 2 and accurately transfer them to the corresponding workstations to perform the operation.

[0041] After completing a single task, the robotic arm returns the robotic hand 4 to its original position, and the moving body 1 continues to move to the next workstation, repeating a series of unmanned actions such as transfer, loading, claw changing, and resetting.

[0042] The integrated rigid mounting platform 11 reduces swaying and deformation of the vehicle-mounted mechanism at the source, significantly improving the repeatability and operational stability of the robotic arm. The partitioned layout of the robotic arm and the vehicle-mounted material rack allows for a more rational motion path and a wider working range, effectively avoiding collisions and interference.

[0043] The entire robotic arm support 41 is within the working range of the robotic arm, ensuring smooth and reliable gripper changing actions and improving system response speed. The automatic quick-change structure enables rapid switching between multi-purpose robotic arms, allowing the same transfer vehicle to be compatible with multiple functions such as container gripping, whole-frame transfer, and waste liquid dumping, greatly improving equipment versatility and operational efficiency.

[0044] The vehicle-mounted material rack 2 centrally carries and orderly places testing containers of various specifications and quantities, enabling safe batch transportation of testing containers and meeting the needs of continuous operation in unmanned laboratories.

[0045] In traditional water quality testing laboratories, manual operation is inefficient and prone to errors, while conventional transport vehicles have drawbacks such as insufficient installation rigidity, inaccurate positioning, cumbersome claw replacement, easy container slippage, and limited functionality, making it difficult to meet the requirements of fully unmanned operation.

[0046] This application addresses key issues such as unstable installation, positioning deviation, functional limitations, and low automation by integrating rigid integrated installation, reasonable spatial layout, automatic quick-change mechanism, and multiple robotic arms from the structural level.

[0047] This infrastructure is not only a prerequisite for achieving precise clamping, stable transfer, and safe dumping, but also a necessary guarantee for the unmanned laboratory to achieve continuous, efficient, and standardized operation, which can significantly improve the stability, safety, and intelligence level of water quality testing operations.

[0048] As an optional embodiment, the vehicle-mounted rack 2 includes a multi-layer rack body 22 and multiple rack mounting slots 23 disposed on each layer. The rack mounting slots 23 are used to place standard racks 24 corresponding to the test containers 21. The rack mounting slots 23 are provided with an elastic locking mechanism and a first positioning sensor. The standard racks are positioned and engaged with the multi-layer rack body 22 through the rack mounting slots 23 and are rigidly locked by the elastic locking mechanism. The standard racks 24 are provided with multiple container slots 25 inside. Each container slot 25 is used to place the corresponding test container 21, wherein the test containers 21 include pH test containers, CODcr test containers, and potassium permanganate test containers.

[0049] This application further optimizes the design of the vehicle-mounted material rack 2 to better suit the batch transport, precise positioning, and automated docking requirements of unmanned water quality testing laboratories. The vehicle-mounted material rack 2 mainly consists of a multi-layered material rack body 22 and material rack placement slots 23 distributed on each layer. The material rack placement slots 23 are used to place standard material racks 24 that carry various testing containers 21, making the overall loading structure clearly layered and orderly for retrieval, facilitating rapid identification and precise operation by the six-axis robotic arm 3.

[0050] It should be noted that, due to the differences in the structure of the standard material rack 24 of different testing containers 21, the structure of the material rack mounting slot 23 will also be adapted, including the size and structure, with the ultimate goal of effectively positioning and installing the standard material rack 24.

[0051] To ensure that the standard material rack 24 does not shake or misalign during transfer and docking, the material rack mounting slot 23 is equipped with an elastic locking mechanism and a first positioning sensor, such as... Figure 1 The material rack mounting slot 23 is equipped with an elastic locking mechanism at one end near the six-axis robotic arm 3.

[0052] When the standard material rack 24 is placed into the material rack placement slot 23, it can quickly form a positioning fit. After it is in place, the elastic locking mechanism automatically completes the rigid locking, which not only ensures smooth placement, but also maintains stability during movement, start-up, and robotic arm operation, preventing the material rack from shifting, tipping over, or falling off.

[0053] The first positioning sensor provides real-time feedback on the placement status of the standard material rack 24, providing reliable signal support for the system's automated judgment and process integration.

[0054] The standard material rack 24 has multiple independent container slots 25 inside, each slot is specifically used to place a type of testing container 21, which is compatible with a variety of commonly used water quality testing containers such as pH testing containers, CODcr testing containers, and potassium permanganate testing containers, so as to realize the unified carrying and classified management of multiple types of containers.

[0055] This layered, slotted, and segmented structured design allows containers to be placed neatly and in consistent positions, significantly reducing the difficulty of gripping by robotic arms, improving docking accuracy, and meeting the needs of batch transfer, making the container flow in the unmanned laboratory more efficient, safer, and more controllable.

[0056] As an optional embodiment, a rotating module 26 is provided at the top of the vehicle-mounted material rack 2. The rotating module 26 is configured to rotate the standard material rack 24 so that the robot arm can pick up the inspection containers 21 at different positions. The rotating module 26 includes a fixed base, a rotary support bearing, a rotating support platform, and a servo motor. The fixed base is fixed to the top of the multi-layer material rack body 22. The rotating support platform is rotatably mounted on the fixed base through the rotary support bearing. The rotating support platform is also provided with a positioning boss, which is configured to match the bottom groove of the standard material rack 24. The servo motor is configured to drive the rotating support platform to rotate according to control commands.

[0057] In the initial standby state, the rotating module 26 is in a zero-state, the servo motor stops running, and the rotating support platform maintains a fixed angle; the bottom groove of the standard material rack 24 aligns with the positioning boss on the platform to complete the fitting and positioning, and the two are initially limited. The robot arm places the standard material rack 24 carrying the testing container 21 on the rotating support platform, and the positioning boss and the bottom groove precisely engage to achieve circumferential and radial pre-positioning and prevent the material rack from sliding laterally.

[0058] The industrial camera at the end effector of the six-axis robotic arm identifies the inspection container on the side / back of the standard material rack and determines that the material cannot be picked up at the current angle. The transfer vehicle control system sends a rotation angle command to the servo motor. The servo motor receives the command and starts, driving the slewing support bearing to rotate, causing the rotating support table and the standard material rack 24 to rotate synchronously until the target angle is reached, at which point the motor stops.

[0059] Once the angle is reached, the six-axis robotic arm switches to the corresponding robotic arm to perform gripping and transfer operations on the inspection container 21 in different positions. If containers in other positions need to be picked up, the command issuance-rotation-picking steps are repeated; after all materials are picked up, the servo motor drives the table to rotate back to the initial zero point, waiting for the next round of work.

[0060] The entire system is centrally controlled and can be integrated with visual recognition and robotic arm quick-change systems to achieve fully automated identification, angle adjustment, and material handling, meeting the requirements of automated operations in unmanned laboratories. The module is mounted on top of the vehicle-mounted material rack, without occupying additional installation platform space, featuring a simple layout and good compatibility with existing vehicle-mounted material racks and robotic arm structures.

[0061] As an optional embodiment, the robotic arm 4 includes a gripping device, and an automatic quick-change female head 32 is disposed on the gripping device; the automatic quick-change female head 32 includes a quick-change structure and a transmission mechanism, the transmission mechanism is connected to the six-axis robotic arm 3, the quick-change structure is configured to cooperate with the automatic quick-change male head 31, and the output end of the transmission mechanism is connected to the gripping device for driving the gripping device to perform gripping; various robotic arms 4 include a test tube gripping robotic arm 42, a material rack gripping robotic arm 43, and a waste liquid dumping robotic arm 44.

[0062] The six-axis robotic arm moves to the corresponding position on the robotic arm support, aligning the end effector quick-change male connector 31 with the end effector quick-change female connector 32 above the robotic arm. The quick-change structure of the end effector quick-change male connector 31 and the end effector quick-change female connector 32 precisely engages and automatically locks, completing mechanical positioning and rigid connection, while simultaneously connecting the power and electrical circuits. The power and motion commands of the six-axis robotic arm are transmitted step by step to the gripping device below via the transmission mechanism.

[0063] The transmission mechanism drives the clamping device to perform clamping, holding, or opening actions, enabling the grasping and release of inspection containers and standard material racks. After a single task is completed, the quick-change structure automatically unlocks, the robotic arm and the robotic hand separate, the robotic hand is returned to the support, and the robotic arm can be switched to other robotic hands.

[0064] With its quick-change structure for rapid docking and locking, a single six-axis robotic arm can switch between multiple robotic arms as needed, handling various tasks such as test tube gripping, material rack transfer, and waste liquid dumping, reducing the number of devices and floor space required. The integrated transmission mechanism enables seamless power transmission between the robotic arm and the gripper end, reducing the weight of the robotic arm, simplifying the structure, and allowing for normal driving of gripping actions immediately after docking, without the need for additional external power lines.

[0065] According to the needs of the entire process of unmanned laboratory operation, the various robotic arms 4 are specifically divided into three categories: test tube gripping robotic arm 42, material rack gripping robotic arm 43, and waste liquid dumping robotic arm 44.

[0066] The three types of robotic arms correspond to three core operations: gripping a single testing container, transferring an entire material rack, and tilting and dumping waste liquid containers. They cover the entire process of water sample sorting, pretreatment, testing, and waste liquid treatment, enabling a single robotic arm platform to adapt to multiple scenarios for automated operation without the need for additional actuators, making the overall structure simpler and the operation logic clearer.

[0067] As an optional embodiment, multiple robotic arms 4 are mounted on corresponding robotic arm brackets 41, which are fixed to the mounting platform. The end of the six-axis robotic arm 3 is also equipped with an industrial camera to identify the QR codes corresponding to different detection devices in order to determine the robotic arm 4 that needs to be replaced and the corresponding detection container 21.

[0068] The transport vehicle arrives near the target workstation, and the six-axis robotic arm drives the end-effector industrial camera to scan the QR code on the inspection equipment / workstation. The system parses the QR code information to determine the current operation type, the required robotic arm model, and the category of the inspection container 21 to be grasped. The robotic arm moves to the corresponding fixed position of the robotic arm 4 and completes docking and locking with the robotic arm's automatic quick-change male head 31 and automatic quick-change female head 32.

[0069] After the gripper is changed, the robotic arm controls the robotic arm to precisely grasp the matching inspection container 21 and perform operations such as loading, transferring, and unloading. After a single operation is completed, the robotic arm returns the robotic arm to its original fixed position; if a change of operation is required, the scanning, gripper selection, gripper change, and operation process are repeated.

[0070] The robotic arm is fixed in place, eliminating the risk of displacement. The movement trajectory of the robotic arm during pick-and-place operations can be fixed, improving the repeatability accuracy of gripper changes. Relying on industrial cameras and QR code recognition, the system automatically matches the robotic arm with the testing container, requiring no manual setup and adapting to various testing procedures. This further enhances the automation and intelligence level of the unmanned laboratory.

[0071] like Figure 3 As shown, as an optional embodiment, the test tube gripping robot 42 includes a gripper body 421 and a gripping execution finger 422; the overall structure is compact and the operation is stable, and it is specially adapted to the precise gripping of thin-walled, multi-specification testing containers such as pH test tubes, CODcr digestion tubes, and potassium permanganate detection conical flasks.

[0072] The top of the gripper body 421 is fixed with an automatic quick-change female connector 32, which can quickly dock with the automatic quick-change male connector 31 at the end of the six-axis robotic arm to achieve synchronous transmission of power and signals. The gripping execution fingers 422 include symmetrically arranged fixed fingers 4221 and movable fingers 4222. Both the fixed fingers 4221 and the movable fingers 4222 have an L-shaped bending structure, which ensures gripping strength and provides reliable radial and axial limits for the container.

[0073] The fixed gripper finger 4221 is rigidly fixed to the gripper body 421 and remains in a constant position; the movable gripper finger 4222 is movably mounted on the gripper body 421 and automatically quick-change female head 32 forms a stable transmission connection with the output shaft.

[0074] Driven by the output shaft, the movable gripper 4222 can reciprocate along a straight line, moving closer to or further away from the fixed gripper 4221, thereby completing the clamping, holding, and releasing actions on the test container, ensuring a stable clamping process, high coaxiality, and preventing damage to the outer wall of the container.

[0075] As an optional embodiment, a semi-U-shaped support groove 4223 is provided on the opposite side of the fixed clamping finger 4221 and the movable clamping finger 4222. When the two sets of clamping fingers are closed, the two semi-U-shaped support grooves 4223 can be combined into a complete circular limiting structure, which can accurately support the flange edge on the outside of the bottle mouth of test tubes, digestion tubes and other containers, and achieve dual fixation of axial support and radial limiting, so as to prevent the container from slipping or falling off during transportation, lifting and docking.

[0076] To further protect the thin-walled testing container from being pinched or broken, the inner surface of the semi-U-shaped support slot 4223 is covered with a flexible silicone cushioning pad, providing soft contact cushioning during clamping.

[0077] Meanwhile, the slot is also equipped with a contact pressure sensor that can collect clamping pressure signals in real time, ensuring that the clamping force is moderate, stable and controllable. This prevents the container from falling off due to excessive clamping or from breaking due to excessive clamping force, greatly improving the safety and reliability of unmanned operation.

[0078] As an optional embodiment, a limiting rod 4224 is also provided on the fixed gripper 4221 and the movable gripper 4222; the limiting rod 4224 is vertically provided on the lower surface of the fixed gripper 4221 and the movable gripper 4222, and the lower surface is configured to face the bottom of the test tube when the test tube gripping robot 42 grips the test tube, and the free end of the limiting rod is also provided with a rubber buffer sleeve.

[0079] The limiting rod 4224 is arranged vertically on the side of the clamping fingers facing the bottom of the test tube. Its free end is fitted with a rubber buffer sleeve, which can form an auxiliary limiting and flexible support for the bottom of the container during the clamping process, further preventing the test tube from tilting, shaking or even slipping when moving at high speed or when the robotic arm starts and stops, making the thin-walled container more stable and safe during the entire transfer process.

[0080] like Figure 4 As shown, as an optional embodiment, the material rack gripping robot 43 includes a gripper base 431 and a hook-shaped gripping finger 432; the top of the gripper base 431 is fitted with an automatic quick-change female head 32 via a flange; the hook-shaped gripping finger 432 includes a gripping finger body 4321 and a Z-shaped bending structure 4322 disposed on the upper surface of the gripping finger body 4321. One end of the Z-shaped bending structure 4322 is fixed to the gripping finger body 4321 so that the middle part of the Z-shaped bending structure 4322 is fitted and fixed to the upper surface, and the other end of the Z-shaped bending structure 4322 is configured as a plurality of lifting hooks 4323 disposed along the length direction of the gripping finger body 4321. The plurality of lifting hooks 4323 are adapted to the gripping groove of the outer supporting edge of the standard material rack 24.

[0081] The top of the gripper base 431 is fixed to the automatic quick-change female head 32 via a flange structure, ensuring a rigid connection and stable force distribution with the end of the robotic arm. The hook-shaped gripping finger 432 includes a gripping finger body 4321 and a Z-shaped bending structure 4322 on it. The upper and lower ends of the Z-shaped bending structure form inwardly extending lifting hooks 4323, which can be precisely matched with the gripping grooves on the outer supporting edge of the standard material rack 24. Through bidirectional lifting from above and below, the entire material rack is stably clamped, making it less prone to deformation and loosening.

[0082] As an optional embodiment, the hook-shaped gripping fingers 432 are configured as two relatively movable gripping fingers; both hook-shaped gripping fingers 432 are drive-connected to the output shaft of the automatic quick-change female head 32; synchronous opening and closing and precise alignment are achieved under drive. The material rack gripping robot 43 is also equipped with a pin-type mechanical locking mechanism, which locks the hook-shaped gripping fingers 432 after gripping in place.

[0083] To further enhance the safety of heavy-duty transfer, the material rack gripping robot 43 is also equipped with a pneumatic pin-type mechanical locking mechanism, which automatically locks the sliding seat after the gripper fingers are in place. Even in the absence of air or power, it can maintain a reliable lock, completely preventing the material rack from accidentally falling off during the transfer process and ensuring the safe operation of the unmanned laboratory.

[0084] like Figure 5 As shown, as an optional embodiment, the waste liquid dumping robot 44 includes a main platform 441, a drive cylinder 442, a flipping flange 443, and clamping fingers 444; it integrates clamping, flipping, and resetting functions and is specifically used for the stable clamping, precise flipping and dumping of waste liquid containers and the recycling of empty containers after inspection.

[0085] An automatic quick-change female connector 32 is installed on the main platform 441, and a drive cylinder 442 is installed below the main platform 441. A tilting flange 443 is fixed to the side of the main platform 441 near the output end of the drive cylinder. The tilting flange 443 has a built-in servo motor, and the rotating part 4431 of the tilting flange is connected to the servo motor for transmission. The servo motor can output continuous and controllable rotational power, and can achieve precise angle rotation within the range of 0–180° under the command of the control system, providing a stable, smooth, and closed-loop controllable tilting action for waste liquid dumping.

[0086] The clamping fingers 444 include multiple elastic fingers 4441, one end of which is movably mounted on the rotating component 4431 and connected to the output end of the drive cylinder 442; they open and close synchronously under the drive of the cylinder. All elastic fingers 4441 have a symmetrical semi-Y-shaped bending structure; they possess sufficient structural strength while providing a moderate elastic adaptive effect during clamping, making them compatible with waste liquid containers of different diameters.

[0087] On the inner side of the free end of the elastic finger 4441, there is an arc-shaped clamping surface 4442 that is adapted to the shape of the container body. This surface is covered with a layer of anti-corrosion and anti-slip silicone, which can increase the clamping friction and prevent the container from slipping, resist the corrosion of water quality testing waste liquid, and avoid damaging the bottle body. This ensures that the container remains stable, safe and reliable throughout the clamping, flipping and pouring process.

[0088] On the other hand, this utility model also provides an unmanned laboratory system, including sample dispensing equipment, pretreatment equipment, and various testing equipment respectively set in different locations in the laboratory; as well as a transport vehicle for the unmanned laboratory of any of the above.

[0089] In the unmanned laboratory system for water quality testing, the transport vehicle serves as the core automated execution and transport carrier. Under the unified scheduling of the system's central hub, it completes the entire closed-loop operation from water sample reception, sample sorting and transport, pretreatment loading, multi-item testing docking, waste liquid treatment to empty container recycling.

[0090] After the system starts, the transport vehicle automatically travels from the standby position to the sample sorting station using laser SLAM (Simultaneous Localization and Mapping) navigation. The onboard control system receives water sample information and task instructions from the host computer. Upon reaching the designated location, the transport vehicle achieves precise docking through vision-assisted positioning. The six-axis robotic arm 3 automatically transforms from the robotic arm support 41 into a test tube gripping robotic arm 42, smoothly and steadily picking up the sorted pH test tubes, CODcr (Chemical Oxygen Demand determined by potassium dichromate) digestion tubes, potassium permanganate test conical flasks, and other testing containers 21 one by one, and placing them into the corresponding standard racks 24 on the onboard material rack 2 according to the rules. The arrival signal of the testing containers is uploaded to the system in real time. After confirming that the loading is correct, the transport vehicle drives to the next station.

[0091] Upon arrival at the filtration pretreatment station, the transfer vehicle is replaced by a material rack gripping robot 43, which removes the standard material rack 24 carrying the test container 21 from the vehicle-mounted material rack 2 as a whole and places it precisely on the filtration platform. After filtration is completed, the standard material rack is retrieved back to the vehicle-mounted material rack 2, completing the automated flow of batch containers.

[0092] Upon entering the testing phase, the transport vehicle proceeds sequentially to the pH testing, CODcr testing, and potassium permanganate testing stations. The six-axis robotic arm 3 switches to the test tube gripper 42 according to the station's requirements, removing the corresponding testing container from the onboard rack 2 and placing it in the designated position on the testing instrument. After the instrument completes its analysis, the testing container is retrieved; at this point, the container contains waste liquid. The entire process requires no manual intervention, ensuring a continuous, stable, and traceable testing workflow.

[0093] After the testing container completes all testing items, the transport vehicle travels to the waste liquid treatment area and automatically transforms into a waste liquid dumping robot arm 44. The six-axis robot arm 3 grips the testing container containing waste liquid and moves it above the waste liquid tank. The servo motor controls the testing container to rotate smoothly, safely dumping the waste liquid into the tank. Small vibrations are used to prevent residual liquid from leaking. After dumping, the empty testing container is returned to the vehicle-mounted recycling area, achieving harmless treatment of waste liquid and recycling of the container.

[0094] After all tasks are completed, the transport vehicle automatically returns to the charging dock to stand by, and simultaneously uploads the task data, container status, and abnormal information to the system central hub. If obstacles, leaks, or clamping abnormalities occur during operation, the transport vehicle will immediately trigger the safety protection mechanism, suspend operations, and report an alarm.

[0095] Throughout the entire process, the transport vehicle completes the entire life cycle of water sample transfer in an automated, unmanned, and standardized manner, greatly improving testing efficiency and reducing human error and pollution risks. It is the core guarantee for the stable operation of the unmanned water quality testing laboratory.

[0096] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0097] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0098] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A transport vehicle for an unmanned laboratory, characterized in that, include: Mobile main body (1), vehicle-mounted material rack (2), six-axis robotic arm (3), multiple robotic hands (4); The mobile body (1) is provided with an integrated rigid mounting platform (11) on its upper part; the integrated rigid mounting platform (11) is provided with a vehicle-mounted material rack (2), and the vehicle-mounted material rack (2) is provided with installation positions for various testing containers (21); The six-axis robotic arm (3) is mounted on the integrated rigid mounting platform (11) on the side away from the vehicle-mounted material rack (2). The base of the six-axis robotic arm (3) is fixed on the integrated rigid mounting platform (11) and connected to the drive device inside the moving body. The integrated rigid mounting platform (11) is also provided with multiple robotic arm brackets (41). The robotic arm brackets (41) are used to install corresponding types of robotic arms (4). The robotic arms (4) are used to hold corresponding types of detection containers (21). The robotic arm brackets (41) are all located within the action coverage range of the six-axis robotic arm (3). The end of the six-axis robotic arm (3) is provided with an automatic quick-change male connector (31), and the robotic hand (4) is provided with an automatic quick-change female connector (32) that matches the automatic quick-change male connector (31).

2. The transport vehicle for the unmanned laboratory according to claim 1, characterized in that, The vehicle-mounted rack (2) includes a multi-layer rack body (22) and multiple rack placement slots (23) on each layer. The rack placement slots (23) are used to place standard racks (24) for corresponding testing containers (21). The material rack mounting slot (23) is provided with an elastic locking mechanism and a first positioning sensor. The standard material rack forms a positioning fit with the multi-layer material rack body (22) through the material rack mounting slot (23) and is rigidly locked by the elastic locking mechanism. The standard material rack (24) is provided with multiple container slots (25) inside. Each container slot (25) is used to place the corresponding test container (21). The test container (21) includes a pH test container, a CODcr test container, and a potassium permanganate test container.

3. The transport vehicle for the unmanned laboratory according to claim 2, characterized in that, The vehicle-mounted material rack (2) is provided with a rotating module (26) at the top. The rotating module (26) is configured to rotate the standard material rack (24) so ​​that the robot arm can pick up the detection container (21) at different positions. The rotating module (26) includes a fixed base, a rotary support bearing, a rotating bearing platform, and a servo motor; the fixed base is fixed to the top of the multi-layer material rack body (22); the rotating bearing platform is rotatably mounted on the fixed base through the rotary support bearing, and the rotating bearing platform is also provided with a positioning boss, which is configured to match the bottom groove of the standard material rack (24); the servo motor is configured to drive the rotating bearing platform to rotate according to control commands.

4. The transport vehicle for the unmanned laboratory according to claim 1, characterized in that, The robotic arm (4) includes a gripping device, and the automatic quick-change female head (32) is disposed on the gripping device; The automatic quick-change female head (32) includes a quick-change structure and a transmission mechanism. The transmission mechanism is connected to the six-axis robotic arm (3). The quick-change structure is configured to cooperate with the automatic quick-change male head (31). The output end of the transmission mechanism is connected to the clamping device to drive the clamping device to perform clamping. The various robotic arms (4) include a test tube gripper (42), a material rack gripper (43), and a waste liquid dumping robot (44).

5. The transport vehicle for the unmanned laboratory according to claim 4, characterized in that, Multiple robotic arms (4) are mounted on corresponding robotic arm brackets (41), which are fixed on the mounting platform. The end of the six-axis robotic arm (3) is also equipped with an industrial camera to identify the QR codes corresponding to different detection devices in order to determine the robotic arm (4) to be replaced and the corresponding detection container (21).

6. The transport vehicle for the unmanned laboratory according to claim 4, characterized in that, The test tube gripper (42) includes a gripper body (421) and a gripping execution finger (422). The automatic quick-change female head (32) is fixed at the top of the gripper body (421). The gripping and execution gripping fingers (422) include fixed gripping fingers (4221) and movable gripping fingers (4222) arranged symmetrically and in parallel. Both the fixed gripping fingers (4221) and the movable gripping fingers (4222) are L-shaped bent structures. The fixed gripper finger (4221) is fixed on the gripper body (421), and the movable gripper finger (4222) is movably mounted on the gripper body (421) and is connected to the output end of the transmission mechanism; the movable gripper finger (4222) moves towards / away from the fixed gripper finger (4221).

7. The transport vehicle for the unmanned laboratory according to claim 6, characterized in that, The fixed clamping finger (4221) and the movable clamping finger (4222) are provided with a semi-U-shaped support groove (4223) on opposite sides, which, when closed, form a complete circular limiting structure to support the flange edge of the outer surface of the test tube; The inner side of the semi-U-shaped support slot (4223) is covered with a silicone buffer pad and equipped with a contact pressure sensor; Limiting rods (4224) are also provided on the fixed clamping finger (4221) and the movable clamping finger (4222). The limiting rod (4224) is vertically disposed on the lower surface of the fixed clamping finger (4221) and the movable clamping finger (4222). The lower surface is configured to face the bottom of the test tube when the test tube clamping robot (42) clamps the test tube. The free end of the limiting rod is also provided with a rubber buffer sleeve.

8. The transport vehicle for the unmanned laboratory according to claim 4, characterized in that, The material rack gripping robot (43) includes a gripper base (431) and hook-shaped gripping fingers (432); The automatic quick-change female head (32) is mounted on the top of the gripper base (431) via a flange. The hook-shaped clamping finger (432) includes a clamping finger body (4321) and a Z-shaped bending structure (4322) disposed on the upper surface of the clamping finger body (4321). One end of the Z-shaped bending structure (4322) is fixed to the clamping finger body (4321) so that the middle part of the Z-shaped bending structure (4322) is attached to and fixed on the upper surface. The other end of the Z-shaped bending structure (4322) is configured as a plurality of lifting claws (4323) disposed along the length direction of the clamping finger body (4321). The plurality of lifting claws (4323) are adapted to the clamping groove of the outer supporting edge of the standard material rack (24). The hook-shaped clamping fingers (432) are configured as two clamping fingers that can move relative to each other; The hook-shaped clamping fingers (432) are all connected to the output end of the transmission mechanism. The material rack gripping robot (43) is also equipped with a pneumatic pin-type mechanical locking mechanism, which locks the hook-type gripping fingers (432) after gripping in place.

9. The transport vehicle for the unmanned laboratory according to claim 4, characterized in that, The waste liquid dumping robot (44) includes a main platform (441), a drive cylinder (442), a flipping flange (443), and clamping fingers (444). An automatic quick-change female head (32) is provided on the main platform (441), and a drive cylinder (442) is provided below the main platform (441). The flip flange (443) is fixed on the side of the main platform (441) near the output end of the drive cylinder. The flip flange (443) has a built-in servo motor, and the rotating part (4431) of the flip flange is connected to the servo motor for transmission. The clamping fingers (444) include multiple elastic fingers (4441), one end of each elastic finger (4441) is movably mounted on the rotating member (4431) and is connected to the output end of the driving cylinder (442). The elastic fingers (4441) are all symmetrical semi-Y-shaped bending structures; The inner side of the free end of the elastic finger (4441) is provided with an arc-shaped cladding surface (4442) that is adapted to the container body, and the arc-shaped cladding surface (4442) is covered with an anti-corrosion and anti-slip silicone layer.

10. An unmanned laboratory system, characterized in that, It includes sample dispensing equipment, pretreatment equipment, and various testing equipment, each set in different locations within the laboratory; and a transport vehicle for the unmanned laboratory as described in any one of claims 1 to 9.

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