Liquid adding composite robot based on AGV

Abstract

The utility model discloses a kind of liquid adding composite robots based on AGV, including AGV body, AGV body includes AGV chassis and electric control system, AGV chassis can realize omni-directional movement;Collaborative robot system is installed on AGV body, and collaborative robot system includes mechanical arm and gripper;Visual positioning system is installed on collaborative robot system, for accurately positioning to the mechanical arm end;At least one quantitative liquid adding system is installed on AGV body, and quantitative liquid adding system includes positioning basket and clamping type quantitative liquid adding device, clamping type quantitative liquid adding device includes bottle body, liquid adding assembly and clamping assembly;Gripper is configured as clamping clamping assembly, to pass through the clamping and loosening action of control clamping assembly.This scheme is through the omni-directional movement of AGV chassis, combined with visual positioning and collaborative robot system, accurately operating and full automation of liquid adding device are realized, reach the purpose of reducing artificial risk, improving experimental efficiency and liquid adding precision, enhancing scene adaptability.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation technology, and more specifically, to an AGV-based liquid dispensing robot. Background Technology

[0002] With the continuous improvement of industrial automation, the intelligent transformation of pharmaceutical and chemical laboratories has become an important trend. In the traditional process of chemical material preparation and experimentation, researchers still need to frequently perform basic operations such as reagent transfer and quantitative liquid addition. These operations are not only cumbersome and inefficient, but also force researchers to be directly exposed to toxic, corrosive, or flammable and explosive chemical environments, posing significant safety hazards. At the same time, it is difficult to guarantee the accuracy of liquid addition and the repeatability of experiments.

[0003] Currently, some devices or robots for automated liquid dispensing have emerged on the market, such as devices that use robotic arms combined with pump systems to transfer liquids. However, most of these devices suffer from insufficient flexibility and limited mobility, making them difficult to adapt to complex experimental processes involving multiple workstations and cross-regional operations. Furthermore, their capabilities in liquid dispensing accuracy, the intelligence of equipment replacement, and adaptability to multi-sample, multi-batch experimental tasks still need improvement, failing to fully meet the comprehensive requirements of modern scientific research laboratories for automation, intelligence, and safety.

[0004] Therefore, there is a need in this field to develop a composite robot solution that integrates autonomous movement, precise positioning, intelligent gripping, and quantitative liquid dispensing. This solution should be able to automatically and accurately deliver reagents to reaction devices at different locations within the experimental area, thereby freeing researchers from repetitive and high-risk labor and fundamentally improving experimental efficiency and operational safety. Utility Model Content

[0005] In view of the above-mentioned technical problems in related technologies, this utility model proposes an AGV-based liquid addition robot, which can overcome the above-mentioned shortcomings of the prior art.

[0006] To achieve the above-mentioned technical objectives, the technical solution of this utility model is implemented as follows: A liquid dispensing robot based on AGV; The AGV-based liquid dispensing robot includes an AGV body, which comprises an AGV chassis and an electronic control system, the AGV chassis being capable of omnidirectional movement; a collaborative robot system mounted on the AGV body, the collaborative robot system comprising a robotic arm and grippers; a vision positioning system mounted on the collaborative robot system for precise positioning of the robotic arm's end effector; and at least one quantitative liquid dispensing system mounted on the AGV body, the quantitative liquid dispensing system comprising a positioning basket and a clamping quantitative liquid dispensing device, the clamping quantitative liquid dispensing device comprising a bottle, a dispensing component, and a clamping component; wherein, the grippers are configured to clamp the clamping component, so that the dispensing component performs quantitative liquid dispensing by controlling the clamping and releasing actions of the clamping component.

[0007] Furthermore, the AGV chassis adopts an omnidirectional wheel design, which enables the AGV chassis to move in all directions.

[0008] Furthermore, the robotic arm of the collaborative robot system is a 6-axis robotic arm.

[0009] Furthermore, the gripper of the collaborative robot system is an electric gripper.

[0010] Furthermore, the visual positioning system includes a visual camera and an image processing unit, wherein the visual camera is mounted at the end of the robotic arm and the image processing unit is connected to the visual camera.

[0011] Furthermore, the positioning basket of the quantitative liquid addition system is equipped with a bottle placement slot and a recycling sealing slot.

[0012] Furthermore, the liquid dispensing assembly of the clamp-type quantitative liquid dispensing device is provided with a liquid outlet pipe.

[0013] Furthermore, the clamping component of the clamping quantitative liquid dispensing device is an adjustable gripper structure.

[0014] Furthermore, the electronic control system of the AGV body is installed on top of the AGV chassis.

[0015] Furthermore, the collaborative robot system is mounted above the electronic control system of the AGV body.

[0016] The beneficial effects of this utility model are as follows: the AGV chassis enables the robot to move omnidirectionally and flexibly in the experimental environment, and the combination of visual positioning and collaborative robot system enables precise grasping and positioning of the liquid addition device, thereby making the quantitative liquid addition process fully automated and intelligent, thus achieving the purpose of significantly reducing the risk and labor intensity of manual operation, effectively improving experimental efficiency and liquid addition accuracy, and enhancing the adaptability of the entire system to complex and ever-changing experimental scenarios. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a first-view perspective perspective view of the overall structure of an AGV-based liquid dispensing robot according to an embodiment of the present utility model. Figure 2 This is a second-view perspective perspective view of the overall structure of an AGV-based liquid dispensing composite robot according to an embodiment of the present utility model; Figure 3 This is a partial detail drawing of a clamping quantitative liquid dispensing device based on an AGV-based liquid dispensing composite robot according to an embodiment of the present utility model; Figure 4 This is a partial detail view of the positioning basket of an AGV-based liquid dispensing composite robot according to an embodiment of the present utility model; In the diagram: 10. AGV body; 11. AGV chassis; 12. Omnidirectional wheel; 13. Electrical control system; 20. Collaborative robot system; 21. Robotic arm; 22. Gripper; 30. Vision positioning system; 31. Vision camera; 40. Quantitative liquid dispensing system; 41. Positioning basket; 42. Bottle placement slot; 43. Recycling sealing slot; 50. Clamping quantitative liquid dispensing device; 51. Bottle; 52. Liquid dispensing assembly; 53. Liquid outlet pipe; 54. Clamping assembly. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art are within the protection scope of the present utility model.

[0020] It should be understood that in the description of the embodiments of this utility model, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of the embodiments of this utility model, "several" means two or more, unless otherwise explicitly specified.

[0021] like Figure 1-4 As shown in the figure, a liquid dispensing composite robot based on AGV according to an embodiment of the present invention includes an AGV body 10, which includes an AGV chassis 11 and an electronic control system 13. The AGV chassis 11 is capable of omnidirectional movement. A collaborative robot system 20 is installed on the AGV body 10, and the collaborative robot system 20 includes a robotic arm 21 and a gripper 22. A vision positioning system 30 is installed on the collaborative robot system 20 for precise positioning of the end effector of the robotic arm 21. At least one quantitative liquid dispensing system 40 is installed on the AGV body 10. The quantitative liquid dispensing system 40 includes a positioning basket 41 and a clamping quantitative liquid dispensing device 50. The clamping quantitative liquid dispensing device 50 includes a bottle 51, a liquid dispensing component 52, and a clamping component 54. The gripper 22 is configured to clamp the clamping component 54 so that the liquid dispensing component 52 performs quantitative liquid dispensing by controlling the clamping and releasing actions of the clamping component 54.

[0022] According to an embodiment of the present invention, a liquid-filling composite robot based on an AGV is provided. In a specific embodiment, the AGV chassis 11 adopts an omnidirectional wheel 12 design, which enables the AGV chassis 11 to move in all directions.

[0023] According to an embodiment of the present invention, in a specific embodiment of the AGV-based liquid filling robot, the robotic arm 21 of the collaborative robot system 20 is a 6-axis robotic arm.

[0024] According to an embodiment of the present invention, in a specific embodiment of the AGV-based liquid-adding composite robot, the gripper 22 of the collaborative robot system 20 is an electric gripper.

[0025] According to an embodiment of the present invention, a liquid-filling composite robot based on an AGV is provided. In a specific embodiment, the visual positioning system 30 includes a visual camera 31 and an image processing unit. The visual camera 31 is installed at the end of the robotic arm 21, and the image processing unit is connected to the visual camera 31.

[0026] According to an embodiment of the present invention, a liquid dispensing robot based on an AGV is provided. In a specific embodiment, the positioning basket 41 of the quantitative liquid dispensing system 40 is provided with a bottle placement slot 42 and a recycling sealing slot 43.

[0027] According to an embodiment of the present invention, a liquid-adding composite robot based on AGV is provided, in a specific embodiment, the liquid-adding component 52 of the clamping quantitative liquid-adding device 50 is provided with a liquid outlet pipe 53.

[0028] According to an embodiment of the present invention, in a specific embodiment of the liquid dispensing robot based on AGV, the clamping component 54 of the clamping quantitative liquid dispensing device 50 is an adjustable gripper structure.

[0029] According to an embodiment of the present invention, in a specific embodiment of a liquid-filling composite robot based on an AGV, the electronic control system 13 of the AGV body 10 is installed above the AGV chassis 11.

[0030] According to an embodiment of the present invention, in a specific embodiment of a liquid-filling composite robot based on an AGV, the collaborative robot system 20 is installed above the electronic control system 13 of the AGV body 10.

[0031] To facilitate understanding of the above-mentioned technical solutions of this utility model, the following detailed description of the above-mentioned technical solutions of this utility model is provided through specific usage methods.

[0032] In practical use, the working process of the AGV-based liquid filling robot according to this utility model is as follows: The liquid addition robot first moves to the standby area within the experimental zone using its AGV body 10. The AGV chassis 11, relying on its omnidirectional wheels 12, achieves flexible omnidirectional movement and accurately reaches the target work starting point.

[0033] Subsequently, the collaborative robot system 20 begins to move, with its robotic arm 21 driving the end-effector gripper 22 to move in front of the positioning basket 41 of the quantitative liquid dispensing system 40. During this process, the vision positioning system 30 installed at the end of the robotic arm 21 is activated, its high-precision vision camera 31 acquires target images, and the image processing unit 32 processes and analyzes the images to accurately align and position the gripper 22 with the clamping component 54 of the clamping quantitative liquid dispensing device 50.

[0034] After alignment, the gripper 22 of the collaborative robot system 20 extends into the clamping assembly 54 and holds it stably. Then, the robotic arm 21 moves the clamped metering liquid dispensing device 50 as a whole, removes it from the bottle placement slot 42 of the positioning basket 41, and transfers it to the top of the reaction bottle in the reaction zone.

[0035] The robotic arm 21 precisely controls the lowering position of the clamping-type quantitative liquid dispensing device 50, causing the outlet pipe 53 of the dispensing component 52 to extend into the reaction flask. Based on the preset liquid usage requirements of the experiment, the electronic control system 13 controls the gripper 22 to perform one or more specific clamping and releasing actions on the clamping component 54 of the clamping-type quantitative liquid dispensing device 50. This action drives the internal mechanism of the dispensing component 52, thereby discharging the liquid stored in the bottle 51 quantitatively through the outlet pipe 53, completing the liquid dispensing operation.

[0036] After the liquid addition is completed, the gripper 22 maintains a stable gripping state for a period of time to ensure that the remaining liquid in the outlet tube 53 drips completely into the reaction flask. Then, the robotic arm 21 moves the used clamping-type quantitative liquid addition device 50 back above the positioning basket 41 and accurately places it in the recovery sealing tank 43. Finally, the gripper 22 opens and is withdrawn from the gripping assembly 54, and the collaborative robot system 20 drives the robotic arm 21 and gripper 22 back to the initial standby position, awaiting the execution of the next liquid addition command.

[0037] In summary, by utilizing the above-mentioned technical solution of this utility model, the robot can move omnidirectionally and flexibly within the experimental environment through the AGV chassis, and the precise grasping and positioning of the liquid addition device can be achieved by combining visual positioning and collaborative robot system. This makes the quantitative liquid addition process fully automated and intelligent, thereby significantly reducing the risk and labor intensity of manual operation, effectively improving experimental efficiency and liquid addition accuracy, and enhancing the adaptability of the entire system to complex and ever-changing experimental scenarios.

[0038] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A liquid dispensing robot based on AGV, characterized in that, Includes an AGV body (10), which includes an AGV chassis (11) and an electronic control system (13), the AGV chassis (11) being capable of omnidirectional movement; a collaborative robot system (20), mounted on the AGV body (10), the collaborative robot system (20) including a robotic arm (21) and a gripper (22); a visual positioning system (30), mounted on the collaborative robot system (20), used for precise positioning of the end effector of the robotic arm (21); at least one A quantitative liquid dispensing system (40) is installed on the AGV body (10). The quantitative liquid dispensing system (40) includes a positioning basket (41) and a clamping quantitative liquid dispensing device (50). The clamping quantitative liquid dispensing device (50) includes a bottle body (51), a liquid dispensing component (52), and a clamping component (54). The gripper (22) is configured to clamp the clamping component (54) so ​​that the liquid dispensing component (52) can perform quantitative liquid dispensing by controlling the clamping and releasing actions of the clamping component (54).

2. The AGV-based liquid dispensing robot according to claim 1, characterized in that, The AGV chassis (11) adopts an omnidirectional wheel (12) design, which enables the AGV chassis (11) to move in all directions.

3. The liquid dispensing robot based on AGV according to claim 1, characterized in that, The robotic arm (21) of the collaborative robot system (20) is a 6-axis robotic arm.

4. The AGV-based liquid dispensing robot according to claim 1, characterized in that, The gripper (22) of the collaborative robot system (20) is an electric gripper.

5. The AGV-based liquid dispensing robot according to claim 1, characterized in that, The visual positioning system (30) includes a visual camera (31) and an image processing unit. The visual camera (31) is mounted on the end of the robotic arm (21), and the image processing unit is connected to the visual camera (31).

6. The liquid dispensing robot based on AGV according to claim 1, characterized in that, The positioning basket (41) of the quantitative liquid dispensing system (40) is provided with a bottle placement slot (42) and a recycling sealing slot (43).

7. The AGV-based liquid dispensing robot according to claim 1, characterized in that, The clamp-type quantitative liquid dispensing device (50) has a liquid dispensing component (52) with a liquid outlet pipe (53).

8. The AGV-based liquid dispensing robot according to claim 1, characterized in that, The clamping component (54) of the clamping quantitative liquid dispensing device (50) is an adjustable gripper structure.

9. The AGV-based liquid dispensing robot according to claim 1, characterized in that, The electronic control system (13) of the AGV body (10) is installed above the AGV chassis (11).

10. The AGV-based liquid dispensing robot according to claim 1, characterized in that, The collaborative robot system (20) is mounted above the electronic control system (13) of the AGV body (10).

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