CN110509254A - The robot and its control method of adjustable liquid relief utensil range and accurate liquid relief - Google Patents
The robot and its control method of adjustable liquid relief utensil range and accurate liquid relief Download PDFInfo
- Publication number
- CN110509254A CN110509254A CN201810486242.4A CN201810486242A CN110509254A CN 110509254 A CN110509254 A CN 110509254A CN 201810486242 A CN201810486242 A CN 201810486242A CN 110509254 A CN110509254 A CN 110509254A
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- liquid relief
- utensil
- liquid
- several
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/02—Burettes; Pipettes
- B01L3/021—Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Clinical Laboratory Science (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot and its control method more particularly to a kind of adjustable liquid relief utensil range and the experimental robots and its control method of accurate quantification liquid relief.The experimental robot of adjustable liquid relief utensil range and accurate quantification liquid relief of the invention includes main control part, mechanical hand or mechanical arm, liquid relief utensil, position sensing device, sliding rail, the present invention can sign an undertaking conjunction with mature high-precision pipettor on the market, can be automatically performed suction nozzle patch and removal, it can replace artificial, the accurate quantification for completing different reagents, which extract, discharge, move, mix, shaking up, accelerate to react etc. operates.
Description
Technical field
The present invention relates to a kind of robot more particularly to a kind of adjustable liquid relief utensil range and the robots of accurate liquid relief
And its control method.
Background technique
With the development of science and technology robot more and more participates in the work and life of the mankind, it is envisioned that future machine
People will replace the mankind to undertake more and more complicated, hard works, and people can then free from hard work, raw
Live more easily with easiness.But currently, robot (or automation equipment with robot function), can only be engaged in
The automated job of simple repeatability, the fields such as biology, chemistry, life science, some entitled " the liquid relief work to have emerged
Stand " semi-automatic liquid-transfering device, liquid relief utensil is mostly self manufacture, and universal intelligence degree is not high, can not on the market at
Ripe professional pipettor, which has, to be used in combination, and coarse, low precision is made, for the liquid relief utensil of different ranges, precision, mostly cannot or
Be inconvenient to replace or replacement process in need artificial excessive participation, greatly reduce the production efficiency of automation, it is more important
: it is difficult to realize the high-precision of pipetting processes, also without discovery and the combinable feasible side of mature high-precision liquid relief utensil
Case.Large amount of complex, hard work in the laboratories such as the fields scientific research such as current biological, chemistry, life science, teaching, still
It is based on manpower, the epoch wait in expectation the appearance with higher intelligent robot, mentioned-above robot (or there is machine
The automation equipment of device people's function) it all cannot achieve instead of laboratory worker, rigorous accurate completion experiment, the present invention can
To sign an undertaking conjunctions with mature high-precision pipettor on the market, can be automatically performed suction nozzle patch and removal, adjustable range, energy
Enough to replace artificial, the accurate quantification for completing different reagents, which extracts, discharge, move, mix, shaking up, accelerates to react etc. operates.Have
Good prospect.
Compared with the scheme of unadjustable range, the present invention is based on the range adjustment mechanisms of liquid relief utensil, copy people completely
Work operation, liquid-taken amount, liquid relief precision depend primarily on liquid relief utensil precision (such as the high-grade pipettor of world-renowned company,
Its reliability is high, and error is low), greatly reduce influence of the experimental robot systematic error to liquid relief precision.
Summary of the invention
The robot of adjustable liquid relief utensil range of the present invention and accurate liquid relief, intelligence with higher, behaviour
Control component can move in a certain range of three-dimensional space, and realize positioning and control to itself, can biology, chemical industry,
Relative complex experimental work is completed in the fields such as life science instead of the mankind, including but not limited to: based on liquid relief utensil itself
Range adjustment mechanism adjusts liquid relief utensil range, and completes to be stained with liquid, accurate quantification liquid relief or automatic loading and unloading liquid relief utensil portion
Part, automatic loading and unloading liquid relief device component described here is including but not limited to several in following classification: suction nozzle, pipette tips, suction
Mouth, nozzle, needle-shaped liquid relief component, the other implements that can dip or draw liquid.
The robot of adjustable liquid relief utensil range of the present invention and accurate liquid relief, including but not limited to: main control part
Point, mechanical hand (or robotic arm, manipulator, mechanical arm), the liquid relief utensil, position sensing device of liquid relief utensil can be manipulated, with
And as several in lower component: sliding rail, mandril, sliding block, other can realize position by electricity, light or electromagnetic field signal at push rod
Mobile component.
Main control part includes one of microprocessor and microcontroller or a variety of, and the type of microcontroller includes but unlimited
In single-chip microcontroller, DSP, CPLD, FPGA, PLC；The mode of microprocessor includes but is not limited to use computer, computer or other packets
The mode that intelligent apparatus containing microprocessor is controlled.
Mechanical hand (or robotic arm, manipulator, mechanical arm) is using several in following design method: extension type, can
Rotatably, swingable formula, have several freedom degrees.
Include several in motor, and following classification in mechanical hand (or robotic arm, manipulator, mechanical arm) structure:
The mobile component in position can be achieved in sliding rail, push rod, mandril, sliding block, other rotated by motor.Mechanical hand (or robotic arm, machinery
Hand, mechanical arm) be fixed near liquid relief utensil, or can clamp, fix liquid relief utensil, no matter which kind of mode, mechanical hand (or machine
Device arm, manipulator, mechanical arm) real-time control can be carried out to liquid relief utensil by the setting of blas or user, including
It is several in following function, behavior: to patch liquid relief utensil suction nozzle (or pipette tips, suction nozzle, nozzle), be stained with liquid, quantitative liquid suction, space
It moves up hydrodynamic body, plurality of liquid mixing, liquid precipitation, quantitatively discharge liquid, removal liquid relief utensil suction nozzle (or pipette tips, suction nozzle, suction
Nozzle), one end of mechanical hand (or robotic arm, manipulator, mechanical arm) in the following way in it is several: sliding rail, pulley, cunning
Bar, lead screw, magnetic suspension device, other can realize mobile component and spiral shell by motor driven or electromagnetic field effect at sliding block
Several realization in the means such as silk, adhesive, magnetic field, connector, screw, fixture is fixed, and can be in the control of main control part
Lower movement.
The other end of mechanical hand (or robotic arm, manipulator, mechanical arm) passes through several in following substances or measure, method
Kind is realized and liquid relief utensil is moved, influenced or operated: electromagnetic field, connector, sliding block, bearing, gear, belt, screw, rope
It is rope, adhesive, lead screw, sliding rail, slide bar, pulley, spring, elastic rubber (not having without the patent of regulatory function), other one
Determine the substance in stroke with certain elasticity or push-and-pull ability.
Mechanical hand (or robotic arm, manipulator, mechanical arm) is for liquid relief utensil, it can be achieved that several in following function:
(1) realization of regulatory function: mandril using electronic mandril, magnetic force mandril with it is several in mechanical jack, with pipettor
The regulator site of tool is mechanically connected, or is indirectly controlled by the several realization in magnetic field, electric field and light, in the control of main control part
It under system, is rotated by the change of the parameter of electromagnetic field, light or motor, realizes the capacity of liquid relief utensil or the adjusting of parameter, it is described
The conciliation position of liquid relief utensil include: the piston of liquid relief utensil, adjusting knob, regulating key or other liquid relief utensils itself tool
What is had can be to the components that itself liquid relief capacity is adjusted.
(2) realization of pipetting function: liquid relief utensil is the accuracy for guaranteeing liquid relief amount, living when extracting liquid in mechanism
Plug reaches the specified range position that operator is pre-adjusted, and in centainly force range, piston will not be subjected to displacement or position becomes
Change；In addition, when the basal part level that internal whole liquid measures are just pushed out in piston base arrival is set, in centainly force range,
Piston will not be subjected to displacement or change in location, and the high-precision of liquid relief utensil itself may be implemented in both mechanism, will not or pole
Few systematic error brought other than liquid relief utensil itself, the present invention using push rod, mandril retractable member or other pass through
Motor rotates can be achieved the mobile component (including but not limited to: mover, sliding block, slide unit) in position, if by following measure
The adjusting of dry kind of realization stroke: push rod, mandril, spring, elastic rubber (not having without the patent of regulatory function), or pass through electricity
The rotation of machine controls liquid relief utensil, and then realizes and extract, discharge to the accurate quantification of liquid, moving, mixing, shaking up, accelerates instead
It answers (s) several in operation, wherein spring, elastic rubber or other there is certain elasticity or push-and-pull energy in certain stroke
The substance of power, be located at liquid relief utensil piston force part, elastic force or elasticity effect, make liquid relief utensil piston reach bottom,
It, in a certain range, will not for the extra force of piston when reference graduation or other assigned scale positions being pre-adjusted
Increase and decrease the actuating length of piston, system of the invention realizes the accuracy standard of liquid relief utensil itself according to this, additional without bringing
Systematic error.
(3) liquid relief utensil suction nozzle is (or several in following classification: pipettor gun head, suction nozzle, nozzle, needle-shaped liquid relief portion
Part, the other implements that can dip or draw liquid) automatic drawing unloading function realization: using the retractable member of push rod, mandril,
Or the mobile components (including but not limited to: mover, sliding block, slide unit) in position can be achieved in other rotated by motor, by push rod,
The adjusting of mandril stroke or the rotation of motor control liquid relief utensil, and then realize to the suction nozzle of liquid relief utensil (or pipette tips, suction
Mouth, nozzle) grafting, fastening, release and replacement operation in it is several.
Position movement can be achieved in push rod, mandril and other rotated by motor mentioned in above-mentioned different function realization
Component, can with multiple functions share, can also be separately provided.
Above-mentioned push rod, mandril retractable member or it is other rotated by motor can be achieved the mobile component in position (including
But it is not limited to: mover, sliding block, slide unit), it is mechanical even with the regulator site (referring to piston or stroke adjustment component) of liquid relief utensil
It connects, or electromagnetism is passed through under the control of main control part by the several indirect realization position control in magnetic field, electric field and light
Flexible, the capacity of realization liquid relief utensil or the tune of parameter of field, the change of the parameter of light, motor rotation or push rod, mandril
Section.
The type of motor includes but is not limited to alternating current generator, direct current generator, also includes but is not limited to: stepper motor, steering engine,
Asynchronous machine, synchronous motor, servo motor, magneto, control strategy using opened loop control (its related realization method include but
It is not limited to: displacement being calculated by step number using stepper motor, position is calculated according to run duration combination speed and empirical data
Move), or the closed-loop control (implementation method includes but is not limited to: all motors have position sensing device) of sensor is combined,
Include but is not limited to using the type of position sensing device: photoelectric sensor, encoder, angular transducer, displacement sensing
Device, position sensor, optoelectronic switch magnetic induction switch.
In the present invention, motor is respectively to adjust range scale motor (i.e. rotating scale adjustment motor), control work by function
Fill in motor, there are also removal suction nozzle (or it is several in following classification: pipettor gun head, suction nozzle, nozzle, needle-shaped liquid relief component, can
To dip or draw other implements of liquid) motor, on implementation: being directed to different function, motor can be separately provided, can also
Several realization in the following way shares: transmission, switching, space difference utilization, time-sharing multiplex.
Experimental robot of the invention includes several position sensing devices, and the position of fixed installation includes but is not limited to: machine
On device hand (or robotic arm, manipulator, mechanical arm), on sliding rail, near liquid relief utensil mobile route.
Main control part is communicated with position sensing device by wired or wireless mode, wherein wired communication mode
Medium include but is not limited to universal serial bus, parallel bus, one or more signal wire, the medium of communication include but
It is not limited to radio frequency, infrared, bluetooth, quantum communications,
The position sensing device includes several in following types: mechanical, photo-electric, magnetic inductive, ultrasonic type, suddenly
That formula, laser type,
Wherein, photoelectric position sensor part includes optoelectronic switch, the optical sensor that can be exchanged into electric signal；
Ultrasonic type position sensing device includes the situation that ultrasonic distance measurement is realized by the control of main control part；
Magnetic inductive position sensing device includes magnetometric sensor part, and type includes but is not limited to: magnetic switch, magnetic induction are opened
Pass, magnetoresistive sensor, magnetometric sensor, magnetic force induction element.
If adjustable liquid relief utensil range of the invention and the robot of accurate liquid relief include in following mechanism or component
Dry kind: sliding rail, pulley, lead screw, magnetic suspension device, slide bar and other shifting can be realized by motor driven or electromagnetic field effect
Dynamic component,
The robot of adjustable liquid relief utensil range and accurate liquid relief of the invention includes that automatic installation, removal, replacement can be achieved
Or several liquid relief utensils of switching, the type of liquid relief utensil includes but is not limited to: liquid-transfering gun, pipettor, metal liquid-transfering needle, non-
Metal liquid-transfering needle, and according to it is viscous, hang, wetting, it is viscous, the principles realization liquid such as adsorb, spray, push, rinse, shake, shake
The mobile utensil in space.
Mechanical hand (or robotic arm, manipulator, mechanical arm) can be realized by limit hole and the several mode in positioning pin
With the fixation of detachable liquid relief utensil relative position, the operations such as secured engagement between the two, release are completed, by clamping or tight
Gu component is realized, it also can choose electric field force or magnetic field force and realize, specifically, using the implementation of magnetic field force including but unlimited
It is realized in using several in electromagnet, permanent magnet, magnetic conductive metal.
Mechanical hand (or robotic arm, manipulator, mechanical arm) by clamping or secure component manipulation or electromagnet whether
It is powered, realizes fixation, dismounting, switching or the replacement to different liquid relief utensils,
The present invention can also realize the switching of multiple liquid relief utensils using following measure: multiple liquid relief utensils are also secured to machine
Near hand (or robotic arm, manipulator, mechanical arm), (including but not limited to: motor by the change of liquid relief implement position
Rotation) realize the selection of different liquid relief utensils, and then realize switching.
The robot of adjustable liquid relief utensil range and accurate liquid relief of the invention, several sliding rails are fixed on smallpox
In plate, wall, ground or other planes, sliding rail can be designed using shapes such as straight line, broken line or curves, mechanical hand (or machine
Arm, manipulator, mechanical arm) by sliding block attachment on the slide rail, by being slided along sliding rail, it is scalable, swingable, rotatable, tool
There are one of modes such as several freedom degrees or a variety of realizations displacement, flexible or swing, in this way, under the control of main control part,
Mechanical hand (or robotic arm, manipulator, mechanical arm) can along the three dimension location of sliding rail in a certain range, move or for liquid
Body is operated.
The robot of adjustable liquid relief utensil range and accurate liquid relief of the invention includes mechanical hand or mechanical arm, wherein
Simultaneously include the situation of mechanical hand and mechanical arm:
One end of mechanical arm and mechanical hand, should by the several interconnection in magnetic field, connector, adhesive, cable, screw
Connection can also use welding or integrally formed mode realize,
The other end of mechanical arm is using several in the modes such as sliding block, pulley, lead screw, slide bar, magnetic suspension, by screw, viscous
It is several in the means such as mixture, electromagnetic field, connector, screw, fixture, it realizes fixed and can be realized in main control part controlling
It is mobile,
The present invention may include hanger, also may not include hanger, in the situation including hanger: hanger can be controlled by main control part, needle
To several detachable liquid relief utensils, which has the positions restrictions such as limit hole or positioning pin, is given by main control part
It is powered on the mode of field force or magnetic field force, the mounting between liquid relief utensil and hanger is realized, wins, relatively fixed etc. the behaviour of position
Make, wherein the implementation of magnetic field force includes using electromagnet or permanent magnet.
Single liquid relief utensil or multiple liquid relief utensils, which are fixed together, realizes different liquid relief utensil choosings by switching mode
The situation selected, it may not be necessary to use hanger, the situation of different liquid relief utensil selections, switching side are realized above by switching mode
Formula includes but is not limited to the ways of realization such as to rotate, be displaced, deform.
The present invention may include camera shooting, take pictures or recording apparatus, also may not include camera shooting, takes pictures or recording apparatus, is including
It images, take pictures or the situation of recording apparatus, it is therefore an objective to as several under type:
(1) realize for manipulation object information identification, including but not limited to for enzyme, bacterium, cell, albumen, virus, nematode with
And the identification in other organisms, the identification of especially above-mentioned organism in a liquid；
(2) realize that scene influences the Real-time Feedback of information, including but not limited to entirety or movable part location information, scene operation
The acquisition and discrimination of condition information.
Control method of the invention, include the following steps in several:
(1) it is adjusted by regulating member of the adjusting range scale motor to liquid relief utensil, realizes that the setting of liquid relief amount, control are lived
Motor or lead screw, sliding rail, slide bar, several in pulley are filled in, the piston of liquid relief utensil is pushed into bottom 0 graduation position (portion
Position is that 0 graduation position that liquid relief utensil liquid relief is adjusted or piston are placed in liquid in the position liquid relief utensil and just discharge completely)
Or the preset base position of user, by the accuracy guarantee mechanism of liquid relief utensil itself: when extracting liquid, piston is reached
The specified range position that operator is pre-adjusted, in centainly force range, piston will not be subjected to displacement again or change in location, base
In the mechanism, the present invention is realized by spring, rubber strip or other substances with elasticity, elastic force, living for liquid relief utensil
The elastic force-applying measure of plug guarantees the displacement that force makes piston that error will not be allowed to increase in liquid relief utensil operating process
Or change in location；
(2) by mechanical hand (or robotic arm, manipulator, mechanical arm) mobile liquid relief utensil, make liquid relief utensil that liquid one end be taken to be inserted into
Liquid, and guarantee that liquid relief utensil takes liquid one end to be immersed among liquid always during extracting liquid；
(3) range position or position that range scale motor is adjusted are adjusted before the piston of liquid relief utensil is pulled to by control piston motor
On setting, the accurate extraction by setting capacity to liquid is realized, can use two ways here: mode one can use bullet
The elastic force-applying measure on liquid relief utensil piston that spring, rubber strip or other substances with elasticity, elastic force are realized, mode two is not
Elastic force-applying measure in usage mode one, the elastic force row itself having by the piston of liquid relief utensil by liquid relief utensil is to before
The range position of adjusting, can automatic stabilisation limit characteristic, realize that the quantitative accurate of liquid extracts；
(4) by mechanical hand (or robotic arm, manipulator, mechanical arm) mobile liquid relief utensil to destination, pass through control piston electricity
The piston of liquid relief utensil is pushed into 0 graduation position of bottom by machine, and (work of liquid relief appliance internal whole liquid can just be pushed out by referring to
Plug position), the pre-set base position of user or 0 graduation position of bottom be hereinafter, realize that liquid is accurately discharged to destination；
(5) it directly connects and carries out next round pipetting, or first pass through mechanical hand (or robotic arm, manipulator, mechanical arm) movement
Liquid relief utensil discards the position of suction nozzle (or pipette tips, suction nozzle, nozzle), removal suction nozzle (or pipette tips, suction nozzle, nozzle) motor to collecting
The removal of suction nozzle (or pipette tips, suction nozzle, nozzle) is realized in movement, is then connected again and is carried out next round pipetting or stop operation.
It is relevant to displacement in adjustable liquid relief utensil range of the invention and the robot control method of accurate liquid relief,
And (other variables in following formula in addition to the time are to the localization method of mechanical hand, mechanical arm or other objects
Vector) include but is not limited to:
It takes a little as coordinate origin.
Coordinate origin selects mechanical hand or the starting point of mechanical arm movement best, but non-starting point can also as coordinate origin
With, it only may relate to negative or the relevant displacement calculating of vector, trigonometric function in analysis, it is relative complex (in following formula
Other variables in addition to the time are vector), when continuous moving a distance, n position of passage in transit pass mechanical hand
(displacement of the relative coordinate origin of each position sensing device is respectively s to inductor component1, s2..., sn) and through signal acquisition list
Member success issues signal to main control part, respectively t at the time of issuing signal1, t2..., tn, herein: s1With t1It is corresponding；s2With
t2It is corresponding；…；snWith tnIt is corresponding, i.e., footnote line with variable in correspondence with each other, in addition, the displacement of starting point relative coordinate origin is
s0, set out moment t0=0.For main control part according to this n group time data, it is (public that the current average speed function of mechanical hand, which can be obtained,
Other variables in formula in addition to the time are vector):
Assuming that the mechanical hand or mechanical arm move (meaning in different paths, location variable m is different), starting point along kth paths
It is known that the mechanical hand or mechanical arm are nth position senser element by last position sensing device, and from by the position
Begin at the time of senser element position the time for having continued on Δ t again, then it is as follows with respect to the position function of origin at this time:
(1) when n is more than or equal to 2, the position function for kth paths is that (other variables in formula in addition to the time are equal
For vector):
When mechanical hand or mechanical arm continuously and smoothly run, which also can be written as (other changes in formula in addition to the time
Amount is vector):
(2) when n is equal to 1, the position function for kth paths is that (other variables in formula in addition to the time are arrow
Amount):
HereFor the average speed in historical empirical data；
(3) when n is equal to 0, i.e., mechanical hand or mechanical arm do not pass through any position sensing device, for the position of kth paths
Setting function is (other variables in formula in addition to the time are vector):
HereFor the average speed in historical empirical data.
Detailed description of the invention
Fig. 1 is the system function module schematic diagram of the embodiment of the present invention.
Fig. 2 is the system structure diagram of the embodiment of the present invention.
Fig. 3 is the illustrative view of functional configuration such as pipettor, mechanical hand and the hanger of the embodiment of the present invention.
Fig. 4 is that the pipettor of the embodiment of the present invention is fixed on the schematic illustration on hanger.
Fig. 5 is that the schematic illustration of the pipettor on hanger is plugged and fixed in the mechanical hand of the embodiment of the present invention.
Fig. 6 is that the mechanical hand of the embodiment of the present invention removes the schematic illustration of pipettor from hanger.
Fig. 7 is the microcontroller circuit schematic diagram of the embodiment of the present invention.
Specific embodiment
Following embodiment belongs to one of concrete form of the present invention, and the purpose provided is the more detailed description present invention,
It is not intended to limit the scope of the invention, nor limiting application form of the invention.
The experimental robot of a kind of adjustable range of the present invention and accurate quantification liquid relief, intelligence with higher,
It can be moved in a certain range of three-dimensional space, and realize the positioning and control to itself, it can be in biology, chemical industry, life section
It the fields such as learns, completes relative complex experimental work instead of the mankind, including adjust liquid relief utensil range, and complete to be stained with liquid, accurate
The operations such as quantitative liquid relief, automatic loading and unloading suction nozzle (or pipette tips, suction nozzle, nozzle).
The system function module schematic diagram of the embodiment of the present invention is as shown in Fig. 1, including main control part, mechanical arm, machine
Hand, pipettor hanger, position sensor, the pipettor of installation on the slide rail, there are also infrared communication interface, Bluetooth communications to connect
Mouthful.Main control part is core of the invention part, is responsible for information collection, analytical calculation, Real-time Decision of system etc. important
Business；By the information collection of sliding rail upper position sensor, main control part obtains the position of mechanical arm, mechanical hand, is set according to user
Fixed and precognition experiment flow design, main control part control mechanical arm, mechanical hand and hanger, realize that pipettor handling are inhaled
The operations such as head, quantitative movement that pipettor is won or fixed from hanger, manipulates pipettor realization liquid.
The system structure diagram of the embodiment of the present invention is as shown in Fig. 2, in figure: label 1 is main control part；Label 2 is
Sliding rail is divided into two, Y direction one, Z axis one of X-axis, and wherein Z axis realizes controllable sliding rail with electronic retractable structure
Function；Label 3 is position sensor；Label 4 is mechanical hand；Label 5 is that pipettor uses boxed new suction nozzle；Label 6 is equipped with examination
The vessel of agent；Label 7 is the target orifice plate of liquid relief；Label 8 is discarded suction nozzle collection box.
Fig. 3 is the illustrative view of functional configuration such as pipettor, mechanical hand and hanger of the embodiment of the present invention, and in figure: label 1 is to move
Liquid device piston；Label 2 is pipettor main body；Label 3 is the spacer pin of limit function, for hanger and mechanical hand in different location
It is respectively set；Label 4 is electromagnet, can produce/eliminates magnetic field and detent fit under main control part control, be equally directed to
Hanger and mechanical hand are respectively set in different location；Label 5 is the limit hole on hanger or mechanical hand, for attached above pipettor
Spacer pin design, spatially can realize and limit pin joint falcon joint close, realize function that is fixed and controlling pipettor；Label 6
For suction pipette head；Label 7 is mechanical hand for controlling removal suction nozzle motor on pipettor, and the present embodiment is using stepper motor；
Label 8 is to adjust range scale motor, is used to rotate the stepper motor of control pipettor piston in the present embodiment for mechanical hand, can
Realize the adjusting of pipettor range scale；Label 9 is control piston motor, is moved for mechanical hand for pushing and pulling control in the present embodiment
The stepper motor of liquid device piston；Label 10 is the component being plugged and fixed on mechanical hand with mechanical arm；Label 11 be iron sheet or iron block,
For the absorption of the electromagnet with energization, the relatively fixed of mechanical hand and mechanical arm or hanger is realized；Label 12 is on pipettor
The linkage structure of removal suction nozzle can realize the removal of suction nozzle when pushing down on；Label 13 is the fixed device of hanger, can be and sets
Standby shell, profile, girder steel, or wall.
Fig. 4 is that the pipettor of the embodiment of the present invention is fixed on the schematic illustration on hanger, in figure, is controlled in main control part
Under, the electromagnet energization in hanging rack structure, which generates magnetic force, adsorbs hanger securely with pipettor by the effect of electromagnetic field, and
Position is accurately fixed to each other under the grafting effect of spacer pin and limit hole, realizes that pipettor is reliable, accurately mounting is fixed
On hanger.
Fig. 5 is that the mechanical hand of the embodiment of the present invention is plugged and fixed the schematic illustration of the pipettor on hanger, in figure, in master
Under control part controls, near mobile mechanical hand to pipettor position, the electromagnet in control mechanical hand structure, which is powered, generates magnetic force,
By the effect of electromagnetic field, mechanical hand is made securely to be attached together with pipettor, and is acted in the grafting of spacer pin and limit hole
Under, the two relative position is accurately fixed, and realizes that pipettor is reliable, accurately mounting is fixed on mechanical hand.
Fig. 6 is that the mechanical hand of the embodiment of the present invention removes the schematic illustration of pipettor from hanger, and in figure, pipettor can
Lean on, accurately mounting be fixed on mechanical hand after, main control part control under, keep mechanical hand structure in electromagnet be powered
Magnetic force is generated, but so that the electromagnet in hanging rack structure is powered off magnetic force and disappears, mobile mechanical arm or mechanical hand complete pipettor from extension
Movement is won on frame, carries out subsequent liquid relief operation.
Fig. 7 is microcontroller and its accessory circuit schematic diagram in the main control part of the embodiment of the present invention, is weight of the invention
Part is wanted, the vital tasks such as information collection, analytical calculation, the Real-time Decision of system are responsible for, the U1 in the figure is microcontroller,
The operation of system is reliably controlled, and position sensor data receive and analyzes simultaneously decision in real time；U17 be micro-
The crystal oscillator of controller offer accurate clock；U11 is memory for storing data；Microcontroller by J11,
The interfaces such as J12, J13, J15, J21, J31, J51, J52, J53, J55 carry out information exchange with external function module respectively, wherein
J11, J12 are switch value input interface, the acquisition of the on-off model to realize multiple senser elements；J12 is that switching value is defeated
Outgoing interface；J13 is serial communication interface；J15 is microcontroller programming interface；J21 be for parallel communications data address it is total
Line interface；J31 is SPI communication interface；J51 is infrared communication interface；J52 is bluetooth communication interface；J53 is that radio communication connects
Mouthful；J55 is pwm control signal line interface.
System control process includes the following steps:
(1) regulating member of liquid relief utensil is adjusted in the adjusting range scale motor as shown in Fig. 3 label 8, realizes liquid relief
The setting of amount drives and controls piston motor shown in Fig. 3 label 9, and the piston of liquid relief utensil is pushed into 0 graduation position of bottom (should
Position is that 0 graduation position that liquid relief utensil liquid relief is adjusted or piston are placed in liquid in the position liquid relief utensil and just release completely
Put) or the preset base position of user, by the accuracy guarantee mechanism of liquid relief utensil itself: when extracting liquid, piston
The specified range position that operator is pre-adjusted is reached, in centainly force range, piston will not be subjected to displacement again or position becomes
Change, is based on the mechanism, elastic force-applying measure that the present invention is realized by spring, for liquid relief utensil piston, in liquid relief utensil
In operating process, guarantee displacement or change in location that force makes piston increase error；
(2) pass through pipettor shown in the mobile Fig. 3 label 2 of mechanical arm shown in mechanical hand shown in Fig. 2 label 4, Fig. 2 label 2
Tool makes liquid relief utensil take the liquid in liquid one end insertion reagent bottle or coated plate, and guarantees to move during extracting or dipping liquid
Liquid utensil takes liquid one end to be immersed among liquid always；
(3) tune shown in Fig. 3 label 8 before the piston of liquid relief utensil is pulled to by the control of piston shown in 3 label 9 of control figure motor
It saves on range scale motor range position adjusted or the range position, realizes the accurate pumping by setting capacity to liquid
It takes, can use two ways here: mode one can be using on the liquid relief utensil piston (shown in Fig. 3 label 1) that spring is realized
Elastic force-applying measure, mode two is without using the elastic force-applying measure in mode one, by liquid relief utensil shown in Fig. 3 label 1
The elastic force row that piston itself has by liquid relief utensil to the range position adjusted before, can automatic stabilisation limit characteristic, it is real
The quantitative accurate extraction of existing liquid；
(4) passed through by the mobile liquid relief utensil of mechanical arm shown in mechanical hand shown in Fig. 2 label 4, Fig. 2 label 2 to destination
Piston motor (shown in Fig. 3 label 9) is controlled the piston of liquid relief utensil to be pushed into 0 graduation position of bottom (referring to can just push out
The piston position of liquid relief appliance internal whole liquid), the pre-set base position of user or 0 graduation position of bottom be hereinafter, reality
Existing liquid is accurately discharged to destination (orifice plate shown in Fig. 3 label 7 or coated plate)；
(5) it directly connects and carries out next round pipetting, or first pass through shown in mechanical hand shown in Fig. 2 label 4, Fig. 2 label 2
Mechanical arm mobile liquid relief utensil (shown in Fig. 3 label 2) to the position of discarded suction nozzle collection box (shown in Fig. 2 label 8), removal
The removal of suction nozzle (shown in Fig. 3 label 6) is realized in suction nozzle motor (shown in Fig. 3 label 7) movement, then connects carry out next round again
Pipetting stops operation.
Relevant control method is displaced in the present embodiment are as follows:
Institute's position sensor is fixed near the path of mechanical hand or mechanical arm movement, using starting point as coordinate origin, when
Mechanical hand continuous moving a distance, n position sensing device of passage in transit (path corresponding to each position sensing device
The path length of the relative coordinate origin of position is respectively s1, s2..., sn) and it is successful to main control part through signal acquisition unit
Signal is issued, respectively t at the time of issuing signal1, t2..., tn, herein: s1With t1It is corresponding；s2With t2It is corresponding；…；snWith tn
It is corresponding, i.e., footnote line with variable in correspondence with each other, in addition, being directed to starting point: the displacement s of relative coordinate origin0, moment and t0=
0.The current average speed function of mechanical hand can be obtained according to this n group time data in main control part are as follows:
Assuming that the mechanical hand or mechanical arm move (meaning in different paths, location variable m is different), the machine along kth paths
It is nth position senser element that hand or mechanical arm, which pass through last position sensing device, and from by the position sensing device position
Begin at the time of setting the time for having continued on Δ t again, then it is as follows with respect to the position function of origin at this time:
(1) when n is more than or equal to 2, for the position function of kth paths are as follows:
When mechanical hand or mechanical arm continuously and smoothly run, which can also be write a Chinese character in simplified form are as follows:
(2) when n is equal to 1, for the position function of kth paths are as follows:
HereFor the average speed in historical empirical data；
(3) when n is equal to 0, i.e., mechanical hand or mechanical arm do not pass through any position sensing device, for the position of kth paths
Set function are as follows:
HereFor the average speed in historical empirical data.
The embodiment of the present invention copies manual operation, and liquid-taken amount, liquid relief precision depend primarily on the precision of liquid relief utensil, reliably
Property it is high, error is low, greatly reduces influence of the experimental robot systematic error to liquid relief precision, has a extensive future.
Claims (10)
1. the robot and its control method of adjustable liquid relief utensil range and accurate liquid relief, it is characterised in that:
Including main control part, the mechanical hand or mechanical arm of liquid relief utensil can be manipulated,
The mechanical hand or mechanical arm are fixed near liquid relief utensil, or can be clamped, be fixed liquid relief utensil, no matter which kind of mode,
Mechanical hand or mechanical arm can carry out real-time control to liquid relief utensil, including as follows by the setting of blas or user
It is several in function, behavior: to patch liquid relief utensil suction nozzle (or pipette tips, suction nozzle, nozzle), quantitative liquid suction, dipping liquid, space move up
Hydrodynamic body, liquid precipitation, quantitatively discharges liquid, removal liquid relief utensil suction nozzle (or pipette tips, suction nozzle, nozzle) at plurality of liquid mixing,
Include several in motor, and following classification in mechanical hand or mechanical arm configuration: sliding rail, push rod, mandril, sliding block,
The mobile component in position can be achieved in other rotated by motor,
The realization of regulatory function: mandril using electronic mandril, magnetic force mandril with it is several in mechanical jack, with liquid relief utensil
Regulator site mechanical connection, or indirectly controlled by the several realization in magnetic field, electric field and light, in the control of main control part
Under, it is rotated by the change of the parameter of electromagnetic field, light or motor, realizes the capacity of liquid relief utensil or the adjusting of parameter, it is described
The conciliation position of liquid relief utensil includes: that piston, adjusting knob, regulating key or the other liquid relief utensils itself of liquid relief miracle have
Can to the components that itself liquid relief capacity is adjusted,
The realization of pipetting function: position movement can be achieved using push rod, the retractable member of mandril or other rotate by motor
Component (including but not limited to: mover, sliding block, slide unit), pass through push rod, mandril, spring, elastic rubber or other in certain row
There is the adjusting of the stroke of the substance of certain elasticity or the rotation of motor in journey, be controlled, directly or indirectly liquid relief utensil, in turn
Realize the accurate quantification of liquid is extracted, discharge, is moved, is mixed, is shaken up, accelerate react (s) operate in it is several,
The realization of liquid relief utensil suction nozzle (or pipette tips, suction nozzle, nozzle) automatic drawing unloading function: the telescoping section of push rod, mandril is utilized
The mobile component (including but not limited to: mover, sliding block, slide unit) in position can be achieved in part or other rotated by motor, by pushing away
Bar, the adjusting of mandril stroke or the rotation of motor control liquid relief utensil, and then realize to the suction nozzle of liquid relief utensil (or rifle
Head, suction nozzle, nozzle) grafting, fastening, release and replacement (s) operation in it is several,
The mobile portion in position can be achieved in push rod, mandril and other rotated by motor mentioned in above-mentioned different function realization
Part can be shared with multiple functions, can also be separately provided.
2. the robot and its control method of adjustable liquid relief utensil range according to claim 1 and accurate liquid relief,
It is characterized in that:
The control strategy of motor uses opened loop control or closed-loop control,
Motor is respectively to adjust range scale motor, control piston motor by function, and there are also removal suction nozzle (or pipette tips, suction nozzle, suctions
Nozzle) motor, on implementation: being directed to different function, motor can be separately provided, and can also pass through transmission, switching, space difference benefit
With --- the several realization in these three modes shares；
The mobile component in position can be achieved in above-mentioned push rod, the retractable member of mandril or other rotated by motor, with pipettor
The regulator site of tool is mechanically connected, or by the several indirect realization position control in magnetic field, electric field and light, in main control part
Control under, pass through electromagnetic field, the change of the parameter of light, motor rotation or push rod, mandril it is flexible, realize liquid relief utensil
Capacity or parameter adjusting,
Working mechanism includes following links, in the process several:
(1) it is adjusted by regulating member of the adjusting range scale motor to liquid relief utensil, realizes the setting of liquid relief amount,
(2) control piston motor by the piston of liquid relief utensil be pushed into 0 graduation position of bottom (position be liquid relief utensil liquid relief adjust
0 graduation position or piston be placed in liquid in the position liquid relief utensil and just discharge completely),
(3) by mechanical hand or the mobile liquid relief utensil of mechanical arm, make liquid relief utensil that liquid one end be taken to be inserted into liquid, and guarantee extract
Liquid relief utensil takes liquid one end to be immersed among liquid always during body,
(4) range position or position that range scale motor is adjusted are adjusted before the piston of liquid relief utensil is pulled to by control piston motor
On setting, the accurate extraction by setting capacity to liquid is realized,
(5) by mechanical hand or the mobile liquid relief utensil of mechanical arm to destination, by controlling piston motor for the work of liquid relief utensil
Plug be pushed into 0 graduation position of bottom or 0 graduation position of bottom hereinafter, realize liquid accurately discharge to destination,
(6) it directly connects and carries out next round pipetting, or to first pass through the mobile liquid relief utensil of mechanical hand or mechanical arm useless to collecting
The position of abandoning suction nozzle (or pipette tips, suction nozzle, nozzle), removal suction nozzle (or pipette tips, suction nozzle, nozzle) motor action realization suction nozzle (or
Pipette tips, suction nozzle, nozzle) removal, then connect and next round pipetting or stop operation again.
3. the robot and its control method of adjustable liquid relief utensil range according to claim 2 and accurate liquid relief,
It is characterized in that:
Including several position sensing devices, it is fixedly mounted on mechanical hand or mechanical arm on perhaps sliding rail or mobile route is attached
Closely, main control part is communicated with position sensing device by wired or wireless mode, wherein the medium of wired communication mode
Including but not limited to universal serial bus, parallel bus, one or more signal wire, the medium of communication include but is not limited to
Radio frequency, infrared, bluetooth, quantum communications,
The position sensing device includes several in following types: mechanical, photo-electric, magnetic inductive, ultrasonic type, suddenly
That formula, laser type,
Wherein, photoelectric position sensor part includes optoelectronic switch, the optical sensor that can be exchanged into electric signal；
Ultrasonic type position sensing device includes the situation that ultrasonic distance measurement is realized by the control of main control part；
Magnetic inductive position sensing device includes magnetometric sensor part, and type includes but is not limited to: magnetic switch, magnetic induction are opened
Pass, magnetoresistive sensor, magnetometric sensor, magnetic force induction element.
4. the robot and its control method of adjustable liquid relief utensil range according to claim 3 and accurate liquid relief,
It is characterized in that:
Including several in following mechanism or component: sliding rail, pulley, lead screw, magnetic suspension device, slide bar and other passing through
Motor driven or electromagnetic field effect can realize mobile component,
One end of mechanical hand or mechanical arm in the following way in it is several: sliding rail, pulley, slide bar, sliding block, lead screw, magnetcisuspension
Floating device other can realize mobile component and screw by motor driven or electromagnetic field effect, adhesive, magnetic field, patch
Several realization in the means such as part, screw, fixture is fixed, and can be moved under the control of main control part,
The other end of mechanical hand or mechanical arm passes through electromagnetic field, connector, sliding block, bearing, gear, belt, screw, rope, glues
It is mixture, lead screw, several in pulley, liquid relief utensil is moved, influenced or operated.
5. the robot and its control method of adjustable liquid relief utensil range according to claim 4 and accurate liquid relief,
It is characterized in that:
Several liquid relief utensils including automatic installation, removal, replacement or switching can be achieved,
Mechanical hand or mechanical arm can be realized by limit hole with the several mode in positioning pin opposite with detachable liquid relief utensil
The fixation of position, complete between the two it is secured engagement, release etc. operation, by clamping or secure component realize, can also select
It selects electric field force or magnetic field force is realized, specifically, using the implementation of magnetic field force for using electromagnet, permanent magnet, magnetic conduction gold
It is several in category,
Whether mechanical hand or mechanical arm are powered by clamping or the manipulation of secure component or electromagnet, are realized to different liquid reliefs
Fixation, dismounting, switching or the replacement of utensil,
The switching of multiple liquid relief utensils can also be realized using following measure: multiple liquid relief utensils are also secured to mechanical hand or machine
Near tool arm, by the change of liquid relief implement position, the selection of different liquid relief utensils is realized, and then realize switching.
6. the robot and its control method of adjustable liquid relief utensil range according to claim 5 and accurate liquid relief,
It is characterized in that:
Main control part includes one of microprocessor and microcontroller or a variety of, and the type of microcontroller includes but is not limited to single
Piece machine, DSP, CPLD, FPGA, PLC；The type of motor includes direct current generator or alternating current generator, also includes stepper motor, servo electricity
Machine, magneto, asynchronous machine；Mechanical hand or mechanical arm are using several in following design method: extension type, rotatable
Formula, has several freedom degrees at swingable formula.
7. the robot and its control method of adjustable liquid relief utensil range according to claim 5 and accurate liquid relief,
It is characterized in that:
Including hanger, which has the positions restrictions such as limit hole or positioning pin, can be controlled by main control part, for several
A detachable liquid relief utensil, the hanger are realized liquid relief utensil and are hung in such a way that main control part applies electric field force or magnetic field force
Mounting between frame is won, relatively fixed etc. the operation in position, and wherein the implementation of magnetic field force includes using electromagnet or permanent
Magnet；Including camera shooting or recording apparatus, realize that the information identification for manipulation object, or scene influence the Real-time Feedback of information.
8. according to claim 1~adjustable liquid relief utensil range as claimed in claim 7 and the robot of accurate liquid relief and its
Control method, it is characterised in that:
Several sliding rails are fixed in ceiling, wall, ground or other planes, and sliding rail can be using straight line, broken line or curve etc.
Shape design, mechanical hand or mechanical arm by sliding block attachment on the slide rail, by being slided along sliding rail, it is scalable, swingable, can revolve
Turn, with one of modes such as several freedom degrees or a variety of realizations displacement, flexible or swing, in this way, in the control of main control part
Under system, mechanical hand or mechanical arm can along the three dimension location of sliding rail in a certain range, move or operated for liquid.
9. according to claim 1~adjustable liquid relief utensil range as claimed in claim 7 and the robot of accurate liquid relief and its
Control method, it is characterised in that:
Simultaneously include the situation of mechanical hand and mechanical arm:
One end of mechanical arm and mechanical hand, should by the several interconnection in magnetic field, connector, adhesive, cable, screw
Connection can also use welding or integrally formed mode realize,
The other end of mechanical arm is using several in the modes such as sliding block, pulley, lead screw, slide bar, magnetic suspension, by screw, viscous
It is several in the means such as mixture, electromagnetic field, connector, screw, fixture, it realizes fixed and can be realized in main control part controlling
It is mobile.
10. according to claim 1~adjustable liquid relief utensil range as claimed in claim 7 and the robot of accurate liquid relief and its
Control method, it is characterised in that:
It is relevant to displacement in control method, and be (following to the localization method of mechanical hand, mechanical arm or other objects
Other variables in formula in addition to the time are vector):
When mechanical hand continuous moving a distance, passage in transit n position sensing device (phase of each position sensing device
Displacement to coordinate origin is respectively s1, s2..., sn) and issue signal, hair to main control part through signal acquisition unit success
Respectively t at the time of signal out1, t2..., tn, herein: s1With t1It is corresponding；s2With t2It is corresponding；…；snWith tnIt corresponds to, i.e. footnote
Line with variable in correspondence with each other, in addition, the displacement of starting point relative coordinate origin be s0, set out moment t0=0, main control part root
According to this n group time data, the current average speed function of mechanical hand can be obtained are as follows:
Assuming that the mechanical hand or mechanical arm move (meaning in different paths, location variable m is different), starting point along kth paths
It is known that the mechanical hand or mechanical arm are nth position senser element by last position sensing device, and from by the position
Begin at the time of senser element position the time for having continued on Δ t again, then it is as follows with respect to the position function of origin at this time:
(1) when n is more than or equal to 2, the position function for kth paths is that (other variables in formula in addition to the time are equal
For vector):
When mechanical hand or mechanical arm continuously and smoothly run, which also can be written as (other changes in formula in addition to the time
Amount is vector):
(2) when n is equal to 1, the position function for kth paths is that (other variables in formula in addition to the time are arrow
Amount):
HereFor the average speed in historical empirical data；
(3) when n is equal to 0, i.e., mechanical hand or mechanical arm do not pass through any position sensing device, for the position of kth paths
Setting function is (other variables in formula in addition to the time are vector):
HereFor the average speed in historical empirical data.
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| CN113578407A (en) * | 2021-07-12 | 2021-11-02 | 广东省科学院健康医学研究所 | Automatic change suction device |
| CN114344951A (en) * | 2022-01-13 | 2022-04-15 | 武汉朗克医疗器械有限公司 | Full-automatic PRP separating centrifuge assembly |
| CN116027036A (en) * | 2022-10-08 | 2023-04-28 | 合肥金域医学检验实验室有限公司 | Syphilis antibody detection and interpretation equipment and detection and interpretation method thereof |
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