A workbench system

Abstract

A method of installing a modular workbench system in a laboratory comprising installing a workbench (1) having a work surface (3) accessible to a user from a free side (F) for user manipulation of objects on the work surface such that the side (O) opposite to the free side (F) is installed against an object. A robotic arm (10) is mounted on the free side (F) and has at last least three degrees of freedom to manipulate objects on the work surface. The workbench (1) may comprise a rail (11) extending along the free side (F) to slidably support the robotic arm (10). The workbench may have a transport surface (4) with a magnetic conveyor system to transport objects at a level below the work surface (3).

Description

[0001] A WORKBENCH SYSTEM

[0002] The present invention relates to a workbench system. In particular, it is directed to a workbench system suitable for use in a laboratory facility or the like.

[0003] At present, laboratories have access to a wide variety of instruments from various manufacturers. However, these often have different eco systems and special limitations which create logistical challenges for automated workflow. The present invention is aimed at providing a workbench system which is designed to facilitate workflow automation within the laboratory environment.

[0004] The use of collaborative robots (robots which operate at low enough peak forces which allow them to work safely alongside people) is known in a laboratory context. For example, HighRes Biosolutions have of a system which uses a robotic arm on a rail mounted on a platform between two units mounted in a back to back configuration in order to move objects from a supply area on one side to a working area on the other side. Because the robotic arm is positioned on a platform between units, the overall structure is particularly bulky, thereby reducing or impeding manual access to the laboratory equipment, and making servicing of the system more difficult

[0005] According to a first aspect of the present invention, there is provided a workbench system according to claim 1 .

[0006] Rather than mounting the robotic arm in a location in which manual access to laboratory equipment is relatively limited between adjacent units, the present invention takes a fundamentally different approach by placing the robotic arm on the free side of the workbench. This avoids the need for the bulky three part structure in the prior art, namely a robot mounting platform and surrounding units either side of this platform to restrict access to the robotic arm. The present invention is therefore more versatile. In particular, it can occupy a similar space to that required by a conventional workbench thereby allowing it to replace a conventional workbench and be readily integrated into an existing workbench arrangement. Further, it lends itself much more readily to building up a modular system based on a number of adjacent workbenches as the basic unit forming an individual workbench is significantly smaller than the minimum unit in the prior art. As the rail extends along the free side it is directly adjacent to the space occupied by the user standing at the workbench. Reference to the free side of the workbench is a reference to the side of a workbench at which the user stands to carry out their work on the workbench. The side opposite to the free side may be placed against a wall, another workbench or other equipment as the workbench is not required to be accessible from the opposite side by the user. The free side of the workbench is not blocked by any obstacle which makes accessibility of the work surface an impractical possibility for a user standing on the free side directly in front of the workbench.

[0007] The robotic arm may be mounted at any elevation on the free side, such as on, above or below the work surface.

[0008] In its simplest form, the workbench system may be a single work surface. Preferably, the workbench further comprises a second surface at a level different from that of, preferably below, preferably directly below, the work surface, the robotic arm being configured to be able to manipulate objects on the second surface. Thus, as well as moving objects and performing tasks across the work surface, the robotic arm can also load the work surface with objects from the second surface.

[0009] In this case, the second surface is preferably a transport surface via which objects are transported to and from the workbench. This second surface may, for example, just be a free surface and a shuttle or rover type system may be employed to move objects along the transport surface. Alternatively, the second surface may be provided with a conveyor system such as belt or a rail / carriage fixed track system. Thus, the second surface may be used to transport objects to and from the workbench, while the robotic arm can load objects from the second surface onto the work surface and vice versa, and also manipulate objects on the work surface. Using a second surface to transport objects between workbenches frees up the robot arm from such a task, which has a positive impact on the system’s throughput.

[0010] The robotic arm may, for example, be an arm with degrees of freedom which are purely rotational allowing the robotic arm to be rotated to locations on the work surface and the second surface. However, preferably, the robotic arm is movable along a vertical axis between the work surface and the second surface. This provides more efficient movement between the two surfaces as well as minimising the number of axes of rotation and associated drives required of the robotic arm. A SCARA robotic arm with two or more rotational degrees of freedom and movable along a vertical axis is particularly suitable for this application. The links do not have to rotate against the gravitational force thereby allowing the drive forces to be reduced, while the motion about the vertical axis provides a simple and quick way of moving between the work surface and the second surface.

[0011] In order to provide further versatility to the workbench, it may comprise an additional surface different from that of, preferably above the work surface, the robotic arm being configured to be able to manipulate objects on the additional surface. This additional surface allows for installing additional laboratory equipment in the same footprint or for the temporary placement of objects. In this scenario, the robotic arm should still be able to access the laboratory equipment installed on the additional surface, and / or to place and retrieve objects from the additional surface when necessary.

[0012] The workbench system lends itself particularly well to a modular construction in which a number of workbenches are arranged together. Therefore, the rail is preferably provided with coupling at one end for coupling, in use, to a rail of an adjacent workbench.

[0013] In this case, the workbench system preferably further comprises a second workbench attachable to the first workbench and having a work surface accessible to a user from a free side of the workbench. The second workbench preferably has a rail extending along the free side of the workbench and coupled to the rail of the first workbench such that the robotic arm can move between the rails of two workbenches.

[0014] The rail is preferably configured, in use, to allow the robotic arm to move in the region occupied, in use, by a user standing adjacent to the free side of the workbench to access the work surface. In this case, at the free side, the horizontal distance between the work surface and the rail is preferably less than 30cm, more preferably less than 20cm and most preferably less than 10cm. This ensures that, in a horizontal sense, the rail is positioned relatively close to the workbench such that a user is able to stand relatively close to the workbench, while not being hampered by the rail.

[0015] Preferably, at the lowermost part of the free side of the workbench, there is a gap that is at least 5cm high to allow a user’s feet to be positioned under the workbench and to ease cleaning operations of the facility's floor. Thus, even though the rail extends towards the user, they can still stand comfortably at the workbench to access the work surface.

[0016] Preferably, a control box containing electronics for the robotic arm and other equipment, if present, is supported in the workbench and is withdrawable at the free side of the workbench. This provides an easy way of accessing the control electronics allowing ease of maintaining and upgrading of a workbench with new equipment.

[0017] According to a second aspect of the invention there is provided of equipping a laboratory, the method comprising installing a modular workbench system in the laboratory, including a first workbench having a work surface accessible to a user from a free side of the workbench for user manipulation of objects on the work surface; and a robotic arm mounted on the free side of the workbench, the robotic arm having at least three degrees of freedom so as to be able to manipulate objects on the work surface; the method further comprising installing the first workbench such that the side of the workbench opposite to the free side is installed against an object, and the free side of the workbench is unobstructed.

[0018] The object may, for example, be a wall, another workbench or other equipment. The equipment can therefore be optimised to fill the space available as the side of the workbench opposite to the free side is configured to be positioned against a wall or the like while the free side allows for user access.

[0019] The method preferably comprises installing further workbench systems in the laboratory. In this case, at least one of the further workbench systems is a second workbench which is attached to the first workbench and having a work surface accessible to a user from a free side of the workbench.

[0020] The robotic arm may be fixed on the workbench. However, preferably, the workbench system further comprises a rail extending along the free side of the workbench, the robotic arm being slidably mounted on the rail.

[0021] The method preferably further comprises coupling a rail across the first and second workbenches such that the robotic arm can move between the rails of two workbenches. The rail may be in two segments each coupled to a respective workbench before they are attached, or may be coupled across both workbenches after they are attached. More than two workbenches may be connected in which case the rail may extend across some or all of the workbenches and may be connected before or after they are attached, or a combination of the two.

[0022] The first and second workbenches may have any of the preferred features of the workbench defined in relation to the first aspect of the invention.

[0023] According to a third aspect of the invention there is provided a workbench system according to claim 23.

[0024] The magnetic conveyor system may comprise permanent magnets or electromagnets.

[0025] Examples of workbench systems in accordance with the present invention will now be described with reference to the accompanying drawings, in which:

[0026] Fig. 1 is a perspective view of the first workbench system with a first workbench;

[0027] Fig. 2 is a view similar to Fig. 1 , showing two workbenches in a workbench system;

[0028] Fig. 3A is a schematic cross-section showing a first workbench;

[0029] Fig. 3B is a schematic cross-section showing a second workbench;

[0030] Figs. 4A-D are plan views showing various workbench layouts;

[0031] Fig. 5 is a perspective view of the robotic arm and rail of a first system;

[0032] Fig. 6 is an exploded perspective view of the first robotic arm; and

[0033] Fig. 7 is a view similar to Fig. 1 showing a further example of a workbench system.

[0034] The workbench system is made of a plurality of workbenches with a modular construction.

[0035] A first workbench 1 is shown in Figs. 1 and 3A. This has a framework 2 made, in the illustrated example, of a number of hollow square tubes which form the main structure of the workbench and provide support for a number of the features described below. However, any adequately sized material and frame design to sustain the mechanical stresses of the system can be used.

[0036] At the top of the workbench is a work surface 3 which is at a height to allow easy access for a user U standing on the free side F of the workbench. The opposite side O is installed against a wall, other equipment or another workbench as the workbench is not designed to be accessed by a user from that side.

[0037] Beneath the work surface 3 is a transport surface 4, in this case provided with a transport rail 5 along which equipment can be moved to and from the workbench. Below the transport surface 4 is a wiring layer 8 which connects to a control box 9 immediately beneath it or in the vicinity of it. This provides a simple way of making electrical connections to and from the control box 9 for the work surface 3, transport surface 4 and robotic arm 10. The control box 9 may be in the form of a pull-out drawer accessible from the first side F for ease of maintenance and to allow easy upgrading of the workbench in the event that new equipment is installed.

[0038] The transport surface is a generally horizontal surface allowing objects to be transported across the surface and to be moved to and from the workbench. As an alternative to the rail, the conveyor could be a moving belt or a shuttle system. A further alternative is a magnetic system. In this case magnets may selectively engage with objects to be transported. The magnets may be selectively movable permanent magnets or may be selectively operable or movable electromagnets.

[0039] The robotic arm 10 is mounted on a horizontal rail 11 which is on the free side F of the workbench 1 . In this example, the rail 11 is at a vertical location just below the transport surface 4. As shown in Fig. 3A, in the horizontal sense, there is little or no horizontal gap between the work surface 3 and the rail 11 allowing a user U to stand comfortably on the free side F and to manipulate objects and manually operate laboratory equipment machines on the work surface 3. A gap 12 is provided at the lowermost portion of the free side F to allow a user U to stand even closer in a position where their feet are underneath the rail 11 providing comfortable access to the work surface 3. The rail 11 can be a single linear component shared across multiple benches or could be made up of different modules which mate together so as to ensure a smooth transition. The robotic arm can be driven or manually moved along the rail and can lockable at various locations along the rail if required.

[0040] The robotic arm 10 has a vertical support turret 20 which is mounted on the rail 11 on a carriage 21 (see Fig. 6) so that it can slide along the rail 11 . As shown in Fig. 6, the turret 20 may itself be rotatable on a rotatable platform 22. The turret 20 supports a series of linkages which are movable together along the turret 20 in a vertical direction along the vertical axis Z. The linkages comprises three rotatable links 24, 25, and 26 each of which is rotatable about a respective rotary axis R1 , R2 and R3. The third arm 26 is provided with an actuator 27 for manipulation of objects on the work surface 3. The actuator may be a simple actuator such as a pincer with a single degree of freedom, or a more complex tool with multiple degrees of freedom.

[0041] In this example, the robotic arm 10 therefore has three axis of rotation R1 , R2 and R3 and a linear axis Z as well as having the option of a further axis of rotation about rotational axis Z.

[0042] As shown in Figs 1 and 3A, an object such as a rack R containing an array of samples can be transported to the workbench 1 along the transport rail 5. The robotic arm 10 can then move vertically downwardly on axis Z whereupon the links 24, 25 and 26 can be moved into place allowing the actuator 27 to grip the rack R. The rotatable links 24,25 and 26 are rotated back such that they clear the work surface 3 before being moved up along the vertical axis Z and rotated across the work surface 3 to the desired location to deposit the rack R. The process can be reversed to replace the rack R on the transport surface 4.

[0043] A variation of the workbench is shown in Fig. 3B. This is the same as the example in Fig. 3A except that it is provided with an additional surface 30 which is directly above the work surface 3 and the turret 20 is extended vertically such that the additional surface 30 can be accessed by the robotic arm 10.

[0044] The modular arrangement will now be described first with reference to Fig. 2. This Figure essentially shows two workbenches, one 1 A on the left hand side and the other 1 B on the right hand side. The two modules are positioned adjacent to one another and the frames 2 in each case may be provided with a coupling in order to retain the two workbenches securely together. The workbenches are essentially as shown in Fig. 1 and they are illustrated with different items of equipment on their work surfaces 3. When the workbenches 1 A, 1 B are in this position, the rails 1 1 are adjacent to one another. The rails have an open ended configuration at the interface between the two workbenches such that the carriage 21 of the robotic arm 10 can move between the two workbenches. This allows a single robotic arm 10 to service both the workbenches 1A and 1 B.

[0045] Thus, for example, the rack R of samples may be delivered along with transport rail 5 of the left hand workbench 1A. These can be unloaded by the robotic arm 10 onto the work surface 3 of the first workbench 1 A where one or more operations will be performed. The rack R can then be transferred by the robotic arm 10 to the work surface 3 of the second workbench 1 B for further operations to be carried out before being transferred, by the robotic arm 10, to the transport surface 4 of the second workbench 1 B.

[0046] Thus loading and unloading as well as additional manipulation of objects can occur at numerous workbenches using a single robotic arm 10. In general, this configuration allows for the sharing of different robotic arms 10 across workbenches 1 . The number of robotic arms 10 can be different from the number of workbenches 1 . One or more of the workbenches shown in Fig. 2 can have the additional surface 30 as shown in Fig. 3B for additional flexibility.

[0047] The invention is not limited to having two workbenches side by side. The workbenches can be connected in any desired configuration with a number of examples being shown in Fig. 4A to 4D.

[0048] In Fig. 4A five workbenches 1 are shown connected side by side with rail 11 installed as a number of modules in a linear configuration spanning the free side of these workbenches potentially allowing a single robotic arm to service all of the workbenches 1 . The rail 11 can be configured in accordance with the user’s needs. Thus, the rail 11 may not extend the full extent of the five workbenches. Alternatively, there may be two or more rails 11 each serving one or more of workbenches 1 . The transport rail 5 extends across each of the workbenches 1

[0049] Fig. 4B shows two banks of workbenches 1 arranged back to back with the rail 11 extending along each of the free sides of the workbenches. A transport rail 5 extends across each of the three workbenches 1 and can be configured for transfer of objects between the two banks. Fig. 4C shows an example of a T-shaped arrangement in which three of the workbenches 1 share a common rail 1 1 . There are then two workbenches 40, which have fixed turrets 41 for robotic arms in order to serve adjacent work surfaces. A corner workbench 42 which is not provided with a rail 1 1 is provided at the junction of the T-shaped arrangement. The transport rail 5 extends across each of the workbenches 1 , the corner module 42 and adjacent workbench 40. The corner workbench 42 has a junction 43 providing an interface to a secondary transport rail 44 which allows access to the remaining workbench 40.

[0050] The example of Fig. 4D has nine workbenches 1 arranged in groups of 3 around adjacent sides of a U-shaped configuration. Each side has its own rail 1 1 . The corner modules 42 complete this arrangement and the junctions 43 allow the transport rail 5 to provide transportation along the transport layer 4 around all of the modules.

[0051] These examples are provided in order to give some idea of the versatility of the present invention and its use of a modular system. Any of the workbenches 1 may comprise the additional surface 30 as necessary and any of the workbenches with a rail 11 can be replaced by a similar workbench 40 without the rail (optionally with a fixed robotic arm 41 ).

[0052] Fig. 7 shows a second example of a workbench. The details of this example are largely the same as the first example and only the differences will be described here. Essentially, the differences relate to the type of robotic arm 10’ and the rail 1 T. As shown in Fig. 7 the rail 11 ’ still runs horizontally. However, in this case, rather than being in a horizontal plane, the rail 1 T is arranged in a vertical plane (the rail of the first example could similarly be in this vertical plane). Thus, the rail 1 T is mounted immediately below the work surface 3. The only linear movement of the robotic arm 10’ is along the rail 1 T. Other than that, the robot is provided with multiple axes A of rotation. This robot is in accordance with our earlier WO 2020 / 084316 and reference is made to that document for further details of the robotic arm. Rather than moving vertically from the work surface 3 to the transport surface 4, the robotic arm 10’ swings about its multiple axis rotation between the two levels.

Claims

CLAIMS:1 . A workbench system comprising: a first workbench having a work surface accessible to a user from a free side of the workbench for user manipulation of objects on the work surface; and a robotic arm mounted on the free side of the workbench, the robotic arm having at least three degrees of freedom so as to be able to manipulate objects on the work surface; further comprising a rail extending horizontally along the free side of the workbench, the robotic arm being slidably mounted on the rail.

2. A workbench system according to claim 1 , wherein the workbench further comprises a second surface at a level different from that of the work surface, the robotic arm being configured to be able to manipulate objects on the second surface.

3. A workbench system according to claim 2, wherein the second surface is a transport surface via which objects are transported to and from the workbench.

4. A workbench system according to claim 3, wherein the second surface is provided with a conveyor system.

5. A workbench system according to any of claims 2 to 4, wherein the robotic arm is movable along a vertical axis between the work surface and second surface.

6. A workbench system according to claim 2, wherein the second surface is directly below the work surface.

7. A workbench system according to any preceding claim, wherein the workbench further comprises an additional surface different from that of the work surface, the robotic arm being configured to be able to manipulate objects on the additional surface.

8. A workbench system according to any preceding claim, wherein the rail is provided with a coupling at one end for coupling, in use, to a rail of an adjacent workbench.

9. A workbench system according to any preceding claim, further comprising a second workbench attachable to the first workbench and having a work surface accessible to a user from a free side of the workbench.

10. A workbench system according to claims 9 and 10, wherein the second workbench has a rail extending horizontally along the free side of the workbench and coupled to the rail of the first workbench such that the robotic arm can move between the rails of the two workbenches.

11. A workbench system according to any preceding claim, wherein at the free side, the horizontal distance between the work surface and the rail is less than 30cm.

12. A workbench system according to any preceding claim, wherein at the free side, the horizontal distance between the work surface and the rail is less than 20cm.

13. A workbench system according to any preceding claim, wherein at the free side, the horizontal distance between the work surface and the rail is less than 10cm.

14. A workbench system according to any preceding claim, wherein rail is configured, in use, to allow the robotic arm to move in the region occupied, in use, by a user standing adjacent to the free side of the workbench to access the work surface.

15. A workbench system according to any preceding claim, wherein, at lowermost part of the free side of the workbench there is a gap of at least 5cm high to allow a user’s feet to be positioned under the workbench.

16. A workbench system according to any preceding claim, wherein a control box containing electronics for the robotic arm is supported in the workbench and is withdrawable at the free side of the workbench.

17. A method of equipping a laboratory, the method comprising installing a workbench system, including a first workbench having a work surface accessible to a user from a free side of the workbench for user manipulation of objects on the work surface; and a robotic arm mounted on the free side of the workbench, the robotic arm having at least three degrees of freedom so as to be able to manipulate objects on the work surface; the method further comprising installing the first workbench such that the side of theworkbench opposite to the free side is installed against an object, and the free side of the workbench is unobstructed.

18. A method according to claim 17, wherein the object is a wall, another workbench or other equipment.

19. A method according to claim 16 or 17, further comprising installing further workbench systems in the laboratory.

20. A method according to claim 19, wherein at least one of the further workbench systems is a second workbench which is attached to the first workbench and having a work surface accessible to a user from a free side of the workbench.21 . A method according to claim 20, wherein the method further comprises coupling a rail across the first and second workbenches such that the robotic arm can move between the rails of two workbenches.

22. A method according to claim 17, wherein the workbench system is a workbench system according to any of claims 1 to 16.

23. A workbench system comprising: a first workbench having a work surface accessible to a user for user manipulation of objects on the work surface; a transport surface at a level below the work surface: a robotic arm mounted to the workbench, and having at least three degrees of movement so as to be able to manipulate objects on the work surface and on the transport surface; wherein the transport surface is provided with a magnetic conveyor system to transport objects to and from the workbench.

24. A workbench system according to claim 23, wherein the magnetic conveyor system comprises permanent magnets.

25. A workbench system according to claim 24, wherein the magnetic conveyor system comprises electromagnets.

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