CN110231807A

CN110231807A - It is a kind of based on the automated storing method intelligently carried and its system

Info

Publication number: CN110231807A
Application number: CN201910378635.8A
Authority: CN
Inventors: 金树玉
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-08
Filing date: 2019-05-08
Publication date: 2019-09-13

Abstract

It is a kind of based on the automated storing method intelligently carried and its system, include: remote server receive experiment carry instruction then control the first camera start and control transfer robot start, remote server control second camera, which starts and controls transfer robot, is moved to carrying region, remote server control control spatial digitizer scanning experimental material generates scanning information, remote server pays attention to information according to scanning information analysis experimental material and controls transfer robot using the conflict of the fixed groove of telescopic mechanical arm and storage box, remote server, which controls electromagnet and Attraction block electromagnetic adsorption and controls telescopic mechanical arm, is placed in storage cavity for storage box, remote server controls the first telescope motor and drives the first expansion plate to stretch out and control closing mechanical arm for sealing plate and the conflict of the first expansion plate, remote server control second is flexible Sealing rubber ring is stretched out and is controlled disinfecting mechanism and sealing mechanism and carries out alignment processing to storage cavity by the second expansion plate of motor driven.

Description

It is a kind of based on the automated storing method intelligently carried and its system

Technical field

The present invention relates to intelligence to carry field, in particular to a kind of based on the automated storing method intelligently carried and its to be System.

Background technique

Transfer robot [transfer robot] is the industrial robot that can carry out automated handling operation.It carries and makees Industry, which refers to, holds workpiece with a kind of equipment, refers to from a Working position and moves on to another Working position.Transfer robot can pacify Different end effectors is filled to complete the work of the workpiece handling of various different shapes and state, it is heavy to significantly reduce the mankind Manual labor.The transfer robot used in the world exceedes 100,000, is widely used in lathe loading and unloading, the automatic metaplasia of press machine The automatic transporting of producing line, automatic assembly line, Palletised carry, container etc..Systems in Certain Developed Countries has made manual handling To greatest extent, what is gone beyond the limit must be completed by transfer robot.Transfer robot is that modern age automation field occurs A new and high technology, be related to mechanics, mechanics, electric appliance hydraulic-pneumatic technology, automatic control technology, sensor technology, The ambits such as singlechip technology and computer technology, it has also become an important composition portion in modern mechanical manufacturing production system Point.Its advantages are that various expected tasks can be completed by programming, there is people and machine in self structure and performance Respective advantage, has especially embodied artificial intelligence and adaptability.

So, how laboratory, intelligence to be carried and transfer robot combines, so that after getting carrying instruction, The material carried needed for region carrying is tested that corresponding transfer robot goes to laboratory is controlled, to experiment institute while carrying The material needed carries out intelligent storage and sterilizes, avoid carrying personnel that hazardous material is caused to burst in laboratory materials hauling, Sputtering problem is current urgent problem.

Summary of the invention

Goal of the invention: in order to overcome the disadvantage in background technique, the embodiment of the invention provides one kind to be carried based on intelligence Automated storing method and its system, the problem of can effectively solve the problem that involved in above-mentioned background technique.

Technical solution:

It is a kind of based on the automated storing method intelligently carried, the described method comprises the following steps:

S1, it controls and is set in laboratory if instruction is carried in the experiment that remote server receives the transmission of laboratory room managing center The first camera starting the first image of real time shooting of portion position simultaneously controls the standby region for being set to laboratory internal planning Transfer robot launches into carrying state；

The second camera starting that S2, remote server control are set to the transfer robot external position of starting is real When absorb the second image and according to the second image and the first image control the transfer robot be moved to laboratory planning Carry region；

S3, the remote server are set to the scanning mechanical arm of the transfer robot external position according to the control of the second image Extend out to it is described carrying region place experimental material to be handled storage box position and control be set to the scanning mechanical arm before The spatial digitizer of end position scans the experimental material to be handled that the storage box is placed and generates experimental material scanning information；

S4, the remote server are analyzed the experimental material to be handled according to the experimental material scanning information in real time and are paid attention to Information simultaneously controls the transfer robot using telescopic mechanical arm according to the second image and is set to two side position of storage box Fixed groove contradict；

S5, remote server control are set to electromagnet and the institute of the telescopic mechanical arm front position contradicted with fixed groove It states the Attraction block electromagnetic adsorption inside fixed groove and the telescopic mechanical arm depositing electromagnetic adsorption is controlled according to the second image Storage frame is placed in the storage chamber intracorporeal site being arranged above the transfer robot and sets；

S6, the remote server are set to the transfer robot upper interior according to the first image and the control of the second image It is pre- that the first expansion plate that the first all telescope motor of position is drivingly connected extends over the storage box that the storage cavity is placed If height and the closing mechanical arm for being set to transfer robot side position according to the first image and the control of the second image It stretches out the sealing plate of front end and stretches out first expansion plate upper end conflict completed；

What the second telescope motor that S7, remote server control are set to sealing plate lower inner position was drivingly connected Second expansion plate, which stretches out the sealing rubber ring of front end, contradicts sealing with the first expansion plate and according to the experimental material analyzed The disinfecting mechanism for noticing that information control is set to inside the transfer robot corresponds to the storage inside cavity space Disinfection；

S8, the remote server notice that information control is set to the transfer robot according to the experimental material analyzed Internal sealing mechanism carries out corresponding sealed storage to the storage cavity and controls the transfer robot according to the second image The storage region for going to laboratory to plan is parked to enter storage state.

As a kind of preferred embodiment of the invention, in S6, the method also includes following steps:

The surface layer envelope that the rotary shaft for the first expansion plate front position that S60, remote server control are set to two sides is drivingly connected Closing plate rotation with other surface layer closed plates contradicts and control be set to surface layer close front edge of board interior location electromagnetic block be powered into Enter electromagnetic adsorption state；

The second telescope motor that S61, remote server control are set to sealing plate lower inner position is drivingly connected The second expansion plate the sealing rubber ring of front end is stretched out into the first expansion plate for being not provided with rotary shaft with front end contradict sealing and control It sets up and is placed in the first telescopic prop that the third telescope motor of sealing plate lower inner position is drivingly connected for the close of front end Layer of silica gel is sealed to stretch out and the conflict sealing of surface layer closed plate upper surface.

As a kind of preferred embodiment of the invention, in S7, the method also includes following steps:

S70, control is set to institute if the experimental material that remote server analyzes pays attention to information for that can react with ozone It states ultraviolet disinfection lamp inside transfer robot and issues the inner space that ultraviolet is the storage cavity and carry out disinfection place Reason；

S71, setting is controlled if the experimental material that remote server analyzes pays attention to information to react with ultraviolet Ozone generator inside the transfer robot issues the inner space that ozone is the storage cavity and carries out disinfection processing；

S72, notice that information is if meeting react with ultraviolet and ozone if the experimental material that remote server analyzes Control is set to the inner space that the disinfection nozzle spray disinfectant inside the transfer robot is the storage cavity and carries out Disinfection treatment；

S73, cancel disinfection treatment if the experimental material that remote server analyzes notices that information is biological species experimental material.

As a kind of preferred embodiment of the invention, in S8, the method also includes following steps:

S80, control is set to institute if the experimental material that remote server analyzes pays attention to information for that can react with nitrogen It states the vacuum pump startup inside transfer robot and the air extraction of the storage inside cavity is sealed processing；

S81, control is set to described remove if the experimental material that remote server analyzes notices that information is to store without vacuum The nitrogen nozzle of fortune robot interior, which starts to storage inside cavity space addition nitrogen, is sealed processing.

As a kind of preferred embodiment of the invention, after S2, the method also includes following steps:

The thermal imaging system that S20, remote server control are set to the transfer robot external position obtains in storage box in real time The thermograph in portion simultaneously analyses whether that the experimental material inside storage box is in the hole according to the thermograph；

S21, the remote server control is set to the 4th flexible electricity of transfer robot lower inner position if having The second telescopic prop that machine is drivingly connected drives the shifting roller stretching of the transfer robot to rise the transfer robot Preset height simultaneously controls the transfer robot according to second image and is moved to that experimental material is in the hole to be deposited Store up frame top position；

What the 4th telescope motor that S22, the remote server control transfer robot lower inner position was drivingly connected Second telescopic prop, which drives the shifting roller of the transfer robot to shrink completely, will be set to orientation under the transfer robot The explosion-proof cavity set shrouds the storage box.

It is a kind of based on the automated storing system intelligently carried, using a kind of based on the automated storing side intelligently carried Method, including handling device, telescopic device, sealing mechanism, disinfecting mechanism, identification device and remote server, the carrying dress It sets including transfer robot, scanning mechanical arm, telescopic mechanical arm, electromagnet, storage box, fixed groove, Attraction block, storage chamber Body, closing mechanical arm and sealing plate, the transfer robot be provided with several and be stored in laboratory internal planning to Machine region, for carrying experimental material；The scanning mechanical arm is provided with several and is set to transfer robot external position, For the spatial digitizer of front end to be extend out to designated position；The telescopic mechanical arm is provided with several and is set to carrying implement Device people side position, for contradicting with storage box and being fixed with the storage box of conflict；The electromagnet quantity and telescopic mechanical arm Quantity is consistent and is set to telescopic mechanical arm front position, for providing electromagnetic adsorption function；The storage box is for storing reality Test material；The fixed groove is provided with several and is set to storage box two sides interior location, for supporting with telescopic mechanical arm Touching；The absorption number of blocks is consistent with fixed groove quantity and is set to fixed groove interior location, is used for and electromagnetism iron electromagnet Absorption；The storage number of cavities is consistent with transfer robot quantity and is set to transfer robot top position, for placing Storage box；The closing mechanical arm is set to transfer robot side position and connect with sealing plate, the sealing for will connect Plate is moved to designated position；The sealing plate is set to closing mechanical arm front position, for contradicting with the first expansion plate upper end；

The telescopic device includes the first telescope motor, the first expansion plate, rotary shaft, surface layer closed plate, the second telescope motor, the Two expansion plates, third telescope motor, the first telescopic prop, the 4th telescope motor and the second telescopic prop, described first is flexible Motor is set to transfer robot upper interior position and connect with the first expansion plate, and the first expansion plate for drive connection is stretched Contracting；First expansion plate is set to transfer robot upper interior position and connect respectively with the first telescope motor, and is arranged Rotary shaft is connected with above first expansion plate of two sides above the transfer robot；The rotary setting is above transfer robot First expansion plate top position of two sides is simultaneously connect with surface layer closed plate, and the surface layer closed plate for drive connection rotates；It is described Surface layer closed plate is set to rotary shaft front position, for contradicting with other surface layer closed plates；The second telescope motor setting It is connect in sealing plate lower inner position and with the second expansion plate, the second expansion plate for drive connection is flexible；It is described Second expansion plate is set to sealing plate lower inner position, for driving the sealing rubber ring of front end flexible；The third is stretched Contracting motor is set to sealing plate lower inner position and connect with the first telescopic prop, and first for drive connection is flexible Pillar is flexible；First telescopic prop is set to sealing plate lower inner position and connect with sealed silicon glue-line, for driving The sealed silicon glue-line of connection is flexible；4th telescope motor is set to transfer robot lower inner position and stretches with second Pillar connection, the second telescopic prop for drive connection are flexible；Second telescopic prop is set to below transfer robot Interior location is simultaneously connect with the 4th telescope motor and shifting roller respectively, and the shifting roller extension and contraction control for drive connection is removed Transport robot lifting；

The sealing mechanism includes that sealing rubber ring, sealed silicon glue-line, electromagnetic block, vacuum pump, exhaust outlet, nitrogen nozzle, nitrogen are led Pipe, nitrogen storehouse and explosion-proof cavity, the sealing rubber ring are set to the second expansion plate front position, for supporting with the first expansion plate Touching sealing；The sealed silicon glue-line is set to the first telescopic prop front position, seals for contradicting with surface layer closed plate；It is described Electromagnetic block is set to surface layer closing front edge of board interior location and connect with the electromagnetic block electromagnetism of other surface layer closed plates of conflict；Institute It states vacuum pump to be set to storage cavity inner wall position and connect with storage cavity and exhaust outlet respectively, for extracting storage cavity Internal air；The exhaust outlet is set to storage cavity side top position, for removing the air discharge for storing inside cavity Transport robot；The nitrogen nozzle is set to storage and cavity inner wall position and connect with nitrogen conduit, for spraying nitrogen to depositing Storage chamber body；The nitrogen conduit is set to transfer robot interior location and connect respectively with nitrogen nozzle and nitrogen storehouse, uses In the nitrogen inside nitrogen storehouse is directed into nitrogen nozzle；The nitrogen storehouse is set to transfer robot interior location, for depositing Store up nitrogen；The explosion-proof cavity is set to transfer robot lower position, for how to deposit experimental material in the hole Storage frame shrouds；

The disinfecting mechanism includes ultraviolet disinfection lamp, ozone generator, disinfection nozzle, disinfection conduit and thimerosal storehouse, institute It states ultraviolet disinfection lamp and is set to storage cavity inner wall position, carry out disinfection for providing ultraviolet；The ozone generator It is set to storage cavity inner wall position, is carried out disinfection for providing ozone；The disinfection nozzle is set to storage cavity inner wall position It sets and is connect with disinfection conduit, carried out disinfection for spray disinfectant；The disinfection conduit respectively with disinfection nozzle and disinfection The connection of liquid storehouse, the thimerosal for storing thimerosal storehouse pour into the disinfection nozzle of connection；The thimerosal storehouse is set to carrying Robot interior position, for storing thimerosal；

The identification device includes the first camera, second camera, spatial digitizer and thermal imaging system, first camera shooting Head is set to laboratory internal position, for absorbing the environmental images of laboratory internal；The second camera is set to carrying Robot external position, for absorbing the environmental images outside transfer robot；It is mechanical that the spatial digitizer is set to scanning Arm front position, for scanning experimental material information；The thermal imaging system is set to transfer robot external position, for obtaining The thermograph of experimental material；

The remote server respectively with transfer robot, scanning mechanical arm, telescopic mechanical arm, electromagnet, closing mechanical arm, the One telescope motor, rotary shaft, the second telescope motor, third telescope motor, the 4th telescope motor, electromagnetic block, vacuum pump, nitrogen spray Mouth, ultraviolet disinfection lamp, ozone generator, disinfection nozzle, the first camera, second camera, spatial digitizer, thermal imaging system And laboratory room managing center is wirelessly connected；

The remote server includes:

Information receiving module, for receiving information and/or instruction and/or request；

Neuronal uptake module, for controlling the starting of the first camera or closing；

Control module is carried, the operation of setting is executed for controlling transfer robot；

Second acquisition module, for controlling second camera starting or closing；

Scan control module executes the operation of setting for controlling scanning mechanical arm；

Scan module generates experimental material scanning information for controlling spatial digitizer scanning experimental material；

Information analysis module, for analyzing specified information and/or request and/or instruction；

Extension and contraction control module executes the operation of setting for controlling telescopic mechanical arm；

First electromagnetic module, for controlling electromagnet starting or closing；

First flexible module, the first expansion plate for controlling the first telescope motor drive connection are flexible；

Control module is closed, the operation of setting is executed for controlling closing mechanical arm；

Second flexible module, the second expansion plate for controlling the second telescope motor drive connection are flexible.

As a kind of preferred embodiment of the invention, the remote server further include:

Control module is rotated, the surface layer closed plate rotation being drivingly connected for controlling rotation；

Second electromagnetic module, for controlling electromagnetic block starting or closing；

Third is stretched module, and the first telescopic prop for controlling third telescope motor drive connection is flexible.

Control module is sterilized, the operation of setting is executed for controlling ultraviolet radiator, ozone generator and disinfection nozzle.

Control module is sealed, executes the operation of setting for controlling vacuum pump and nitrogen nozzle.

Thermal imaging module, for controlling thermal imaging system starting or closing；

4th flexible module, the second telescopic prop for controlling the 4th telescope motor drive connection are flexible.

The present invention realize it is following the utility model has the advantages that

1. controlling the carrying that idle transfer robot goes to laboratory internal after automated storing system receives carrying instruction Experimental material information to be handled is simultaneously scanned in region, then controls the storage that transfer robot will place experimental material to be handled Frame is fixed and is placed in storage chamber intracorporeal site and sets, and after the completion of storage box storage, the first expansion plate of control extends over storage The preset height of frame simultaneously controls closing mechanical arm for sealing plate and the conflict of the first expansion plate, contradicts in sealing plate and the first expansion plate Afterwards, control disinfecting mechanism carries out disinfection to the storage inside cavity space and processing and controls sealing mechanism to the storage cavity Inner space is sealed processing；Carrying personnel is avoided to cause hazardous material explosion, sputtering when experimental material is carried in laboratory Problem.

2. before sealing plate and the first expansion plate contradict, the surface layer envelope of the automated storing system control transfer robot Closing plate rotation contradicts, and then after sealing plate and the first expansion plate contradict, controls sealing rubber ring and the stretching of sealed silicon glue-line will The storage cavity sealing.

3. having been detected at experimental material in the automated storing system by the thermal imaging system of the transfer robot After precarious position, controls storage box top position where the transfer robot goes to the experimental material and utilize the carrying The explosion-proof cavity of robot shrouds the storage box, avoids experimental material explosion, sputtering.

Detailed description of the invention

The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure Example, and consistent with the instructions for explaining the principles of this disclosure.Fig. 1 is the automated storing that the one of example of the present invention provides The flow chart of method；

Fig. 2 is the flow chart for the storage cavity upper seal control method that the one of example of the present invention provides；

Fig. 3 is the flow chart for the disinfection control that the one of example of the present invention provides；

Fig. 4 is the flow chart for the storage inside cavity sealing control method that the one of example of the present invention provides；

Fig. 5 is the flow chart for the explosion prevention controlling process that the one of example of the present invention provides；

Fig. 6 is the annexation figure for the automated storing method that the one of example of the present invention provides；

Fig. 7 is the first schematic cross-sectional view of the transfer robot that the one of example of the present invention provides；

Fig. 8 is the second schematic cross-sectional view of the transfer robot that the one of example of the present invention provides；

Fig. 9 is the enlarged diagram for the a-quadrant that the one of example of the present invention provides；

Figure 10 is the front schematic view for the transfer robot that the one of example of the present invention provides；

Figure 11 is the schematic cross-sectional view for the storage box that the one of example of the present invention provides；

Figure 12 is the schematic cross-sectional view for the sealing plate that the one of example of the present invention provides.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.

Embodiment one

With reference to Fig. 1, shown in Fig. 3-4, Fig. 6-11.

Specifically, the present embodiment provides a kind of based on the automated storing method intelligently carried, the method includes following Step:

S1, control is set to laboratory if instruction is carried in the experiment that remote server 6 receives the transmission of laboratory room managing center The first camera 50 starting the first image of real time shooting of interior location simultaneously controls the standby area for being set to laboratory internal planning The transfer robot 10 in domain launches into carrying state；

S2, the remote server 6 control the second camera 51 for being set to 10 external position of the transfer robot of starting Starting the second image of real time shooting is simultaneously moved to experiment according to the second image and the first image control transfer robot 10 The carrying region of room planning；

S3, the remote server 6 are set to the scanning machine of 10 external position of transfer robot according to the control of the second image Tool arm 11 extend out to it is described carrying region place experimental material to be handled 14 position of storage box and control be set to the scanning The spatial digitizer 52 of 11 front position of mechanical arm scans the experimental material to be handled that the storage box 14 is placed and generates experiment element Material scanning information；

S4, the remote server 6 are analyzed the experimental material to be handled according to the experimental material scanning information in real time and are infused Meaning information simultaneously controls the transfer robot 10 using telescopic mechanical arm 12 according to the second image and is set to the storage box 14 The fixed groove 15 of two side positions contradicts；

S5, the remote server 6 control the electromagnetism for being set to 12 front position of telescopic mechanical arm contradicted with fixed groove 15 Iron 13 controls the telescopic mechanical arm 12 with 16 electromagnetic adsorption of Attraction block inside the fixed groove 15 and according to the second image The storage box 14 of electromagnetic adsorption is placed in 17 interior location of storage cavity being arranged above the transfer robot 10；

S6, the remote server 6 are set to 10 top of transfer robot according to the first image and the control of the second image The first expansion plate 21 that the first all telescope motor 20 of interior location is drivingly connected extends over the storage cavity 17 and places 14 preset height of storage box and according to the first image and the second image control be set to 10 side coil of transfer robot The closing mechanical arm 18 set, which stretches out, contradicts 21 upper end of the first expansion plate that the sealing plate 19 of front end and stretching are completed；

S7, the remote server 6 control the second telescope motor 24 driving for being set to the 19 lower inner position of sealing plate The stretching of sealing rubber ring 30 of front end is contradicted with the first expansion plate 21 and seals what simultaneously basis analyzed by the second expansion plate 25 connected The experimental material notices that information controls the disinfecting mechanism 4 being set to inside the transfer robot 10 to the storage cavity 17 Inner space carries out corresponding disinfection；

S8, the remote server 6 notice that information control is set to the conveying robot according to the experimental material analyzed Sealing mechanism 3 inside people 10 carries out corresponding sealed storage to the storage cavity 17 and controls the carrying according to the second image The storage region that robot 10 goes to laboratory to plan is parked to enter storage state.

Specifically, the information receiving module 60 inside remote server 6 receives laboratory room managing center hair in S1 After instruction is carried in the experiment sent, the control of neuronal uptake module 61 inside the remote server 6 is set to laboratory internal position The first camera 50 starting the first image of real time shooting set, first image refer to the laboratory of the first camera 50 intake Internal environmental images, while the control of carrying control module 62 inside the remote server 6 is set to laboratory internal rule The transfer robot 10 in the standby region drawn launches into carrying state, and the transfer robot 10 of control is in idle and not Transfer robot 10 in storage state, carrying state, malfunction.

Specifically, in S2, after 10 start completion of transfer robot, inside the remote server 6 second The second camera 51 that acquisition module 63 controls 10 external position of the transfer robot for being set to starting starts real time shooting Second image, second image refers to the environmental images around the transfer robot 10 that second camera 51 absorbs, second After 51 start completion of camera, the carrying control module 62 controls the conveying robot according to the second image and the first image People 10 is moved to the rest position in the carrying region of laboratory planning.

Specifically, in S3, when the transfer robot 10 reach carry regional location and it is parked after the completion of, it is described long-range Scan control module 64 inside server 6 is set to sweeping for 10 external position of transfer robot according to the control of the second image It retouches mechanical arm 11 and extend out to 14 position of storage box that experimental material to be handled is placed in the carrying region, stretched in scanning mechanical arm 11 After the completion of out, the scan module 65 inside the remote server 6, which controls, is set to scanning 11 front position of mechanical arm Spatial digitizer 52 scans the experimental material to be handled that the storage box 14 is placed and generates experimental material scanning information；The experiment Material scanning information includes experimental material information, experimental material hazard information, experimental material quantity information, experimental material It carries and pays attention to information, the experimental material, which is carried, notices that information includes the storage information containing experimental material.

Specifically, in S4, after spatial digitizer 52 generates experimental material scanning information, in the remote server 6 The information analysis module 66 in portion analyzes the experimental material to be handled according to the experimental material scanning information in real time and pays attention to believing Breath, while the extension and contraction control module 67 inside the remote server 6 controls 10 benefit of transfer robot according to the second image It is contradicted with telescopic mechanical arm 12 with the fixed groove 15 for being set to 14 liang of side positions of storage box, i.e., it will be before telescopic mechanical arm 12 The electromagnet 13 at end and the Attraction block 16 of fixed groove 15 contradict.

Specifically, in S5, after the completion of the telescopic mechanical arm 12 is stretched out and is contradicted with fixed groove 15, the long-range clothes The first electromagnetic module 68 control inside business device 6 is set to the electricity of 12 front position of telescopic mechanical arm contradicted with fixed groove 15 16 electromagnetic adsorption of Attraction block inside magnet 13 and the fixed groove 15 is completed in electromagnet 13 and 16 electromagnetic adsorption of Attraction block Afterwards, the extension and contraction control module 67 controls the telescopic mechanical arm 12 according to the second image and places the storage box 14 of electromagnetic adsorption 17 interior location of storage cavity being arranged above the transfer robot 10 is stored；The telescopic mechanical arm 12 will be electric The storage box 14 of magnetic suck is placed in after the completion of storage 17 interior location of cavity, and first electromagnetic module 68 controls the telescopic machine The electromagnet 13 of 12 front end of tool arm releases electromagnetic adsorption state and after the electromagnet 13 releases electromagnetic adsorption state, described to stretch Contracting control module 67 controls the complete retracted for clearance of the telescopic mechanical arm 12 according to the second image.

Specifically, in S6, it is described after telescopic mechanical arm 12 places storage box 14 with 17 interior location of cavity is stored The first flexible module 69 inside remote server 6 control be set to the 10 upper interior position of transfer robot it is all the The first expansion plate 21 that one telescope motor 20 is drivingly connected extends over the default height of storage box 14 that the storage cavity 17 is placed Degree, the preset height are 0-3 meter, preferably 50 centimeters in the present embodiment, i.e. 21 front end of the first expansion plate and storage box 14 Upper surface is at a distance of 50 centimeters；Closing control module 70 after the completion of the first expansion plate 21 stretches out, inside the remote server 6 It is stretched out according to the closing mechanical arm 18 that the first image and the control of the second image are set to the 10 side position of transfer robot By the sealing plate 19 of front end and stretch out 21 upper end of the first expansion plate conflict completed.

Specifically, in S7, after the completion of sealing plate 19 and 21 upper end of the first expansion plate contradict, the remote server 6 The flexible module 71 of internal second controls the second telescope motor 24 driving company for being set to the 19 lower inner position of sealing plate The second expansion plate 25 connect, which stretches out the sealing rubber ring 30 of front end to contradict with the first expansion plate 21, to be sealed, while the remote service Device 6 notices that information control is set to the disinfecting mechanism 4 inside the transfer robot 10 according to the experimental material analyzed Corresponding disinfection is carried out to 17 inner space of storage cavity.

Specifically, in S8, when the remote server 6 control disinfecting mechanism 4 is that storage 17 space of cavity is corresponded to After disinfection, the remote server 6 notices that information control is set to the conveying robot according to the experimental material analyzed Sealing mechanism 3 inside people 10 carries out corresponding sealed storage, after storing 17 sealed storage of cavity, institute to the storage cavity 17 State carry control module 62 according to the second image control the transfer robot 10 go to laboratory plan storage region it is parked Into storage state.

S70, control is set to institute if the experimental material that remote server 6 analyzes pays attention to information for that can react with ozone It states the ultraviolet disinfection lamp 40 inside transfer robot 10 and issues the inner space progress that ultraviolet is the storage cavity 17 Disinfection treatment；

S71, setting is controlled if the experimental material that remote server 6 analyzes pays attention to information to react with ultraviolet Ozone generator 41 inside the transfer robot 10 issues the inner space that ozone is the storage cavity 17 and disappears Poison processing；

S72, notice that information is if meeting react with ultraviolet and ozone if the experimental material that remote server 6 analyzes It is empty that control is set to the inside that 42 spray disinfectant of disinfection nozzle inside the transfer robot 10 is the storage cavity 17 Between carry out disinfection processing；

S73, cancel disinfection treatment if the experimental material that remote server 6 analyzes notices that information is biological species experimental material.

Specifically, noticing that information control is set to institute according to the experimental material analyzed in the remote server 6 When stating disinfecting mechanism 4 inside transfer robot 10 and carrying out corresponding disinfection to 17 inner space of storage cavity, if information point The experimental material that analyzes of analysis module 66 notices that information be the disinfection that react inside the then remote server 6 with ozone It is described deposit that control module 75, which controls the ultraviolet disinfection lamp 40 being set to inside the transfer robot 10 and issues ultraviolet, The inner space of storage chamber body 17 carries out disinfection processing；If the experimental material that information analysis module 66 analyzes pays attention to information for can be with Ultraviolet reacts, and the disinfection control module 75 controls the ozone being set to inside the transfer robot 10 and occurs Device 41 issues the inner space that ozone is the storage cavity 17 and carries out disinfection processing；If the reality that information analysis module 66 analyzes It tests material and pays attention to information for that can react with ultraviolet and ozone, the control of disinfection control module 75 is set to institute The inner space that 42 spray disinfectant of disinfection nozzle inside transfer robot 10 is the storage cavity 17 is stated to carry out disinfection place Reason；The disinfection control module if the experimental material that information analysis module 66 analyzes notices that information is biological species experimental material 75 cancel disinfection treatment；And if the experimental material that information analysis module 66 analyzes pays attention to information for meeting and ultraviolet, ozone And the thimerosal then disinfection control module 75 that reacts cancels disinfection treatment.

S80, control is set to institute if the experimental material that remote server 6 analyzes pays attention to information for that can react with nitrogen It states the starting of vacuum pump 33 inside transfer robot 10 and the air extraction inside the storage cavity 17 is sealed processing；

S81, control is set to described remove if the experimental material that remote server 6 analyzes notices that information is to store without vacuum Nitrogen nozzle 35 inside fortune robot 10, which starts to 17 inner space of storage cavity addition nitrogen, is sealed processing.

Wherein, the exhaust outlet 34 is in closed state when vacuum pump 33 is inactive, and air can not pass through exhaust outlet 34 Circulation.

Specifically, noticing that information control is set to institute according to the experimental material analyzed in the remote server 6 When stating sealing mechanism 3 inside transfer robot 10 and carrying out corresponding sealed storage to the storage cavity 17, if information analysis mould The experimental material that block 66 analyzes notices that information is the sealing control that can be reacted with nitrogen inside the then remote server 6 Module 76 controls the vacuum pump 33 being set to inside the transfer robot 10 and starts the air inside the storage cavity 17 Processing is sealed by the extraction of exhaust outlet 34；If the experimental material that remote server 6 analyzes notices that information is without vacuum It stores and will not react with nitrogen, the control of sealing control module 76 is set to inside the transfer robot 10 Nitrogen nozzle 35, which starts to 17 inner space of storage cavity addition nitrogen, is sealed processing.

Embodiment two

With reference to Fig. 2, Fig. 6, Fig. 8-9, shown in Figure 12.

Specifically, the present embodiment and embodiment one are substantially consistent, difference place is, in the present embodiment, in S6, and institute It is further comprising the steps of to state method:

S60, remote server 6 control the table that the rotary shaft 22 for 21 front position of the first expansion plate for being set to two sides is drivingly connected The layer rotation of closed plate 23 contradicts with other surface layer closed plates 23 and controls the electricity for being set to 23 front end interior location of surface layer closed plate Magnetic patch 32, which is powered, enters electromagnetic adsorption state；

S61, the remote server 6 control the second telescope motor 24 driving for being set to the 19 lower inner position of sealing plate The sealing rubber ring 30 of front end is stretched out the first expansion plate 21 that rotary shaft 22 is not provided with front end by the second expansion plate 25 of connection It contradicts sealing and controls the first of the drive connection of third telescope motor 26 for being set to the 19 lower inner position of sealing plate and stretch Contracting pillar 27, which stretches out the sealed silicon glue-line 31 of front end to contradict with 23 upper surface of surface layer closed plate, to be sealed.

It will specifically, being stretched out in closing control module 70 according to the first image and the second image control closing mechanical arm 18 Before the sealing plate 19 of front end and 21 upper end of the first expansion plate contradict, the rotation control module 72 inside the remote server 6 is controlled Set up the table that the rotary shaft 22 for 21 front position of the first expansion plate for being placed in 10 two side positions of top of transfer robot is drivingly connected The rotation of layer closed plate 23 is contradicted with other surface layer closed plates 23, i.e. the surface layer closed plate 23 of the surface layer closed plate 23 in left side and right side It mutually contradicts, on surface layer, closed plate 23 contradicts completion and the closing control module 70 according to the first image and the second image control After system closing mechanical arm 18 stretching contradicts the sealing plate 19 of front end and 21 upper end of the first expansion plate, in the remote server 6 The electromagnetic block 32 that second electromagnetic module 73 control in portion is set to 23 front end interior location of surface layer closed plate, which is powered, enters electromagnetism suction Attached state, on surface layer after the completion of 23 electromagnetic adsorption of closed plate, the second flexible control of module 71 is set to the sealing plate 19 The second expansion plate 25 that second telescope motor 24 of lower inner position is drivingly connected stretches out the sealing rubber ring 30 of front end with before The first expansion plate 21 that end is not provided with rotary shaft 22 contradicts sealing, while the flexible mould of the third inside the remote server 6 Block 74, which controls, is set to the first telescopic prop that the third telescope motor 26 of the 19 lower inner position of sealing plate is drivingly connected 27 seal 23 upper surface of the surface layer closed plate conflict that the sealed silicon glue-line 31 of front end is stretched out with mutual electromagnetic absorption.

Embodiment three

With reference to Fig. 5-8, shown in Figure 10.

Specifically, the present embodiment and embodiment one are substantially consistent, difference place is, in the present embodiment, after S2, and institute It is further comprising the steps of to state method:

S20, remote server 6 control the acquisition storage in real time of thermal imaging system 53 for being set to 10 external position of transfer robot Thermograph inside frame 14 simultaneously analyses whether that the experimental material inside storage box 14 is in danger according to the thermograph State；

S21, the control of remote server 6 is set to the 4th of the 10 lower inner position of transfer robot and stretches if having The second telescopic prop 29 that motor 28 is drivingly connected drives the shifting roller of the transfer robot 10 to stretch out the carrying implement Device people 10, which rises preset height and has been moved to experimental material according to second image control transfer robot 10, to be in 14 top position of storage box of precarious position；

The 4th telescope motor 28 driving that S22, the remote server 6 control the 10 lower inner position of transfer robot connects The second telescopic prop 29 connect, which drives the shifting roller of the transfer robot 10 to shrink completely, will be set to the conveying robot The explosion-proof cavity 38 of 10 lower position of people shrouds the storage box 14.

Specifically, after the carrying regional location that the transfer robot 10 is moved to laboratory planning, the long-range clothes Thermal imaging module 77 inside business device 6 controls the acquisition in real time of thermal imaging system 53 for being set to 10 external position of transfer robot Thermograph inside storage box 14, after thermal imaging system 53 gets thermograph, the information analysis module 66 is according to institute It states thermograph and analyses whether that the experimental material inside storage box 14 is in the hole, it is described in the hole to refer to reality Testing material is more than temperature under normal conditions, if information analysis module 66 analyzes the experimental material inside storage box 14 and is in danger After state, the 4th flexible control of module 78 inside the remote server 6 is set to 10 lower inner of transfer robot The second telescopic prop 29 that 4th telescope motor 28 of position is drivingly connected drives the shifting roller of the transfer robot 10 to stretch The transfer robot 10 is risen into preset height out, the preset height is 0-5 meters, in the present embodiment preferably carrying implement 10 bottom surface of device people differs 50 centimetres of height with 14 upper surface of storage box, i.e., transfer robot 10 is risen 14 total height of storage box + 50 centimetres；After the completion of the transfer robot 10 rises, the carrying mobile module is according to second image control Transfer robot 10 is moved to experimental material 14 top position of storage box in the hole, i.e., by transfer robot 10 Explosion-proof 38 center of cavity is vertical with 14 center of the storage box holding, completes in the transfer robot 10 movement, the described 4th The 4th telescope motor 28 that flexible module 78 controls the 10 lower inner position of transfer robot is drivingly connected second flexible Pillar 29, which drives the shifting roller of the transfer robot 10 to shrink completely, will be set to 10 lower position of transfer robot Explosion-proof cavity 38 shroud the storage box 14, i.e., 10 bottom surface of transfer robot and experiment room floor are contradicted and will be described The problems such as storage box 14 shrouds, and explosion, sputtering occur for the experimental material inside storage box 14 does not interfere in laboratory The personnel in portion improve the safety of experimenter.

Example IV

With reference to shown in Fig. 6-12.

Specifically, the present embodiment provides a kind of based on the automated storing system intelligently carried, using one kind based on intelligence The automated storing method of carrying, including handling device 1, telescopic device 2, sealing mechanism 3, disinfecting mechanism 4, identification device 5 with And remote server 6, the handling device 1 include transfer robot 10, scanning mechanical arm 11, telescopic mechanical arm 12, electromagnet 13, storage box 14, fixed groove 15, Attraction block 16, storage cavity 17, closing mechanical arm 18 and sealing plate 19, the carrying Robot 10 is provided with several and is stored in the standby region of laboratory internal planning, for carrying experimental material；It is described to sweep It retouches mechanical arm 11 to be provided with several and be set to 10 external position of transfer robot, for stretching the spatial digitizer 52 of front end Out to designated position；The telescopic mechanical arm 12 is provided with several and is set to 10 side position of transfer robot, for Storage box 14 is contradicted and is fixed with the storage box of conflict 14；13 quantity of electromagnet is consistent with 12 quantity of telescopic mechanical arm and sets It is placed in 12 front position of telescopic mechanical arm, for providing electromagnetic adsorption function；The storage box 14 is for storing experimental material；Institute It states fixed groove 15 to be provided with several and be set to 14 two sides interior location of storage box, for contradicting with telescopic mechanical arm 12； 16 quantity of Attraction block is consistent with 15 quantity of fixed groove and is set to 15 interior location of fixed groove, is used for and electromagnet 13 Electromagnetic adsorption；17 quantity of storage cavity is consistent with 10 quantity of transfer robot and is set to 10 upper position of transfer robot It sets, for placing storage box 14；The closing mechanical arm 18 is set to 10 side position of transfer robot and connects with sealing plate 19 It connects, for the sealing plate 19 of connection to be moved to designated position；The sealing plate 19 is set to closing 18 front position of mechanical arm, For being contradicted with 21 upper end of the first expansion plate；

The telescopic device 2 is stretched including the first telescope motor 20, the first expansion plate 21, rotary shaft 22, surface layer closed plate 23, second Contracting motor 24, the second expansion plate 25, third telescope motor 26, the first telescopic prop 27, the 4th telescope motor 28 and second stretch Contracting pillar 29, first telescope motor 20 are set to 10 upper interior position of transfer robot and connect with the first expansion plate 21 It connects, the first expansion plate 21 for drive connection is flexible；First expansion plate 21 is set to 10 upper interior of transfer robot Position is simultaneously connect with the first telescope motor 20 respectively, and is set to 21 top of the first expansion plate of 10 top two sides of transfer robot It is connected with rotary shaft 22；21 top position of the first expansion plate of rotary setting two sides above transfer robot 10 and and table Layer closed plate 23 connects, and the surface layer closed plate 23 for drive connection rotates；The surface layer closed plate 23 is set to rotary shaft 22 Front position, for being contradicted with other surface layer closed plates 23；Second telescope motor 24 is set to 19 lower section of sealing plate Interior location is simultaneously connect with the second expansion plate 25, and the second expansion plate 25 for drive connection is flexible；Second expansion plate 25 It is set to the 19 lower inner position of sealing plate, for driving the sealing rubber ring 30 of front end flexible；The third telescope motor 26 are set to the 19 lower inner position of sealing plate and connect with the first telescopic prop 27, and first for drive connection is flexible Pillar 27 is flexible；First telescopic prop 27 is set to 19 lower inner position of sealing plate and connect with sealed silicon glue-line 31, Sealed silicon glue-line 31 for drive connection is flexible；4th telescope motor 28 is set to 10 lower inner position of transfer robot It sets and is connect with the second telescopic prop 29, the second telescopic prop 29 for drive connection is flexible；Second telescopic prop 29 It is set to 10 lower inner position of transfer robot and is connect respectively with the 4th telescope motor 28 and shifting roller, for driving The shifting roller extension and contraction control transfer robot 10 of connection is gone up and down；

The sealing mechanism 3 includes sealing rubber ring 30, sealed silicon glue-line 31, electromagnetic block 32, vacuum pump 33, exhaust outlet 34, nitrogen Nozzle 35, nitrogen conduit 36, nitrogen storehouse 37 and explosion-proof cavity 38, the sealing rubber ring 30 are set to 25 front end of the second expansion plate Position is sealed for contradicting with the first expansion plate 21；The sealed silicon glue-line 31 is set to 27 front position of the first telescopic prop, It is sealed for being contradicted with surface layer closed plate 23；The electromagnetic block 32 be set to 23 front end interior location of surface layer closed plate and with conflict Other surface layer closed plates 23 32 electromagnetism of electromagnetic block connection；The vacuum pump 33 is set to storage 17 inner wall position of cavity and divides It is not connect with storage cavity 17 and exhaust outlet 34, for extracting the air inside storage cavity 17；The exhaust outlet 34 is arranged In storage 17 upper side position of cavity, transfer robot 10 is discharged for the air inside cavity 17 will to be stored；The nitrogen spray Mouth 35 is set to storage 17 inner wall position of cavity and connect with nitrogen conduit 36, for spraying nitrogen to storage cavity 17；It is described Nitrogen conduit 36 is set to 10 interior location of transfer robot and connect respectively with nitrogen nozzle 35 and nitrogen storehouse 37, and being used for will Nitrogen inside nitrogen storehouse 37 is directed into nitrogen nozzle 35；The nitrogen storehouse 37 is set to 10 interior location of transfer robot, uses In storage nitrogen；The explosion-proof cavity 38 is set to 10 lower position of transfer robot, for experiment in the hole is plain How storage box 14 shrouds for material institute；

The disinfecting mechanism 4 includes ultraviolet disinfection lamp 40, ozone generator 41, disinfection nozzle 42, disinfection conduit 43 and disappears Venom storehouse 44, the ultraviolet disinfection lamp 40 are set to storage 17 inner wall position of cavity, carry out disinfection for providing ultraviolet； The ozone generator 41 is set to storage 17 inner wall position of cavity, carries out disinfection for providing ozone；The disinfection nozzle 42 It is set to storage 17 inner wall position of cavity and is connect with disinfection conduit 43, carried out disinfection for spray disinfectant；The disinfection is led Pipe 43 is connect with disinfection nozzle 42 and thimerosal storehouse 44 respectively, and the thimerosal for storing thimerosal storehouse 44 pours into connection Disinfection nozzle 42；The thimerosal storehouse 44 is set to 10 interior location of transfer robot, for storing thimerosal；

The identification device 5 includes the first camera 50, second camera 51, spatial digitizer 52 and thermal imaging system 53, institute It states the first camera 50 and is set to laboratory internal position, for absorbing the environmental images of laboratory internal；Second camera shooting First 51 are set to 10 external position of transfer robot, for absorbing the environmental images outside transfer robot 10；The three-dimensional is swept It retouches instrument 52 and is set to scanning 11 front position of mechanical arm, for scanning experimental material information；The thermal imaging system 53, which is set to, to be removed 10 external position of robot is transported, for obtaining the thermograph of experimental material；

The remote server 6 respectively with transfer robot 10, scanning mechanical arm 11, telescopic mechanical arm 12, electromagnet 13, closing Mechanical arm 18, the first telescope motor 20, rotary shaft 22, the second telescope motor 24, third telescope motor 26, the 4th telescope motor 28, electromagnetic block 32, vacuum pump 33, nitrogen nozzle 35, ultraviolet disinfection lamp 40, ozone generator 41, disinfection nozzle 42, first are taken the photograph As head 50, second camera 51, spatial digitizer 52, thermal imaging system 53 and laboratory room managing center are wirelessly connected；

The remote server 6 includes:

Information receiving module 60, for receiving information and/or instruction and/or request；

Neuronal uptake module 61, for controlling the starting of the first camera 50 or closing；

Control module 62 is carried, the operation of setting is executed for controlling transfer robot 10；

Second acquisition module 63, for controlling the starting of second camera 51 or closing；

Scan control module 64 executes the operation of setting for controlling scanning mechanical arm 11；

Scan module 65 scans experimental material generation experimental material scanning information for controlling spatial digitizer 52；

Information analysis module 66, for analyzing specified information and/or request and/or instruction；

Extension and contraction control module 67 executes the operation of setting for controlling telescopic mechanical arm 12；

First electromagnetic module 68, for controlling the starting of electromagnet 13 or closing；

First flexible module 69, the first expansion plate 21 for controlling the first telescope motor 20 drive connection are flexible；

Control module 70 is closed, the operation of setting is executed for controlling closing mechanical arm 18；

Second flexible module 71, the second expansion plate 25 for controlling the second telescope motor 24 drive connection are flexible.

As a kind of preferred embodiment of the invention, the remote server 6 further include:

Control module 72 is rotated, is rotated for controlling the surface layer closed plate 23 that rotation is drivingly connected；

Second electromagnetic module 73, for controlling the starting of electromagnetic block 32 or closing；

Third is stretched module 74, and the first telescopic prop 27 for controlling the drive connection of third telescope motor 26 is flexible.

Control module 75 is sterilized, the operation of setting is executed for controlling ultraviolet radiator, ozone generator 41 and disinfection nozzle 42.

Control module 76 is sealed, executes the operation of setting for controlling vacuum pump 33 and nitrogen nozzle 35.

Thermal imaging module 77, for controlling the starting of thermal imaging system 53 or closing；

4th flexible module 78, the second telescopic prop 29 for controlling the 4th telescope motor 28 drive connection are flexible.

Wherein, the structure that the intelligent storage guard system includes is all made of waterproofing design；The mobile shell, covering are anti- The battery supplied electric power is provided with inside backplate 300, laboratory table 100 and experiment porch 101.

It should be understood that the specific implementation process of above-mentioned modules (can be implemented with above method embodiment in example IV Example one is to embodiment three) description it is corresponding, be not described in detail herein.

System provided by above-described embodiment four is only the example of the division of the above functional modules actually answered In, it can according to need and be completed by different functional modules appeal function distribution, i.e., divide the internal structure of system At different functional modules, to complete all or part of the functions described above.

The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.

Claims

1. a kind of based on the automated storing method intelligently carried, which is characterized in that the described method comprises the following steps:

2. according to claim 1 a kind of based on the automated storing method intelligently carried, which is characterized in that in S6, The method also includes following steps:

3. according to claim 1 a kind of based on the automated storing method intelligently carried, which is characterized in that in S7, The method also includes following steps:

4. according to claim 1 a kind of based on the automated storing method intelligently carried, which is characterized in that in S8, The method also includes following steps:

5. according to claim 1 a kind of based on the automated storing method intelligently carried, which is characterized in that after S2, The method also includes following steps:

6. it is a kind of based on the automated storing system intelligently carried, it is described in any item a kind of based on intelligence using claim 1-5 The automated storing method that can be carried, including handling device, telescopic device, sealing mechanism, disinfecting mechanism, identification device and remote Journey server, which is characterized in that the handling device include transfer robot, scanning mechanical arm, telescopic mechanical arm, electromagnet, Storage box, fixed groove, Attraction block, storage cavity, closing mechanical arm and sealing plate, the transfer robot are provided with several Standby region that is a and being stored in laboratory internal planning, for carrying experimental material；The scanning mechanical arm is provided with several It is a and be set to transfer robot external position, for the spatial digitizer of front end to be extend out to designated position；The telescopic machine Tool arm is provided with several and is set to transfer robot side position, for contradicting with storage box and consolidating with the storage box of conflict It is fixed；The electromagnet quantity is consistent with telescopic mechanical arm quantity and is set to telescopic mechanical arm front position, for providing electromagnetism Adsorption function；The storage box is for storing experimental material；The fixed groove is provided with several and is set to storage box two Side interior location, for being contradicted with telescopic mechanical arm；The absorption number of blocks is consistent with fixed groove quantity and is set to fixation Inside grooves position is used for and electromagnet electromagnetic adsorption；The storage number of cavities is consistent with transfer robot quantity and is arranged In transfer robot top position, for placing storage box；The closing mechanical arm is set to transfer robot side position simultaneously It is connect with sealing plate, for the sealing plate of connection to be moved to designated position；The sealing plate is set to closing mechanical arm front end Position, for being contradicted with the first expansion plate upper end；

The remote server includes:

Second acquisition module, for controlling second camera starting or closing；

7. according to claim 6 a kind of based on the automated storing system intelligently carried, which is characterized in that described long-range Server further include:

8. according to claim 6 a kind of based on the automated storing system intelligently carried, which is characterized in that described long-range Server further include:

9. according to claim 6 a kind of based on the automated storing system intelligently carried, which is characterized in that described long-range Server further include:

10. according to claim 6 a kind of based on the automated storing system intelligently carried, which is characterized in that described remote Journey server further include: