A mechanical arm auxiliary system suitable for formaldehyde test automation process

Abstract

The application provides a mechanical arm auxiliary system suitable for formaldehyde test automation process. It includes a mobile operation platform, a mechanical arm group, a vision module and a control module. The mobile operation platform is arranged in the middle of the formaldehyde test workbench. The mechanical arm group includes a first mechanical arm and a second mechanical arm, which are oppositely arranged in the middle of the formaldehyde test workbench and on the mobile operation platform and slide with the platform. The end effector of the first mechanical arm is a parallel opening and closing gripper structure. The end effector of the second mechanical arm is a multifunctional clamping structure. The vision module is arranged on the parallel opening and closing gripper structure and the multifunctional clamping structure respectively. The control module is used for coordinating the independent or cooperative action of the first mechanical arm and the second mechanical arm based on the feedback information of the vision module. Through the cooperative work of the double mechanical arms, the seamless connection and parallel operation of the whole formaldehyde pretreatment process are realized, and the accurate and non-destructive clamping from a micro pipette to a large bottle is realized, and the system is high in flexibility.

Description

Technical Field

[0001] This utility model relates to the field of formaldehyde detection auxiliary equipment, specifically to a robotic arm auxiliary system suitable for automated formaldehyde testing processes. Background Technology

[0002] Formaldehyde, as a high-risk substance harmful to human health, has received widespread public attention. Formaldehyde testing is an important testing item in environmental and food fields. Its sample pretreatment process typically includes a series of operations such as sample classification, addition of extraction reagent, water bath shaking, solution transfer, addition of derivatizing agent, secondary water bath, and glassware cleaning.

[0003] For individual substances, environmental protection departments have developed various testing standards and methods for different related products and usage scenarios. These include a wide range of daily consumer goods that come into close contact with people, such as textiles, leather, toys, and cosmetics. The testing volume increases year by year as new product types emerge.

[0004] However, currently, most of these operations rely on manual labor, resulting in low efficiency, poor repeatability, large human error, and potential exposure to hazardous chemicals for operators. While some single-function automated devices have emerged in the existing technology, such as automated pipetting workstations or independent robotic arms, they suffer from significant limitations, including limited functionality, poor coordination, and restricted working range. Utility Model Content

[0005] In view of the aforementioned problems, this application is made to provide a robotic arm-assisted system suitable for an automated formaldehyde testing process that overcomes or at least partially solves the aforementioned problems, comprising: a mobile operating platform, at least one set of robotic arms, a vision module, and a control module, wherein the mobile operating platform is disposed in the middle of the formaldehyde testing workbench; The robotic arm assembly includes a first robotic arm and a second robotic arm; the first robotic arm and the second robotic arm are positioned opposite each other in the middle of the formaldehyde testing workbench and are set on a movable operating platform; the end effector of the first robotic arm is a parallel opening and closing gripper structure, used for gripping and manipulating small objects; the end effector of the second robotic arm is a multi-functional gripping structure, used for gripping and manipulating large containers. The vision module is respectively disposed on the parallel opening and closing gripper structure and the multi-functional clamping structure; The control module is electrically connected to the first robotic arm, the second robotic arm, and the vision module, respectively, and is used to coordinate the independent or collaborative movements of the first robotic arm and the second robotic arm based on the feedback information from the vision module.

[0006] Furthermore, the parallel opening and closing gripper structure includes a parallel opening and closing drive mechanism and two oppositely arranged gripping fingers; the parallel opening and closing drive mechanism is used to drive the two gripping fingers to move in parallel in the opening and closing direction; wherein, the opening and closing stroke range is 0-10mm.

[0007] Furthermore, the clamping surfaces of the two clamping fingers are provided with quick assembly interfaces for assembling special fixture accessories.

[0008] Furthermore, the quick assembly interface is an assembly groove opened on the inner side of the clamping finger, and the assembly groove is provided with a magnetic suction unit or an electromagnetic locking unit for adsorbing and fixing the clamp accessories.

[0009] Furthermore, the two gripping fingers are provided with an anti-slip structure at their front ends.

[0010] Furthermore, the multifunctional clamping structure includes a rotary drive mechanism and two oppositely arranged fixed clamping arms and movable clamping arms. The fixed clamping arms are fixedly connected to the end of the second robotic arm, and the movable clamping arms are rotatably connected to the fixed clamping arms via a rotating shaft. The rotary drive mechanism is used to drive the movable clamping arms to rotate around the rotating shaft, so that they form an opening and closing action with the fixed clamping arms. The opposite sides of the fixed clamping arms and movable clamping arms are adapted to form a clamping or wrench shape, which is used for universal clamping, rotation and shaking of various types of objects. The clamping width is 0-5cm.

[0011] Furthermore, elastic anti-slip pads are provided on the opposite sides of both the fixed clamping arm and the movable clamping arm.

[0012] Furthermore, the first robotic arm is connected to the mobile operating platform via a first sliding base; the second robotic arm is connected to the mobile operating platform via a second sliding base; the bottom of the mobile platform is provided with a sliding drive mechanism for driving it to move precisely on the mobile operating platform, and can move precisely in the center of the formaldehyde testing workbench.

[0013] Furthermore, both the first and second robotic arms are six-axis articulated arms driven by servo motors.

[0014] Furthermore, the control module is configured to coordinate the first robotic arm and the second robotic arm to sequentially execute automated operation processes including liquid extraction, oscillating water bath, solution transfer, addition of derivatizing agent, derivatization water bath, and vessel cleaning.

[0015] This application has the following advantages: In the embodiments of this application, compared with the problems of single function, poor coordination, and limited working range of existing formaldehyde detection auxiliary equipment, this application provides an efficient and reliable solution, specifically: including a mobile operation platform, at least one set of robotic arms, a vision module, and a control module. The mobile operation platform is set in the middle of the formaldehyde testing workbench; the robotic arm set includes a first robotic arm and a second robotic arm; the first robotic arm and the second robotic arm are located opposite each other in the middle of the formaldehyde testing workbench and are slidably set on the mobile operation platform; the end effector of the first robotic arm is a parallel opening and closing gripper structure for gripping and manipulating small objects; the end effector of the second robotic arm is a multi-functional gripping structure for gripping and manipulating large containers; the vision module is respectively set in the parallel opening and closing gripper structure and the multi-functional gripping structure; the control module is electrically connected to the first robotic arm, the second robotic arm, and the vision module respectively, and is used to coordinate the independent or coordinated actions of the first robotic arm and the second robotic arm based on the feedback information of the vision module. By enabling seamless integration and parallel operation of the entire formaldehyde pretreatment process through the collaborative work of dual robotic arms on a mobile operating platform, processing efficiency is significantly improved. Two gripper structures are designed for different objects, combined with integrated vision guidance, achieving precise and non-destructive gripping of everything from tiny straws to large bottles, demonstrating high system flexibility. The mobile operating platform layout expands the robotic arms' working range from a fixed point to the entire length of the workbench, allowing for flexible layout and adaptation to more functional workstations. The entire process is automatically scheduled by the control module, reducing human intervention, ensuring operational consistency and result reliability, and minimizing the risk of personnel exposure to hazardous chemicals. Attached Figure Description

[0016] To more clearly illustrate the technical solution of this application, the drawings used in the description of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a robotic arm-assisted system for an automated formaldehyde testing process, provided in one embodiment of this application. Figure 2 This is a schematic diagram of the parallel opening and closing gripper structure provided in one embodiment of this application; Figure 3 This is a schematic diagram of the rotating opening and closing gripper structure provided in one embodiment of the present invention; Reference numerals: 100-Mobile operating platform; 200-First robotic arm; 210-Parallel opening and closing gripper structure; 211-Grip finger; 2111-Quick assembly interface; 2112-Magnetic suction unit or electromagnetic locking unit; 2113-Anti-slip structure; 220-First sliding base; 300-Second robotic arm; 310-Multifunctional clamping structure; 311-Fixed gripper arm; 312-Modible gripper arm; 313-Elastic anti-slip pad; 320-Second sliding base; 400-Formaldehyde testing workbench. Detailed Implementation

[0018] To make the objectives, features, and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] Through analysis of existing technologies, the inventors discovered that: existing automated pipetting workstations or independent robotic arms have limited functions, typically only capable of performing single tasks such as pipetting or gripping, and cannot cover complex multi-step processes; they also lack flexibility, as their end effectors are usually fixed, making it difficult to adapt to objects of various sizes and shapes, from thin tubing and pipettes to conical flasks and test tubes; they have poor coordination, lacking effective collaborative control between multiple devices, making it difficult to achieve efficient parallel operations such as adding liquid with one hand and capping it with the other; and their working range is limited, with fixed-mounted robotic arms having a limited working range, making it difficult to cover all workstations on large workbenches.

[0020] Reference Figures 1-3 This application illustrates a robotic arm-assisted system for an automated formaldehyde testing process, comprising a mobile operating platform 100, at least one set of robotic arms, a vision module, and a control module. The mobile operating platform 100 is disposed in the middle of a formaldehyde testing workbench 400. The robotic arm assembly includes a first robotic arm 200 and a second robotic arm 300; the first robotic arm 200 and the second robotic arm 300 are positioned opposite each other in the middle of the formaldehyde testing workbench 400 and are disposed on the mobile operating platform 100; the end effector of the first robotic arm 200 is a parallel opening and closing gripper structure 210, used for gripping and manipulating small objects; the end effector of the second robotic arm 300 is a multi-functional gripping structure 310, used for gripping and manipulating large containers; The vision module is respectively disposed on the parallel opening and closing gripper structure 210 and the multi-functional clamping structure 310; The control module is electrically connected to the first robotic arm 200, the second robotic arm 300 and the vision module respectively, and is used to coordinate the independent or collaborative actions of the first robotic arm 200 and the second robotic arm 300 based on the feedback information of the vision module.

[0021] In the embodiments of this application, compared with the problems of limited functionality, poor coordination, and limited working range of existing formaldehyde detection auxiliary equipment, this application provides an efficient and reliable solution, specifically: including a mobile operating platform 100, at least one set of robotic arms, a vision module, and a control module, wherein the mobile operating platform 100 is disposed in the middle of the formaldehyde testing workbench 400; the robotic arm set includes a first robotic arm 200 and a second robotic arm 300; the first robotic arm 200 and the second robotic arm 300 are positioned opposite each other in the middle of the formaldehyde testing workbench 400 and disposed on the mobile operating platform 100; The end effector of the first robotic arm 200 is a parallel opening and closing gripper structure 210, used for gripping and manipulating small objects; the end effector of the second robotic arm 300 is a multi-functional gripping structure 310, used for gripping and manipulating large containers; the vision module is respectively disposed on the parallel opening and closing gripper structure 210 and the multi-functional gripping structure 310; the control module is electrically connected to the first robotic arm 200, the second robotic arm 300 and the vision module, respectively, and is used to coordinate the independent or cooperative actions of the first robotic arm 200 and the second robotic arm 300 based on the feedback information of the vision module. The collaborative operation of dual robotic arms on the mobile operating platform 100 enables seamless connection and parallel operation of the entire formaldehyde pretreatment process, significantly improving processing efficiency. Two gripper structures are designed for different objects, combined with integrated vision guidance, achieving precise and non-destructive gripping of everything from tiny straws to large bottles, demonstrating high system flexibility. The layout of the mobile operating platform 100 expands the robotic arms' working range from a fixed point to the entire length of the workbench, offering flexible layout and adaptability to more functional workstations. The entire process is automatically scheduled by the control module, reducing human intervention, ensuring operational consistency and result reliability, while also lowering the risk of personnel exposure to hazardous chemicals.

[0022] The following will further describe a robotic arm-assisted system suitable for automating formaldehyde testing processes in this exemplary embodiment.

[0023] In one embodiment of this application, the mobile operating platform 100 is a platform located in the middle of the formaldehyde testing workbench 400, providing guidance and support for the movement of the robotic arm. It can be rectangular or circular and is linearly translatable. Specifically, a linear drive mechanism can be installed at its bottom, allowing the robotic arm to slide along the mobile operating platform 100 to achieve automated continuous operation. When set as a circular platform, it can be driven to rotate via a drive mechanism, thus maximizing the operating and extension range of the dual robotic arms.

[0024] It should be noted that the workbench is a platform used to arrange the utensils and equipment required for formaldehyde testing. Generally, the workbench is set up from one end to the other as a sample placement area, a sample transfer and derivatization area, a derivatized sample placement area, a rinsing and purging area, etc., and each area is for placing the corresponding experimental equipment, such as trays, water baths, pipettes, etc.

[0025] In one embodiment of this application, the robotic arm assembly includes a first robotic arm 200 and a second robotic arm 300. The first robotic arm 200 is connected to a mobile operating platform 100 on one side via a first sliding base 220, and the second robotic arm 300 is connected to a mobile operating platform 100 on the other side via a second sliding base 320. The first sliding base 220 and the second sliding base 320 may be provided with a sliding drive mechanism for driving the corresponding robotic arm to move precisely on the mobile operating platform 100.

[0026] As an example, the sliding drive mechanism can be a servo motor combined with a ball screw structure, or other existing structures.

[0027] In one embodiment of this application, the end effector of the first robotic arm 200 is a parallel opening and closing gripper structure 210, used for gripping and manipulating small objects, including a parallel opening and closing drive mechanism and two oppositely arranged gripping fingers 211; the parallel opening and closing drive mechanism is used to drive the two gripping fingers 211 to move parallel in the opening and closing direction; wherein, the opening and closing stroke range is 0-10mm, the parallel opening and closing and short stroke are particularly suitable for precise gripping in dense spaces such as test tube racks and cuvette tanks without interference, can accurately adapt to the gripping requirements of small objects, and ensure the stability and operation accuracy of gripping small objects.

[0028] As an example, the parallel opening and closing drive mechanism can be a miniature pneumatic cylinder or an electric push rod, and its connection method is the prior art, such as connecting one end of the two clamping fingers 211 to the telescopic ends of the two miniature pneumatic cylinders respectively, and the two miniature pneumatic cylinders are cross-stacked inside the end of the first robotic arm 200.

[0029] The clamping surfaces of the two gripping fingers 211 are provided with quick-assembly interfaces 2111 for assembling specialized clamping accessories. These specialized clamping accessories may include a slotted gripper for clamping the metal end of a flexible tube, or a snap-on gripper for clamping a pipette. The quick-assembly interfaces 2111 allow the parallel opening and closing gripper structure 210 to be additionally equipped with specialized clamping accessories, and these accessories can be quickly replaced. This further adapts to the clamping needs of different small objects (such as the metal end of a flexible tube and pipettes), making the first robotic arm 200 a multi-functional platform capable of switching tools as needed to complete different tasks such as adding, dispensing, and pipetting, greatly enhancing the system's versatility and flexibility.

[0030] Specifically, the quick assembly interface 2111 is an assembly groove formed inside the clamping finger 211. The assembly groove is equipped with a magnetic attraction unit or an electromagnetic locking unit 2112 for adsorbing and fixing the clamp accessory. The assembly groove, in conjunction with the magnetic attraction unit or electromagnetic locking unit 2112, such as an electromagnet (magnetically attracted to the clamp accessory), achieves quick and stable assembly and disassembly of the clamp accessory by switching on and off the electromagnetic attraction, thereby improving the efficiency and reliability of clamp accessory replacement.

[0031] Furthermore, the two gripping fingers 211 are provided with an anti-slip structure 2113 at their front ends. The anti-slip structure 2113 can be a serrated groove, which increases the friction between the gripping fingers 211 and the small-sized object, preventing the object from slipping during the gripping process and ensuring the stability of the operation.

[0032] In one embodiment of this application, the end effector of the second robotic arm 300 is a multi-functional gripping structure 310 for gripping and manipulating large-sized containers. It includes a rotary drive mechanism and two oppositely arranged fixed gripping arms 311 and movable gripping arms 312. The fixed gripping arms 311 are fixedly connected to the end of the second robotic arm 300, and the movable gripping arms 312 are rotatably connected to the fixed gripping arms 311 via a rotating shaft. The rotary drive mechanism is used to drive the movable gripping arms 312 to rotate around the rotating shaft, so that they form an opening and closing action with the fixed gripping arms 311. The opposite sides of the fixed gripping arms 311 and the movable gripping arms 312 are adapted to form a clamp or wrench shape, realizing universal gripping, rotation and shaking of various types of objects, so that they can be easily inserted into the body of bottles such as conical bottles from above, avoiding the huge opening required by parallel grippers when gripping large-diameter objects. The clamp width is 0-5cm, and the maximum clamp width of 5cm provides ample operating space, which can fit the shape of large containers well, ensuring the stability of clamping large containers and facilitating handling and other operations.

[0033] This application combines different end effectors to achieve separate operations on small objects and large containers, thereby expanding the scope of operation and improving the system's adaptability to objects of different sizes.

[0034] As an example, the rotary drive mechanism can be a servo motor in conjunction with a gear transmission mechanism. The connection method is also in the prior art, that is, the servo motor drives the gear transmission mechanism to rotate, and the movable clamping arm 312 is connected to the gear transmission mechanism through a rotating shaft, thereby driving the movable clamping arm 312 to rotate.

[0035] Furthermore, elastic anti-slip pads 313, such as silicone pads, are provided on opposite sides of both the fixed clamping arm 311 and the movable clamping arm 312. These elastic anti-slip pads 313 not only increase friction with large containers but also act as a buffer, preventing excessive clamping force from damaging the container and improving clamping stability.

[0036] In one embodiment of this application, both the first robotic arm 200 and the second robotic arm 300 are six-axis articulated arms driven by servo motors. Servo motor-driven six-axis articulated arms possess high motion precision and flexibility, enabling them to perform complex operations and meet the requirements of various precision operations in the formaldehyde testing automation process. It should be noted that the six-axis articulated arm, its servo drive technology, and the linear module (sliding base) technology represent a mature industrial robot structure capable of achieving arbitrary positioning of the end effector in space.

[0037] In one embodiment of this application, the vision module includes two industrial cameras, respectively mounted on the parallel opening and closing gripper structure 210 and the multi-functional clamping structure 310. The cameras are equipped with ring light sources for clear image acquisition. The vision module, in conjunction with the control module, ensures operational precision and coordination of the two robotic arms' movements, reduces motion interference, and improves overall work efficiency.

[0038] In one embodiment of this application, the control module adopts a PLC controller, which is electrically connected to the first robotic arm 200, the second robotic arm 300 and the vision module respectively. The control module has a preset control program that can coordinate the independent or collaborative actions of the first robotic arm 200 and the second robotic arm 300 based on the feedback information from the vision module, and sequentially execute automated operation processes such as liquid extraction, shaking water bath, solution transfer, addition of derivatizing agent, derivatization water bath and vessel cleaning.

[0039] It should be noted that in this embodiment, the servo motor, magnetic unit, ball screw in the sliding drive mechanism, PLC controller, etc. are all existing technologies. The servo motor can be a commercially available high-precision servo motor, and its working principle is to accurately control the speed and direction by receiving control signals. The magnetic unit uses the magnetic force of magnets to achieve adsorption and fixation. The ball screw converts the rotational motion into linear motion through the cooperation of the screw and nut. The PLC controller realizes the logical control of each component through the written program.

[0040] The working process of this embodiment is as follows: First, the first robotic arm 200 grips the metal end of the liquid addition tube and accurately positions it at the liquid addition position at the mouth of the conical flask using a vision module. The liquid addition tube, controlled by an electronic switch, uses a peristaltic pump to add the pre-set quantitative water extraction reagent into the conical flask. Simultaneously, the second robotic arm 300 completes the actions of capping, gripping the flask, and placing it on a dedicated tray. After the volume is full or all samples have been extracted, the two gripping arms work together to complete the process of opening the lid, placing the sample in a preheated water bath, and closing the lid, turning on the oscillation switch (automatically controlled), and starting the timer. After extraction is complete, the two gripping arms complete the process of opening the lid, removing the sample, and closing the lid, turning off the oscillation switch (automatically controlled). Then, using the magnetic pipette attachment of the first robotic arm 200, the extraction liquid in the conical flask is sequentially and quantitatively aspirated through the vision module and transferred to test tubes positioned on a dedicated tube rack. The pipette is discarded, and the second robotic arm 300 removes the empty sample bottle from the conical flask. Subsequently, the first robotic arm 200 grips the metal end of the thin tubing of the dispenser, accurately positions it at the liquid addition point of the test tube using a vision system, adds the derivatizing agent, and after batch processing, the second robotic arm 300 completes the capping operation. Then, the two gripping arms complete the process of opening the lid, placing the derivatized sample in the preheated water bath, and closing the lid, starting a timer. After derivatization is complete, the two gripping arms complete the process of opening the lid, removing the sample, and closing the lid, ultimately completing the preparation of the derivatized solution (the sample to be tested) from the sample. Finally, the system enters a cleaning cycle, with the first robotic arm 200 transferring the derivatized sample to cuvettes for testing. After the cuvettes are returned to their original positions, the robotic arms sequentially perform waste liquid disposal, inverted rinsing, and drying operations, returning the clean cuvettes to their original positions, thus completing a fully automated closed loop from sample preparation to cleaning. Under the intelligent scheduling of the control module, the two robotic arms moved freely on the mobile operating platform 100, like tacit dance partners, efficiently and accurately completing all the complex steps.

[0041] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0042] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0043] The above provides a detailed description of a robotic arm-assisted system for automating formaldehyde testing processes. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, those skilled in the art will recognize that there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A robotic arm-assisted system suitable for automating formaldehyde testing processes, characterized in that, It includes a mobile operating platform, at least one set of robotic arms, a vision module, and a control module, wherein the mobile operating platform is located in the middle of the formaldehyde testing workbench; The robotic arm assembly includes a first robotic arm and a second robotic arm; the first robotic arm and the second robotic arm are positioned opposite each other in the middle of the formaldehyde testing workbench and are set on the mobile operation platform; the end effector of the first robotic arm is a parallel opening and closing gripper structure, used for gripping and manipulating small objects; the end effector of the second robotic arm is a multi-functional gripping structure, used for gripping and manipulating large containers. The vision module is respectively disposed on the parallel opening and closing gripper structure and the multi-functional clamping structure; The control module is electrically connected to the first robotic arm, the second robotic arm, and the vision module, respectively, and is used to coordinate the independent or collaborative movements of the first robotic arm and the second robotic arm based on the feedback information from the vision module.

2. The robotic arm-assisted system for automated formaldehyde testing processes according to claim 1, characterized in that, The parallel opening and closing gripper structure includes a parallel opening and closing drive mechanism and two oppositely arranged gripping fingers; the parallel opening and closing drive mechanism is used to drive the two gripping fingers to move in parallel in the opening and closing direction; wherein, the opening and closing stroke range is 0-10mm.

3. The robotic arm-assisted system for automated formaldehyde testing processes according to claim 2, characterized in that, The clamping surfaces of the two clamping fingers are provided with quick assembly interfaces for assembling special fixture accessories.

4. The robotic arm-assisted system for automated formaldehyde testing processes according to claim 3, characterized in that, The quick assembly interface is an assembly groove opened on the inside of the clamping finger, and the assembly groove is provided with a magnetic suction unit or an electromagnetic locking unit for adsorbing and fixing the clamp accessories.

5. The robotic arm-assisted system for automated formaldehyde testing processes according to claim 2, characterized in that, The two gripping fingers have an anti-slip structure at their front ends.

6. The robotic arm-assisted system for automating formaldehyde testing processes according to claim 1, characterized in that, The multifunctional clamping structure includes a rotary drive mechanism and two oppositely arranged fixed clamping arms and a movable clamping arm. The fixed clamping arm is fixedly connected to the end of the second robotic arm, and the movable clamping arm is rotatably connected to the fixed clamping arm via a rotating shaft. The rotary drive mechanism is used to drive the movable clamping arm to rotate around the rotating shaft, so that it forms an opening and closing action with the fixed clamping arm. The opposite sides of the fixed clamping arm and the movable clamping arm are adapted to form a clamping or wrench shape, which is used for universal clamping, rotation and shaking of various types of objects. The clamping width is 0-5cm.

7. The robotic arm-assisted system for automated formaldehyde testing processes according to claim 6, characterized in that, Both the fixed clamping arm and the movable clamping arm are provided with elastic anti-slip pads on opposite sides.

8. The robotic arm-assisted system for automated formaldehyde testing processes according to claim 1, characterized in that, The first robotic arm is connected to the mobile operating platform via a first sliding base; the second robotic arm is connected to the mobile operating platform via a second sliding base; the bottom of the mobile platform is provided with a sliding drive mechanism, enabling it to move in the middle of the formaldehyde testing workbench.

9. The robotic arm-assisted system for automating formaldehyde testing processes according to claim 1, characterized in that, Both the first and second robotic arms are six-axis articulated arms driven by servo motors.

10. The robotic arm-assisted system for automating formaldehyde testing processes according to any one of claims 1-9, characterized in that, The control module is configured to coordinate the first and second robotic arms to sequentially execute automated operation processes including sample classification, liquid extraction, shaking water bath, solution transfer, addition of derivatizing agent, derivatization water bath, and glassware cleaning.

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