CN110576446B - Automatic operation method of cell factory - Google Patents
Automatic operation method of cell factory Download PDFInfo
- Publication number
- CN110576446B CN110576446B CN201910762898.9A CN201910762898A CN110576446B CN 110576446 B CN110576446 B CN 110576446B CN 201910762898 A CN201910762898 A CN 201910762898A CN 110576446 B CN110576446 B CN 110576446B
- Authority
- CN
- China
- Prior art keywords
- cell factory
- robot
- point
- program
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- 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
Abstract
An automatic operation method of a cell factory belongs to the technical field of biological product preparation, and particularly relates to an automatic operation method of a cell factory. The invention provides an automatic operation method of a cell factory with high automation degree. The control method comprises the following steps: the cell factory is placed in a cell factory frame, a robot is used for grabbing (connecting the cell factory and the robot to enable the robot to operate the cell factory) and placing the cell factory frame, a liquid feeding gesture is performed in the cell factory, and a liquid discharging gesture, a shaking action and a stopping action are performed from inside to outside of the cell factory.
Description
Technical Field
The invention belongs to the technical field of biological product preparation, and particularly relates to an automatic operation method of a cell factory.
Background
The cell factory is a cell culture device, and makes full use of the culture surface to the maximum extent in a limited space, thereby saving space; it can be used for the industrial scale production of vaccines, monoclonal antibodies or biopharmaceuticals, etc., is particularly suitable for adherent cells, can also be used for suspension culture, and does not change the kinetic conditions of cell growth when being amplified from a laboratory scale, so that the amplification becomes simple and easy, the pollution risk is low, and the space is saved. The cell factory is suitable for cell culture of MRC-5, VERO, 2BS, 293, CEF, MSC and the like.
At present, the preparation of biological products is carried out by using cell factories, and fixed equipment is generally adopted, namely: pushing the cell factory to a turner to perform operations such as liquid change, shaking and rotation, and the like so as to finish various steps of culture; however, the traditional process is expensive, low in automation degree and inconvenient in pipeline connection. There is therefore a need for an improved process and apparatus for preparing biological products by means of cell factories in a more convenient and economical manner.
Disclosure of Invention
The present invention is directed to the above-mentioned problems, and provides a method for automatically operating a cell factory with a high degree of automation.
In order to achieve the purpose, the invention adopts the following technical scheme that the control method comprises the following steps: the cell factory is placed in the cell factory frame, the cell factory frame is grabbed (the cell factory and the robot are connected to enable the robot to operate the cell factory) and placed by the robot, a liquid feeding gesture is performed in the cell factory, and the cell factory is drained outwards from the cell factory, shaken and stopped.
As a preferred scheme, the method specifically comprises the following steps:
step one, the cell factory is placed within a cell factory frame.
And step two, setting a grabbing site in a grabbing range of the robot, and placing the cell factory frame in the grabbing site. Meanwhile, an operation site is set in the grabbing range of the robot. (grasping the cell factory frame by setting grasping sites and manipulating sites to facilitate grasping of the cell factory frame in cooperation with the robot)
And step three, controlling the action of a mechanical arm of the robot, and a frame gripper arranged at a mechanical wrist at the front end of the mechanical arm to grip the cell factory frame from a gripping site and place the cell factory frame at the operation site or stop the cell factory frame at the operation site.
And step four, connecting the cell factory pipeline and the liquid transmission pipeline.
And step five, controlling the mechanical arm of the robot to act, and performing liquid adding action into the cell factory, liquid discharging action from the cell factory to the outside, shaking action and stopping action.
And step six, disconnecting the connection between the cell factory and the liquid transmission pipeline.
And step seven, controlling the action of the mechanical arm of the robot, arranging a frame gripper at the mechanical wrist at the front end of the mechanical arm, and placing the cell factory frame at a gripping site from an operation site.
In a preferred embodiment, in the first step of the method according to the invention, the cell factory is placed in the cell factory frame and pressed using a press plate.
As another preferred scheme, in the second step of the invention, one or more grabbing sites are set in the grabbing range of the multi-axis robot, and a positioning device is set to place the cell factory frame in the grabbing sites. Meanwhile, one or more operation sites are set in the grabbing range of the multi-axis robot.
As another preferred embodiment, the grasping site and the operation site of the present invention are provided at the same site.
In another preferred embodiment, in the third step of the present invention, the controller controls the multi-axis robot arm to move, and the frame gripper mounted on the robot wrist at the front end of the multi-axis robot arm grips the cell factory frame from the gripping site and places the cell factory frame at the operation site or stops at the operation site.
As another preferable scheme, in the fourth step of the present invention, the cell factory pipeline and the liquid transmission pipeline are connected, and the cell factory pipeline comprises one or more of a transmission pipeline of liquid to be used, a transmission pipeline of waste liquid, and a transmission pipeline of liquid to be harvested.
In another preferred embodiment, in the fifth step of the present invention, the controller controls the operation of the multi-axis robot arm to perform the operation of adding liquid into the cell factory, the operation of discharging liquid from the cell factory to the outside, the shaking operation, and the stopping operation.
As another preferable mode, in the fifth step of the present invention, the liquid is added into the cell factory so that the side surface of the cell factory is parallel to the horizontal plane or the liquid is smoothly swung out (even if the side surface of the cell factory is parallel to the horizontal plane) after the liquid is added, the liquid is discharged from the inside of the cell factory so that the one port of the cell factory is kept at the lowest point, the shaking operation is performed so that the cell factory is tilted and reciprocated in a plurality of directions, and the stopping operation is performed so that the cell factory is always kept upright.
In the seventh preferred embodiment of the present invention, the controller is used to control the multi-axis robot arm to move, and the frame gripper mounted on the robot wrist at the front end of the multi-axis robot arm is used to place the cell factory frame at the gripping site from the operation site.
As another preferred scheme, in the first step of the invention, the cell factory frame is composed of a frame main body, a plurality of groups of vertical cavities which are arranged side by side and used for placing the cell factory are arranged in the frame main body, and the upper end of each vertical cavity is provided with a placing opening; the upper end of each vertical cavity is provided with a pressure plate for compressing and fixing each cell factory above the placing opening. To place the cell factories in the vertical chambers via the placement openings and to fix the position of each cell factory by means of the compression plates.
As another preferable scheme, the pressing plate is composed of a long-strip-shaped pressing plate main body, two ends of the pressing plate main body are respectively provided with a clamping part used for clamping with the side part of the frame main body, and the lower side of the pressing plate main body is provided with a silica gel layer plate. The cell factory placed in the cell factory frame is fixed by utilizing the clamping parts at the two ends of the pressure plate, and the damage to the cell factory is prevented by the flexible contact of the silica gel laminate at the lower side of the pressure plate and the upper part of the cell factory.
In another preferred embodiment of the present invention, a hose storage box for storing an infusion tube is provided on the rear side of the frame body of the cell factory frame, and a tube clamping plate is further provided above the hose storage box. The infusion pipelines connected with each cell factory placed in the cell factory frame are stored in a hose storage box (the hose can be used for replacing an original air filter membrane before being used at every time, and the hose is replaced by a new sterilized air filter membrane after being used), and each pipeline is clamped and smoothed by using a tube clamping plate, so that the pipeline and each infusion tank body can be conveniently connected.
Secondly, in the second step of the invention, the grabbing site positioning device arranged in the grabbing range of the multi-axis mechanical arm is fixed on the ground in a three-surface limiting manner, the transfer trolley is pushed into the grabbing site positioning device along the limiting opening, the left side and the right side of the grabbing site positioning device are provided with a section of inclined plane guide part for guiding the transfer trolley, and the left side of the limiting device is provided with a sensor for judging whether the transfer trolley is pushed in place. Provides guarantee for the follow-up robot to grab and place the cell factory.
In addition, the frame gripper arranged at the mechanical wrist at the front end of the multi-axis mechanical arm comprises a gripper main body, one end of the gripper main body is provided with a mechanical arm connecting part, the middle part of the other end of the gripper main body is provided with a columnar insertion convex block, a plurality of telescopic clamping beads which are arranged along the circumferential direction at equal intervals are respectively arranged on the arc-shaped side walls of the columnar insertion convex block, and meanwhile, one end of the insertion convex block, which is arranged on the gripper main body, is also provided with a positioning pin; correspondingly, be provided with on the cell factory frame and be used for the location of being connected with the frame tongs cooperation and snatch the dish, the location snatchs the dish including snatching a dish main part, and the middle part of snatching a dish main part is provided with snatchs the spliced eye, snatchs on the inside wall of spliced eye, with the frame tongs on the corresponding position of flexible card pearl, be provided with annular joint recess, and snatch one side that the dish main part is relative with the frame tongs, be provided with the locating hole that is used for with the locating pin cooperation grafting. The frame gripper is connected with the mechanical wrist at the front end of the multi-axis mechanical arm by the mechanical arm connecting part, and the cell factory frame is stably gripped and moved by the multi-axis mechanical arm through the positioning insertion of the insertion convex block of the frame gripper and the gripping insertion hole of the cell factory frame positioning gripping disc.
The invention has the beneficial effects.
The invention solves the problems of large manual operation, high equipment cost and low utilization rate of single equipment in the prior art.
The cell factory framework is grabbed and placed by the robot, liquid is added into the cell factory, liquid is discharged from the cell factory, shaken and stopped, and the culture of the biological matrix in the cell factory is completed by replacing the manual operation and other fixed equipment; high operation flexibility and high automation degree.
Drawings
The invention is further described with reference to the following figures and detailed description. The scope of the invention is not limited to the following expressions.
FIG. 1 is a diagram of a six-axis robot and attachment of the present invention.
FIG. 2 is a front view of the cell factory and the cell factory framework according to the present invention.
FIG. 3 is a rear view of the cell factory and the cell factory frame according to the invention.
Fig. 4 is a view of the hose storage case of the present invention.
FIG. 5 is a drawing of the platen of the present invention.
FIG. 6 is a drawing of a robotic gripper of the present invention.
Fig. 7 is a drawing of a robot gripper robot end and a connector of the present invention.
FIGS. 8 and 9 are frame diagrams of the cell factory according to the present invention.
FIG. 10 is a platform diagram of the operation site of the present invention.
FIG. 11 is a drawing showing the assembly of the stage-limiting guide post and the spacer according to the present invention.
FIG. 12 is a drawing of a capture site arrangement of the present invention.
FIG. 13 is a general layout diagram (example) of the present invention.
FIG. 14 is a diagram of a boot interface of the present invention.
FIG. 15 is a working interface diagram of the present invention.
FIG. 16 is an illustration of an operator window interface of the present invention.
Fig. 17 is an operation interface diagram of the shelf 1 of the present invention.
Fig. 18 is an operation interface diagram of the shelf 2 of the present invention.
Fig. 19 is an operation interface diagram of the shelf 3 of the present invention.
Fig. 20 is an operation interface diagram of the shelf 4 of the present invention.
Fig. 21 is an operation interface diagram of the shelf 5 of the present invention.
Fig. 22 is an operation interface diagram of the shelf 6 of the present invention.
Fig. 23 is an operation interface diagram of the shelf 7 of the present invention.
FIG. 24 is an alarm information summary interface diagram of the present invention.
Fig. 25 is a schematic view of a combination of gripper fingers according to the present invention.
FIG. 26 is a schematic view of the A-side clamp installation of the present invention.
FIG. 27 is a schematic view of the B-side clamp installation of the present invention.
Fig. 28, 29 and 30 are schematic diagrams of the circuit of the present invention.
FIG. 31 is a schematic view of the frame structure of the cell factory according to the present invention.
Fig. 32 is a schematic view of the hose storage cassette of the present invention.
FIG. 33 is a schematic view of the construction of the clamping device of the present invention.
FIG. 34 is a schematic diagram of the cell factory frame of the present invention after loading the cell factory.
FIG. 35 is a schematic view of another embodiment of the cell factory frame according to the present invention after loading the cell factory.
Fig. 36 is a schematic view of the floor shelf structure of the present invention.
Fig. 37 is a schematic view of the structure of the operation table top of the present invention.
FIG. 38 is a schematic view of the cell factory frame transfer cart according to the present invention.
Fig. 39 is a schematic structural view of the ground limiting device of the transfer cart.
FIG. 40 is a schematic view of the structure of the stopper of the present invention.
Fig. 41 is a schematic view of the gripping disk structure of the present invention.
Fig. 42 is a schematic view of a grip of the present invention.
Fig. 43 is a side view of the grip of the present invention.
FIG. 44 is a schematic diagram of the structure of the cell factory frame on the floor shelf according to the present invention.
In fig. 31-44, 1 is a cell factory frame, 2 is a hose storage box, 3 is a tube clamping plate, 4 is a connecting hole, 5 is a nylon block, 6 is a silica gel laminate, 7 is a clamping device, 8 is a locking component, 9 is a cell factory, 10 is a gripping disc, 11 is a limiting device, 12 is a ground shelf, 13 is an operation table, 14 is a cell factory frame transfer cart, 15 is a bell mouth, 16 is a transfer cart ground limiting device, 17 is a columnar body, 18 is a circular truncated cone body, 19 is a gripping insertion hole, 20 is a positioning pin, 21 is a gripper, 22 is an insertion convex block, 23 is a telescopic clamping bead, and 24 is a multi-axis robot connecting part.
Fig. 45 is a diagram of the robot and vision system installation of the present invention.
FIG. 46 is a diagram of a vision system software setup in accordance with the present invention.
FIG. 47 is a frame diagram of the cell factory layout according to the present invention.
FIG. 48 is a drawing of a cell factory frame gripper according to the present invention.
FIG. 49 shows an identification photograph according to the present invention.
FIGS. 50-53 are schematic views of the grasping sites of the present invention (FIG. 37. Preparation before grasping; FIG. 38. Photograph; FIG. 39. Grasping; FIG. 40. Grasping completed).
Detailed Description
Specific steps of the present invention are illustrated with reference to fig. 1-13. The invention applies a multi-axis robot to a cell factory to prepare biological products (taking culture medium as an example), and comprises the following steps:
step one, a multi-axis mechanical arm (1) (such as a TX200 mechanical arm of Staubli company) is arranged: the multi-axis mechanical arm (1) is installed at a preset position through an arm fixing base (27), and an operable space of the multi-axis robot is kept around the preset position. And (3) closing a clamp gripper (18) at one side of the robot with a clamp gripper connecting piece (19) through the robot, and connecting the clamp gripper with the robot by using a fixing bolt. One or more manipulation site platforms (22) are positioned within the operational range around the multi-axis robot for temporarily placing the cell factory (9) during manipulation (and may or may not be provided if the cell factory (9) is not required to be placed in the process). One or more grasping site devices (25) are positioned.
And 4, operating the multi-axis robot 1 to grab the cell factory frame 12 placed at the central blank position of the grabbing site device 25. The position point is determined through adjusting, the retraction state of the clamp gripper cylinder 5 is determined, the clamp gripper portion 3 at the tail end of the arm of the multi-axis robot 1 is aligned to the clamp gripper 13 on one side of the cell factory at a certain distance, then the clamp gripper orientation guide pillar 4 is slowly pushed into a hole of the clamp gripper 13 on one side of the cell factory, and after the two clamp grippers are completely attached, the clamp gripper cylinder 5 is ejected, so that the two clamp grippers are fixedly connected. The cell factory frame 12 is lifted by operating the multi-axis robot 1 to return to a predetermined position (the operation origin, which is the starting point and the ending point of the movement of the operating robot, and there is no requirement as to where the collision does not occur, but there is a point required to allow the robot to know where to start and where to end).
And 5, operating the multi-axis robot 1, and placing (placing and placing at the operating platform 22) or stopping (stopping and not placing, and always keeping a grabbing state) the cell factory frame 12 with the cell factory 9 needing to be changed at the operating position. A pipeline for connecting the cell factory with a liquid pipeline to be replaced and an original liquid discharge container. If the cell factory frame 12 needs to be placed on the operating platform 22, the multi-axis robot 1 needs to be operated to firstly stay above the operating platform 22, slowly falls down to avoid colliding with the limiting guide post 23 of the operating platform, and after the cell factory frame is placed on the operating platform 22, the clamp gripper cylinder 5 retracts to enable the two clamp grippers to be disconnected and fixedly connected. And slowly drawing out the clamp gripper part 3 by operating the multi-axis robot, enabling the clamp gripper directional guide column 4 to leave the hole of the clamp gripper 13 on one side of the cell factory, and operating the multi-axis robot to return to a preset position point.
And 7, operating the multi-axis robot 1 to lift the cell factory frame 12 with the cell factory 9 needing to be changed, and entering a liquid discharge posture. The drainage posture means that the liquid inlet and outlet at the end connected with the cell factory 9 and the original liquid drainage container is kept at the lowest point, so that the liquid in the cell factory can be completely drained. And discharging the original liquid in the cell factory to the original liquid discharging container by means of a peristaltic pump or a negative pressure air pump and the like.
And 8, operating the multi-axis robot 1 to lift the cell factory frame 12 with the cell factory 9 needing to be changed, and entering a liquid adding posture.
The priming attitude means that the side surface and the horizontal surface of the cell factory 9 are kept parallel so that the liquid can enter each culture layer of the cell factory 9 on average, and the liquid inlet and outlet of each cell factory 9 is on the lower side. (Each cell factory has a plurality of culture layers of 1, 2, 5, 10, 40 layers, each having openings at the inlet and outlet ends so long as the side surfaces are kept parallel to the horizontal plane, the liquid can be introduced evenly into each culture layer of the cell factory). Then the liquid to be replaced is introduced into the cell factory 9 by means of a peristaltic pump or a positive pressure air pump, etc. It is also possible to add the liquid to be replaced first and then operate the multi-axis robot 1 to lift the cell factory frame 12 with the cell factory 9 to be replaced and enter the liquid adding attitude. After the liquid is added, after the liquid in the cell factory is stable in the liquid adding posture, the cell factory frame 12 of the multi-axis robot 1 is operated to incline backwards, so that the liquid in the cell factory 9 is completely separated from the liquid outlet of the cell factory, and then the cell factory frame 12 is rotated and erected slowly, so that the lower bottom surface of the cell factory is parallel to the horizontal plane.
And 9, operating the multi-axis robot 1, and placing (placing and placing at the operating platform 22) or stopping (stopping and not placing, and always keeping a grabbing state) the cell factory frame 12 with the cell factory 9 needing to be changed in liquid at the operating position. Disconnect the cell factory and the liquid line that needs to be replaced and the line of the original liquid removal vessel. If the cell factory frame 12 needs to be placed on the operating platform 22, the multi-axis robot 1 needs to be operated to firstly stay above the operating platform 22, slowly fall down to avoid colliding with the limiting guide post 23 of the operating platform, and after the cell factory frame is placed on the operating platform 22, the clamp gripper air cylinder 5 retracts to enable the two clamp grippers to be disconnected and fixedly connected. And operating the multi-axis robot to slowly draw out the clamp gripper part 3, enabling the clamp gripper orientation guide post 4 to leave the hole of the clamp gripper 13 on one side of the cell factory, and operating the multi-axis robot to return to a preset position point.
If step 9 places the cell factory frame 12 at the operating site, step 10, the cell factory frame 12 needs to be picked up from the factory. The positioning points are determined through pre-alignment, the retraction state of the clamp gripper cylinder 5 is determined, the clamp gripper portion 3 at the tail end of the arm of the multi-axis robot 1 is aligned with the clamp gripper 13 on one side of the cell factory at a certain distance, then the clamp gripper orientation guide pillar 4 is slowly pushed into a hole of the clamp gripper 13 on one side of the cell factory, and after the two clamp grippers are completely attached, the clamp gripper cylinder 5 is ejected, so that the two clamp grippers are fixedly connected. The multi-axis robot 1 is operated to lift the cell factory frame 12.
The cell factory is operated by a robot to prepare biological products, including but not limited to cell products, virus products, monoclonal antibody products, such as hepatitis A, rabies, japanese encephalitis, chicken pox, rotavirus, hemorrhagic fever, sencephalon, mumps, measles, rubella and other vaccine products, and all other products cultured by the cell factory.
The use of robotically operated cell factories to prepare biologicals is suitable for almost all adherent cell production, such as Vero, MDBK, MDCK, 2BS, MRC5 PK15 adherent CHO, etc. Specific fields of application include the production of vaccines for human use, such as: hepatitis A, EV71, chicken pox, rabies, influenza, epidemic encephalitis B, hemorrhagic fever, mumps, measles and rubella vaccine and the like. Veterinary vaccines, such as: chicken Marek, hog cholera pig ring. The field of cell therapy, such as: lentivirus-producing stem cells are propagated. The field of gene therapy, such as: AAV viral packaging, and the like.
The cell factory automation operation method can work with an operation system. The operation procedures of the operating system are explained as follows:
grabbing: the operation process of the robot for lifting and grabbing the cell factory from the specified position is specifically as follows: after the grabbing program is executed, the robot firstly reaches a position point "zhua _ qu _ qian" with a linear motion mode and a distance of 260mm from the front end of the cell factory frame to be grabbed (260 mm is the best focal distance for the camera to clearly shoot a clamp picture), then a camera annular light source arranged on a six-axis flange at the front end of the robot is turned on (brightness is enough for providing a sufficiently clear view for the camera to take a picture), a cylinder of a clamp used for grabbing the cell factory frame and arranged at the front end of the six-axis of the robot is retracted while the light source is turned on (if the cylinder is in a retracted state, the cylinder is not required to be retracted, if the cylinder is not in a retracted state, the cylinder return detection on the clamp after the cylinder is retracted can judge whether the cylinder is retracted or not, and if the cylinder retraction signal is not detected, an alarm is sent to prompt that the grabbing action is not allowed to be performed again (whether the cylinder is required to be retracted or not determined by the structural characteristics of the clamp mechanism: the clamp is divided into two parts AB (shown in figure 25), A is fixedly arranged on the flange of the front end of the robot by six 10 x 40 internal hexagonal screws, B is fixedly arranged at the central position of the front end of the cell factory frame by six 10 x 40 internal hexagonal screws, A and B are convex and concave, when the A and B are buckled together, the cylinder at the side of A is extended out to be firmly clamped in the groove of the B clamp to prevent the cylinder from falling off when the cylinder is lifted up to perform other actions after being grabbed, so that whether the cylinder of the A clamp is retracted or not is judged
Placing: the process of placing the cell factory on the shelf at a certain position where the cell factory can be placed by the robot is specifically as follows: when the robot moves to a shooting point 'pTakepthoto' at a certain height in the z direction (vertical upward direction) of a 'zhua _ qu _ qian' point on a six-axis front end clamp together with a clamp, a camera and a camera light source which are arranged on a six-axis flange, the shooting point is taught by a situation that a grabbing point pPickTeach taught when the robot debugs a cell factory frame is backed along the X direction and is separated from the B clamp by 260mm, after the shooting point 'pTakepthoto' is reached, the camera waits for 1s of delay time and shoots, the result is compared with the previously taught grabbing point, the offset of the current position relative to the reference position is obtained and transmitted to the robot, the robot carries out program calculation and posture adjustment according to the received result transmitted by the camera, then moves forwards to a position 60mm in front of the grabbing calculated by combining the shooting camera result, and then the robot directly reaches the grabbing point in a linear motion mode. And after the grasping point is reached, the air cylinder of the clamp A is opened by delaying for 1s, the clamp AB and the clamp B are attracted together, 1s is waited, and a point ZhuaQuDdianShang at the height of 70mm is lifted upwards along the Z direction of the current position to complete the grasping action.
When the cell factory is present and is located at a safe location point (origin "ph"), the placement process can be performed, and the placement can be divided into shelf upside placement, shelf outside placement, and shelf inside placement, and when the cell factory is already present on the outside of the shelf, inside placement cannot be performed, and when the cell factory is present in a desired location, placement of the location cannot be performed (after the placement process is performed, the current location is marked in the process, when the location is in the marked state, the placement process of the location cannot be selected again, and when the outside is placed, the inside placement location is locked in addition to the marking of the location, so that it is ensured that an accident occurs when the outside is placed again to the inside when the cell factory is present on the outside). After selecting a placing program, the robot carries the cell factory to move fast to a 'Pallet Put _ On' point at a position 70mm above the Z direction of a shelf after the cell factory is articulated to a transition point position 'GuoDuDian 1' On the side of the shelf to be placed, then moves downwards in the Z direction to a placing point 'Pallet Put', waits for 2s of delay time, closes a cylinder of a clamp A to enable two parts of the clamp AB to be separated from the return detection of the cylinder at the moment, judges whether the cylinder is retracted, stops sending a warning prompt message at the current position if the cylinder is not retracted to wait for personnel processing, and retracts backwards to a safe position 'FangZhiDianQian' 100mm before the placing point 'Pallet' along the X direction if the cylinder is retracted to mark that the current position is the cell factory placing position. The placement procedure then ends with the articulation rapidly returning to the origin "photom" position.
Lifting: refers to the action of a program for grasping and lifting a cell factory at an operation platform, and the program is used as a basic program for advanced operation programs such as digestion, subpackaging, liquid feeding, liquid discharging and the like. The details are as follows: the lift-off procedure may be performed when the cell factory is on the operator platform in front of the operator window, after which the robot first performs a grabbing procedure to grab and lift the cell factory to a "ZhuaQuDdianShang" point at 70mm height, and then lifts it upwards to the "daochhungqian" point in front of the operator window to complete the lift-off procedure.
Putting down: refers to the procedure that the robot puts the cell factory from the original point 'some' position to the operating platform in front of the operating window, and when the cell factory is grabbed or lifted, the robot can execute the put-down procedure. The specific process is as follows: after executing a put-down program, the robot moves from ' photome ' to a transition point ' FangDiansang ' above an operation platform, the robot stops moving along the Z direction to reach the put-down point ' FangDian ' stationary 1s after reaching the stationary 1s, then closes the air cylinder of the clamp A, retracts, waits for return detection to judge whether the air cylinder retracts, stops at the current position to send out an alarm prompt message ' the clamp air cylinder does not retract ' if the air cylinder does not retract ', waits for personnel to process, retracts backwards along the X direction to a safe position point ' FangDian Qian ' 100mm ahead of a put-down point ' FangDian ' if the air cylinder retracts, and marks the current position as the position of a put-down cell factory. The drop-down procedure then ends with the articulation rapidly returning to the origin "photom" position.
And (3) putting back: refers to the procedure that the robot puts the cell factory back to the transfer window trolley from the origin 'photom', and the putting back procedure can be executed when the cell factory reaches the origin 'photom' after being grabbed or lifted. The specific process is as follows: after the placement program is selected, the robot sends a signal to the PLC at the position of the 'photom' point and waits for the trolley to be in place to detect and judge whether the trolley exists at the transfer window and a return signal of the designated placement position is reached. If no return signal is received, an alarm prompt message is sent to a human-computer interaction system, the vehicle is waited to be pushed to a designated position and then a put-back program is executed, if a return signal is received, the put-back program is executed downwards, the robot moves from a point of ' phosphor ' to a position 70mm above the put-back point through a middle transition point ' FangHuiGuoDu ' to wait for a time delay of a point ' FangHuiShang ' to stay for 1s after the robot is statically stable and then linearly moves downwards in a Z direction to reach the point ' FangHuiDian ' to stay for 1s, then a cylinder of the clamp A is closed, the cylinder is retracted, return detection is waited to judge whether the cylinder is retracted, if the cylinder is not retracted, the robot stops at the current position and sends an alarm prompt message ' the clamp cylinder is not retracted ' to wait for processing by personnel, and if the robot is retracted, the robot is retracted backwards to a safe position point ' FangiHudianan ' 100mm ahead of the put-back point ' in the X direction and marks that the current position is the cell factory position. The put back procedure then ends with the articulation rapidly returning to the origin "photom" position.
Liquid adding: refers to the procedure of adding liquid to the cell factory using a peristaltic pump. The specific process is as follows: firstly, a robot lifts a cell factory execution lifting program arranged on an operation platform in front of an operation window to the position of a 'DaoChuangQian' point in front of the operation window, waits for an operator to connect a hose for a peristaltic pump with the cell factory, clicks a next button after connection is finished, and rotates the cell factory clockwise 90 degrees along the current horizontal direction to reach a liquid adding point 'JiaYe'. Waiting for peristaltic pump work to add liquid into the cell factory, clicking the next button after liquid adding is finished, the robot rotates the cell factory 90 degrees anticlockwise and returns to the point of DaoChuangQian, waiting for the next button to be clicked after an operator removes the hose connected between the cell factory and the peristaltic pump, and the robot moves the cell factory to the point of origin 'photom' to finish liquid adding program action.
Liquid drainage: refers to a procedure of discharging a liquid in a cell factory by using a peristaltic pump. The specific process is as follows: firstly, the robot lifts a cell factory execution lifting program arranged on an operation platform in front of an operation window to the position of a 'DaoChuangQian' point in front of the operation window, waits for an operator to connect a hose for a peristaltic pump with the cell factory, clicks a next button after connection is finished, and rotates the cell factory clockwise 90 degrees along the current horizontal direction to reach a liquid discharge point 'PaiYe'. Waiting for the peristaltic pump to work and discharging all liquid in the cell factory, clicking the next button after discharging liquid, rotating the cell factory by 90 degrees anticlockwise by the robot to a 'DaoChuangQian' point, waiting for the next button to be clicked after an operator removes a hose connected between the cell factory and the peristaltic pump, and moving the cell factory to an origin 'photom' position by the robot to finish liquid discharging program action.
Shaking: refers to the process of the robot shaking a cell factory containing cells and liquid forward, backward, left or right in the air. The specific process is as follows: the robot will be in a raised state, the cell factory with cells and liquid will be stationary with a linear motion forward to a point "HuangDongQian _1" for a period of time (the specific time can be adjusted to be 1s at present) at a speed of 1000mm/s, stationary at a point "HuangDongHou _1" for a period of time at a point "HuangDongZuo _1" for a linear motion to the left, stationary at a point "huangdongjuo _1" for a period of time at a point "huangdongyouyuo _1" for a linear motion to the right. Returning to the "DaoChuangQian" point position before the operating window completes the shaking procedure action.
Vigorous shaking: refers to the procedure in which the robot shakes the cell factory containing cells and liquid in the air at a motion amplitude and speed greater than the shaking procedure, forward, backward, leftward or rightward. The specific process is as follows: the robot stops the cell factory in a lifted state, filled with cells and liquid, at a speed of 2000mm/s to 3000mm/s (the specific speed can be adjusted according to the actual production situation), linearly moves forwards to reach a point "HuanggDongQian _2" for a period of time (the specific time can be adjusted to be 1s currently), linearly moves backwards to reach a point "HuanggDongHou _2" for a period of time, linearly moves leftwards to reach a point "HuanggDongDongZuo _2" for a period of time, and linearly moves rightwards to reach a point "HuanggDongYou _2" for a period of time. Returning to the "DaoChuangQian" point position before the operating window, the vigorous shaking procedure action is completed.
The high-level operating program: the program combined by the basic program can be set according to various processes, including but not limited to the following items:
digestion: is the process of digesting the culture from the cell factory, which can be performed when the cell factory is present at the operating platform, the robot is at the origin "photom" and does not grab any cell factory. The specific procedure is as follows: after the digestion program is selected, the robot firstly executes a lifting program from the origin point 'photom' to lift the cell factory from the operation platform to a position point 'DaoChuangQian' in front of the operation window to wait for the next operation. Waiting for the operator to connect the hose with the cell factory and the peristaltic pump, clicking the next button after the connection is finished, and executing a liquid discharging program. And standing for 2s after the liquid drainage is finished, waiting for the next operation, clicking a next button, and executing a liquid adding program. And (3) after the liquid adding is finished and the operation is stopped for 2s, waiting for the next operation, clicking a next button, and reaching a front point 'DaoChuangQian' of the operation window through a liquid adding transition point 'JianayGuoDu'. A shaking program is executed (the number of times the shaking program is executed is selectable). The robot holds the cell factory to reach observation point 1 'guanchakou 1' and stops at the position to wait for the operator to observe the cell factory, waits for the prompt of the next operation, clicks the next button after finishing the observation, the cell factory moves to an observation point 2 'guanchadian _2' and stops at the position to wait for an operator to observe the cell factory, waits for a next operation prompt, clicks a next button after the observation is finished, moves to an observation point 3 'guanchadian _3' and stops at the position to wait for the operator to observe the cell factory, waits for a next operation prompt, clicks a next button after the observation is finished, and moves to a position at the front point of an operation window 'DaoChuangQian' for 2s of rest delay time to wait for the next operation. And clicking a next button to execute a liquid adding program. And after the liquid is added, standing for 2s for the next operation, clicking a next button, moving the cell factory to the front point 'DaoChuangQian' of the operation window by the robot, standing for 2s for the next operation, after the operator removes the hose connecting the cell factory and the peristaltic pump, clicking the next button, and returning to the original point 'photom' to finish the execution of the digestion program.
Subpackaging: is the process of adding the culture to be cultured to the cell factory, which can be performed when there is a cell factory at the operating platform, the robot is at the origin "photom" and does not grab any cell factory. The specific procedure is as follows: after the subpackaging program is selected, the robot firstly executes a lifting program from an original point 'photom', lifts a cell factory to a front point 'DaoChuangQian' of an operation window, stands for 2s to wait for the next operation, when an operator connects a hose with the cell factory and a peristaltic pump, clicks a next button after the connection is finished, executes a liquid adding program, waits for the next operation after the execution is finished, clicks the next button, the robot reaches the front point 'DaoChuangQian' of the operation window through a liquid adding transition point 'JiayeGuoDu' to execute a shaking program, waits for the next operation after the execution is finished, clicks the next button, returns to the front point 'DaChoangQian' of the operation window, when the operator removes the hose connecting the cell factory and the peristaltic pump, clicks the next button, and brings the cell factory back to the original point to complete the execution of the subpackaging program.
Liquid changing: is the process of changing the culture broth in the cell factory, this procedure can be performed when there is a cell factory at the operating platform, the robot is at the origin "photom" and does not grab any cell factory. The specific procedure is as follows: after selecting the liquid changing program, the robot firstly executes a lifting program from the original point 'photom' to lift the cell factory from the operation platform to the position point 'DaoChuangQian' in front of the operation window to wait for the next operation. Waiting for the operator to connect the hose with the cell factory and the peristaltic pump, clicking the next button after the connection is finished, and executing a liquid discharging program. And standing for 2s after the liquid drainage is finished, waiting for the next operation, clicking a next button, and executing a liquid adding program. And (3) after the liquid adding is finished and the operation is stopped for 2s, waiting for the next operation, clicking a next button, and reaching a front point 'DaoChuangQian' of the operation window through a liquid adding transition point 'JianayGuoDu'. A shaking program is executed (the number of times the shaking program is executed is selectable). And after the shaking program is executed, standing for 3 seconds for waiting for the next operation, after the execution is finished, waiting for the next operation, clicking a next button, returning the robot to the position of a front point 'DaoChuangQian' of an operation window, after an operator removes a hose connecting the cell factory and the peristaltic pump, clicking the next button, and carrying the cell factory by the robot to the position of an origin 'photom' to finish the execution of the liquid changing program.
Harvesting: is the process of harvesting a certain culture from the cell factory, which can be performed when there is a cell factory at the operating platform, the robot is at the origin "photom" and does not grab any cell factory. The specific procedure is as follows: after selecting the harvesting program, the robot will firstly execute a lifting program from the origin "photom" to lift the cell factory from the operation platform to the position point "DaoChuangQian" in front of the operation window to wait for the next operation. Waiting for the operator to connect the hose with the cell factory and the peristaltic pump, clicking the next button after the connection is finished, and executing a liquid discharging program. And standing for 2s after the liquid drainage is finished, waiting for the next operation, clicking a next button, and executing a liquid adding program. And (5) standing for 2s after liquid adding, waiting for the next operation, clicking a next button, and reaching a front point 'DaoChuangQian' of an operation window through a liquid adding transition point 'JianyeGuoDu'. A shaking program is executed (the number of times the shaking program is executed is selectable). And after the shaking program is executed, the liquid discharging program is executed after the time delay of 3s, the liquid discharging program is executed, the time delay of 3s after the liquid discharging is finished waits for the next operation, and the next button is clicked to execute the liquid adding program. And after the execution is finished, waiting for the next operation, clicking a next button, reaching the front point 'DaoChuangQian' of the operation window, standing for 2s, waiting for the next operation, clicking the next button, and reaching the front point 'DaoChuangQian' of the operation window through a liquid adding transition point 'JianyeGuoDu'. A shaking program is executed (the number of times the shaking program is executed is selectable). And standing for 3s after the shaking program is executed, executing a liquid discharging program, standing for 2s after the liquid discharging is finished, waiting for the next operation, clicking a next button, and executing a liquid adding program. And (5) standing for 2s after liquid adding, waiting for the next operation, clicking a next button, and reaching a front point 'DaoChuangQian' of an operation window through a liquid adding transition point 'JianyeGuoDu'. And executing a shaking program, executing a liquid discharging program after the execution, waiting for the next operation by the delay time of 15s after the liquid discharging is finished, clicking a next button, bringing the cell factory back to the front point 'DaoChuangQian' of the operation window by the robot, executing a putting-down program, and putting the cell factory on the operation platform to stand for about 30 minutes to wait for secondary harvesting.
And (3) secondary harvesting: the second harvesting process, performed on the harvested cell factory, can perform this procedure when there is an already harvested cell factory on the operating platform, the robot is at the origin "photom" and does not grab any cell factory.
The specific procedure is as follows: after the secondary harvesting program is selected, the robot firstly executes a lifting program from the original point 'photom' to lift the cell factory from the operation platform to a position point 'DaoChuangQian' in front of the operation window to execute a liquid adding program, after liquid adding is finished, the robot waits for the next operation, a next button is clicked, and the robot takes the cell factory to reach the point 'DaoChuangQian' in front of the operation window through a liquid adding transition point 'JiayeGuoDu'. A shaking program is executed (the number of times the shaking program is executed is selectable). And after the shaking program is executed, standing for 3 seconds, executing a liquid drainage program, waiting for the next operation after the liquid drainage is finished and standing for 3 seconds, clicking a next button, returning the robot to the position of a point 'DaoChuangQian' in front of an operation window, waiting for the next operation, clicking the next button after an operator removes a hose connecting the cell factory and the peristaltic pump, returning the robot to the position of an origin 'photom' with the cell factory to finish the execution of the secondary harvesting program, and finishing the whole harvesting program.
The invention is suitable for operating cell factories to culture biological products by using multi-axis robots (such as TX200 series multi-axis robots).
The invention is based on the characteristic of the multi-axis robot, is suitable for personnel to use and is convenient and fast to operate.
The man-machine interaction system comprises the following parts:
starting up an interface: the man-machine interaction system is powered on to start up to display an entering picture by default (figure 14), and the interface displays an effect diagram of the overall design scheme of the multi-axis robot applied to the cell factory and is provided with login authority setting. The login authority is set as three-level operation authority which is respectively an operator, a technician and an administrator. The safety level of an operator user is 20, and the functions of logging in a work interface, a goods shelf and operation window interface, the selection and determination of power-on and power-off operation of a robot arm, the selection and determination of basic and advanced operation programs, the starting and suspension of equipment and the continuation can be executed; the safety level of a technician user is 60, the technician user can log in a work interface, a goods shelf interface, an operation window interface and a fault information display interface, can execute related operations executed by an operator, can modify the running speed of equipment, and can start or close a safety door protection function; the administrator security level is 80 level, all operations performed by operators and technicians can be performed, and login user names and login passwords with the security levels lower than the security level of the administrator can be modified and deleted.
A working interface: the interface (figure 15) displayed when the equipment is in the working state comprises four parts of speed input, state display, operation buttons and an interface change-over switch.
The speed input box can modify the operation speed of the robot, the modification takes effect immediately after the modification is finished, and the numerical value modification range is 10-50;
the status display area includes: a. displaying the program number of the program currently selected to be executed by the equipment;
b. the robot control mode display (a local mode and a remote mode, wherein the local mode is a mode when the robot is manually operated and is held by hands, and the remote mode is a mode when the robot is operated by a man-machine interaction system);
C. the arm state (the power-off state of the arm and the power-on state of the arm, and the power-on and power-off state of the robot manipulator are displayed);
d. the origin state (again the origin and not at the origin, showing whether the robot is at the origin "robot" point location, where it must be executable when selecting the execution program);
e. camera states (including normal states, login failures, no online states and wrong photographing states, when the robot executes a program related to grabbing, the camera state is judged when the robot reaches the position of a grabbing photographing point, the camera is photographed when the robot is in the normal state, the photographing result is judged and displayed in a camera state display column, the photographing is qualified, and the photographing error is displayed and the robot is not grabbed when the photographing is unqualified);
f. a program execution state (when the operator selects a program and goes to execute it, the status bar displays the name of the currently selected program to execute, and if no program is selected to execute, it displays "no program to execute");
g. the method comprises the steps of alarming a fault state (a normal state, a normal state is displayed when an emergency stop button is pressed, air pressure is too low, a program number is incorrect, a gripper does not extend, the gripper does not retract, a safety door is opened, the normal state is displayed when no fault occurs, when an equipment emergency stop button is pressed, a robot stops at the current position and exits a selected program when important conditions such as crisis personal safety and the like occur, a state column displays that the emergency stop button is pressed, when the equipment air pressure is lower than a set value of 0.5mpa, the robot stops at the current position, in order that an air cylinder on the side A of a safety clamp extends out, the clamp needs to be kept in the current air cylinder extending state instead of retracting when the air pressure is lower than the set value when the equipment is in a plant gripping state, when the program number of the selected program is inconsistent with the program number fed back by the current robot, the program number is prompted when the program number is incorrect, and a program execution program cannot be started, a correct program is selected to be executed, the clamp needs to be selected when the robot executes a gripping program, a gripping alarm message is sent, when the equipment reaches the safety door is returned, when the safety door is opened, the safety door is displayed when the safety door is closed, the man-machine interaction system displays 'safety door opening', the safety door needs to be confirmed to be safely closed by people at the moment, the safety door is confirmed to be closed on the man-machine interface, and the robot can execute the previous program path downwards at the moment);
h. a production task state (an idle state, in production, in pause, an idle state is displayed when no program is selected for execution, an in production state is displayed when a program is selected for correct execution, a pause button is pressed, the robot is stopped at the current position for waiting and displaying a pause state, and the robot can continue to run by pressing a continue button);
I. the next step state (waiting for the next step, completing the next step, requiring the operator to perform some external operations when executing advanced operation procedures such as digestion, subpackaging, liquid adding, liquid changing and the like, sending a waiting operation completion signal and displaying 'waiting for the next step' when the robot stops at a certain waiting operation position with the cell factory, pressing an external next step button switch when the operator finishes the operation, and then executing the robot downwards and displaying 'completing the next step');
J. and (3) the state of the trolley (the trolley can be placed back when in place, and the trolley does not reach the position and requires confirmation, when the robot executes the placing-back program, whether the trolley exists at the position of the transfer window and reaches the designated position is judged at the original point Phome, if the trolley in-place detection has detected that the trolley exists and reaches the designated position, the placing-back program is executed and displays that the trolley can be placed back when in place, when the trolley does not reach the designated position, the robot stops at the original point to wait for personnel to confirm the position of the trolley and sends out the confirmation that the trolley does not reach the position, and when the personnel confirm the actual position of the trolley, the trolley needs to be confirmed to be pushed to the designated position at the man-machine interface, and then the robot executes the placing-back program to place the cell factory onto the trolley of the transfer window).
The operation buttons comprise arm power-on, arm power-off, stop, door protection on/off and light source on/off. The arm is powered on (the robot arm can be powered on by pressing the button in the remote mode); powering down the arm (pressing the button in a remote mode can power down the robot arm); stopping (when the robot runs any executable program in the remote mode, pressing the button immediately stops at the current position and quits the program selected to be executed); the door protection is on/off (the default is the state of opening the safety door protection function, the safety door protection function can be shielded by pressing the button, and the door protection is used in general equipment maintenance), and the light source is on/off (the manual opening and closing of the camera light source can be controlled).
The interface switch comprises a starting interface, an operation window and an alarm summary. Pressing a starting interface button to automatically switch to a starting interface; pressing an operation window button to switch into an operation window interface; and pressing an alarm summarizing button to switch to an alarm information summarizing interface.
The operation window interface can be switched to the interface through the interface switch of the work interface (figure 16). The interface comprises program number, grab number display and automatic input state display, program execution state display, input program number determining button, program selecting button at an operation platform in front of an operation window, program selecting button at a delivery window trolley and interface change-over switches of shelves 1-7.
Program number, grab number display and input: program number display (displaying the program number of the currently executed program, and writing the program name and the program number of the program on each program selection button correspondingly); program number input (when a program is selected, a selection button of the program needs to be pressed, and an input program number determination button is clicked, so that a program number of the program is automatically input in a program number input box); and (2) displaying and inputting a grab number (each grab-capable position corresponds to a unique serial number called a grab number, and the grab number is automatically input and displayed in a display column when a grab-related program is selected to be executed).
The program execution status is the same status display field as described in the above f.
When a program which can be selected and executed is selected by the input program number determining button, the determining button needs to be pressed for confirmation after the program selecting button is pressed.
The program selection buttons at the operating platform comprise digestion, subpackaging, liquid changing, harvesting step 1, harvesting step 2 and putting down. Each program selection button contains the program name and program number of the currently selected program, for example: the program name of digestion-01 is digestion program, the program number is 01. The process of correctly selecting and running the program should be that-clicking the program button (such as digestion-01) to be executed, then pressing the input program number confirmation button, observing whether the confirmation program number display is consistent with the program number input, the grabbing number display is consistent with the grabbing number input, the arm is powered on, and the start running button is pressed.
The program selection buttons at the transfer window cart include grab at cart and put back program selection at cart. When a cell factory exists on the trolley, the robot is located at the original point position and does not grab any cell factory, no other program is executed, and the human-computer interface is displayed in a remote mode, the grabbing _11 button can be clicked to select a grabbing program, the input program number confirmation button is pressed, the arm is powered on, and the starting operation button is pressed to execute the grabbing program at the trolley; the put back procedure can be performed when the trolley has been pushed to the position specified by the transfer window and no cell factory is on the trolley, the robot has grabbed the cell factory in the home position.
The operation interface of the shelf 1 is a selection interface (figure 17) of a grabbing and placing program of the shelf 1, and the selection interface can be entered by clicking a button of the shelf 1 below the operation window interface. The interface comprises grabbing and placing of three positions of a shelf 1, namely placing on the shelf 1 to be _05, taking on the shelf 1 to be _08, placing in the shelf 1 to be _06, taking in the shelf 1 to be _09, placing out the shelf 1 to be _07 and taking out the shelf 1 to be _10. The selection execution of the program is the same as the selection execution of the program of the operation window, and the interlocking function of the grabbing and the placing of the position points exists, namely: when the placing procedure on the shelf 1 has been performed, the cell factory is placed on the upper side of the shelf 1, at which point the position can only be subjected to the grabbing procedure, which is not effective when the placing procedure is selected. Likewise, the placing procedure may be performed if no cell factory is placed, but the grabbing procedure cannot be selected. Besides the mutual locking of the point positions of the two positions in the shelf, when the cell factory is placed on the outer side, the grabbing and placing procedures of the inner position are locked and cannot be selected.
The operation interface of the shelf 2 is that a selection interface (figure 18) of a grabbing and placing program of the shelf 2 can be accessed by clicking a button of the shelf 2 below the operation window interface. The interface comprises the grabbing and placing of three positions of the shelf 2-put on the shelf 2 _31, get on the shelf 2 _34, put in the shelf 2 _32, get in the shelf 2 _35, put out the shelf 2 _33 and get out the shelf 2 _36. The operation is the same as for the pallet 1.
The operation interface of the shelf 3 is a selection interface (figure 19) of a grabbing and placing program of the shelf 3, which can be accessed by clicking a button of the shelf 3 below the operation window interface. The interface comprises the grabbing and placing of three positions of the shelf 3-put on the shelf 3 _41, get on the shelf 3 _44, put in the shelf 3 _42, get in the shelf 3 _45, put out the shelf 3 _43, and get out the shelf 3 _46. The operation is the same as for the pallet 1.
The operation interface of the shelf 4 is a selection interface (figure 20) of a grabbing and placing program of the shelf 4, and the selection interface can be entered by clicking a button of the shelf 4 below the operation window interface. The interface comprises grabbing and placing of three positions of the shelf 4-placing __ on the shelf 4, taking _54 on the shelf 4, placing _52 in the shelf 4, taking _55 in the shelf 4, placing _53 outside the shelf 4, and taking _56 outside the shelf 4. The operation is the same as for the pallet 1.
The operation interface of the shelf 5 is a selection interface (figure 21) of a grabbing and placing program of the shelf 5, which can be entered by clicking a button of the shelf 5 below the operation window interface. The interface comprises the grabbing and placing of three positions of the shelf 5-put on the shelf 5 _61, get on the shelf 5 _64, put in the shelf 5 _62, get in the shelf 5 _65, put out the shelf 5 _63, and get out the shelf 5 _66. The operation is the same as for the pallet 1.
The operation interface of the shelf 6 is a selection interface (figure 22) of a grabbing and placing program of the shelf 6, and the selection interface can be accessed by clicking a button of the shelf 6 below the operation window interface. The interface comprises grabbing and placing at three positions of the shelf 6-put on shelf 6 _71, get on shelf 6 _74, put in shelf 6 _72, get in shelf 6 _75, put out shelf 6 _73, and get out shelf 6 _76. The operation is the same as for the pallet 1.
The operation interface of the shelf 7 is a selection interface (figure 23) of a grabbing and placing program of the shelf 7, and the selection interface can be entered by clicking a button of the shelf 7 below the operation window interface. The interface comprises grabbing and placing of three positions of the shelf 7-put on shelf 7 _81, get on shelf 7 _84, put in shelf 7 _82, get in shelf 7 _85, put out shelf 7 _83, and get out shelf 7 _86. The operation is the same as for the pallet 1.
The fault information display interface can be switched to the operation interface (figure 24) by clicking a button switch of the fault information display interface, and the interface displays the history information records and the fault information records of the equipment.
The cell factory is pushed by the trolley to a given position at which time a grab procedure (basic operation procedure) at the trolley can be performed to grab the cell factory up to a safe position (which we call it the origin) to be put down, at which time a put-down procedure (which can perform the basic operation procedure) can place the cell factory on a shelf where it can be placed (which does not allow the cell factory to be placed inside when there is a cell factory on the outside of the shelf), while no grab procedure at other positions can be performed and no other basic grab placement or higher digestion, racking etc. procedures can be selected to be performed during the execution of the put-down procedure.
When put on the shelf in a position which is uniquely marked, i.e. in which the cell factory already exists, only the grasping procedure can be performed (advanced procedures can only be performed at the operation platform) and no further cell factories are allowed to be put.
When the cell factory is grabbed from the shelf to the home position, the position on the shelf which is free is uniquely marked, i.e.no cell factory can perform the put down procedure but no grab procedure and is therefore only considered as being free.
The grabbed cell factory can be placed in any one of the possible lowered positions and marked for waiting for a subsequent grabbing operation, and when it is placed on the handling platform it can be subjected to a complex series of advanced procedures, such as digestion, dispensing, changing fluids, harvesting, etc. Once a high-level operation program is selected and is already in the execution state, other high-level operation programs or other basic operation programs such as grabbing and dropping are not allowed to be selected again until the robot returns to the original position after the operation program is executed. The system can prompt the operator to wait for the next operation when the operation step is executed because the process requirement needs to be stopped at a certain posture to wait for the operator to operate, observe and the like in the process of execution
After the relevant operation is completed, the confirmation information can be downwards processed until the whole program is executed.
The performed cell factory may be placed on any shelf, cart or platform that may be lowered for subsequent processing.
The operations comprise all involved operations and constraint conditions, and the operation programs are displayed on the human-computer interaction system in a modularized mode, so that the application is very flexible and diverse, a certain section of executable program can be selectively executed instead of being executed all at once, and the efficiency is greatly improved. The setting of the interlocking program also ensures the safety and the reliability of the whole process. And the operation interface is visual and simple, and is suitable for common operators.
Schematic diagram of the circuit of the invention
Q1 represents an industrial socket which is used for leading an external power supply three-phase power supply, and the three-phase power supply is a five-wire three-phase system. Respectively, zero line (denoted by N); the three live wires are represented by L1, L2 and L3; ground (PE representation).
The three phase lines and the zero line of the external power supply are led in through an industrial socket and then are connected with a binding post on a combined switch Q2 (the combined switch is a switching device for switching the main power supply of the equipment). Three-phase lines led out from a lower wiring column of the combined switch are connected to an upper port wiring column of a main circuit breaker QF1, the three-phase lines led out from a lower port of the main circuit breaker QF1 can be used for supplying power to electrical elements of equipment, and three live wires led out from the lower port of the QF1 are represented by L4, L5 and L6.
The QF2 circuit breaker is connected to an L4 lead of the QF1, a fuse (the fuse is used for protecting a circuit and can be fused when the current of a circuit is too large, so that a broken circuit plays a role in protection) passes through a lower opening of the QF1, and a live wire binding post (the binding post is represented by L) on a switch power supply (the switch power supply is an electrical element which is used for converting alternating current 220V voltage into direct current 24V voltage and outputting the direct current 24V voltage). The numbers 2, 3, etc. above the line are line numbers (used to distinguish the wire positions). The switch power supply needs 220V alternating current, so the terminal N needs to be connected to the zero line of a main line, and the switch power supply needs to be grounded. The output end 24 +/24-of the switching power supply is direct-current 24v voltage and is used for supplying power to a human-computer interface (touch screen), a PLC (programmable logic controller), an Ethernet switch and a camera light source controller. In the figure the line from which the switching power supply 24+ is connected is denoted by L + and the line from which the switching power supply 24-is connected is denoted by L-. The HMI (human machine interface touch screen abbreviation) is an operable and displayable touch screen for realizing the visualization of the operation display of the equipment, and needs a direct current 24V voltage for power supply, so that an input power supply terminal thereof is connected to the 24V +/24V-of the switching power supply, and needs grounding (the grounding can connect a grounding terminal of the touch screen to the metal shell of the equipment). The HMI adopts an Ethernet communication protocol to carry out connection communication with the PLC so as to ensure real-time data transmission. The right ethernet switch in the figure is an electrical component for ensuring real-time communication between a plurality of devices using the ethernet communication protocol. The power supply of the power supply system needs 24V direct current, so the input power supply terminal of the power supply system is connected to the 24V +/24V-upper side of the switching power supply, and the power supply system needs to be grounded. The Ethernet switch can support up to 7 Ethernet communication devices which are simultaneously connected to the network port of the switch, wherein the Ethernet communication network line of the HMI is connected to the network port of the switch (the other end is connected to the network port of the HMI), and the Ethernet communication network line of the robot controller is connected to the network port of the switch (the other end is connected to the robot controller). The Ethernet communication network line of the PLC is connected to one network port of the switch (the other end is connected to the network interface of the PLC). The Ethernet communication network line of the visual camera is connected to one network port of the exchanger (the other end is connected to the network interface of the camera).
In the figure, the upper port wiring of the QF3 circuit breaker is connected to the L5 (second follow hot wire) of the main power supply. The end opening is connected with a power input end (terminal L) of the PLC through a fuse, and the PLC power supply needs to be provided with alternating current 220V, so that a power input end terminal N of the PLC is connected with a zero line.
Additionally, a ground (PE) line is required for the PLC. The upper side of the PLC (programmable logic controller) is an input end connection wire, and the lower side is an output end connection wire. The region labeled L +/M for the input supplies power for the PLC and the 24V DC supply from the PLC is used for the input. The area labeled with the 24VDC INPUTS is the input terminal. 1M/2M of the area is a public end, the rest is marked by an input terminal, and the numbers of the connecting wires are represented by I0.0-I0.7/I1.0-I1.5. I0.0 receives the start operation button of the equipment, and when the button is pressed, the input point of I0.0 is connected, and the equipment is started. I0.1 is the pause button contact, which is pressed to stop the robot at the current position, and when the "continue" button (I0.2) is pressed, the robot continues the previous trajectory motion. I0.3 is the equipment scram button contact, can clap down the scram button when dangerous, the robot will stop the motion immediately, presses down at this moment and continues, starts the action robot such as will not take place the motion, and the scram button is reset until the trouble elimination. I0.5 is a next step confirmation button, and the button controls the process step to be carried out and wait when the process flow requiring manual confirmation is executed. I1.3 is an air pressure detection switch access point, and when the air pressure is detected to be lower than a set value, the contact is conducted to send an alarm information prompt. I1.4 is cylinder extension detection, and is a detection switch for detecting whether a robot clamp cylinder extends or not. I1.5 is cylinder withdrawing detection, and is a detection switch for detecting whether the robot clamp cylinder is withdrawn. And the other joints are reserved functional points.
The net mouth under the PLC is a communication interface and is connected to the upper side of the Ethernet switch. The area marked with RELAY OUTPUT is an OUTPUT end, wherein 1L/2L is the common end of the OUTPUT end. The rest are output terminal terminals marked with line number Q0.0-Q0.7/Q1.0-Q1.1. Q0.0 is equipment red light output contact, and when breaking down, the red light scintillation is gone on along with red light output contact. Q0.1 is the output contact of the green light, and the output contact is conducted when the equipment is in operation, and the green light is normally on. Q0.2 is the buzzer output point, and Q0.2 switches on when the trouble happens, and the buzzer gives out an alarm sound. Q0.3 is the light source output point, which is on and the camera light source is turned on. The other output points are reserved output function connection points.
The middle breaker QF3 is connected with an alternating current 220V fan for radiating and exhausting air for the control cabinet. Right V Light is a camera Light source controller for controlling the camera LED Light sources to be turned on and off.
The cell factory automation operation method can be matched with the cell factory limiting device to work. The cell factory limiting device comprises a cell factory frame, a ground shelf capable of bearing the cell factory frame and an operation table top capable of bearing the cell factory frame, wherein the rear end of the cell factory frame is provided with a positioning grabbing disc matched with a grab on the multi-axis robot; and the ground shelf and the operation table top are provided with limiting devices of the cell factory frame.
The cell factory limiting device is matched with a multi-axis robot to complete the operation and daily culture of the biological matrix cultured by the cell factory. The culture of the cell factory to the biological matrix can be completed in the thermostatic chamber by using the multi-axis robot, the automation degree of equipment is improved, and the uniformity of the product quality is improved.
The limiting device is arranged, so that the operation of the multi-axis robot is convenient to match. Meanwhile, the limiting device also reduces the risk of accidental falling of the cell factory (such as manual touch).
The cell factory frame can be configured to hold 1-4 cell factories in 40 layers.
The ground shelf can be set to put 1-3 groups of cell factory frames.
The operation table top is set to place 1 group of cell factory frames.
The invention also comprises a cell factory frame transfer vehicle and a transfer vehicle ground limiting device.
The cell factory transfer cart is configured to hold a set of cell factory frames.
The cell factory transfer cart ground stop can define the position of the cell factory transfer cart.
The cell factory frame front end is provided with detachable hose receiver.
The upper end is provided with transverse connection board behind the hose receiver, is provided with the connecting hole on the connecting plate.
The upper end of hose receiver is provided with tube clamping plate. The inner end face of the tube clamping plate can be provided with a plurality of clamping grooves along the length direction, and the tube clamping plate can be connected with a connecting plate which extends upwards from the upper part of the hose storage box through a fastener (four clamping grooves are arranged on the tube clamping plate, the diameter depth of each clamping groove is designed according to the diameter of a hose for a liquid conveying pipeline connected with each cell factory, and the four clamping grooves are transversely arranged to facilitate the fixation and smoothing of the pipeline).
The hose receiver can pass the connecting hole by 5 knob screws and fix on cell factory frame, only need during installation, dismantlement rotate the screw left and loosen, the receiver cluster a bit then upwards lifts up and just can dismantle or install very convenient and fast leftwards slightly.
The hose storage box can be used for storing the infusion pipelines connected with each cell factory placed in the cell factory framework in the hose storage box, and the tube clamping plates are used for clamping and smoothing each pipeline, so that the pipeline and each infusion tank body can be conveniently connected.
The connecting hole comprises a lower end round hole and an L-shaped hole bent towards one side at the upper end of the round hole, and the width of the L-shaped hole is smaller than the diameter of the round hole.
The upper end of the cell factory frame is provided with a clamping device which downwards compresses and fixes each cell factory.
The clamping device comprises a transverse pressing plate, and the two ends of the pressing plate are provided with locking components which extend downwards and are used for being connected with the cell factory frame.
And a nylon block is arranged on the lower end face of the pressing plate.
And a silica gel laminate is arranged between the nylon block and the lower end face of the pressing plate.
The cell factory placed in the cell factory frame is fixed by the locking parts at the two ends of the pressure plate, and the cell factory is prevented from being damaged by the flexible contact of the silica gel layer plate and the nylon block at the lower side of the pressure plate and the upper part of the cell factory.
The locking part adopts a spring hook, and locking holes are arranged on two sides of the upper end of the cell factory frame corresponding to the spring hook.
When the clamping device is used, the clamping device is horizontally placed on a cell factory, spring hooks are arranged on the left side and the right side, and the spring hooks are hooked on locking holes on the two sides of the clamping device and then pressed downwards, so that the clamping device can be clamped to finish installation.
The gripper comprises a gripper main body, wherein a multi-axis robot connecting part 24 is arranged at one end of the gripper main body, a columnar inserting convex block is arranged in the middle of the other end of the gripper main body, and a plurality of telescopic clamping beads which are arranged at equal intervals along the circumferential direction are respectively arranged on the side wall of the columnar inserting convex block; one end of the gripper main body, which is provided with the insertion convex block, is provided with a positioning pin;
the positioning grabbing disc comprises a grabbing disc main body, a grabbing insertion hole is formed in the middle of the grabbing disc main body corresponding to the insertion convex block, an annular clamping groove is formed in the position, corresponding to the telescopic clamping bead on the frame grabbing insertion convex block, on the inner side wall of the grabbing insertion hole, and a positioning hole used for being matched and inserted with the positioning pin is formed in the grabbing disc main body. When the gripper works, the telescopic clamping beads are popped up by utilizing air pressure (corresponding air passages are arranged in the gripper main body), and when the lowering action needs to be executed, the air pressure is cut off, and the telescopic clamping beads can be automatically retracted.
The frame gripper is connected with the mechanical wrist at the front end of the six-axis mechanical arm by the multi-axis robot connecting part, and the six-axis mechanical arm is used for stably gripping and moving the cell factory frame through the positioning insertion connection of the insertion connection lug of the frame gripper and the gripping insertion hole of the cell factory frame positioning gripping disc.
The cell factory framework is provided with a plurality of groups of vertical cavities which are arranged side by side and used for placing the cell factory, and the upper end of each vertical cavity is provided with a placing opening; the clamping device is arranged above the placing opening at the upper end of each vertical cavity.
The cell factory framework dimensions may be: length 932mm, width 363mm, height 585mm.
The ground goods shelf comprises a bottom plate, vertical frames are arranged on two sides of the bottom plate, a transverse frame is arranged between the upper ends of the vertical frames, and an upper plate is arranged at the upper end of the transverse frame; and the bottom plate and the upper plate are both provided with limiting devices.
The operation table top comprises a supporting frame, a supporting plate is arranged at the upper end of the supporting frame, and a limiting device is arranged on the supporting plate.
Each corner of the lower end of the cell factory frame corresponds to a limiting device and is limited between the two side columns.
The limiting device comprises a bottom gasket, two sides of the bottom gasket are provided with upwards protruding cylindrical bodies, and the upper ends of the cylindrical bodies are round table bodies with large lower parts and small upper parts; the columns are each oriented in the direction X, Y. The side wall of the columnar body can be provided with a rectangular recess, so that the columnar body is convenient to screw and install.
The columnar body and the circular truncated cone body can be made of white steel. The bottom gasket can adopt a 1/4 circular gasket with the thickness of about 2-3 mm. The column-shaped body and the circular truncated cone-shaped body play a role in fixing the placement position of the cell factory frame, the inclined plane of the circular truncated cone-shaped body plays a role in guiding the cell factory frame when the cell factory frame is placed down, and the gasket isolates the cell factory frame from the plane of the trolley, the operation platform or the goods shelf, so that the abrasion to the plane is avoided.
Cell factory frame transfer car includes the bottom plate, and the bottom plate lower extreme is provided with the gyro wheel, and the bottom plate upper end is provided with stop device, and bottom plate upper end one side is provided with the shallow frame.
The place where one cell factory frame is placed is defined by four stop means in a rectangular arrangement.
The ground limiting device of the transfer vehicle comprises two side guide frames, the inner sides of the front ends of the guide frames are horn mouth structures with large outer portions and small inner portions, and a sensor used for detecting whether the transfer vehicle is in place or not is arranged on the ground limiting device of the transfer vehicle.
The transfer car pushes in along spacing opening (horn mouth) department, and there is one section inclined plane direction part left and right sides, can provide the direction for the transfer car.
The cell factory frame can be used for placing 1-4 cell factories with 40 layers and placing the cell factories in the cell factory transfer vehicle, the cell factory transfer vehicle is pushed into the ground limiting device of the cell factory transfer vehicle, the multi-axis robot is used for grabbing the hand grab at the rear end of the cell factory frame, and the cell factory frame is placed on the ground shelf or directly placed on the ground shelf for corresponding culture after being operated on the operation table board. When needing, can use the multiaxis robot to snatch the cell factory frame on the goods shelves of ground, place the operation mesa and place ground goods shelves after operating, cell factory passes the car or does not operate and directly place on the cell factory passes the car.
The working process of the invention is explained below with reference to the drawings.
And 2, placing the cell factory frame with the cell factory installed in the middle of a limiting device on the cell factory frame transfer vehicle. Step 1 and step 2 may be interchanged.
And 3, pushing the cell factory frame transfer trolley provided with the cell factory frame into a ground limiting device of the transfer trolley, and fixing the caster wheels of the cell factory frame transfer trolley.
And 4, grabbing the grabbing plate at the rear end of the cell factory frame on the cell factory frame transfer vehicle by using the multi-axis robot.
And 5, operating the multi-axis robot to place the cell factory frame in the middle of the operation table, the ground shelf or the limiting device of the cell factory transfer vehicle.
And 6, grabbing the cell factory frame on the operation table top or the ground shelf by using the multi-axis robot, and placing the cell factory frame in the middle of the limit column of the operation table top, the ground shelf or the cell factory delivery vehicle operator.
The cell factory automation operation method can work in cooperation with the cell factory operation process method. The cell factory operation process method is characterized in that an industrial high-definition intelligent camera is fixed at the center of a circular ring-shaped light source below a clamp through a fixing support. A good light environment needs to be provided when a camera shoots, so that an annular light source with adjustable brightness is added around the camera, the light source fixes the assembly part below the clamp through an annular ring with the same shape as the light source, the brightness of the light source can be adjusted through a controller carried by the light source, IO control can be realized, namely, the light is polished when needed, and the light is not needed or does not work. (see FIG. 45)
The invention can assist the robot to provide more stable grabbing capacity in the process of culturing the biological matrix by using the cell factory. The invention uses the visual system to identify the coordinates of the grabbing points on the cell factory, automatically adjusts the grabbing points according to the identified coordinates, and grabs, thereby improving the grabbing precision and ensuring the grabbing stability; so that larger cell factory placement errors can be borne, and mechanical collision is avoided.
The camera is connected with the robot and the PLC through the Ethernet, and an industrial Ethernet protocol port on the camera controller supports a TCP/IP protocol and can be connected with a network cable. One end of the network cable is connected with the camera controller, the other end of the network cable is connected with an external Ethernet switch, the PLC and the robot are also connected with the switch, and communication connection can be realized by ensuring that the IP addresses of the PLC and the robot are in the same wave band (namely, the first three bits are the same).
After the communication connection is established, the robot needs to establish a coordinate system connection with the camera. The method can adopt a nine-point calibration method, namely, the robot moves nine point positions horizontally or vertically (in the X/Y direction) in a tool coordinate system within the visual field range of a camera at the same attitude and included angle, the camera shoots a moving result each time while moving, then the pixel coordinate data of the shooting result and the displacement result of the robot tool coordinate system are recorded, and the nine point position pixel coordinates shot by the camera are integrated together through visual software to establish a connection. (see fig. 46).
After the connection between the coordinate systems is completed, the camera needs to be written "operation" (camera vision positioning program, which is called as joboperation), here, the cavity below the fixture at the front end of the cell factory frame and the cavity on the left side thereof (specifically, refer to fig. 50) are selected as the positioning and identifying positions, and after the operation is established, a fixing position point needs to be selected as the position of the origin (0,0) for photographing and grabbing. We select the cell factory frame fixture positioning cavity position placed on the operation platform in front of the operation window as the (0,0) point. And defining the coordinate position of the camera at the moment as (0,0), moving the robot in a visual field range, and verifying whether a result value shot by the camera accords with a coordinate value of the movement of the robot. (see FIG. 46)
And verifying that no problem exists, compiling a robot visual communication program, and loading the program to each grabbing site, including grabbing cells at a cell factory on a transfer window trolley, grabbing cells on an operation platform, and grabbing cells on a shelf. The camera shot site "ptakepito" in front of each of the capture sites needs to be taught before performing the capture procedure. And after the data are received, correspondingly adjusting the position of the grabbing point, and then grabbing.
Through the operation, the positioning and grabbing functions of the vision system applied to the multi-axis robot operation process of culturing the biological matrix by using the cell factory are realized.
The method for applying the visual system to the multi-axis robot to culture the biological matrix by using the cell factory comprises the following steps:
in this example, the camera is a COGNEX smart camera is8100 series, and the programming software is COGNEX official standard software In-sight explorer.
Step 1: the camera auxiliary annular light source is fixed below a clamp on a six-axis flange at the front end of the robot, a circular fixing handle bracket with the same shape as the light source is used, one end of the bracket is fixed on the flange by four screws, and the circular part of the bracket and the light source are fixed together by 8 screws with threads at two ends. The camera is arranged at the center of the light source, and a plastic shell is arranged on the camera, so that the camera is protected, and the camera is convenient to clean. The communication network cables of the camera, the robot and the PLC are connected to the upper side of an Ethernet switch of a control cabinet of a central control room through wiring pipelines inside the robot (the light source of the camera can be installed as shown in figures 45 and 46);
step 2: opening a camera software In-sight explorer (as shown In fig. 47), changing a camera into a live shooting mode, moving a robot with the camera to a cell factory frame to be located at a camera view center position, firstly, performing distortion correction on the camera (the situation that the accuracy of the camera view edge is reduced is called distortion, and the distortion can be effectively corrected through a Calibrate grid function module carried by vision debugging software, then, using a PatMax tool to train and recognize a positioning template for a cavity position below a clamp at the front end of the cell factory frame at the view center, after that, starting to establish relationship conversion between a camera pixel coordinate and a robot coordinate system, moving the robot with the camera In a camera view range under a tool coordinate system for any nine points, moving to one point for photographing each time, and recording a pixel coordinate value of a photographing result and a coordinate value of the robot movement under a camera operation program, and after the movement and the recording are finished, establishing a relationship between a camera coordinate function and a robot coordinate function carried by the In-sight explorer.
And step 3: after the programming of the camera operation program is finished, programming of a robot and camera communication program is carried out, a reference photographing position is taught and used for calculating coordinates of other photographing position points, a clamp at the front end of a cell factory frame on an operation platform in front of an operation window is selected as a photographing reference object, a position 260mm away from the photographing object is selected as a photographing reference point position, and the position point 'pTakephoto' is taught and recorded. And other later photographing sites are calculated through the reference position without teaching one by one, so that the debugging workload is greatly reduced.
And 4, step 4: after the preparation work is finished, the cell factory grabbing program is executed, the program is operated after the selection of the grabbing related program (grabbing at a transfer window trolley, grabbing by lifting the cell factory at the position of an operation platform and grabbing by the cell factory on a shelf) is determined, the robot firstly moves from an original point 'home' to a camera shooting point 'pTakePtho' and turns on a ring light source, then the access of the communication login of the camera is carried out, the fact that the camera can access to allow the establishment of communication connection is determined, the fact that the camera is in an online state is confirmed, and the fact that the camera is in a normal state is confirmed without errors. And sending a first photographing instruction after the confirmation is finished, and photographing by the camera (a photographing result graph can be seen in fig. 50). And after the photographing result is processed, the rotation angle deviation relative to the reference position is transmitted to the robot, and the robot receives the data result and rotates by six corresponding rotation angles. And after the action is finished, the camera takes a second photo, the same result is processed after the camera takes a photo, the horizontal direction and vertical direction offset data relative to the reference position are transmitted to the robot, and the robot performs corresponding horizontal and vertical direction offset adjustment after receiving the data. After the action is finished, the robot is ready to grab, moves to a position 80mm in front of the grabbing point (80 mm along the direction of the grabbing point X) along the photographed result, and moves to the grabbing point in a linear motion mode at a displacement of 1000mm/s and a speed of 20% after reaching the point. And after the cell factory reaches a grabbing point, a signal allowing the clamp to grab is given, the clamp air cylinder is opened, the clamps on the two sides are attracted together, whether the air cylinder is completely stretched out is detected by air cylinder stretching detection or not is judged, if the air cylinder is stretched out, the robot is allowed to lift the cell factory, the robot lifts the cell factory to a position 80mm above the grabbing point (the Z direction is plus 80 mm), and then the robot moves to the original point 'photo' to wait for executing other executable operation programs.
And 5: and if the result of the execution of the judgment condition in the grabbing execution process of the robot is in a normal state, the robot executes downwards, and if the result is wrong, a relevant alarm information prompt is sent out, and the robot interrupts the current action execution to wait for the fault to be eliminated and executes again. For example: when the camera reaches a shooting site 'ptakeepho', judging whether the camera is in a communication connection interruption state, a camera off-line state, a camera error reporting state and a camera shooting error in the camera state process, stopping the robot at the position without performing a grabbing action, and displaying a corresponding fault state on a man-machine interaction system; after the robot reaches the position of the grabbing point, the clamp cylinder is opened, the cylinder stretching detection can judge the stretching state of the cylinder, if the cylinder does not stretch out, the robot stops at the position, the lifting action after grabbing cannot be executed, and an alarm prompt is sent out on the man-machine interaction system.
The invention can link the camera, the robot control, the plc and the touch screen together through the field bus, and establish communication connection by utilizing a TCP/IP communication protocol.
It should be understood that the detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can be modified or substituted equally to achieve the same technical effects; as long as the use requirements are met, the method is within the protection scope of the invention.
Claims (6)
1. The cell factory automation operation method is characterized in that a cell factory is placed in a cell factory frame, a robot is used for grabbing and placing the cell factory frame, a liquid adding gesture is performed in the cell factory, a liquid discharging gesture is performed from the inside to the outside of the cell factory, the cell factory is shaken, and the cell factory stops moving; the robot is a six-axis robot; the automatic operation method of the cell factory is matched with the operation process method of the cell factory; the cell factory operation process method is matched with the operation system;
the cell factory automation operation method specifically comprises the following steps:
step one, placing a cell factory in a cell factory frame;
setting a grabbing site in a grabbing range of the robot, and placing a cell factory frame in the grabbing site; meanwhile, setting an operation site within the grabbing range of the robot;
step three, controlling the action of a mechanical arm of the robot, installing a frame gripper at a mechanical wrist at the front end of the mechanical arm, gripping the cell factory frame from a gripping site, and placing the cell factory frame at an operation site or stopping at the operation site;
step four, connecting the cell factory pipeline and the liquid transmission pipeline;
controlling the mechanical arm of the robot to act, and performing liquid adding action into the cell factory, liquid discharging action from the cell factory to the outside, shaking action and stopping action;
step six, disconnecting the connection between the cell factory and the liquid transmission pipeline;
controlling the action of a mechanical arm of the robot, installing a frame gripper at the mechanical wrist at the front end of the mechanical arm, and placing the cell factory frame at a gripping site from an operation site;
setting one or more grabbing sites in a grabbing range of the robot, setting a positioning device, and placing the cell factory frame in the grabbing sites; meanwhile, one or more operation sites are set in the grabbing range of the robot;
controlling the action of the mechanical arm through the controller, installing a frame gripper at the mechanical wrist at the front end of the mechanical arm, gripping the cell factory frame from a gripping site, and placing the cell factory frame at an operation site or stopping at the operation site;
adding liquid into the cell factory to keep the side surface of the cell factory parallel to the horizontal plane or swinging out the cell factory after adding liquid and stabilizing the cell factory, discharging the liquid from the cell factory to the outside to keep the lowest point at one port of the cell factory, shaking the cell factory to obliquely reciprocate in multiple directions, and stopping the liquid to keep the cell factory upright all the time;
fixing an industrial high-definition intelligent camera at the center of a circular ring-shaped light source below a clamp through a fixing support; when a camera takes a picture, a good light environment needs to be provided, so that a light source with adjustable annular brightness is added around the camera, the light source fixes a combined piece below a clamp through an annular ring with the same shape as the light source, and the light source can adjust the brightness through a controller carried by the light source;
a method of operating a process in a cell factory comprising the steps of:
step 1: fixing a camera auxiliary annular light source below a clamp on a six-axis flange at the front end of a robot by using an annular fixing bracket with the same shape as the light source, fixing one end of the bracket on the flange by using four screws, and fixing the annular part of the bracket and the light source together by 8 screws with threads at two ends; the camera is arranged at the center of the light source, and the plastic shell covers the camera, so that the camera is protected and is convenient to clean; the camera, the robot and a communication network cable of the PLC are connected to the upper side of an Ethernet switch of a control cabinet of a central control room through a wiring pipeline inside the robot;
and 2, step: opening camera software In-sight, changing a camera into a live shooting mode, moving a robot with the camera to a cell factory frame to be located at the center of the camera visual field, firstly, carrying out distortion correction on the camera, wherein the precision reduction condition, namely distortion, exists at the edge of the camera visual field, the distortion condition can be effectively corrected through a CalibrateGrid function module carried by visual debugging software, and then, utilizing a PatMax tool to train and recognize a positioning template at a cavity position below a clamp at the front end of the cell factory frame at the center of the visual field for positioning; after the completion, the relation conversion of the pixel coordinate of the camera and the coordinate system of the robot is established, the robot carries the camera to move any nine point locations under the tool coordinate system in the camera view range, the robot moves to one point location for taking a picture once, and the pixel coordinate value of the picture taking result and the coordinate value of the robot movement are recorded under the camera operation program; after the robot is moved and recorded, establishing a coordinate relation between the robot and the camera by utilizing a calibreendanced function carried by the In-sight explorer;
and step 3: after the programming of a camera operation program is finished, programming a communication program between the robot and the camera, and teaching a reference photographing site for calculating coordinates of other photographing position points, wherein a clamp at the front end of a cell factory frame on an operation platform in front of an operation window is selected as a photographing reference object, a position 260mm away from the photographing object is used as a photographing reference point position, and the position point 'pTakepoto' is taught and recorded; other photographing sites are calculated through the reference position, teaching is not needed, and the debugging workload is greatly reduced;
and 4, step 4: after the preparation work is finished, the cell factory grabbing program is executed, the grabbing related program is selected to be determined, then the program is operated, the robot firstly moves to a camera shooting point (pTakePho) point from an original point (home point), a ring light source is turned on, then the camera is accessed for communication login, the camera can be accessed to allow communication connection to be established, the camera is confirmed to be in an online state, and no error is caused when the camera is in a normal state; sending a first photographing instruction after the confirmation is finished, and photographing by using a camera; after the photographing result is processed, the rotation angle deviation relative to the reference position is transmitted to the robot, and the robot receives the data result and rotates the six corresponding rotation angles; after the action is finished, the camera takes a second photo, the same result is processed after the camera takes a photo, the horizontal direction and vertical direction offset data relative to the reference position are transmitted to the robot, and the robot receives the data and then performs corresponding horizontal and vertical direction offset adjustment; after the action is finished, the robot prepares to grab, moves to a position 80mm in front of a grabbing point along the photographed result, and moves to the grabbing point in a linear motion mode after reaching the point; after the cell factory reaches a grabbing point, a signal allowing the clamp to grab is given, the clamp air cylinder is opened, the clamps on the two sides are attracted together, whether the cylinder is completely stretched out is detected by air cylinder stretching detection or not is judged, if the cylinder is stretched out, the robot is allowed to lift the cell factory, the robot lifts the cell factory to a position 80mm above the grabbing point, and then the cell factory moves to a position of an original point 'phone' to wait for executing other executable operation programs;
and 5: the robot judges the execution of conditions in the process of executing the grabbing, if the result is in a normal state, the robot executes the conditions downwards, if the result is wrong, a relevant alarm information prompt is sent out, and the robot interrupts the current action execution to wait for the fault to be eliminated and executes the fault again; the operation process of the operating system is explained as follows:
grabbing: the operation process of the robot for grabbing and lifting the cell factory from the designated position is specifically as follows: after a grabbing program is executed, the robot reaches a position point 'zhua _ qu _ qian' at the front end of a cell factory frame to be grabbed in a linear motion mode, then a camera annular light source arranged on a six-axis flange at the front end of the robot is opened, when the light source is opened, an air cylinder of a clamp which is arranged at the front end of the six-axis of the robot and used for grabbing the cell factory frame is retracted, after the air cylinder is retracted, air cylinder return detection on the clamp judges whether the clamp is retracted, if the air cylinder is retracted, the clamp can be carried out downwards, if an air cylinder retraction signal is not detected, an alarm prompt is sent, the grabbing action is not allowed to be carried out, an A clamp is fixedly arranged on the flange at the front end of the robot, a B clamp is fixedly arranged at the center position of the front end of the cell factory frame, the A clamp and the B clamp are in a convex-concave mode, when the A clamp and the B clamp are buckled together, the air cylinder extending out of the A side is firmly clamped in a groove of the B clamp, and the A clamp is prevented from falling off when the A clamp is lifted up to carry out other actions after grabbing; therefore, whether the clamp cylinder A is retracted or not is judged;
placing: refers to the process of placing the cell factory on a shelf at two sides by a robot at a certain position where the cell factory can be placed down, which is specifically described as follows: the robot drives a clamp, a camera and a camera light source which are arranged on a six-axis flange to move together to a photographing point 'pTakepho' at a certain height in the z direction of a 'zhua _ qu _ qian' point, waits for 1s delay time after reaching the photographing point 'pTakepho' point, then takes a picture by the camera, compares the result with a previously taught grabbing point to obtain the offset of the current position relative to a reference position, transmits the offset to the robot, calculates a program according to the received result transmitted by the camera, adjusts the posture, moves forwards to a position 60mm away from the grabbing point calculated by combining the photographing result of the camera, and directly reaches the grabbing point in a linear motion mode; after the grasping point is reached, the air cylinder of the clamp A is opened by delaying for 1s, the clamp A and the clamp B are attracted together, 1s is waited, and a point ZhuaQuDdianShang at the height of 70mm is lifted upwards along the Z direction of the current position to complete the grasping action;
and (3) putting back: the method refers to a program process that a robot puts back a cell factory from an original point 'phosphor' to a transfer window trolley, and when the cell factory reaches the original point 'phosphor' after being grabbed or lifted, the putting back program can be executed; the specific process is as follows: after the putting-back program is selected, the robot sends a signal to the PLC at the position of the 'photom' point and waits for the trolley to be in place to detect and judge whether the trolley exists at the transfer window and a return signal of the designated putting position is reached; if no return signal is received, sending an alarm prompt message to a human-computer interaction system, waiting for pushing the trolley to a specified position, then executing a put-back program, if a return signal is received, executing the put-back program downwards, moving the robot from a point of 'phosphor' to a position above the put-back point through an intermediate transition point 'FangHuiGuoDu', waiting for the delay time of the put-back point 'FangHuiShang' for 1s, after the robot is stable in rest, making a linear motion downwards in a Z direction to reach the put-back point 'FangHuiDian' for 1s, then closing an air cylinder of an A clamp, withdrawing the air cylinder, waiting for return detection to judge whether the air cylinder is withdrawn, if the air cylinder is not withdrawn, stopping at the current position, sending the alarm prompt message 'the clamp air cylinder is not withdrawn', waiting for personnel processing, if the air cylinder is withdrawn, withdrawing the air cylinder is withdrawn backwards along the X direction to a safe position point 'FangiDian' in front of the put-back point 'FangHu' and marking the current position as a cell factory position where the cell has been put down; then the putting back program is ended when the joint moves back to the original point 'photome' position quickly;
the high-level operating program: the program combined by the basic program can be set according to various processes, including but not limited to the following items:
digestion: is the process of digesting the culture from the cell factory, when there is a cell factory at the operation platform, the robot can execute the program operation at the origin "photom" without grabbing any cell factory; the specific procedure is as follows: after the digestion program is selected, the robot executes a lifting program from the original point 'photom' to lift the cell factory from the operation platform to a position point 'DaoChuangQian' in front of an operation window to wait for the next operation; waiting for an operator to connect the hose with the cell factory and the peristaltic pump, clicking a next button after the connection is finished, and executing a liquid discharge program; after the liquid drainage is finished, standing, waiting for the next operation, clicking a next button, and executing a liquid adding program; after the liquid adding is finished, the liquid adding device is static to wait for the next operation, a next button is clicked, and the liquid adding transition point 'JianyeGuoDu' reaches the front point 'DaoChuangQian' of the operation window; executing a shaking program; after the program is shaken and executed, the cell factory is still for 3s, the liquid drainage program is executed, the time delay of the still for 3s is finished after liquid drainage, the next step of operation is waited, the next step of button is clicked, the cell factory is driven to reach an observation point 1 'guanchakou 1' and stops at the position for observation of an operator, the next step of operation prompt is waited, the next step of button is waited, the cell factory is moved to an observation point 2 'guanchadian 2' and stops at the position for observation of the operator, the next step of operation prompt is waited, the next step of button is waited, the cell factory is moved to the observation point 3 'guanchadian 3' and stops at the position for observation of the operator, the next step of operation prompt is waited, the next step of button clicking is waited, the cell factory is moved to the time delay of the still for 2s operation at the point 'DaoChuanggan' before the operation window, and the next step of operation is waited; clicking a next button, and executing a liquid adding program; and after the liquid adding is finished, standing for the next operation, clicking a next button, moving the robot with the cell factory to a position of a front point of an operation window, namely DaoChuangQian, standing for the next operation, clicking the next button after an operator removes a hose connecting the cell factory and the peristaltic pump, and returning to the position of the original point, namely 'photom', to finish the execution of the digestion program.
2. The method for automated operation of a cell factory according to claim 1, wherein in the first step, the cell factory is placed in a cell factory frame and pressed using a pressing plate.
3. The automated cell factory manipulation method according to claim 1, wherein the grasping site and the manipulation site are provided at the same site.
4. The automated cell factory operation method of claim 1, wherein in the fourth step, the cell factory pipeline and the liquid transfer pipeline are connected, and the cell factory pipeline and the liquid transfer pipeline comprise one or more of a liquid transfer pipeline to be used, a waste liquid transfer pipeline and a liquid transfer pipeline to be harvested.
5. The automated cell factory operation method of claim 1, wherein in the fifth step, the controller controls the robot arm to operate, thereby performing a liquid feeding operation into the cell factory, a liquid discharging operation from the cell factory, a shaking operation, and a stop operation.
6. The automated cell factory operation method according to claim 1, wherein in step seven, the controller is used to control the robot arm to move, and the cell factory frame is placed from the operation site to the grasping site by using a frame gripper installed at a robot wrist at the front end of the robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910762898.9A CN110576446B (en) | 2019-08-20 | 2019-08-20 | Automatic operation method of cell factory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910762898.9A CN110576446B (en) | 2019-08-20 | 2019-08-20 | Automatic operation method of cell factory |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110576446A CN110576446A (en) | 2019-12-17 |
| CN110576446B true CN110576446B (en) | 2023-03-31 |
Family
ID=68811120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910762898.9A Active CN110576446B (en) | 2019-08-20 | 2019-08-20 | Automatic operation method of cell factory |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110576446B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112226355B (en) * | 2020-10-22 | 2022-05-13 | 长春生物制品研究所有限责任公司 | Automatically controlled automatic cell factory operating system |
| CN115266263B (en) * | 2022-07-22 | 2023-04-14 | 长春祈健生物制品有限公司 | Automatic system for preparing biological product and combining six-axis sterile robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20170007092A (en) * | 2015-07-09 | 2017-01-18 | 사회복지법인 삼성생명공익재단 | The device for automatic cell culture and operating method thereof |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3184317U (en) * | 2013-04-11 | 2013-06-20 | 株式会社 三恵技研工業 | Cell factory mounting rack |
| US9723831B2 (en) * | 2014-07-30 | 2017-08-08 | The Governing Council Of The University Of Toronto | System and methods for automated vitrification of biological materials |
| CN106244455B (en) * | 2016-08-29 | 2018-09-21 | 杭州键一生物科技有限公司 | Fully-automatic intelligent cell culture apparatus and its control method |
| CN109251861B (en) * | 2018-10-19 | 2021-09-21 | 辽宁成大生物股份有限公司 | Method for preparing biological product by applying multi-axis robot to cell factory |
-
2019
- 2019-08-20 CN CN201910762898.9A patent/CN110576446B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20170007092A (en) * | 2015-07-09 | 2017-01-18 | 사회복지법인 삼성생명공익재단 | The device for automatic cell culture and operating method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110576446A (en) | 2019-12-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110576446B (en) | Automatic operation method of cell factory | |
| CN109251861B (en) | Method for preparing biological product by applying multi-axis robot to cell factory | |
| CN110587616B (en) | Cell factory operation process method | |
| CN106826769B (en) | A kind of quick teaching apparatus of industrial robot and its implementation | |
| CN202676614U (en) | Automatic product appearance detecting system | |
| CN211497651U (en) | Cell factory stop device | |
| CN106737795B (en) | A kind of the tool fast replacing device and method of dynamic power machine hand | |
| CN110647103B (en) | Method for controlling operation of cell factory | |
| CN105364927A (en) | Robot carrying visual system and robot carrying quick positioning method | |
| CN110640765B (en) | Operating system | |
| CN106783135A (en) | The automatic overlapping and assembling device and method of transformer core | |
| CN216939325U (en) | Intelligent screw mounting equipment of industrial distribution box | |
| CN105169587B (en) | A kind of automatic package system of dry powder extinguisher | |
| CN110540939A (en) | Cell factory stop device | |
| CN204631601U (en) | Intelligent space stack assembly robot production line | |
| CN206733025U (en) | Relative position measurement instrument | |
| CN110488751B (en) | Graphite tray visual positioning system of automatic process line | |
| CN110817231B (en) | Logistics scene-oriented order picking method, equipment and system | |
| CN208249220U (en) | Glass blank host computer | |
| CN111617940A (en) | Automatic gluing system and gluing process for automobile skylight frame | |
| CN104820417A (en) | Intelligent space stack type robot assembly production line | |
| CN115825461A (en) | Method for realizing multifunctional multi-field detection and analysis by using full-automatic robot | |
| CN109514242A (en) | A kind of feeding device for valve deck Automated assembly | |
| CN209226206U (en) | A kind of full-automation producing line code spraying system | |
| CN111532789B (en) | Rectangular glass piece dynamic carrying device based on vision and force feedback and operation method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |