CN116423471A - Intelligent cooperative robot for flux experiment operation - Google Patents
Intelligent cooperative robot for flux experiment operation Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses an intelligent cooperative robot for flux experiment operation, which comprises an input module, a control module and an execution module, wherein the input module is arranged to be capable of receiving external tasks and transmitting the external tasks to the control module; the control module comprises a processor and a memory, wherein the processor is used for decomposing an external task into a plurality of subtasks, and the memory stores different instructions corresponding to the subtasks; the execution module comprises a running mechanism and an operating mechanism, wherein the running mechanism is arranged to be capable of receiving corresponding movement instructions to move to a specified position, and the operating mechanism is arranged to be capable of receiving corresponding operation instructions to perform experimental operation. The intelligent cooperative robot can be matched with laboratory instruments, full-automatic and accurate operation is realized in the whole experimental operation flow, the experimental efficiency is greatly improved, and the experimental period is shortened. In addition, the intelligent cooperative robot has low cost and wide application prospect.
Description
Technical Field
The invention relates to the field of laboratory robots, in particular to an intelligent collaborative robot for flux experiment operation.
Background
Artificial intelligence has found wide application in both agriculture and biochemical laboratories. In agriculture, robots can assist people in accomplishing some repetitive or dangerous work. In addition, the robot can also monitor and analyze data such as soil, air temperature, humidity, illumination, sample acquisition and the like in real time by using the sensor, so that more scientific decisions can be made, and the yield and quality of agriculture can be improved.
In a biochemical laboratory, robots may replace humans to perform several repetitive or dangerous experimental operations such as drug synthesis, reagent formulation, chemical analysis, plant flux analysis, etc. The operation precision and stability of the robot are very high, the experimental error and the risk of accidents can be greatly reduced, and the reliability and accuracy of experimental data are improved.
However, robots have certain drawbacks in cooperation with various types of biochemical laboratory instruments. For example, robots cannot dynamically adjust action plans like humans; the sample can be polluted or lost in the process of transmitting the sample among various instruments, so that the accuracy of an analysis result is seriously influenced; the difficult problem of sample transfer possibly exists among different instruments, and the development and optimization of a complex reliability test scheme are required; the robot may be disturbed by the environment in the process of carrying and processing the sample to cause faults or errors, so that the experimental data is unreliable; the robot needs to perform certain manual operations and human guidance when cooperating with biochemical analysis instruments, which also limits the autonomy and flexibility of the robot.
Furthermore, due to the complexity and high cost of robots, the input cost of robots may be too high for some smaller-scale agriculture or laboratory, which also limits their application.
The information in the background section is only for the purpose of illustrating the general background of the invention and is not to be construed as an admission or any form of suggestion that such information forms the prior art that is well known to those of ordinary skill in the art.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a medicament box clamping device and a medicament box clamping method. Specifically, the present invention mainly includes the following.
The invention provides an intelligent cooperative robot for flux experiment operation, which comprises an input module, a control module and an execution module, wherein:
the input module is configured to receive an external task and transmit the external task to the control module;
the control module comprises a processor and a memory, wherein the processor is used for decomposing the external task into a plurality of subtasks, and the memory stores different instructions corresponding to the subtasks;
the execution module comprises a running mechanism and an operating mechanism, wherein the running mechanism comprises a driving mechanism, a moving wheel and a first visual sensor, the running mechanism is arranged to be capable of receiving corresponding moving instructions to move to a specified position, the operating mechanism comprises a mechanical arm, a mechanical gripper and a second visual sensor, and the operating mechanism is arranged to be capable of receiving corresponding operating instructions to perform experimental operation.
In certain embodiments, the intelligent collaborative robot for flux experiment operations according to the present invention, wherein the external tasks are from user input, the internet, mobile and/or cloud.
In some embodiments, the intelligent collaborative robot for flux experiment operation according to the present invention, wherein the external task is a biological experiment, the processor decomposes the external task into a plurality of subtasks according to an experiment flow, and the instructions corresponding to each subtask include at least one movement instruction and at least one operation instruction, the robot can be moved to a corresponding station by a walking mechanism when the movement instruction is executed, and the robot can be made to complete a corresponding experiment operation step by an operation mechanism when the operation instruction is executed.
In certain embodiments, the intelligent collaborative robot for throughput experimentation according to the present invention further comprises a body provided with an orifice plate stacking mechanism, the robotic arm being secured to the body, the robotic gripper being configured to enable the picking and placing of orifice plates between different devices.
In certain embodiments, the intelligent collaborative robot for throughput experimentation in accordance with the present invention, wherein the well plate stacking mechanism comprises a well plate array, a guide block, and a stop block.
In certain embodiments, the intelligent collaborative robot for throughput experimentation in accordance with the present invention, wherein the aperture plate stacking mechanism further comprises a guide rod and screw assembly.
In certain embodiments, the intelligent collaborative robot for flux assay operations according to the present invention, wherein the control module controls: the robot is guided to a required station through the guide codes of the first visual sensor for identifying different positions, and the mechanical gripper is positioned through the second visual sensor for identifying the positioning codes, so that the orifice plate at the required position is fetched and placed through the mechanical gripper.
In some embodiments, the intelligent cooperative robot for flux experiment operation according to the present invention is designed such that the position and posture of the mechanical gripper in space can be read according to the position of the robot gripper, and the position and posture of the mechanical gripper to be moved can be calculated by the processor.
In certain embodiments, the intelligent collaborative robot for flux assay operations according to the present invention further comprises a chassis that controls robot motion via the mobile wheel according to received movement instructions.
In certain embodiments, the intelligent collaborative robot for flux experiment operation according to the present invention, wherein the chassis is a differential chassis, and the vehicle wheel speed meter calculates the robot fore-and-aft direction movement speed and/or steering angular speed according to the motor movement feedback.
The intelligent cooperative robot for flux experiment operation can be matched with biological or chemical laboratory instruments, full-automatic and accurate operation is realized in the whole experiment operation flow, the experiment efficiency is greatly improved, and the experiment period is shortened. In addition, the intelligent cooperative robot has low cost and wide application prospect in biological or chemical laboratories.
Drawings
Fig. 1 is a rear view of an exemplary intelligent collaborative robot running gear for a flux experimental operation.
Fig. 2 is a front view of an exemplary operating mechanism of the intelligent collaborative robot for flux experimental operation.
Fig. 3 is a top view of an exemplary aperture plate stacking mechanism for an intelligent collaborative robot for a throughput experimentation operation.
Fig. 4 is a bottom view of an exemplary intelligent collaborative robot running gear for a flux experimental operation.
Fig. 5 is a schematic structural diagram of an exemplary operating mechanism of an intelligent collaborative robot for flux experimental operation.
FIG. 6 is an ontology schematic diagram of an exemplary intelligent collaborative robot for flux experiment operations.
Fig. 7 is a schematic structural diagram of an exemplary orifice plate stacking mechanism for an intelligent collaborative robot for throughput experimentation.
Fig. 8-9 are schematic chassis diagrams of an exemplary intelligent collaborative robot for a flux experiment operation.
Fig. 10 is a schematic diagram of an exemplary intelligent collaborative robot configuration for a flux experiment operation.
Reference numerals illustrate:
100-walking mechanism, 200-operating mechanism, 300-pore plate stacking mechanism, 400-body and 500-chassis;
110-driving wheel, 120-universal wheel, 130-first visual sensor; 210-a mechanical arm, 220-a joint assembly, 230-a mechanical gripper, 240-a second visual sensor; 310-pore plate arrays, 320-guide blocks, 330-guide rods, 340-screw rod assemblies, 350-motors and 360-battery packs; 410-charging mechanism, 420-switch button, 430-scram button, 440-interface; 510-third visual sensor.
Detailed Description
Various exemplary embodiments of the invention will now be described in detail, which should not be considered as limiting the invention, but rather as more detailed descriptions of certain aspects, features and embodiments of the invention.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In addition, for numerical ranges in the present invention, it is understood that the upper and lower limits of the ranges and each intermediate value therebetween are specifically disclosed. Every smaller range between any stated value or stated range, and any other stated value or intermediate value within the stated range, is also encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included or excluded in the range.
Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Although only preferred methods and materials are described herein, any methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention. All documents mentioned in this specification are incorporated by reference for the purpose of disclosing and describing the methods and/or materials associated with the documents. In case of conflict with any incorporated document, the present specification will control.
The terms first, second, third and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the terms so used are interchangeable under particular conditions and that the embodiments of the invention described herein are capable of operation in other sequences than described or illustrated herein.
Furthermore, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like in the description and in the claims, are used for descriptive purposes and simplifying the description based on the orientation or positional relationship shown in the drawings, and are not intended to indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. It is to be understood that the terms so used are interchangeable under appropriate circumstances and that the embodiments of the invention described herein are capable of operation in other orientations than described or illustrated herein.
The terms "comprises," "comprising," "includes," "including," "has," "having" or other similar referents are to be construed to cover a non-exclusive inclusion. For example: including a particular feature (e.g., a starting material, component, ingredient, carrier, formulation, material, dimension, part, means, mechanism, apparatus, step, procedure, method, reaction condition, processing condition, parameter, algorithm, signal, data, product or article of manufacture, etc.), should be construed as including not only a particular feature but also other features known in the art that are not explicitly recited.
Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured," and the like should be construed broadly to include, for example: the connecting device can be fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms herein above will be understood by those of ordinary skill in the art as the case may be.
The robot of the invention refers to an intelligent cooperation device which can be matched with any instrument with the experimental flow operation related to the pore plate for use. Examples of experimental procedure operations with orifice plate correlation include, but are not limited to: dilution of solutions, extraction of plant leaves, analysis of plant-derived nucleic acid extracts (including purification, isolation, disruption of nucleic acids, genotyping (including PCR)), and the like. Thus, devices capable of performing the above-described experimental operations are within the scope of the present invention, non-limiting examples of such devices being the apparatus or instruments disclosed in, for example, chinese patent applications CN114858505A, CN113959751A, CN110923124a and CN210458215U, the contents of which are incorporated herein by reference in their entirety.
The intelligent cooperative robot for flux experiment operation comprises an input module, a control module and an execution module. The components are described in detail below.
Input module
In the invention, the input module is arranged to be able to receive external tasks and to transmit said external tasks to the control module. The external tasks are from user input, the Internet, a mobile terminal and/or a cloud terminal. The external task may be a standard experimental procedure, or an optimized experimental procedure, or at least a portion of an experimental procedure. In a preferred embodiment, the external task is a biological or chemical experiment, such as plant leaf extraction, plant nucleic acid extraction, nucleic acid isolation and purification, solution dilution, genotyping experiment, PCR, RT-PCR, high throughput sequencing, and the like.
Control module
In the invention, the control module comprises a processor and a memory, wherein the processor is used for decomposing the external task into a plurality of subtasks, and the memory stores different instructions corresponding to the subtasks.
In the present invention, the connection between the input module and the control module is known in the art. The processor decomposes the external task into a plurality of subtasks according to an experiment flow, the instructions corresponding to the subtasks comprise at least one moving instruction and at least one operation instruction, when the moving instruction is executed, the robot can be moved to a corresponding station through the travelling mechanism, and when the operation instruction is executed, the robot can complete corresponding experiment operation steps through the operation mechanism.
In the present invention, any one of the plurality of subtasks may correspond to one operation step or a combination of a plurality of operation steps in the experimental operation flow. In a preferred embodiment, the external task is sequentially broken down into a plurality of sub-tasks, any of which corresponds to experimental operation of different devices. In another preferred embodiment, the external task is sequentially broken down into a plurality of sub-tasks including the placement and removal relationship of different well plates between different devices.
In the invention, the control module controls the following operations: the robot is guided to a required station through the guide codes of the first visual sensor for identifying different positions, and the mechanical gripper is positioned through the second visual sensor for identifying the positioning codes, so that the orifice plate at the required position is fetched and placed through the mechanical gripper.
In the invention, the guide codes are respectively arranged at different operation stations, and the operation stations are provided with devices or instruments for realizing different biological or chemical experiment operations, so that accurate positioning and navigation are performed with experiment equipment through the first visual sensor. In a preferred embodiment, the invention adopts a moving mode controlled by an autonomous navigation technology, the robot reads the guide code through the first visual sensor and combines the wheel speed meter of the robot vehicle to realize real-time positioning, and the motion of the robot is realized by controlling the differential chassis through the motion control system of the robot vehicle according to the destination (operation station) given by the navigation system, so that the autonomous navigation and walking of the robot in a laboratory are realized.
In the invention, the control module controls the following operations: the mechanical gripper is positioned by the second visual sensor identification positioning code, so that the orifice plate at the required position is fetched and placed by the mechanical gripper. The positioning code comprises a first positioning code and a second positioning code, wherein the first positioning code is arranged on the pore plate stacking mechanism of the body, and is preferably arranged on the pore plate array or the body close to the pore plate array. The second positioning code comprises a corresponding position which is arranged in a laboratory instrument or device matched with the robot, preferably in the laboratory instrument or device and used for placing the pore plate.
According to the invention, after the robot reaches the operation station of the experimental equipment, the mechanical gripper moves to the vicinity of the picking and placing hole plate, and the positioning code is read through the second visual sensor of the mechanical gripper. The motion error of the robot mainly comes from a horizontal plane, the mechanical arm error at the height is very small, the distance between the mechanical arm and the positioning code can be calculated, and the size of the positioning code is fixed, so that the position and the gesture of the second vision sensor in space can be calculated according to the position of the positioning code read. According to the position and the gesture, the position and the gesture of taking and placing the pore plate can be calculated and transmitted to the mechanical arm to accurately take and place the pore plate at the pore plate operation position.
Execution module
The execution module comprises a running mechanism and an operating mechanism, wherein the running mechanism comprises a driving mechanism, a moving wheel and a first vision sensor, and the running mechanism is arranged to be capable of receiving corresponding moving instructions to move to a specified position. The running mechanism further comprises a chassis, and the chassis controls the robot to move through the moving wheels according to the received moving instruction. In a preferred embodiment, the chassis is a differential chassis, and the vehicle wheel speed meter calculates the forward and backward movement speed and/or the steering angular speed of the robot according to the movement feedback of the motor.
In the invention, the operating mechanism comprises a mechanical arm, a mechanical gripper and a second visual sensor, and is arranged to be capable of receiving corresponding operating instructions to perform experimental operation. The number of the mechanical arms is not particularly limited and may be adjusted as needed, for example, the mechanical arms may be provided with 1 or more than 1, for example, 2 or more, so that other experimental operation steps, such as addition and suction of biochemical related reagents, etc., are realized while the well plate taking and placing operation is performed.
In the present invention, the structure and connection relationship of the mechanical arm and the mechanical gripper of the robot are known in the art, and include: joint assemblies, linkage assemblies, drive assemblies, controller assemblies, and the like. The joint assembly may be a rotational connection point between the robotic arms, or between the robotic arms and the robotic gripper, typically driven by a motor or pneumatic cylinder, and functions to move the robotic arms or the robotic gripper. The connecting rod assembly is a part for connecting the joint assemblies, and the mechanical arm and the mechanical gripper can complete various complex postures through different length configurations. The driving component is arranged as a power source for robot movement and comprises a motor, an air motor and the like, and the mechanical arm and the mechanical gripper can move through the motor, the air motor and the like. The controller assembly is used for receiving instructions and controlling the actions of the robot, and generally comprises a plurality of sensors, controllers and the like. The sensor can sense the surrounding environment and the working object of the robot, the information is transmitted to the computer, and the computer gives out a control instruction of the motion according to a preset experimental program and algorithm, so that the motion and the gesture adjustment of the mechanical arm and the mechanical gripper are realized.
In the invention, it can be understood that when the movement and posture adjustment of the mechanical arm and the mechanical gripper of the robot are realized, the movement track can be designed in advance, the position, posture, speed, acceleration and other parameters of each joint component are calculated, then the corresponding driving component and the joint component are driven by the controller according to the parameters, so that the preset target position and posture of the robot are reached, and the design and parameter setting are well known in the art.
In the invention, the mechanical gripper is to be understood in a broad sense, namely, the mechanical gripper not only can realize grabbing operation, but also can realize operations such as picking and placing, uncapping, pressing, touching, pulling, turning and the like. The drive for the mechanical gripper may be at least one selected from the group consisting of hydraulic drive, pneumatic drive, electric drive and mechanical drive.
In the present invention, the arm extension of the mechanical arm is not particularly limited, and may be adjusted as needed, and preferably, the arm extension thereof is 500 to 1500mm, for example, 500, 600, 700, 800, 900, 1000, 1200, 1500mm, etc.
In the present invention, the first visual sensor may be provided on the body, or on the chassis, preferably on the bottom of the chassis, and the first visual sensor may be provided in at least one, for example 2, 3, 4 or more, and the connection manner of the first visual sensor and the control module of the present invention is known in the art. In a preferred embodiment, the first vision susceptor is a two-dimensional code camera.
In the present invention, a second visual sensor is disposed on the mechanical arm of the operating mechanism and is located near the mechanical gripper of the operating mechanism, and the second sensor may be disposed in at least one, such as 2, 3, 4 or more, and the connection manner of the second visual sensor and the control module of the present invention is known in the art. In a preferred embodiment, the second vision receptor is a two-dimensional code camera.
The intelligent collaborative robot of the present invention is further provided with a third vision sensor, the location of which is not particularly limited, and in a preferred embodiment, the third vision sensor is provided on the chassis. In another preferred embodiment, the third visual sensor is disposed on a side of the body. The third vision sensor is used for sensing an obstacle so as to prevent the robot from colliding with other objects in the moving process. The number of the third visual sensors is not particularly limited, and is set to at least one, for example, 2, 3, 4 or more. In a preferred embodiment, the third vision sensor is a lidar.
According to the invention, the chassis is a differential chassis, so that the vehicle wheel speed meter can calculate the front-back direction movement speed and/or the steering angular speed of the robot according to the movement feedback of the motor.
In the running mechanism of the present invention, a driving mechanism is used to drive the movement of the moving wheel, and examples of the driving mechanism include, but are not limited to, a battery pack and a motor. The moving wheel may include at least one set of universal wheels and directional wheels, the number of which is not particularly limited.
Those skilled in the art will appreciate that the various exemplary embodiments of the invention described herein are implemented in software in combination with the necessary hardware. Thus, embodiments according to the present invention include a software-form product that may be stored in a non-volatile storage medium or on a non-transitory computer-readable storage medium (which may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, comprising instructions to cause a robot of the present invention to perform experimental operations.
The memory of the present invention may also include a program/utility having a set (at least one) of program modules including, but not limited to: robot positioning and navigation systems, vehicle motion control systems, robotic arm control systems, robotic gripper positioning systems, experimental procedure control systems, aperture disk control systems, one or more application programs, other program modules, and program data, each or some combination of which may include implementation of a network environment.
Body and orifice plate stacking mechanism
The intelligent cooperative robot comprises a body and an orifice plate stacking mechanism arranged on the body. The body is fixed with a mechanical arm from an operating mechanism. The length, width and height of the body are not particularly limited and may be adjusted as required, and preferably the length thereof is 400 to 1000mm, for example 400, 500, 600, 700, 800, 900, 1000mm; a width of 400-1000mm, for example 400, 500, 600, 700, 800, 900, 1000mm; the height is 500-15000mm, preferably 500-1000mm, such as 500, 600, 700, 800, 900, 1000mm.
In the present invention, the well plate stacking mechanism is used in cooperation with other biochemical experiment equipment or instruments, especially for agricultural research, such as plant experiment, and includes well plate array, guide block, guide rod, screw rod assembly, motor and battery. The well plate array means a combination of a plurality of well plates, and the type of well plate is not particularly limited, and may be any commercially available standard well plate, for example, 96 well plate, 384 well plate, or the like. The well plate array may be any array combination of well plates, for example, 1, 2, 3, 4, 5, 6, 7, 8 columns of well plates, and the number of well plates in each column is not particularly limited, for example, 1, 2, 3, 4, 5, 6, 7, 8 well plates may be placed in a direction perpendicular to the well plates.
In the pore plate stacking mechanism, the limiting blocks are used for limiting the position of the pore plate and are connected to the body in a fixed or adjustable mode, the number of the limiting blocks is not particularly limited, and the limiting blocks can be adjusted according to requirements. The guide blocks and guide rods are used to guide the movement of the orifice plate array in a direction perpendicular to the orifice plate while defining the orifice plate array. The screw rod assembly is connected with the motor and enables the orifice plate array to move upwards or downwards in the direction perpendicular to the orifice plate.
In the present invention, the shape of the guide block is not particularly limited, and may be, for example, a member having an L shape or a substantially L shape.
In the invention, the body is further provided with a switch button, an emergency stop button, an interface and the like, and the interface comprises, but is not limited to, a USB expansion interface and an HDMI interface. In a preferred embodiment, the side of the body of the invention is further provided with a charging mechanism matched with a charging station, and the charging station is provided with a positioning code for charging operation, so that when the intelligent cooperative robot is in an idle state, the charging operation step of the execution module is carried out, the intelligent cooperative robot moves to the charging station, the positioning code of the charging station is identified through a first vision sensor, and the charging station is completely aligned with the automatic charging operation step.
Example 1
As shown in fig. 1, the intelligent collaborative robot for flux experimental operations of the present invention includes an input module, a control module, and an execution module 100. In the invention, the input module is arranged to be able to receive external tasks and to transmit said external tasks to the control module. The external tasks are from user input, the Internet, a mobile terminal and/or a cloud terminal. The external task may be a standard experimental procedure, or an optimized experimental procedure, or at least a portion of an experimental procedure. External tasks may be biological or chemical experiments, such as plant leaf extraction, plant nucleic acid extraction, nucleic acid isolation and purification, solution dilution, genotyping experiments, PCR, RT-PCR, high throughput sequencing, and the like.
In the invention, the control module comprises a processor and a memory, wherein the processor is used for decomposing the external task into a plurality of subtasks, and the memory stores different instructions corresponding to the subtasks.
In the present invention, the connection between the input module and the control module is known in the art. The processor decomposes the external task into a plurality of subtasks according to an experiment flow, the instructions corresponding to the subtasks comprise at least one moving instruction and at least one operation instruction, when the moving instruction is executed, the robot can be moved to a corresponding station through the travelling mechanism 100, and when the operation instruction is executed, the robot can be enabled to complete a corresponding experiment operation step through the operation mechanism 200.
In the present invention, any one of the plurality of subtasks may correspond to one operation step or a combination of a plurality of operation steps in the experimental operation flow. The external tasks may be sequentially broken down into a plurality of sub-tasks, any of which may correspond to experimental operation of different devices and/or the external tasks may be sequentially broken down into a plurality of sub-tasks including the placement and removal relationships of different aperture plates between different devices.
In the invention, the control module controls the following operations: the robot is guided to a required station by the guide codes of the first vision sensor 130 for identifying different positions, and the mechanical gripper 230 is positioned by the positioning codes of the second vision sensor 240, so that the orifice plate at the required position is fetched and placed by the mechanical gripper 230.
In the present invention, the guide codes are respectively disposed at different operation stations, and devices or instruments for implementing different biological or chemical experimental operations are disposed at the operation stations, so that accurate positioning and navigation are performed with the experimental apparatus through the first vision sensor 130. According to the invention, a moving mode controlled by an autonomous navigation technology is adopted, the robot reads the guide code through the first visual sensor 130 and combines the wheel speed meter of the robot to realize real-time positioning, and the differential chassis is controlled by the motion control system of the robot vehicle to realize the motion of the robot according to the destination (operation station) given by the navigation system, so that the autonomous navigation and the walking of the robot in a laboratory are realized.
In the invention, the control module controls the following operations: the positioning code is recognized by the second vision sensor 240 to position the mechanical gripper 230, so that the aperture plate at the required position is taken and placed by the mechanical gripper 230. The positioning code includes a first positioning code and a second positioning code, where the first positioning code is disposed on the orifice plate stacking mechanism 300 on the body 400, and in particular, on the orifice plate array 310 or on the body close to the orifice plate array 310. The second positioning code comprises a corresponding position which is arranged in a laboratory instrument or device matched with the robot, in particular to the laboratory instrument or device and used for placing the pore plate.
In the invention, after the robot reaches the operation station of the experimental equipment, the mechanical gripper 230 moves to the vicinity of the picking and placing hole plate, and the positioning code is read by the second vision sensor 240 near the mechanical gripper 230. Since the motion error of the robot mainly comes from the horizontal plane, the error of the mechanical arm 210 at the height is very small, and the distance between the mechanical arm 210 and the positioning code can be calculated, and the size of the positioning code is also fixed, so that the position and the posture of the second vision sensor 240 in space can be calculated according to the position of the positioning code read. Based on the position and the posture, the position and the posture of the orifice plate can be calculated, and the position and the posture are transmitted to the mechanical arm 210 to accurately pick and place the orifice plate at the orifice plate operation position.
As shown in fig. 4, the execution module of the present invention includes a traveling mechanism 100 and an operation mechanism 200, the traveling mechanism 100 includes a driving mechanism, a moving wheel, and a first vision sensor 130, and the traveling mechanism 100 is configured to be able to receive a corresponding movement command to move to a prescribed position. The running gear 100 further comprises a chassis 500, said chassis 500 controlling the robot movement by means of said mobile wheels according to the received movement instructions. The chassis 500 is a differential chassis, and the vehicle wheel speed meter calculates the forward and backward movement speed and/or the steering angular speed of the robot according to the movement feedback of the motor 350.
As shown in fig. 5, the operating mechanism 200 of the present invention includes a mechanical arm 210, a mechanical gripper 230 and a second vision sensor 240, and the operating mechanism 200 is configured to receive corresponding operation instructions for performing experimental operations. The number of the robot arms 210 is not particularly limited and may be adjusted as needed, for example, the robot arms 210 may be provided with 1 or more than 1, for example, 2 or more, so that other experimental operation steps, such as addition and suction of biochemical related reagents, etc., are realized while the well plate taking and placing operation is performed.
In the present invention, the structure and connection of the robot arm 210 and the robot hand 230 are known in the art, and include: joint assembly 220, linkage assembly, drive assembly, controller assembly, etc. The articulation assembly 220 may be a rotational connection point between the robotic arms 210, or between the robotic arms 210 and the robotic grippers 230, typically driven by a motor or pneumatic cylinder, that acts to move the robotic arms 210 or the robotic grippers 230. The link assemblies are portions connecting the respective joint assemblies 220, and the robot arm 210 and the robot hand 230 can accomplish various complicated attitudes through different length arrangements. The drive assembly is configured as a power source for robot movement, including motors, pneumatic motors, etc., by which the robotic arm 210 and the robotic arm 230 are moved. The controller assembly is used for receiving instructions and controlling the actions of the robot, and generally comprises a plurality of sensors, controllers and the like. The sensor can sense the surrounding environment and the working object of the robot, and transmit the information to the computer, and the computer gives out a motion control instruction according to a preset experimental program and algorithm, so that the motion and posture adjustment of the mechanical arm 210 and the mechanical gripper 230 are realized.
In the present invention, it can be understood that when the movement and posture adjustment of the robot arm 210 and the manipulator 230 are realized, the movement track can be designed in advance, the parameters such as the position, the posture, the speed and the acceleration of each joint assembly 220 are calculated, and then the corresponding driving assemblies and the joint assemblies 220 are driven by the controller according to the parameters, so as to reach the preset target position and posture of the robot, and how to perform the above design and parameter setting are well known in the art.
In the present invention, the mechanical gripper 230 should be understood in a broad sense, that is, it can not only perform a gripping operation, but also perform operations of picking and placing, uncapping, pressing, touching, pulling, turning, and the like. The drive for the mechanical gripper 230 may be at least one selected from the group consisting of hydraulic drive, pneumatic drive, electric drive, and mechanical drive.
In the present invention, the arm extension of the robot arm 210 is not particularly limited, and may be adjusted as required, and the arm extension thereof is 500 to 1500mm, for example, 500, 600, 700, 800, 900, 1000, 1200, 1500mm, etc.
As shown in fig. 6, 8 and 9, in the present invention, the first vision sensor 130 may be disposed on the body 400, or on the chassis 500, particularly on the bottom of the chassis 500, and the first vision sensor 130 may be disposed in at least one, for example, 2, 3, 4 or more, and the connection manner of the first vision sensor 130 and the control module of the present invention is known in the art.
In the present invention, the second visual sensor 240 is disposed on the mechanical arm of the operating mechanism and is located near the mechanical gripper 230 of the operating mechanism 200, and the second sensor 240 may be disposed in at least one, such as 2, 3, 4 or more, and the connection manner of the second visual sensor 240 and the control module of the present invention is known in the art.
As shown in fig. 4, the intelligent collaborative robot of the present invention is further provided with a third vision sensor 510, and the third vision sensor 510 may be provided on the chassis 500. Alternatively, the third visual sensor 510 is provided at a side of the body 400. The third vision sensor 510 is used to sense an obstacle, thereby preventing the robot from colliding with other objects during movement. The number of the third vision sensors 510 is not particularly limited, and is set to at least one, for example, 2, 3, 4, or more. The third vision sensor 510 is a lidar.
In the invention, the chassis 500 is a differential chassis, so that the vehicle wheel speed meter can calculate the forward and backward movement speed and/or the steering angular speed of the robot according to the movement feedback of the motor.
In the running mechanism 100 of the present invention, the driving mechanism is used for driving the movement of the moving wheel, and the driving mechanism 100 includes a battery pack and a motor. The moving wheel may include at least one set of universal wheels 110 and directional wheels 120, the number of which is not particularly limited.
As shown in fig. 7, the intelligent cooperative robot of the present invention includes a body 400 and an orifice plate stacking mechanism 300 provided on the body 400. The mechanical arm 210 from the operating mechanism 200 is fixed to the body 400. The length, width and height of the body 400 are not particularly limited and may be adjusted as needed. In this embodiment, the length is 400-1000mm, such as 400, 500, 600, 700, 800, 900, 1000mm; a width of 400-1000mm, for example 400, 500, 600, 700, 800, 900, 1000mm; the height is 500-15000mm, especially 500-1000mm, such as 500, 600, 700, 800, 900, 1000mm.
In the present invention, the well plate stacking mechanism 300 is used in conjunction with other biochemical laboratory equipment or instruments, particularly for agricultural research, such as plant experiments, and includes a well plate array 310, a guide block 320, a guide rod 330, a screw assembly 340, a motor 350, and a battery pack 360. The well plate array 310 refers to a combination of a plurality of well plates, and the type of well plate is not particularly limited, and may be any commercially available standard well plate, for example, 96 well plates, 384 well plates, or the like. The well plate array 310 may be any array combination of well plates, for example, 1, 2, 3, 4, 5, 6, 7, 8 columns of well plates, and the number of well plates in each column is not particularly limited, for example, 1, 2, 3, 4, 5, 6, 7, 8 well plates may be placed in a direction perpendicular to the well plates.
In the orifice plate stacking mechanism 300 of the present invention, the guide blocks 320 and the guide rods 330 serve to guide the movement of the orifice plate array 310 in a direction perpendicular to the orifice plates while defining the orifice plate array 310. The screw assembly 340 is coupled to a motor 350 to move the orifice plate array 310 up or down in a direction perpendicular to the orifice plate.
In the present invention, the shape of the guide block 320 is not particularly limited, and may be, for example, a member having an L shape or a substantially L shape. The shape of the screw assembly 340 is not particularly limited, and may be, for example, a member having a T shape or a substantially T shape.
As shown in fig. 10, in the present invention, the body 400 is further provided with a charging mechanism 410, a switch button 420, a scram button 430, an interface 440, and the like, and the interface 440 includes, but is not limited to, for example, a USB expansion interface and an HDMI interface. The charging mechanism 410 matched with the charging station is arranged on the side surface of the body 400, and the charging station is provided with a positioning code for charging operation, so that when the intelligent cooperative robot is in an idle state, the charging operation step of the execution module is carried out, the intelligent cooperative robot moves to the charging station, the positioning code of the charging station is identified through the first vision sensor 130, and the charging station is completely aligned and automatically charged.
Example 2
The embodiment provides a flux experiment operation process of an intelligent cooperative robot, after the robot receives an experiment task, the task is firstly decomposed by an experiment flow control system, and according to the experiment steps, the task is firstly decomposed into the operation of each device in sequence, and the taking and placing relation of different pore plates among different devices. For each device operation, the decomposition continues into the following steps: 1) The robot moves to an operation station, 2) the stacking of the pore plates is controlled through the screw rod assembly 340, and the specified pore plate channel is lifted to a specified position; 3) The mechanical gripper 230 grips the aperture plate; 4) The robotic arm 210 moves to near the location where the aperture plate is placed, secondary accurate positioning is done using a second vision sensor 240 on the robotic gripper 230, 5) the robotic gripper 230 of the robot places the aperture plate in Kong Bandao; 6) After all the pore plates are placed, the robot informs experimental equipment to start experiments through an equipment interacter in the control module; 7) The experimental equipment performs experiments; 8) The experimental equipment completes the experiment and informs the robot of the completion of the experiment through an equipment interactor in the control module; 9) The mechanical arm 210 moves near the orifice plate canal and uses the second vision sensor 240 on the mechanical gripper 230 for secondary accurate positioning; 10 Robot takes the aperture plate; 11 Controlling the orifice plate stacking mechanism 300 to prepare the orifice plate placement position; 12 Placing an orifice plate into the orifice plate stacking mechanism 300;13 When all the orifice plates are removed from the apparatus.
While the invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Various modifications or changes may be made to the exemplary embodiments of the present disclosure without departing from the scope or spirit of the invention. The scope of the claims is to be accorded the broadest interpretation so as to encompass all modifications and equivalent structures and functions.
Claims (10)
1. An intelligent collaborative robot for flux experiment operations, comprising an input module, a control module, and an execution module, wherein:
the input module is configured to receive an external task and transmit the external task to the control module;
the control module comprises a processor and a memory, wherein the processor is used for decomposing the external task into a plurality of subtasks, and the memory stores different instructions corresponding to the subtasks;
the execution module comprises a running mechanism and an operating mechanism, wherein the running mechanism comprises a driving mechanism, a moving wheel and a first visual sensor, the running mechanism is arranged to be capable of receiving corresponding moving instructions to move to a specified position, the operating mechanism comprises a mechanical arm, a mechanical gripper and a second visual sensor, and the operating mechanism is arranged to be capable of receiving corresponding operating instructions to perform experimental operation.
2. The intelligent collaborative robot for flux experiment operations of claim 1, wherein the external tasks are from user input, the internet, a mobile terminal, and/or a cloud.
3. The intelligent collaborative robot for a throughput experimentation operation of claim 1, wherein the external task is a biological experiment, the processor breaks down the external task into a plurality of subtasks according to an experimental procedure, and the instructions corresponding to each subtask include at least one movement instruction and at least one manipulation instruction, the movement instruction when executed can cause the robot to move to a corresponding workstation through a walking mechanism, and the manipulation instruction when executed can cause the robot to complete a corresponding experimental manipulation step through a manipulation mechanism.
4. The intelligent collaborative robot for a throughput experimentation operation of claim 1, further comprising a body, and the body is provided with an aperture plate stacking mechanism, the robotic arm is secured to the body, and the robotic gripper is configured to enable aperture plates to be retrieved and placed between different devices.
5. The intelligent collaborative robot for flux assay operations of claim 4, wherein the aperture plate stacking mechanism includes an array of aperture plates and a guide block.
6. The intelligent collaborative robot for a throughput experimentation of claim 5, wherein the aperture plate stacking mechanism further comprises a guide rod and lead screw assembly.
7. The intelligent collaborative robot for flux experimental operations of claim 5, wherein the control module controls: the robot is guided to a required station through the guide codes of the first visual sensor for identifying different positions, and the mechanical gripper is positioned through the second visual sensor for identifying the positioning codes, so that the orifice plate at the required position is fetched and placed through the mechanical gripper.
8. The intelligent collaborative robot for a throughput experimentation operation according to claim 6, wherein the locating code is configured to read a position and an attitude of a mechanical gripper in space according to a position of the mechanical gripper, and transmit the position and the attitude to the processor to calculate a position and an attitude of the mechanical gripper to be moved.
9. The intelligent collaborative robot for flux experimental operations of claim 1, further comprising a chassis controlling robot motion through the mobile wheel in accordance with received movement instructions.
10. The intelligent collaborative robot for flux experiment operations of claim 9, wherein the chassis is a differential chassis such that a vehicle wheel speed meter calculates a robot fore-aft direction movement speed and/or steering angular speed based on motor movement feedback.
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