CN101608161B

CN101608161B - Biological sampling robot system

Info

Publication number: CN101608161B
Application number: CN2009101442357A
Authority: CN
Inventors: 占礼葵; 姚志明; 孙振海; 马祖长; 潘磊; 何江南; 孙怡宁; 李文; 张晓翟
Original assignee: Hefei Institutes of Physical Science of CAS
Current assignee: Hefei Institutes of Physical Science of CAS; Academy of Military Medical Sciences AMMS of PLA
Priority date: 2009-07-24
Filing date: 2009-07-24
Publication date: 2012-06-13
Anticipated expiration: 2029-07-24
Also published as: CN101608161A

Abstract

The invention relates to a biological sampling robot system, comprising a base, a refrigerator is installed on the base, an opening is arranged on the top of the storage box of the refrigerator, a liftable platform is installed in the storage box, and the platform is located directly below the opening; Manipulator device, there is a inkjet coding machine in front of the manipulator device, and an air extraction system is installed on one side of the manipulator device. The air extraction system communicates with the bottom of the dish box of the dish box mechanism through a pipeline. The opening is set in the middle of the mechanical claw of the manipulator device, and a dish box mechanism is installed on one side of the manipulator device. The biological sampling robot system proposed by the present invention has precise mechanical design, stable operation and high precision of the transmission system, and can realize the taking and placing of the sampling plate, the whole process is orderly and the positioning is precise.

Description

Biological sampling robot system

Technical field

The present invention relates to the sampling robot field, especially biological sampling robot system.

Background technology

In recent years; Popular communicable diseases such as SARS, " l ", bird flu constantly appear in countries in the world people's the life; Add that some geographic big or small military conflicts are continuous; Make health that has influence on people even the life that biotic pollution is increasing, this phenomenon has caused showing great attention to of national governments and the public.

For the control of biotic pollution, the best way be exactly to each maybe contaminated geographic air in the content of pollutent detect.Usually the method for sampling that adopts at present is the hand sampling method, and this has had a strong impact on representativeness, continuity, the randomness of collected specimens, to such an extent as to gained result's poor accuracy.The more important thing is,, staff's HUMAN HEALTH even life security have been caused very big threat because the hand sampling method needs the staff in ill-conditioned district work.

Developing rapidly and interpenetrating along with microelectronics, mechanical skill and automatic control technology; Sampling robot obtains application more and more widely in industry measurement detects; Very big raising processing quality and the technical feature of test set in the Measuring and testing process, thereby realized the high benefit of industry measurement robotization.But just at present, sampling robot is applied to situation that air pollutant detect also seldom, application be preferably material sampling in the pipeline relatively.China's in January, 2008, a disclosed publication number was introduced a kind of professional sampling robot that is used for dust sampling in the pipeline for the CN201004024Y utility model patent; But this robot only limits to the collection of dust in the pipeline; Can't satisfy sampling work under the unattended situation of any environment, can work long hours, continuous sampling and full-automatic change sampling and ask many times.

Summary of the invention

The purpose of this invention is to provide a kind of biological sampling robot system, can't satisfy the problem that the desired automatic replacing sampling of sampling work, continuous sampling work etc. require to solve prior art.

In order to achieve the above object, the technical scheme that the present invention adopted is:

Biological sampling robot system includes base, on the described base refrigerator is installed, and perforate is arranged at the storing case top of described refrigerator, and liftable platform is installed in the described storing case, and described platform is positioned under the perforate; Described refrigerator one side is equipped with robot device; There is spray word coder in robot device the place ahead; Described robot device one side is equipped with air-bleed system; Described air-bleed system is through the ware box bottom UNICOM of pipeline and ware case structure, and described air-bleed system is connected with a pump-line, and the opening of described pump-line is arranged in the middle of the gripper of robot device; It is characterized in that: on the wing base of described robot device the ware case structure is installed; Described ware case structure structure is: the other motor that is provided with of said base; Described machine shaft is fixedly connected with vertical screw rod, and described screw rod has screwed togather a nut, and there is an edge described nut lower end; First, second ware card is arranged, and there is a through hole the first ware card rear end, and there is a screw the second ware card rear end, and first, second ware card front end all has the U-shaped arm; The first ware cartoon is crossed through hole and is enclosed within described nut outer wall, and cooperates at the vertical direction slide-and-guide between the first ware cartoon hole and the nut outer wall, and there are the second ware card, thread fit between the second ware card rear end screw and the described screw rod in described nut top; The first ware box is installed on the described base, the second ware box, ware lid are installed in the U-shaped arm of described first, second ware card front end successively, the described first ware box, the second ware box, ware lid stack successively; The described first ware box both sides have the high and low limit pin respectively; Described high limiting block boom end is connected with a cross bar, and the cross bar lower end is connected with cantilever, and described cantilever is between the high and low limit pin; When the second ware box rose, described cantilever was inserted in the described U-shaped arm.

Described biological sampling robot system; It is characterized in that: cooperate at the vertical direction slide-and-guide between the described first ware cartoon hole and the nut outer wall to be meant; The described first ware cartoon hole inwall has keyway at vertical direction, and the key that is slidingly matched with keyway is arranged on the described nut outer wall.

Described biological sampling robot system is characterized in that described storing case is meant the refrigerated tank or the refrigerator of refrigerator.

Among the present invention; Lifting shaft drives it by the ball screw shaft of driven by motor and moves up and down, and lifting shaft can rotate, and gripper can guarantee that paw accomplishes the predetermined three-dimensional space and grasp and discharge object; The clamping action of gripper is accomplished by the motor-driven gear group; On gripper, post strain transducer, be used for detecting the weight that adds the dynamics of holding object and survey object, exhaust when pipeline is used for vacuum pumping pump and vacuumizes; The perforate of refrigerator inner top is respectively applied for and proposes the interior sampling plate of sample storage case, takes in the plate of accomplishing sampling and take in liquid tube.At the gripper center suction hole is arranged, gripper is aimed at test tube with suction hole, sample storage sampling refrigerator inside motor lifting placement seat, and then lifting test tube and pushing against, and vacuum pumping pump is accomplished the action of bleeding, with the test tube sucking-off.Among the present invention, the second ware box is screwed on the screw rod through the nut in the cantilever, the rotation of electric motor driving screw rod; The drive nut rises; Behind the second ware box rising certain altitude, the second ware box and the first ware box break away from each other, at this moment; The second ware box rotates under the nut function of friction, till limited mechanism is blocked.Through electric machine control screw rod angle of rotation, can realize the unlatching and the closure of the first ware box and the second ware box, and the plate in the ware box is come out fully that so that mechanical manipulator picks and places plate, course of action only can be accomplished by a motor.

A kind of biological sampling robot system that the present invention proposes, Machine Design is accurate, and driveline is stable, tolerance range is high.Each ware box can successively be opened, closed, and gripper can cooperate the action of main hand exactly, realizes taking, putting of sampling plate, and whole process is in perfect order, and the location accurately.A kind of biological sampling robot system that the present invention proposes, level of automation is high, samples from being placed into of sampling plate and finishes, and need not artificial participation, can support long-time high-frequency work.

Description of drawings

Fig. 1 is a structural representation of the present invention.

Fig. 2 is a ware case structure detailed structure view of the present invention.

Embodiment

Biological sampling robot system includes base 1, and refrigerator 2 is installed on the base 1; Perforate 3,4,5 is arranged at the storing case top of refrigerator 2; Storing case is meant the refrigerated tank or the refrigerator of refrigerator, and liftable platform is installed in the storing case, and platform is positioned under the perforate 3,4,5; Refrigerator 2 one sides are equipped with robot device 7; There is spray word coder 15 in robot device 7 the place aheads; Robot device 7 one sides are equipped with air-bleed system 8; Air-bleed system 8 is through the ware box 11 bottom UNICOMs of pipeline 9 with the ware case structure, and air-bleed system 8 is connected with a pump-line, and the opening of pump-line is arranged in the middle of the gripper 6 of robot device 7; On one wing base of robot device 7 the ware case structure is installed, ware case structure structure is: base 1 side is provided with motor 10, and motor 10 rotating shafts are fixedly connected with vertical screw rod 14, and screw rod 14 has screwed togather a nut 15, and there is an edge 16 nut 15 lower ends; First, second ware card is arranged, and there is a through hole the first ware card rear end, and there is a screw the second ware card rear end, and first, second ware card front end all has the U-shaped arm; The first ware card 17 is enclosed within nut 15 outer walls through through hole, and cooperates at the vertical direction slide-and-guide between the first ware card, 17 through holes and nut 15 outer walls, and there is the second ware card nut 15 tops, thread fit between the second ware card rear end screw and the screw rod; The first ware box 11 is installed on the base, the second ware box 12, ware lid 13, the first ware boxes 11, the second ware box 12, ware lid 13 is installed in the U-shaped arm of described first, second ware card front end successively stacks successively; The first ware box, 11 both sides have high and low limit pin 19,20 respectively; High spacing pin 19 ends are connected with a cross bar, and the cross bar lower end is connected with cantilever 18, and cantilever 18 is at high and low limit pin 19, between 20; When the second ware box 12 rose, cantilever 18 was inserted in the U-shaped arm.

Cooperate at the vertical direction slide-and-guide between the first ware card, 17 through holes and the nut outer wall and be meant that the first ware cartoon hole inwall has keyway at vertical direction, and the key that is slidingly matched with keyway is arranged on the nut outer wall.

The implementation process of one whole sampling is: screw rod 14 rotations drive ware lid 13 and rise, after ware lid 13 breaks away from; Ware lid 13 squints, and the second ware box 12 is open fully to be exposed, and this moment, screw rod 14 stopped the rotation; Gripper 6 takes out clean plate from perforate 3 and puts into the second ware box 12; Screw rod 14 continues rotation and rises, and up to the open fully exposure of the first ware box 11, gripper 6 is put into the sampling plate once more to the first ware box 11; Whole put procedure finishes.Then, ware box closing course is accomplished in screw rod 14 counter-rotatings.Air-bleed system 8 begins to bleed, and the time of bleeding, sampling process finished according to predetermined set.The process of sample being put back to refrigerator 2 just in time is the playback of said process, uniquely different is, gripper 6 stops, so that spray sign in the bottom of plate during through spray word coders 15 slightly.When adopting good plate to put into perforate 4, the driven by motor plate that cooperates with refrigerator 2 descends, and accomplishes the action of closing perforate 4.So far, the robot sampling process of one whole finishes.The perforate 5 that is positioned at refrigerator 2 is to aim at liquid tube sampling and establish; There is suction hole at three-jaw center at gripper 6; Gripper moves to the top of perforate 5 with suction hole and aims at, and refrigerator 2 internal screw lifting arrangement dishes also push against suction hole, and air-bleed system 8 can be accomplished the action of bleeding.The test tube that completion is bled leaves perforate 5 along with the rotation of arrangement dish in the refrigerator 2.This device can be placed on uninterrupted duty in 24 hours in the field extreme environment, with lasting sampling of the timed interval of setting.

Claims

1. The biological sampling robot system includes a base, and a refrigerator is installed on the base, and the storage box of the refrigerator has an opening on the top, and a liftable platform is installed in the storage box, and the platform It is located directly below the opening; a manipulator device is installed on one side of the refrigerator, and a inkjet coding machine is installed in front of the manipulator device, and an air extraction system is installed on one side of the manipulator device, and the air extraction system passes through the pipeline and the dish The bottom of the dish box of the box mechanism is connected, and the air extraction system is connected with an air extraction pipeline, and the opening of the air extraction pipeline is arranged in the middle of the mechanical claw of the manipulator device; it is characterized in that: one side base of the manipulator device A dish box mechanism is installed on it, and the structure of the dish box mechanism is: a motor is arranged beside the base, and the shaft of the motor is fixedly connected with a vertical screw rod, and the screw rod is screwed with a nut, and the nut There is an edge at the lower end; there are first and second dish cards, a through hole at the rear end of the first dish card, a screw hole at the rear end of the second dish card, U-shaped arms at the front ends of the first and second dish cards; The card is sleeved on the outer wall of the nut through the through hole, and the card hole of the first card and the outer wall of the nut are slid and guided in the vertical direction. There is a second card above the nut, and the screw hole at the rear end of the second card is It is threadedly matched with the screw rod; the first dish box is installed on the base, and the second dish box and the dish cover are installed in the U-shaped arms at the front ends of the first and second dish cards in turn. The first dish box, the second dish box, and the dish cover are stacked in sequence; the two sides of the first dish box are respectively equipped with high and low limit stop bars, and the upper end of the high limit stop bar is connected with a cross bar , the lower end of the cross bar is connected with a cantilever, and the cantilever is located between the high and low limit bar. When the second dish box rises, the cantilever is inserted into the U-shaped arm; The first and second cuvettes can be offset.

2. The biological sampling robot system according to claim 1, characterized in that: the sliding and guiding cooperation in the vertical direction between the first plate hole and the outer wall of the nut means that the inner wall of the first plate hole is There is a keyway in the vertical direction, and a key slidingly matched with the keyway is arranged on the outer wall of the nut.

3. The biological sampling robot system according to claim 1, wherein the storage box is a freezer or a refrigerator of a refrigerator.