CN104865395A - Biological application robot as well as robot execution module and execution method - Google Patents
Biological application robot as well as robot execution module and execution method Download PDFInfo
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- CN104865395A CN104865395A CN201510261248.8A CN201510261248A CN104865395A CN 104865395 A CN104865395 A CN 104865395A CN 201510261248 A CN201510261248 A CN 201510261248A CN 104865395 A CN104865395 A CN 104865395A
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Abstract
The invention provides a robot execution module which comprises an execution part for directly executing a scheduled action, wherein a driving part for driving the execution part to move is connected onto the execution part; a PLC (programmable logic controller) is connected onto the driving part in a wired or wireless manner, connected with a manipulator and used for receiving signals of the manipulator. The manipulator transmits the control signals to the PLC connected with the manipulator, the PLC transmits the control signals to the driving part in a wired or wireless manner, the driving part drives the execution part to finish the correct operational process once, and follow-up programming is input automatically. With adoption of the structure, the robot execution module is easy to program, good in adaptability and applicable to various special working conditions. The invention further provides a biological application robot comprising the robot execution module with the technical points.
Description
Technical field
The application relates to robotics, more particularly, relates to a kind of robot execution module.The application also relates to a kind of biologic applications robot comprising above-mentioned robot execution module.
Background technology
Biologic applications robot, the full automatic realization of biological experiment process of Bioexperiment and clinical examination complexity.This full-automatic machine brings very large convenience to biological experiment.
But in time needing to do a special experiment, original auto-programming is difficult to be competent at, and reprogramming needs to re-enter quantity of parameters, so very loaded down with trivial details, inefficiency.In order to tackle this situation, there is a lot of semiautomatic machine people.
Some special operating processes, operating personnel operate semiautomatic machine people by hand to perform this part function, and other general operation flow processs use full automatic working program.Or some experiment flows special especially, need to use full manual operations, because do not tackle the full-automatic of this kind of operating process or semiautomatic machine people.That is, the adaptability of robot of the prior art executable operations is good not, in the face of the poor performance able to programme of complex working condition and special operation condition.
Concrete example is as follows, Tecan and Beckman is the global leader of full-automatic machine people in whole industry, if do a most frequently used whole plate branching program, just program setting will 20 minutes.
Or for whole plate branching program, use manual robot, with oneself eyes and brain, user judges that whether this application of sample height is suitable.This manual scheme benefit is accurate, and under different complex situations, people nearly all can make correct judgement.The memory but have no idea in correct position, when after experiment condition change, the judgement that must again make, and also original position all has no idea to remember.Later when practical original program again, all judgements must restart.Carry out efficiency evaluation by a conventional case: 10 programs that a production mechanism is practical different in this equipment, each each program only adds one block of plate, one day mean sample 10 times.Suppose that each application of sample is all a new program after completing.And with manual machine, owing to having no idea memory, the time of each artificial judgment and application of sample is 10 minutes.To finish the work needs 1000 minutes.And programmable robot can be used, be all calling program, average 1 minute of every block plate, the operation of such 100 blocks of plates is actual is 100 minutes at every turn.Illustrate that robot efficiency that is able to programme and that automatically control is very high.
Visible, at present, in worldwide, in the face of special operating mode, the problem that full-automatic machine people ubiquity conformability is poor, programming efficiency is low.Its inside lacks a kind of robot execution module being easy to programme just.
Therefore, how providing the robot execution module that a kind of conformability is good, programming efficiency is high, is current those skilled in the art's problem demanding prompt solution.
Summary of the invention
In view of this, this application provides a kind of robot execution module, to realize providing the robot execution module that a kind of conformability is good, programming efficiency is high.Present invention also provides a kind of biologic applications robot comprising above-mentioned robot execution module.
In order to achieve the above object, the application provides following technical scheme:
A kind of robot execution module, comprise the execution unit operated for direct executive plan, execution unit is connected with the driver part driving its movement, on driver part in a wired fashion or wireless mode be connected with programmable logic controller (PLC), programmable logic controller (PLC) is connected with control device, for receiving the signal of control device; The Signal transmissions that control device inputs by programmable logic controller (PLC) to driver part, control its fill order, and programmable logic controller (PLC) control device is inputted signal storage, be used for follow-up execution.
Preferably, control device is tension-compression sensor.
Preferably, described driver part is comprised for the Z-axis transmission mechanism driving the Z axis motor of described execution unit vertically movement and be connected by driving belt with described Z axis motor, and described Z-axis transmission mechanism is connected with described execution unit.
Preferably, described driver part comprises for driving the described execution unit X-axis motor of movement and the X-axis gear train that is connected with described X-axis motor in left-right direction, and described X-axis gear train is connected with described execution unit.
Preferably, described driver part comprises for driving the described execution unit Y-axis motor of movement and the Y-axis gear train that is connected with described Y-axis motor along the longitudinal direction, and described Y-axis gear train is connected with described execution unit.
Preferably, described execution unit is biological drug injection pipe.
The application also provides a kind of biologic applications robot, comprises base plate, man-machine manipulation screen and robot execution module, and robot execution module is the robot execution module of above-mentioned any one.
The application also provides a kind of robot manner of execution, comprises the following steps:
A, to control device input control signal;
Control signal is transferred to programmable logic controller (PLC) by B, control device;
Control signal is transferred to driver part, manual synchronizing control signal by C, programmable logic controller (PLC), and driver part is moved by certain procedures;
D, programmable logic controller (PLC) storage control signal;
E, call the control signal be stored, control driver part motion.
The robot execution module that the application provides, comprise the execution unit operated for direct executive plan, execution unit is connected with the driver part driving its movement, on driver part in a wired fashion or wireless mode be connected with programmable logic controller (PLC), programmable logic controller (PLC) is connected with control device, for receiving the signal of control device; The Signal transmissions that control device inputs by programmable logic controller (PLC) to driver part, control its fill order, and programmable logic controller (PLC) control device is inputted signal storage, be used for follow-up execution.When facing special experimental implementation, hand-guided control device can be passed through, control signal is passed to connected programmable logic controller (PLC) by control device, and control signal is passed to driver part by wired or wireless mode by programmable logic controller (PLC), driver part driving execution unit completes a correct operating process.Because programmable logic controller (PLC) itself has storage and programmable function, the running program record of manual typing can store by it, when carrying out subsequent operation, need not be again hand-manipulated, but the program of programmable logic controller (PLC) inside can be performed.Owing to have employed this structure, this robot execution module is easy to programming, adaptability is good, is applicable to being applied to various special operation condition.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The biologic applications robot architecture schematic diagram that Fig. 1 provides for the application;
In upper figure: 1 be programmable logic controller (PLC), 2 be tension-compression sensor, 3 be Z axis motor, 4 be Z-axis transmission mechanism, 5 be base plate, 6 be man-machine manipulation screen.
Embodiment
This application provides a kind of robot execution module, achieve and the robot execution module that a kind of conformability is good, programming efficiency is high is provided.Present invention also provides a kind of biologic applications robot comprising above-mentioned robot execution module.
Below in conjunction with the accompanying drawing in the embodiment of the present application, carry out clear, complete description to the technical scheme in the embodiment of the present application, obviously, described embodiment is only some embodiments of the present application, instead of whole embodiments.Based on the embodiment of the application, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the application's protection.
The biologic applications robot architecture schematic diagram that Fig. 1 provides for the application.
A kind of robot execution module that the application provides, comprise the execution unit operated for direct executive plan, execution unit is connected with the driver part driving its movement, on driver part in a wired fashion or wireless mode be connected with programmable logic controller (PLC) 1, programmable logic controller (PLC) 1 is connected with control device, for receiving the signal of control device; The Signal transmissions that control device inputs by programmable logic controller (PLC) 1 to driver part, control its fill order, and programmable logic controller (PLC) 1 control device is inputted signal storage, be used for follow-up execution.When facing special experimental implementation, hand-guided control device can be passed through, control signal is passed to connected programmable logic controller (PLC) 1 by control device, and control signal is passed to driver part by wired or wireless mode by programmable logic controller (PLC) 1, driver part driving execution unit completes a correct operating process.Because programmable logic controller (PLC) 1 itself has storage and programmable function, the running program record of manual typing can store by it, when carrying out subsequent operation, need not be again hand-manipulated, but the program of programmable logic controller (PLC) 1 inside can be performed.Owing to have employed this structure, this robot execution module is easy to programming, adaptability is good, is applicable to being applied to various special operation condition.Programmable logic controller (PLC) and usually said PLC, English full name is Programmable Logic Controller.
In the application one specific embodiment, control device is tension-compression sensor 2.In essence, this control device can be a variety of, as long as can signal imitation input be realized, such as, the sensor that can input using the touch-screen of mobile phone or panel computer as signal, staff accessory drive motion on the touchscreen, but, here preferred scheme be use tension-compression sensor as control device, program structure is simple, cost is low, failure rate is low, be easy to safeguard.
In the application one specific embodiment, described driver part is comprised for the Z-axis transmission mechanism 4 driving the Z axis motor 3 of described execution unit vertically movement and be connected by driving belt with described Z axis motor 3, and described Z-axis transmission mechanism 4 is connected with described execution unit.Adopt this structure, programmable logic controller (PLC) 1 can send signal to driver part, and controls its Z axis motor 3 and rotate, and can realize easily driving execution unit vertically rise or decline, to perform corresponding operating.
In the application one specific embodiment, described driver part comprises for driving the described execution unit X-axis motor of movement and the X-axis gear train that is connected with described X-axis motor in left-right direction, and described X-axis gear train is connected with described execution unit.Further, in order to tackle complex working condition, driver part can also drive execution unit to move in X-direction.X-direction in the application, during the robot at observer robot execution module place, face of namely making a comment or criticism, its left and right directions.
In the application one specific embodiment, described driver part comprises for driving the described execution unit Y-axis motor of movement and the Y-axis gear train that is connected with described Y-axis motor along the longitudinal direction, and described Y-axis gear train is connected with described execution unit.Further, in order to tackle complex working condition, driver part can also drive execution unit to move in Y direction.Y direction in the application, during the robot at observer robot execution module place, face of namely making a comment or criticism, its fore-and-aft direction.
In the application one specific embodiment, described execution unit is biological drug injection pipe.Adopt the robot execution module of this execution unit, the biological agent experiment of batch can be tackled.
In fact, driver part can adopt polytype, can be complete comprise drives execution unit to move on six-freedom degree, be not limited to X, Y and Z three degree of freedom, further, be also not limited only to only drive an execution unit, when tackling complex working condition, it is multiple that execution unit can comprise clip, biological agent injection-tube, travelling belt etc., and core is the function adapting to the execution of its needs.
In the application one specific embodiment, full-automatic machine people does a most frequently used whole plate branching program, and just program setting will 20 minutes.And the technical scheme adopting the application to provide, by tension-compression sensor 2 typing operation, then perform, whole process only needs 2 minutes.In view of the situation, different according to application, we are divided into full-automatic scheme and this two class of semi-automatic approach client.
We utilize tension-compression sensor 2 to experience stressed direction and size, guide to lead driver part and do corresponding sports, and specific embodiment knows that Z axis motor 3 does corresponding motion exactly.Remember the process of motion afterwards with programmable logic controller (PLC) 1, thus realize programming easily.
Based on the robot execution module provided in above-described embodiment, present invention also provides a kind of biologic applications robot, comprise base plate 5, man-machine manipulation screen 6 and robot execution module, robot execution module is the robot execution module of above-mentioned any embodiment.
Because this biologic applications robot have employed the robot execution module of above-described embodiment, so the beneficial effect that this biologic applications robot is brought by this robot execution module please refer to above-described embodiment.
Present invention also provides a kind of robot manner of execution, comprise the following steps:
A, to control device input control signal;
Control signal is transferred to programmable logic controller (PLC) by B, control device;
Control signal is transferred to driver part, manual synchronizing control signal by C, programmable logic controller (PLC), and driver part is moved by certain procedures;
D, programmable logic controller (PLC) storage control signal;
E, call the control signal be stored, control driver part motion.
Specifically, use above method, only need the control signal to the once correct running program of control device input, programmable logic controller (PLC) just can be learned, namely can stored record according to planning repeatedly to perform several times, adopt this control method, compare the existing automatic robot updating program, and programming efficiency improves greatly.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the application.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from the spirit or scope of the application, can realize in other embodiments.Therefore, the application can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (8)
1. a robot execution module, it is characterized in that, comprise the execution unit operated for direct executive plan, described execution unit is connected with the driver part driving its movement, on described driver part in a wired fashion or wireless mode be connected with programmable logic controller (PLC) (1), described programmable logic controller (PLC) (1) is connected with control device, for receiving the signal of described control device; The Signal transmissions that described control device inputs by described programmable logic controller (PLC) (1) give described driver part, control its fill order, and described programmable logic controller (PLC) (1) described control device is inputted signal storage, be used for follow-up execution.
2. robot as claimed in claim 1 execution module, it is characterized in that, described control device is tension-compression sensor (2).
3. robot as claimed in claim 2 execution module, it is characterized in that, described driver part is comprised for the Z-axis transmission mechanism (4) driving the Z axis motor (3) of described execution unit vertically movement and be connected by driving belt with described Z axis motor (3), and described Z-axis transmission mechanism (4) is connected with described execution unit.
4. robot as claimed in claim 3 execution module, it is characterized in that, described driver part comprises for driving the described execution unit X-axis motor of movement and the X-axis gear train that is connected with described X-axis motor in left-right direction, and described X-axis gear train is connected with described execution unit.
5. robot as claimed in claim 4 execution module, it is characterized in that, described driver part comprises for driving the described execution unit Y-axis motor of movement and the Y-axis gear train that is connected with described Y-axis motor along the longitudinal direction, and described Y-axis gear train is connected with described execution unit.
6. robot as claimed in claim 5 execution module, it is characterized in that, described execution unit is biological drug injection pipe.
7. a biologic applications robot, comprise base plate, man-machine manipulation screen (6) and robot execution module, it is characterized in that, described robot execution module is the robot execution module as described in any one of claim 1 to 6.
8. a robot manner of execution, is characterized in that, comprises the following steps:
A, to control device input control signal;
Described control signal is transferred to programmable logic controller (PLC) by B, described control device;
Described control signal is transferred to control signal described in driver part, manual synchronizing by C, described programmable logic controller (PLC), and described driver part is moved by certain procedures;
D, described programmable logic controller (PLC) store described control signal;
E, call the described control signal be stored, control the motion of described driver part.
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| CN201510261248.8A CN104865395A (en) | 2015-05-21 | 2015-05-21 | Biological application robot as well as robot execution module and execution method |
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| CN101370622A (en) * | 2006-01-18 | 2009-02-18 | 阿戈斯治疗公司 | Systems and methods for processing samples in a closed container, and related devices |
| CN104297506A (en) * | 2007-10-02 | 2015-01-21 | 赛拉诺斯股份有限公司 | Modular point-of-care devices, systems, and uses thereof |
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