CN110640765A

CN110640765A - Operating system

Info

Publication number: CN110640765A
Application number: CN201910763097.4A
Authority: CN
Inventors: 朱文韬; 马湛; 李健; 李旭; 高军
Original assignee: LIAONING CHENGDA BIOLOGY CO Ltd
Current assignee: LIAONING CHENGDA BIOLOGY CO Ltd
Priority date: 2019-08-20
Filing date: 2019-08-20
Publication date: 2020-01-03
Anticipated expiration: 2039-08-20
Also published as: CN110640765B

Abstract

An operating system belongs to the technical field of operation control, and particularly relates to an operating system. The invention provides an operation system suitable for operating a cell factory by using a multi-axis robot. The invention comprises grabbing operation, placing operation, lifting operation, putting down operation and putting back operation, wherein a circuit part comprises an industrial socket Q1 which is connected with an external power supply three-phase power supply in a leading way, a Q1 is connected with a combined switch Q2, three phase wires which are connected with a lower connecting post of the combined switch Q2 are connected with an upper port connecting post of a main breaker QF1, three phase wires which are connected with a lower port of a main breaker QF1 are used for supplying power to electric elements of equipment, and three live wires L4, L5 and L6 are led out from a lower port of QF 1; the QF2 breaker is connected to the lead of L4 of QF1, and the lower port of QF1 is connected to the live terminal of the switch power supply through a fuse. The switching power supply requires 220V ac, so terminal N needs to be connected to the neutral line of the main line.

Description

Operating system

Technical Field

The invention belongs to the technical field of operation control, and particularly relates to an operating system.

Background

The multi-axis robot is an automatic device, and is applied to a cell factory for culturing biological products, and the method is easy to control the culture environment, small in culture temperature change, beneficial to large-scale production, good in product consistency, low in pollution rate and capable of saving the overall operation cost. And a corresponding convenient and feasible operating system is needed to complete the operating process with high automation degree and convenient use for personnel.

Disclosure of Invention

The present invention has been made in view of the above problems, and provides an operation system suitable for operating a cell factory using a multi-axis robot.

In order to achieve the purpose, the invention adopts the following technical scheme that the invention comprises grabbing operation, placing operation, lifting operation, putting-down operation and putting-back operation;

the grabbing operation is as follows: an operation of lifting and holding the cell factory from a specified position by a robot;

the placing operation is as follows: an operation of placing the cell factory at a certain position where it can be set down by a robot;

the lifting operation is as follows: the operation of grabbing and lifting the cell factory by a robot;

the operation is as follows: the operation of placing the cell factory by the robot;

the putting back operation is as follows: the operation of the robot to place the cell factory from a certain position back to a certain position.

As a preferable scheme, the invention also comprises a liquid adding operation, a liquid discharging operation and a shaking operation;

the liquid adding operation is as follows: an operation of adding a liquid to the cell factory;

the liquid drainage operation is as follows: discharging the liquid in the cell factory;

the shaking operation is as follows: the cell factory containing cells and liquid is operated by shaking forward, backward, leftward or rightward in the air.

The circuit part of the invention comprises an industrial socket Q1 which is connected with an external power supply three-phase power supply, Q1 is connected with a combined switch Q2, three phase lines which are connected with a lower wiring post of the combined switch Q2 are connected with an upper port wiring post of a main breaker QF1, the three phase lines which are led out from a lower port of a QF1 main breaker are used for supplying power to equipment electrical elements, and three live wires L4, L5 and L6 are led out from a lower port of QF 1;

the QF2 breaker is connected to the lead of L4 of QF1, and the lower port of QF1 is connected to the live terminal of the switch power supply through a fuse. The switching power supply needs 220V alternating current, so the terminal N needs to be connected to the zero line of the main line; the output end of the switch power supply supplies power to the human-computer interface touch screen, the PLC, the Ethernet switch and the camera light source controller;

the human-computer interface touch screen adopts an Ethernet communication protocol to carry out connection communication with a PLC (a controller for controlling the work of instructions through the touch screen, which is artificial outside the robot, and the PLC receives the operation instructions of the touch screen and transmits the operation instructions to the robot, and also can receive the information of the robot and transmit the information to the touch screen) so as to ensure the real-time transmission of data; the human-computer interface touch screen performs signal interaction with the Ethernet switch; the Ethernet switch is respectively interacted with the PLC, the robot controller and the camera line signal;

the upper port of the breaker QF3 is connected with the upper side of the L5, and the lower port is connected with the power input end L of the PLC through a fuse; and a PLC power input terminal N is connected on a zero line.

As a preferable scheme, the invention also comprises a violent shaking operation; the violent shaking operation is as follows: an operation of shaking the cell factory containing the cells and the liquid in the air at an action amplitude, speed, or the like larger than that of the shaking procedure, forward, backward, leftward, or rightward.

As a preferred scheme, the grabbing operation of the present invention comprises the following processes: the robot can reach a grabbing point 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 flange at the front end of the robot is turned on, a cylinder which is arranged at the front end of the robot and used for grabbing the cell factory frame is grabbed while the light source is turned on, the cylinder on the clamp is returned to detect and judge whether the clamp is grabbed or not after the cylinder is grabbed, if the cylinder is detected to be grabbed, the robot goes downwards, and if the cylinder is not detected to withdraw, an alarm prompt is sent to not allow the grabbing action to go further.

Preferably, the robot of the invention first reaches a position point 'zhua _ qu _ qi _ jiang' with a distance of 260mm from the front end of the cell factory frame to be grabbed in a linear motion mode (260mm is the best focal distance for a 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 (the brightness is enough to provide a clear view for the camera to shoot), a cylinder arranged at the front end of the six-axis flange at the front end 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 retracted), cylinder return detection on the clamp after the cylinder is retracted judges whether the cylinder is retracted, 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 (the cylinder is required to be retracted and whether the retraction is judged to be performed again Because of the structural characteristics of the clamping mechanism: the clamp is divided into two parts AB (shown in figure 12), wherein A is fixedly arranged on the flange at the front end of the robot by using six 10 x 40 internal hexagonal screws, B is fixedly arranged at the central position at the front end of the cell factory frame by using six 10 x 40 internal hexagonal screws, A and B are convex and concave, and 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, so that the A and B are prevented from falling off when being lifted up to perform other actions after being grabbed. It is necessary to determine whether the a clamp cylinder is retracted. )

As a preferred solution, the placing operation of the present invention is: the robot puts the cell factory to a certain position on the shelf at two sides, which can be put down; the process of the placing operation is as follows: when the front end clamp of the robot is carried by the clamp, the camera and the camera light source and moves to a photographing point at a certain height in the z direction of the grabbing point, the time delay is waited after the photographing point is reached, then the camera photographs, the result is compared with the grabbing point taught before to obtain the offset of the current position relative to the reference position, the offset is transmitted to the robot, the robot carries out program calculation and posture adjustment according to the received result transmitted by the camera, then the clamp moves forwards to the front of the grabbing point calculated according to the photographing result of the camera [ the camera photographs and converts the pixel coordinate into the position coordinate, (X, y, z, rx, ry, rz) form, and sends data to the robot according to the form, the robot splits the data after receiving the data, and intercepts (X) needed by using a find function (l _ nStart ═ find (l _ msg, N'), y, RZ) and the previously taught grabbing point data are added to obtain the grabbing point position data to be reached after the robot finishes the current photographing, and the robot directly reaches the grabbing point in a linear motion mode; and after the robot reaches a grabbing point, the clamp A cylinder on the robot is opened in a delayed mode, the clamp A and the clamp B of the grabbed body are attracted together and lifted upwards along the Z direction at the current position, and grabbing action is finished.

As a preferable scheme, when the six-axis front end clamp of the robot carries the clamp, the camera and the camera light source which are arranged on the six-axis flange to move to a shooting point 'pTakepho' point at a certain height along the z direction (vertical upward direction) of a 'zhua _ qu _ qian' point (the point is taught by a pre-preparation working robot when the grabbing point pPickTeach taught during the process of debugging and grabbing a cell factory frame is retreated from a B clamp by 260mm along the X direction), after the shooting point 'pTakepho' point is reached, the camera waits for 1s of delay time and shoots, and compares the result with the previously taught grabbing point to obtain the offset of the current position relative to the reference position and transmits the offset to the robot, the robot carries out program calculation and posture adjustment shooting according to the received result transmitted by the camera, then moves forwards to the position 60mm ahead of the grabbing point calculated by combining the camera result, directly to the grasping point in a linear motion mode. And (3) delaying the time of 1s after reaching the grabbing point, opening the clamp cylinder A, sucking the clamp cylinder AB and the clamp cylinder AB together, waiting for 1s, and upwards lifting a 'ZhuaQuDdianShang' point at the height of 70mm along the direction of the current position Z to finish the grabbing action.

As a preferable scheme, the present invention can execute the placing procedure when the cell factory exists on the gripper of the robot arm and is located at the safe position point (the origin "pHome"), the placing is divided into placing on the upper side of the shelf, placing on the outer side of the shelf, placing on the inner side of the shelf, the placing on the inner side cannot be executed when the cell factory exists on the outer side of the shelf, the placing of the position cannot be executed when the cell factory exists on the position to be placed (the current position is marked in the procedure after the placing procedure is executed, the placing procedure of the position cannot be selected again when the position is in the marked state, and the placing position on the inner side can be locked besides marking the position when the outer side is placed, so that the occurrence of accidents when the cell factory exists on the outer side and then is placed on the inner side is ensured); after selecting a placing program, the robot carries the cell factory to rapidly move to a transition point position 'GuoDuDian 1' On the shelf side to be placed in an articulated motion manner, then moves linearly to a 'Pallet Put _ On' point at a distance of 70mm upwards in the Z direction of the shelf placing point, then moves linearly in the Z direction downwards to a placing point 'Pallet Put', waits for 2s of delay time, closes a cylinder of the clamp A after the shelf is placed stably, enables 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, waits for personnel processing, and retracts backwards along the X direction to a safe position point 'FangZhiDianQian' 100mm in front of the placing point 'Pallet' along the X direction if the cylinder is retracted, and marks that the current position is the position of the cell factory; the placement procedure then ends with the articulation rapidly returning to the origin "photom" position.

As a preferable solution, the lifting operation of the present invention is: the cell factory at the operation platform is grabbed and lifted, a lifting program can be executed when the cell factory is positioned on the operation platform in front of the operation window, and after the lifting program is executed, the robot first executes the grabbing program to grab and lift the cell factory to a 'ZhuaQuDdianShang' point and then lifts the cell factory to a 'DaoChuangQian' point in front of the operation window to complete the action of the lifting program.

As a preferred scheme, after the lifting procedure is carried out, the robot firstly carries out a grabbing procedure to grab and lift the cell factory to a point of 'ZhuaQuDdianShang' at the height of 70 mm.

As a preferred scheme, the lifting operation is used as a basic program of advanced operations of digestion, subpackaging, liquid adding and liquid discharging.

As a preferred scheme, the operation of the present invention is as follows: the robot puts the cell factory from the original point 'some' position to the procedure process of the operating platform in front of operating window, can carry out and put the procedure when the cell factory is grasped or reached the original point some after lifting up;

as a preferred scheme, the specific process of the putting-down operation of the invention is as follows: after executing a put-down program, the robot moves from ' photome ' to a transition point ' FangDiansang ' above an operation platform, after the robot reaches a static delay time and is in a linear motion downwards in the Z direction after the robot is in a static stable state, the robot reaches a put-down point ' FangDian ' for a period of time, then a cylinder of a clamp A on the robot is closed, the cylinder is retracted, the cylinder waits for return detection to judge whether the cylinder is retracted, if the cylinder is not retracted, the cylinder stops at the current position to send alarm prompt information, and if the cylinder is retracted, the cylinder retreats backwards along the X direction to a safe position point ' FangDianQian ' in front of the put-down point ' FangDian; the drop-down procedure then ends with the articulation rapidly returning to the origin "photom" position.

As a preferred scheme, the specific process of the putting-down operation of the invention is as follows: after executing a put-down program, the robot moves from ' photom ' to a transition point ' FangDiansang ' above an operation platform, the robot stops moving downwards in the Z direction after reaching a rest point ' FangDian ' rest point for 1s after reaching the rest point, then closes an air cylinder of a clamp A, retracts the air cylinder, 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 to a safe position point ' FangDian Qian ' 100mm in front of a put-down point ' FangDian ' along the X direction 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.

As a preferred embodiment, the replacing operation of the present invention is a process of the robot replacing the cell factory from the origin "phone" to the transfer window cart, and the replacing process can be performed when the cell factory reaches the origin "phone" 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 trolley 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 above the put-back point through a middle transition point 'FangHuiGuoDu' to wait for a rest delay time of a put-down point 'FangHuiShang' and after the rest is stabilized, the robot makes a linear motion downwards in a Z direction to reach the put-down point 'FangHuiDian' for a rest time, then a cylinder of a clamp A on the robot is closed, the cylinder is retracted, the cylinder is detected and judged whether the cylinder is retracted or not, if the cylinder is not retracted, the cylinder stops at the current position to send the alarm prompt, if the cylinder is retracted, the cylinder retreats backwards along the X direction to a safe position point in front of the put-down point 'FangHuiDian' and then the joint motion is.

As a preferred scheme, the replacing operation of the invention refers to a procedure that the robot replaces the cell factory from the origin point 'photom' to the transfer window trolley, and the replacing procedure can be executed when the cell factory reaches the origin point '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 the human-computer interaction system, the trolley is waited to be pushed to the appointed position, then the replacing program is executed, if receiving the return signal, executing the put-back program downwards, moving the robot from the point of 'photom' to a position 70mm above the put-back point through a middle transition point 'FangHuiGuoDu' to wait for the delay time of the put-down point 'FangHuiShang' to be static for 1s, after the robot is static and stable, making linear motion downwards in the Z direction to reach the put-down point 'FangHuiDian' to be static 1s, then closing the air cylinder of the clamp A, withdrawing the air cylinder, waiting for return detection to judge whether the air cylinder is withdrawn, if the clamp cylinder is not retracted, the clamp cylinder is stopped at the current position to send out a warning message that the clamp cylinder is not retracted and waits for personnel to process, if retracted, will exit backwards in the X-direction to a safe position point "FangHuiDianQian" 100mm ahead of the drop point "FangHuiDian" and will mark the current position as the cell factory position that has been dropped. The put back procedure then ends with the articulation rapidly returning to the origin "photom" position.

As a preferred scheme, the liquid adding operation of the invention is as follows: procedure for adding liquid to the cell factory using 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 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 anticlockwise and returns to the point of DaoChuangQian, waiting for the next button to be clicked after an operator removes a hose connected between the cell factory and the peristaltic pump, and the robot moves the cell factory to the original point of 'photom' to finish liquid adding program action.

As a preferred scheme, the liquid adding operation of the invention is as follows: procedure for adding liquid to the cell factory using 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.

As a preferred solution, the liquid discharging operation of the present invention is: procedure for discharging the liquid inside the cell factory by means of 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 along the current horizontal direction to reach a liquid discharge point 'PaiYe'. Waiting for the peristaltic pump to work and completely discharging liquid in the cell factory, clicking the next button after liquid discharging is finished, rotating the cell factory anticlockwise to the point of DaoChuangQian by the robot, 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 the position of the origin point of 'photom' by the robot to finish liquid discharging program action.

As a preferred solution, the liquid discharging operation of the present invention is: procedure for discharging the liquid inside the cell factory by means of 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.

As a preferable solution, the shaking operation of the present invention is: the robot will contain the cell and liquid cell factory in the air forward, backward, left or right shake the process. The specific process is as follows: the robot makes the cell factory which is in a lifting state and is filled with cells and liquid move forwards linearly at a certain speed to reach a point Huang DongQian _1 for a period of rest, then moves backwards linearly to reach a point Huang DongHou _1 for a period of rest, then moves leftwards linearly to reach a point Huang DongZuo _1 for a period of rest, and then moves rightwards linearly to reach a point Huang DongYou _1 for a period of rest. Returning to the "DaoChuangQian" point position before the operating window completes the shaking procedure action.

As a preferable solution, the shaking operation of the present invention is: the robot will contain the cell and liquid cell factory in the air forward, backward, left or right shake the process. The specific process is as follows: the robot stops the cell factory, which is in a lifting state and filled with cells and liquid, in a linear motion forward at a speed of 1000mm/s to a point 'Huang DongQian _ 1' for a period of time (the specific time can be adjusted to be 1s at present), then stops in a linear motion backward to a point 'Huang DongHou _ 1' for a period of time, then stops in a linear motion leftward to a point 'Huang DongZuo _ 1' for a period of time, and then stops in a linear motion rightward to a point 'Huang DongYou _ 1' for a period of time. Returning to the "DaoChuangQian" point position before the operating window completes the shaking procedure action.

As a preferred scheme, the violent shaking of the invention is as follows: the robot shakes the cell factory containing cells and liquid in the air at a motion amplitude, speed, which is greater than that of the shaking program, forward, backward, leftward or rightward. The specific process is as follows: the robot will be in a raised state, the cell factory with cells and liquid will be stationary at a certain speed for a certain time period in forward linear motion to reach point "huang dong qian _ 2", at a certain speed for a certain time period in backward linear motion to reach point "huang dong hou _ 2", at a certain time period in leftward linear motion to reach point "huang dong zuo _ 2", at a certain time period in rightward linear motion to reach point "huang dong you _ 2". Returning to the "DaoChuangQian" point position before the operating window, the vigorous shaking procedure action is completed.

As a preferred scheme, the violent shaking of the invention is as follows: the robot shakes the cell factory containing cells and liquid in the air at a motion amplitude, speed, which is greater than that of the shaking program, forward, backward, leftward or rightward. The specific process is as follows: the robot makes the cell factory which is in a lifting state and is filled with cells and liquid to be in a forward linear motion to reach the point 'HuanggDongQian _ 2' for a period of time (the specific time can be adjusted to be 1s at present) at the speed of 2000 mm/s-3000 mm/s (the specific speed can be adjusted according to the actual production situation), to be in a backward linear motion to reach the point 'HuanggDongHou _ 2' for a period of time, to be in a leftward linear motion to reach the point 'HuanggDongZuo _ 2' for a period of time, and to be in a rightward linear motion to reach the 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.

As another preferred scheme, the invention further comprises a digestion operation, wherein the digestion operation comprises the following steps: the process of digesting the culture from the cell factory.

As another preferred scheme, the digestion operation of the invention is as follows: the process of digesting the culture from the cell factory, when the cell factory is present at the operating platform, the robot is at the origin "photom" and does not grab any cell factory, can perform this procedure. 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 a period of time after the liquid drainage is finished, waiting for the next operation, clicking a next button, and executing a liquid adding program. And after the liquid adding is finished, standing for a period of time to wait 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). The cell factory is kept still for a period of time after the shaking program is executed, the liquid discharging program is kept still for a period of time, the time delay time is waited for the next operation after the liquid discharging is finished, the next button is clicked, the robot takes the cell factory to reach an observation point 1 'GuanChaKou 1' and stops at the position to wait for an operator to observe the cell factory, the next operation prompt is waited, the next button is clicked after the observation is finished, the cell factory moves to an observation point 2 'GuanChaDian _ 2' and stops at the position to wait for the operator to observe the cell factory, the next operation prompt is waited, the next button is clicked after the observation is finished, the cell factory moves to an observation point 3 'GuanChaDian _ 3' and stops at the position to wait for the operator to observe the cell factory, the next operation prompt is waited for the next button to be clicked after the observation is finished, the cell factory moves to a stationary delay time at the front point of the operating window "DaoChuangQian" 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 a period of time to wait for the next operation, clicking a next button, moving the robot with the cell factory to a position of DaoChuangQian at the front point of an operation window, standing for a period of time to wait 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 of 'photom' to finish the execution of the digestion program.

As another preferred scheme, the digestion operation of the invention is as follows: the process of digesting the culture from the cell factory, when the cell factory is present at the operating platform, the robot is at the origin "photom" and does not grab any cell factory, can perform this procedure. 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 cell factory is kept still for 3s after the shaking program is executed, the liquid discharging is finished and the time delay time of the liquid discharging is waited for the next operation, the next button is clicked, the cell factory is reached to an observation point 1 'GuanChaKou 1' and stops at the position to wait for the operator to observe the cell factory, the next operation prompt is waited, the next button is clicked after the standing for 2s, the cell factory is moved to an observation point 2 'GuanChaDian _ 2' and stops at the position to wait for the operator to observe the cell factory, the next operation prompt is waited, the next button is clicked after the observation is finished, the cell factory is moved to the observation point 3 'GuanChaDian _ 3' and stops at the position to wait for the operator to observe the cell factory, the next operation prompt is waited, the next button is clicked after the observation is finished, the cell factory moves to a resting 2s delay time at the "DaoChuangQian" front point of the operating window to await further operation. And clicking a next button to execute a liquid adding program. And (3) after the liquid adding is finished, standing for 2s for the next operation, clicking a next button, moving the robot with the cell factory to a position of 'DaoChuangQian' in front of an operation window, standing for 2s 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 'photom' at the origin to finish the execution of the digestion program.

As another preferable scheme, the invention further comprises a split charging operation, wherein the split charging operation comprises the following steps: the process of adding the culture to be cultured to the cell factory.

As another preferred scheme, the split charging operation of the invention is as follows: the process of adding the culture to be cultured to the cell factory, when there is a cell factory at the operating platform, the robot is at the origin "photom" and does not grab any cell factory, can perform this procedure. 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 a period of time 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 connection, executes a liquid adding program, stands for a period of time after execution to wait for the next operation, 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 execution, 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.

As another preferred scheme, the split charging operation of the invention is as follows: the process of adding the culture to be cultured to the cell factory, when there is a cell factory at the operating platform, the robot is at the origin "photom" and does not grab any cell factory, can perform this procedure. 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.

As another preferable scheme, the invention further comprises a liquid changing operation, wherein the liquid changing operation comprises the following steps: a process of replacing the culture solution in the cell factory.

As another preferable scheme, the liquid changing operation of the invention is as follows: the process of changing the culture broth in the cell factory, when the cell factory is present at the operating platform, the robot is at the origin "photom" and does not grab any cell factory, can perform this procedure. The specific procedure is as follows: after the liquid changing 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 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 after the liquid adding is finished, standing for a period of time to wait 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 procedure is performed. And standing for a period of time after the shaking program is executed to wait for the next operation, waiting for the next operation after the shaking program is executed, clicking a next button, returning the robot to the position of a front point 'DaoChuangQian' of an operation window, waiting for the next button to be clicked after an operator removes a hose connecting the cell factory and the peristaltic pump, and returning the cell factory to the position of an original point 'photom' by the robot to finish the execution of the liquid changing program.

As another preferable scheme, the liquid changing operation of the invention is as follows: the process of changing the culture broth in the cell factory, when the cell factory is present at the operating platform, the robot is at the origin "photom" and does not grab any cell factory, can perform this procedure. The specific procedure is as follows: after the liquid changing 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 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.

As another preferred aspect, the present invention further comprises a harvesting operation, the harvesting operation being: the process of harvesting a culture from a cell factory.

As another preferred scheme, the harvesting operation of the invention is: the process of harvesting a certain culture from the cell factory, when the cell factory is present at the operation platform, the robot is at the origin "photom" and does not grab any cell factory, can perform this procedure. 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 a period of time after the liquid drainage is finished, waiting for the next operation, clicking a next button, and executing a liquid adding program. And after the liquid adding is finished, standing for a period of time to wait 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 standing for a period of time delay time after the shaking program is executed, executing a liquid discharging program, standing for a period of time delay time after the liquid discharging is finished, waiting for the next operation, clicking a next button, and executing a 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 a period of time, 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 procedure is performed. And standing for a period of time delay time after the shaking program is executed, executing a liquid discharging program, standing for a period of time delay time after the liquid discharging is finished, waiting for the next operation, clicking a next button, and executing a liquid adding program. And after the liquid adding is finished, standing for a period of time to wait 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, standing for a period of time after the liquid discharging, waiting for the next operation, 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, standing for a period of time, and waiting for secondary harvesting.

As another preferred scheme, the harvesting operation of the invention is: the process of harvesting a certain culture from the cell factory, when the cell factory is present at the operation platform, the robot is at the origin "photom" and does not grab any cell factory, can perform this procedure. 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 (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 standing for 3s after the shaking program is executed, executing a liquid discharging program, waiting for the next operation after the liquid discharging is finished and standing for 3s, and clicking a next button to execute a 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 (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'. 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 30 minutes to wait for secondary harvesting.

As another preferable scheme, the invention also comprises a secondary harvesting operation that: the harvested cell factory was subjected to a secondary harvesting process [ wait 30 minutes after the first harvest (cell open) and then a second operation (virus harvest) ].

As another preferred scheme, the secondary harvesting operation of the invention is: 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 procedure is performed. And standing for a period of time after the shaking program is executed, executing a liquid discharging program, delaying for a period of time after the liquid discharging is finished, waiting for the next operation, clicking the next button, returning the robot to the DaoChuangQian position at the front point of the operation window, waiting for the next operation, clicking the next button after an operator removes the hose connecting the cell factory and the peristaltic pump, returning the cell factory to the original point 'photom' by the robot, completing the execution of the secondary harvesting program, and completing the whole harvesting program.

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 discharging program, waiting for the next operation after the liquid discharging is finished and standing for 3 seconds, clicking a next button, returning the robot to the position of '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 'photom' with the cell factory to finish the execution of the secondary harvesting program, and finishing the whole harvesting program.

As another preferred scheme, the system comprises a human-computer interaction system, wherein the human-computer interaction system comprises a starting interface, a working interface, an operation window interface, a shelf operation interface and a fault information display interface.

As another preferred scheme, the boot interface of the present invention is: the man-machine interaction system is powered on to start up and display an entering picture by default (figure 1), 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.

As another preferred scheme, the safety level of the operator user is 20, and the functions of logging in a work interface, a goods shelf and operation window interface, the operation of powering on and off a robot arm, the selection determination of a basic and advanced operation program, the starting and pausing 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.

As another preferred scheme, the working interface of the present invention is: the interface (figure 2) 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.

As another preferred scheme, the speed input box can modify the operation speed of the robot, and the modification is immediately effective;

the status display area includes: a. displaying the program number of the program currently selected to be executed by the equipment;

b. displaying the robot control mode;

C. an arm state;

d. an origin state;

e. a camera state;

f. a program execution state;

g. alarming a fault state;

h. a production task state;

I. the next step state;

J. a trolley state;

the operation buttons comprise arm power-on, arm power-off, stop, door protection on/off and light source on/off;

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.

As another preferred scheme, the speed input box can modify the operation speed of the robot, the modification is immediately effective, and the numerical value modification range is 10-50;

the robot control mode is shown as: the system comprises 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;

the arm state is: powering off the arm and powering on the arm, and displaying the power-on and power-off states of the robot manipulator;

the origin state is: then the origin point is not in the origin point, whether the robot is at the position of the origin point 'some' point is displayed, and the robot can be executed at the position when the execution program is selected;

the camera state comprises a normal state, a login failure, an offline state and a photographing error, when the robot executes a program related to the capturing, the camera state is judged when the robot reaches the position of the capturing 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 is not captured when the photographing is unqualified;

the program execution state is: when the operator selects a program and goes to execute it, the status bar will display the name of the currently selected program to be executed, and if no program is selected to be executed, the status bar will display "no program is executed";

the alarm fault state is as follows: and in a normal state, the emergency stop button is pressed, the air pressure is too low, the program number is incorrect, the hand grip does not extend out, the hand grip is not retracted, and the safety door is opened. Display "normal state" when no failure occurs; when important conditions such as personal safety of a crisis occur, the equipment emergency stop button is pressed, the robot stops at the current position and quits the selected program, and the status bar displays that the emergency stop button is pressed; when the air pressure of the equipment is lower than the set value of 0.5mpa, the robot stops at the current position, and the air cylinder on the A side of the clamp can extend for safety, because the clamp needs to keep the extending state of the current air cylinder instead of retracting if the air pressure is lower than the set value when the robot is in the state of grabbing the cell factory; 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 to be incorrect, and the running execution program can not be started at the moment, so that the correct program is required to be selected for execution; when the robot executes a grabbing related program, the robot reaches the grabbing point position and sends a clamp cylinder extending signal, if the clamp cylinder extending detection does not detect the extending signal, the robot stops at the position to send alarm information and displays that the gripper does not extend; when the robot executes a relevant program for putting down, the robot reaches the position of the putting down point and sends a clamp cylinder retraction signal, if the clamp cylinder return detection does not monitor the signal, the robot stops at the position to send alarm information and displays that the gripper is not retracted; when the equipment does not operate, the safety door is opened and the safety door is required to be closed, the relevant program operation equipment can be executed, when the equipment is in an operation state, the safety door opening robot stops at the current position to send alarm information, the human-computer interaction system displays that the safety door is opened, at the moment, the safety door is required to be safely closed by a person and is confirmed to be closed on a human-computer interface, and at the moment, the robot is executed downwards along the previous program path;

the production task state is as follows: idle, in production, in pause. No program selection execution will indicate an "idle state"; if the program selection is executed correctly, the program selection will display 'in production'; when the pause button is pressed, the robot stops at the current position to wait and displays 'pause', and the robot can continue to run by pressing the continue button;

the next state is: waiting for the next step, and completing the next step. When advanced operation procedures such as digestion, subpackaging, liquid adding, liquid changing and the like are executed, some external operations are required to be carried out by an operator, when the robot stops at a certain waiting operation position with a cell factory, a waiting operation completion signal is sent out and a 'waiting for next step' is displayed, when the operator finishes the operation, the external next step button switch is required to be pressed, and then the robot goes down to execute and display the 'next step' completion;

the trolley state is as follows: the trolley can be put back when in place, and the confirmation is required when the trolley is not in place. When the robot executes the replacing program, whether the trolley exists at the transfer window and reaches the designated position is judged at the original point photom, if the trolley in-place detection detects that the trolley exists and reaches the designated position, the replacing program is executed and displays that the trolley can be replaced in place, when the trolley is not detected to reach the designated position, the robot stops at the original point to wait for a person to confirm the position of the trolley and sends a 'confirmation that the trolley does not reach the designated position', when the person confirms the actual position of the trolley, the person needs to confirm that the trolley is pushed to the designated position on a human-computer interface, and at the moment, the robot executes the replacing program to replace the cell factory onto the trolley of the transfer window.

The arm is powered up as follows: the robot arm can be powered on by pressing the button in the remote mode; the power-off of the arm is as follows: the robot arm can be powered off by pressing the button in the remote mode; the stop is: when the robot runs any executable program in the remote mode, the robot presses the button to immediately stop at the current position and quit the program selected to be executed; the door protection on/off is: the safety door protection function is in an open state by default, the safety door protection function can be shielded by pressing the button, and the safety door protection button is used during general equipment maintenance; the light source is switched on and off as follows: manual turning on and off of the camera light source can be controlled.

As another preferred scheme, the operation window interface is switched to the interface through an interface switch of the work interface (fig. 3). The interface comprises a program number display and a grab number display and an automatic input state display, a program execution state display, an input program number determining button, a program selecting button at an operation platform in front of an operation window, a program selecting button at a transfer window trolley and a shelf (1-7) interface change-over switch.

As another preferred solution, the program number of the present invention is shown as: displaying the program serial number of the currently executed program, wherein the program name and the program serial number of the program are correspondingly written above each program selection button; the program number is input as: when a program is selected, a selection button of the program is required to be pressed, and a program number input determining button is clicked, so that the program number of the program is automatically input into a program number input box; the grab number display and input is as follows: each position which can be grabbed corresponds to a unique serial number called a grabbing number, and when a program related to grabbing is selected to be executed, the grabbing number is automatically input and displayed in a display column.

The input program number determination button is: when a program which can be selected to be executed is selected, the program selection button is pressed and then the determination button is pressed for confirmation.

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.

As another preferred scheme, the shelf operation interface of the present invention is a selection interface (fig. 4) for a grabbing and placing program of a shelf, which can be entered by clicking a shelf button below an operation window interface. The interface comprises the grabbing and placing of three positions of the shelf; the program selection execution is the same as the program selection execution of the operation window, and there is an interlocking function of grasping and placing of the position point which can be executed only by the grasping program when the on-shelf placing program has been executed and the cell factory is placed on the upper side of the shelf, and is ineffective when the placing program is selected. The placing procedure can be performed if no cell factory is placed, but the grabbing procedure cannot be selected. Except that the mutual locking exists at 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.

As another preferred scheme, the fault information display interface of the present invention can be switched to the operation interface (fig. 11) 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 device.

As another preferred scheme, the PLC of the present invention adopts the CPU1215C, I0.0 of the PLC connects to the start operation button of the device, and presses the button, I0.1 of the PLC is the pause button contact, I0.2 of the PLC connects to the "continue" button that controls the robot to continue the previous trajectory motion, I0.3 of the PLC is the robot emergency stop button contact; PLC's I0.5 is for connecing next step confirmation button, PLC's I1.3 is the atmospheric pressure detection switch access point, PLC's I1.4 connects the robot anchor clamps cylinder and stretches out the detection switch, PLC's I1.5 connects the robot cylinder and withdraws the detection switch.

Secondly, Q0.0 of the PLC is an equipment red light output contact, and when a fault occurs, the red light flickers along with the conduction of the red light output contact; q0.1 of the PLC is a green light output contact, the output contact is conducted when the equipment is in operation, and a green light is normally on; q0.2 of the PLC is a buzzer output point, when a fault occurs, Q0.2 is conducted, and the buzzer gives out an alarm sound; q0.3 of the PLC is the light source output point, which is on and the camera light source is turned on.

In addition, the switching power supply converts alternating current 220V voltage into direct current 24V voltage and outputs the direct current 24V voltage; and a terminal N of the switching power supply is connected to the zero line of the main line.

The invention has the beneficial effects.

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.

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 boot interface of the present invention.

FIG. 2 is a working interface diagram of the present invention.

FIG. 3 is an illustration of an operator window interface of the present invention.

Fig. 4 is an operation interface diagram of the shelf 1 of the present invention.

Fig. 5 is an operation interface diagram of the shelf 2 of the present invention.

Fig. 6 is an operation interface diagram of the shelf 3 of the present invention.

Fig. 7 is an operation interface diagram of the shelf 4 of the present invention.

Fig. 8 is an operation interface diagram of the shelf 5 of the present invention.

Fig. 9 is an operation interface diagram of the shelf 6 of the present invention.

Fig. 10 is an operation interface diagram of the shelf 7 of the present invention.

FIG. 11 is an alarm information summary interface diagram of the present invention.

Fig. 12 is a schematic view of a gripper combination of the present invention.

FIG. 13 is a schematic view of the A-side clamp installation of the present invention.

FIG. 14 is a schematic view of the B-side clamp installation of the present invention.

Fig. 15, 16 and 17 are schematic diagrams of the circuit of the present invention.

FIG. 18 is a schematic diagram of the framework of the cell factory according to the present invention.

Fig. 19 is a schematic view of the hose storage cassette of the present invention.

Fig. 20 is a schematic view of the structure of the clamping device of the present invention.

FIG. 21 is a schematic diagram of the cell factory frame of the present invention after loading the cell factory.

FIG. 22 is a schematic view of another embodiment of the cell factory frame according to the present invention after loading the cell factory.

Fig. 23 is a schematic view of the structure of the floor shelf of the present invention.

Fig. 24 is a schematic view of the structure of the operation table top of the present invention.

FIG. 25 is a schematic view of the cell factory frame transfer cart structure of the present invention.

Fig. 26 is a schematic structural view of the ground limiting device of the transfer cart.

Fig. 27 is a schematic structural view of the limiting device of the present invention.

Fig. 28 is a schematic view of the configuration of the gripping disk of the present invention.

Fig. 29 is a schematic view of the grip of the present invention.

Fig. 30 is a side view of the grip of the present invention.

FIG. 31 is a schematic diagram of the structure of the cell factory frame on the ground shelf according to the present invention.

In fig. 18-31, 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 disk, 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 projection, 23 is a telescopic clamping bead, and 24 is a multi-axis robot connecting part.

Fig. 32 is a robot and vision system setup diagram of the present invention.

FIG. 33 is a diagram of a vision system software setup in accordance with the present invention.

FIG. 34 is a diagram of a cell factory layout frame according to the present invention.

FIG. 35 is a drawing of a cell factory frame gripper according to the present invention.

FIG. 36 is a photograph of an identification according to the present invention.

FIGS. 37-40 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).

FIG. 41 is a diagram of a six-axis robot and attachment of the present invention.

FIG. 42 is a front view of the cell factory and the cell factory frame according to the present invention.

FIG. 43 is a rear view of the cell factory and the cell factory frame according to the present invention.

FIG. 44 is a view of a hose storage cassette of the present invention.

FIG. 45 is a platen view of the present invention.

FIG. 46 is a view of a robotic gripper of the present invention.

FIG. 47 is a drawing of a robot gripper robot end and connector of the present invention.

FIGS. 48 and 49 are schematic diagrams of cell factories according to the present invention.

FIG. 50 is a platform diagram of the operation site of the present invention.

FIG. 51 is a combined view of a stage-limiting guide post and a spacer according to the present invention.

FIG. 52 is a drawing of a capture site arrangement of the present invention.

FIG. 53 is a general layout diagram (example) of the present invention.

Detailed Description

As shown in the figure, the operation processes of the invention 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 at the front end of the cell factory frame to be grabbed (260mm 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 arranged at the front end of the six-axis of the robot and used for grabbing the clamp of the cell factory frame 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, if the cylinder is not detected, an alarm prompt is sent to prevent the grabbing action from being performed again (if the cylinder is not detected, the cylinder is not retracted because the clamp mechanism is adopted Structural characteristics determined by: the clamp is divided into two parts AB (shown in figure 2), wherein A is fixedly arranged on the flange at the front end of the robot by using six 10-40 internal hexagonal screws, B is fixedly arranged at the central position at the front end of the cell factory frame by using six 10-40 internal hexagonal screws, A and B are convex and concave, and 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, so that the A and B are prevented from falling off when being lifted up to perform other actions after being grabbed. It is necessary to determine whether the a clamp cylinder is retracted. )

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 carries the clamp, the camera and the camera light source which are arranged on the six-axis flange to move to a photographing point 'pTakepho' point at a certain height along the z direction (vertical upward direction) of a 'zhua _ qu _ qian' point on the clamp at the six-axis front end of the robot, the point is taught by retreating a taught grabbing point pPickTeach along the X direction and leaving the B clamp for 260mm when the robot debugs and grabs a cell factory frame by a pre-preparation working robot, the time delay of 1s is waited after the point 'pTakepho' point is reached, then the camera photographs, the result is compared with the previously taught grabbing point to obtain the offset of the current position relative to the reference position and is transmitted to the robot, the robot carries out program calculation and posture adjustment according to the received result transmitted by the camera, then the robot moves forwards to the position which is 60mm ahead of the grabbing position calculated by combining the photographing result of the camera, directly to the grasping point in a linear motion mode. And (3) delaying the time of 1s after reaching the grabbing point, opening the clamp cylinder A, sucking the clamp cylinder AB and the clamp cylinder AB together, waiting for 1s, and upwards lifting a 'ZhuaQuDdianShang' point at the height of 70mm along the direction of the current position Z to finish the grabbing action.

When the cell factory is present and is located at a safe position point (origin "pHome"), the placing process can be executed, and the placing process is divided into placing on the upper side of the shelf, placing on the outer side of the shelf, placing on the inner side of the shelf, and when the cell factory is located at a desired position, placing on the inner side of the shelf, and placing on the position (the current position is marked in the process after the placing process is executed, the placing process of the position cannot be selected again when the position is in a marked state, and when the outer side is placed, the placing position on the inner side can be locked in addition to the marking of the position, so that the occurrence of an accident when the cell factory is located on the outer side and then placed on the inner side is ensured). After selecting the placing program, the robot moves fast to a transition point position 'GuoDuDian 1' On the shelf side to be placed in an articulated motion, then moves linearly to a 'Pallet Put _ On' point at a distance of 70mm upwards in the Z direction of the shelf placing point, then moves linearly to a point 'Pallet Put' downwards in the Z direction, waits for 2s of delay time, closes the air cylinder of the clamp A after the stable placement to separate the two parts of the clamp AB from the return detection of the air cylinder at the moment, judges whether the air cylinder is retracted, stops sending a warning prompt message at the current position if the air cylinder is not retracted to wait for personnel processing, and retracts backwards along the X direction to a safe position point 'FangZhiDianQian' 100mm in front of the placing point 'Pallet' if the air cylinder is retracted and marks that the current position is the position of the cell factory. 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 the human-computer interaction system, the trolley is waited to be pushed to the appointed position, then the replacing program is executed, if receiving the return signal, executing the put-back program downwards, moving the robot from the point of 'photom' to a position 70mm above the put-back point through a middle transition point 'FangHuiGuoDu' to wait for the delay time of the put-down point 'FangHuiShang' to be static for 1s, after the robot is static and stable, making linear motion downwards in the Z direction to reach the put-down point 'FangHuiDian' to be static 1s, then closing the air cylinder of the clamp A, withdrawing the air cylinder, waiting for return detection to judge whether the air cylinder is withdrawn, if the clamp cylinder is not retracted, the clamp cylinder is stopped at the current position to send out a warning message that the clamp cylinder is not retracted and waits for personnel to process, if retracted, will exit backwards in the X-direction to a safe position point "FangHuiDianQian" 100mm ahead of the drop point "FangHuiDian" and will mark the current position as the cell factory position that has been dropped. 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 makes the cell factory which is in a lifting state and is filled with cells and liquid to be in a forward linear motion to reach the point 'HuanggDongQian _ 2' for a period of time (the specific time can be adjusted to be 1s at present) at the speed of 2000 mm/s-3000 mm/s (the specific speed can be adjusted according to the actual production situation), to be in a backward linear motion to reach the point 'HuanggDongHou _ 2' for a period of time, to be in a leftward linear motion to reach the point 'HuanggDongZuo _ 2' for a period of time, and to be in a rightward linear motion to reach the 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 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 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 cell factory is kept still for 3s after the shaking program is executed, the liquid discharging is finished and the time delay time of the liquid discharging is waited for the next operation, the next button is clicked, the cell factory is reached to an observation point 1 'GuanChaKou 1' and stops at the position to wait for the operator to observe the cell factory, the next operation prompt is waited, the next button is clicked after the standing for 2s, the cell factory is moved to an observation point 2 'GuanChaDian _ 2' and stops at the position to wait for the operator to observe the cell factory, the next operation prompt is waited, the next button is clicked after the observation is finished, the cell factory is moved to the observation point 3 'GuanChaDian _ 3' and stops at the position to wait for the operator to observe the cell factory, the next operation prompt is waited, the next button is clicked after the observation is finished, the cell factory moves to a resting 2s delay time at the "DaoChuangQian" front point of the operating window to await further operation. And clicking a next button to execute a liquid adding program. And (3) after the liquid adding is finished, standing for 2s for the next operation, clicking a next button, moving the robot with the cell factory to a position of 'DaoChuangQian' in front of an operation window, standing for 2s 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 'photom' at the origin 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 the liquid changing 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 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 (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 standing for 3s after the shaking program is executed, executing a liquid discharging program, waiting for the next operation after the liquid discharging is finished and standing for 3s, and clicking a next button to execute a 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 (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'. 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 man-machine interaction system comprises the following parts:

starting up an interface: the man-machine interaction system is powered on to start up and display an entering picture by default (figure 1), 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 2) displayed when the equipment is in the working state comprises four parts of speed input, state display, an operation button and an interface change-over switch.

The speed input box can modify the operation speed of the robot, the modification is immediately effective after the modification is completed, and the numerical value modification range is 10-50;

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 mechanical arm of the robot 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 following steps of giving an alarm of a fault state (a normal state, pressing of an emergency stop button, too low air pressure, incorrect program number, non-extension of a gripper, non-retraction of the gripper, opening of a safety door, displaying of a normal state when no fault occurs, stopping of a robot at a current position and exit of a selected program when an equipment emergency stop button is pressed when important conditions such as crisis personal safety occur, displaying of the state column that the emergency stop button is pressed, stopping of the robot at the current position when the equipment air pressure is lower than a set value of 0.5mpa, extending of an air cylinder on the side A of a safety clamp for safety, prompting of incorrect program number when the program number of the selected program is inconsistent with the program number fed back by the current robot and when the air pressure is lower than the set value when the robot is in a plant state of already grabbing cells currently, at the moment, the running executive program can not be started, and a correct program needs to be selected for execution; when the robot executes a grabbing related program, the robot reaches the grabbing point position and sends a clamp cylinder extending signal, if the clamp cylinder extending detection does not detect the extending signal, the robot stops at the position to send alarm information and displays that the gripper does not extend; when the robot executes a relevant program for putting down, the robot reaches the position of the putting down point and sends a clamp cylinder retraction signal, if the clamp cylinder return detection does not monitor the signal, the robot stops at the position to send alarm information and displays that the gripper is not retracted; when the equipment does not operate, the safety door is opened and the safety door is required to be closed, the relevant program operation equipment can be executed, when the equipment is in an operation state, the safety door opening robot stops at the current position to send alarm information, the man-machine interaction system displays that the safety door is opened, at the moment, the safety door is required to be confirmed to be closed safely by personnel and the safety door is confirmed to be closed on a man-machine interface, and at the moment, the robot is executed downwards along the previous program path);

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 a 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 (2) the state of the trolley (the trolley can be placed back when in place, and the trolley does not come into place and requires confirmation, when the robot executes the placing back program, whether the trolley exists at the transfer window and reaches the specified position is judged at the original point photom, if the trolley exists and reaches the specified position is detected by the trolley in place detection, the placing back program is executed and the condition that the trolley is in place and can be placed back is displayed, when the trolley reaches the specified position is not detected, the robot stops at the original point to wait for personnel to confirm the position of the trolley and sends out the condition that the trolley does not come into place, and when the personnel confirm the actual position of the trolley, the trolley is required to be confirmed to be pushed to the specified position at the human-computer interface, and then the robot executes the placing back program to.

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 the 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); door protection on/off (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 on/off device is used during general equipment maintenance); the light source is turned on and off (manual turning on and off of the camera light source can be controlled).

The operation window interface can be switched to the interface through an interface switch of the work interface (figure 3). The interface comprises program number display, grabbing number display, automatic input state display, program execution state display, input program number determining buttons, program selecting buttons on an operation platform in front of an operation window, program selecting buttons on a transfer window trolley and interface change-over switches of the 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 displaying and inputting a grab number (each position which can be grabbed corresponds to a unique serial number, namely the grab number, and the grab number is automatically input and displayed in a display field when a program related to grabbing 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 to be executed is selected by the input program number determining button, the determining button needs to be pressed to confirm after the program selecting button is pressed.

The operation interface of the shelf 1 is a selection interface (figure 4) 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. Except that the mutual locking exists at 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 a selection interface (figure 5) of a grabbing and placing program of the shelf 2, and the selection interface can be entered 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 6) of a grabbing and placing program of the shelf 3, and the button of the shelf 3 below the operation window interface can be clicked to enter the operation 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 7) 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 grasping and placing of three positions of the shelf 4-put on shelf 4 __51, get on shelf 4 _54, put in shelf 4 _52, get in shelf 4 _55, put out shelf 4 _53, get out shelf 4 _ 56. The operation is the same as for the pallet 1.

The operation interface of the shelf 5 is a selection interface (figure 8) of a grabbing and placing program of the shelf 5, and the selection interface 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 9) 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 10) of a grabbing and placing program of the shelf 7, and the selection interface can be accessed by clicking a button of the shelf 7 below the operation window interface. The interface comprises grasping 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 11) 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 to a safe position (we call it the origin) waiting for being put down, at which time a put-down procedure, which can perform the basic operation procedure, puts the cell factory to 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 grab placement or advanced digestion, split-charging etc. procedures at other bases 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 can be placed on any shelf, cart or platform that can 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 used for connecting an externally supplied three-phase power supply, wherein the three-phase power supply is a five-wire three-phase system. Respectively, zero line (denoted by N); three fire lines are denoted by L1, L2, L3; ground (PE representation).

The three phase and neutral wires of the external power supply are led in through the industrial socket and then connected with a binding post on a combined switch Q2 (the combined switch is a switch device for switching the main power supply of the equipment). Three phase lines led out from a lower wiring post of the combination switch are connected to an upper port wiring post of a main breaker QF1, the three phase lines led out from a lower port of a QF1 main breaker can be used for supplying power to equipment electrical elements, and three live wires led out from a lower port of QF1 are represented by L4, L5 and L6.

The QF2 circuit breaker is connected to the lead of L4 of QF1, and the lower port of QF1 is connected to the live wire terminal (terminal is denoted by L) of the switching power supply (the switching power supply is an electrical component for converting an alternating current 220V voltage into a direct current 24V voltage and outputting the direct current 24V voltage) via a fuse (the fuse is used for protecting the circuit and is fused when the current of the circuit is too large, so that the circuit is disconnected for protection). 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 switch 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 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 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 power line) of a main power supply. The lower port is connected with a power input end (terminal L) of the PLC through a fuse, and the PLC supplies power to the power input end terminal N of the PLC through an alternating current 220V.

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 with the 24VDC font is shown as the input terminal power supply, and the region labeled L +/M is used for the 24V DC power supply input terminal of the PLC. The area labeled with the 24VDC input typeface is the input terminal of 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 progress and the waiting of the process step when the process flow needing 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 access point is conducted to send an alarm information prompt. I1.4 is cylinder extension detection, and is a detection switch for detecting whether the robot clamp cylinder extends or not. I1.5 is cylinder retraction detection, and is a detection switch for detecting whether the robot clamp cylinder is retracted. 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 other terminals are output terminals and are marked by line numbers 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, 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 medium circuit breaker QF3 is connected with a 220V AC 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 operating system of the invention can be matched with a 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 grabbing hand 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 cell factory can use the multi-axis robot to complete the culture of the biological matrix in the thermostatic chamber, so that 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 place 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 is required, 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 can stably grab and move the cell factory frame by positioning and splicing the splicing lugs of the frame gripper with the grabbing splicing holes of the cell factory frame positioning and grabbing 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 585 mm.

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 arranged along 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 be an 1/4 round 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 stops 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.

Step 1, placing 1-4 cell factories connected with pipelines in a cell factory frame, fixing the cell factories by using a clamping device at the upper end, and placing the pipelines in a hose storage box at the front end.

And 2, placing the cell factory frame with the cell factory installed in the middle of the 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 operation system of the invention can work in cooperation with the operation process of the cell factory. 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. (refer to FIG. 32)

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. According to the invention, a visual system is used for carrying out coordinate recognition on the grabbing points on the cell factory, and the grabbing points are automatically adjusted according to the recognized coordinates for grabbing, so that the grabbing precision is improved, and the grabbing stability is ensured; 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 former 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. 33).

After the connection between the coordinate systems is completed, the camera needs to be written (camera vision positioning program, which is called as jobb operation), here, a cavity below the fixture at the front end of the cell factory frame and a cavity on the left side of the fixture (refer to fig. 37 in particular) are selected as positioning identification positions, and after the operation is established, a fixing position point needs to be selected as the position of the origin (0, 0) of photographing and grabbing. We select the cell factory frame fixture position 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 the visual field range, and verifying whether the result value shot by the camera accords with the coordinate value of the robot movement. (refer to FIG. 33)

And verifying that no problem exists, compiling a robot visual communication program, and loading the program to each grabbing site, including cell factory grabbing at a transfer window trolley, cell grabbing on an operation platform and cell grabbing 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 is 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 installation of a camera light source can refer to fig. 32 and 33);

step 2: opening camera software In-sight explorer (as shown In fig. 34), changing the camera into a live shooting mode, moving the robot with the camera to the cell factory frame to be located at the center of the camera view, firstly, performing distortion correction of the camera (the situation that the accuracy of the camera view edge is reduced, which is called distortion, the distortion can be effectively corrected through a CalibrateGrid function module carried by the vision debugging software, then, performing training recognition of a positioning template on a cavity position used for positioning under a clamp at the front end of the cell factory frame at the center of the view by using a PatMax tool, after that, starting to establish relationship conversion of camera pixel coordinates and a robot coordinate system- - - -the robot moves any nine points under the camera view range In a tool coordinate system, and takes a picture once when moving to one point each time, and recording the pixel coordinate value of the photographing result and the coordinate value of the robot movement under the camera operation program. And after the robot is moved and recorded, establishing coordinate relation between the robot and the camera by using a calibreendanced 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. 37). 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 with the displacement of 1000mm/s and the speed of 20 percent 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 80mm), and then the cell factory moves to a position of an 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.

The operation system of the invention can work in cooperation with the preparation control method of the cell factory. The cell factory preparation control method is illustrated with reference to FIGS. 41 to 53, and the specific steps of the present invention will be described. 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 during the process). One or more grasping site devices (25) are positioned.

Step 2, the cell factory (9) requiring medium replacement is placed in the cell factory frame. The cell factory frame is composed of a frame body 20, four groups of vertical cavities which are arranged side by side and used for placing the cell factory 9 are arranged in the frame body 20, a placing opening is arranged at the upper end of each vertical cavity, and the cell factory 9 is placed into the cell factory frame 12 through the placing opening at the upper end of each vertical cavity. Above the opening for placing the upper end of each vertical chamber of the cell factory frame 12 and above the cell factory 9, a pressing plate 15 for pressing and fixing each cell factory 9 is provided. The pressing plate 15 is composed of a long pressing plate main body 10, the two ends of the pressing plate main body 10 are respectively provided with a clamping part 11 used for clamping with the side part of the frame main body 20, and the lower side of the pressing plate main body 10 is provided with a silica gel layer plate. Further, the cell factories 19 are fixed in position by the pressing plates 18, the cell factories 9 placed in the cell factory frames 12 are fixed by the engaging parts 11 at both ends of the pressing plates 15, and the lower side of the pressing plates 15 is flexibly contacted with the upper parts of the cell factories 9 by the silicone sheet plates, thereby preventing damage to the cell factories 9. The rear side of the frame body 20 of the cell factory frame 12 is provided with a hose storage box 14 for placing an infusion pipeline, and a tube clamping plate is further arranged above the hose storage box 14 (the hose storage box 14 can be omitted, the use is not affected, the hose storage box is mainly determined according to how to connect the pipelines, if the pipelines are connected in advance, the hose storage box is directly used on site, the convenience is provided, and if the pipelines of the cell factory are connected on site, the hose storage box is not required to be used). Thus, the infusion pipelines respectively connected with the cell factories 9 placed in the cell factory frame 12 are temporarily stored in the hose storage box 14, and the clamping plates are used for clamping and smoothing the pipelines for subsequent connection operation. The front end of the cell factory frame 12 is connected with the cell factory side clamp gripper 13 through the cell factory frame and clamp gripper connecting piece 21.

Step 3, the cell factory frame 12 of the cell factory 9 with the arranged culture medium to be replaced is placed at the blank position in the center of the grasping site device 25, and after the arrival detection 26 detects that the cell factory frame 12 arrives at the grasping point, the next operation can be carried out.

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 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.

Step 6, re-grasping the cell factory frame 12, as previously described with the cell factory frame 12 placed on the handling platform 22. 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.

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 layer having openings at the inlet and outlet ends so that the liquid can be equally introduced into each culture layer of the cell factory as long as the side surfaces are kept parallel to the horizontal plane.) then the liquid to be replaced is introduced into the cell factory 9 by using a peristaltic pump or a positive pressure air pump or the like. 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 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 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.

Step 11, the multi-axis robot 1 is operated to place the cell factory frame 12 with the cell factory 9 to be replenished on the grasping site means 25. The multi-axis robot 1 is required to be operated to firstly stop the cell factory framework 12 above the grabbing point device 25, slowly fall down to avoid colliding with an operation limiting guide pillar, and after the cell factory framework is placed on the grabbing point device 25, the clamp grabbing cylinder 5 retracts to disconnect the fixed connection of the two clamp grabbing hands. 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. And finishing the liquid changing operation.

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, MRC5PK15 adherent CHO, etc. Specific fields of application include the production of vaccines for human use, such as: hepatitis A, EV71, chicken pox, rabies, influenza, Japanese encephalitis, hemorrhagic fever, epidemic encephalitis, mumps, measles, rubella vaccine, etc. Veterinary vaccines, such as: chicken Marek, hog cholera, pig circus. The field of cell therapy, such as: lentivirus production, stem cell proliferation. The field of gene therapy, such as: AAV viral packaging, and the like.

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.

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

1. An operating system is characterized by comprising grabbing operation, placing operation, lifting operation, lowering operation and returning operation, wherein a circuit part comprises an industrial socket Q1 which is connected with an external power supply three-phase power supply in a leading mode, a Q1 is connected with a combined switch Q2, three phase lines which are connected with a lower wiring column of the combined switch Q2 are connected to an upper port wiring column of a main breaker QF1, three phase lines which are connected with a lower port of a QF1 main breaker are used for supplying power to electrical equipment elements, and three live wires L4, L5 and L6 are led out of a lower port of QF 1;

the QF2 breaker is connected on the lead of L4 of QF1, the lower port of QF1 is connected with the live wire terminal of the switch power supply through a fuse; the output end of the switch power supply supplies power to the human-computer interface touch screen, the PLC, the Ethernet switch and the camera light source controller;

the human-computer interface touch screen adopts an Ethernet communication protocol to be connected and communicated with the PLC so as to ensure real-time data transmission; the human-computer interface touch screen performs signal interaction with the Ethernet switch; the Ethernet switch is respectively interacted with the PLC, the robot controller and the camera line signal.

2. The operating system of claim 1, wherein the upper port of the breaker QF3 is connected with the upper side of the L5, and the lower port is connected with the power input end L of the PLC through a fuse; and a PLC power input terminal N is connected on a zero line.

3. The operating system of claim 1, wherein Q0.0 of the PLC is a device red light output contact, and when a fault occurs, the red light flickers along with the conduction of the red light output contact; q0.1 of the PLC is a green light output contact, the output contact is conducted when the equipment is in operation, and a green light is normally on; q0.2 of the PLC is a buzzer output point, when a fault occurs, Q0.2 is conducted, and the buzzer gives out an alarm sound; q0.3 of the PLC is the light source output point, which is on and the camera light source is turned on.

4. The operating system according to claim 1, wherein the switching power supply converts an ac 220V voltage into a dc 24V voltage and outputs the dc 24V voltage; and a terminal N of the switching power supply is connected to the zero line of the main line.

5. The operating system of claim 1, wherein the grab operation is: an operation of lifting and holding the cell factory from a specified position by a robot;

6. The manipulation system of claim 1 further comprising a priming operation, a draining operation, and a shaking operation;

7. The manipulation system of claim 1 further comprising a vigorous shaking manipulation; the violent shaking operation is as follows: an operation of shaking the cell factory containing the cells and the liquid in the air at an action amplitude, speed, or the like larger than that of the shaking procedure, forward, backward, leftward, or rightward.

8. The operating system of claim 1, wherein the grabbing operation is performed by: the robot can reach a grabbing point 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 flange at the front end of the robot is turned on, a cylinder which is arranged at the front end of the robot and used for grabbing the cell factory frame is grabbed while the light source is turned on, the cylinder on the clamp is returned to detect and judge whether the clamp is grabbed or not after the cylinder is grabbed, if the cylinder is detected to be grabbed, the robot goes downwards, and if the cylinder is not detected to withdraw, an alarm prompt is sent to not allow the grabbing action to go further.

9. The operating system of claim 1, wherein the placing operation is to: the robot puts the cell factory to a certain position on the shelf at two sides, which can be put down; the process of the placing operation is as follows: when the front end clamp of the robot is carried by the clamp, the camera and the camera light source and moves to a photographing point at a certain height in the z direction of the grabbing point, the time delay is waited after the photographing point is reached, then the camera photographs, the offset of the current position relative to the reference position is obtained by comparing the result with the previously taught grabbing point and is transmitted to the robot, the robot carries out program calculation and posture adjustment according to the received result transmitted by the camera, then the clamp moves forwards to the front of the grabbing point calculated by combining the photographing result of the camera [ the camera photographs and converts the pixel coordinate into a position coordinate, (X, y, z, rx, ry, rz) form, and sends data to the robot according to the form, the robot splits the data after receiving the data, and intercepts (X) needed by using a find function (l _ nStart = find (l _ sMsg, "N"), y, RZ) and the previously taught grabbing point data are added to obtain the grabbing point position data to be reached after the robot finishes the current photographing, and the robot directly reaches the grabbing point in a linear motion mode; and after the robot reaches a grabbing point, the clamp A cylinder on the robot is opened in a delayed mode, the clamp A and the clamp B of the grabbed body are attracted together and lifted upwards along the Z direction at the current position, and grabbing action is finished.

10. An operating system according to claim 1, characterized in that the lifting operation is: the cell factory at the operation platform is grabbed and lifted, a lifting program can be executed when the cell factory is positioned on the operation platform in front of the operation window, and after the lifting program is executed, the robot first executes the grabbing program to grab and lift the cell factory to a 'ZhuaQuDdianShang' point and then lifts the cell factory to a 'DaoChuangQian' point in front of the operation window to complete the action of the lifting program.