CN220297105U

CN220297105U - Single-arm robot workbench

Info

Publication number: CN220297105U
Application number: CN202321621714.5U
Authority: CN
Inventors: 张怀东
Original assignee: Dana Zhizao Hebei Industrial Equipment Co ltd
Current assignee: Dana Zhizao Hebei Industrial Equipment Co ltd
Priority date: 2023-06-26
Filing date: 2023-06-26
Publication date: 2024-01-05
Anticipated expiration: 2033-06-26

Abstract

The utility model belongs to the technical field of sample processing devices, and provides a single-arm robot workbench which comprises a table top, wherein a frame is fixedly connected to the edge of the top of the table top, and a sample storage box, a reagent box and a sample fixing unit are arranged at the top of the table top; the robot unit is arranged at the top of the table top and corresponds to the sample storage box, the reagent box and the sample fixing unit; the standby clamping jaw unit is arranged at the top of the table top, a plurality of clamping jaws are arranged in the standby clamping jaw unit, and the robot unit is arranged corresponding to one clamping jaw; and the visual identification unit is arranged between the robot unit and the frame. The utility model can quickly and automatically replace the electric claw at the end part of the robot, and can monitor the working path in the robot working process.

Description

Single-arm robot workbench

Technical Field

The utility model belongs to the technical field of sample processing devices, and particularly relates to a single-arm robot workbench.

Background

The single-arm robot workbench is a scientific experiment workbench for completing taking, taking and transferring based on a single-arm robot, and can be used for solving the problems that the automation degree of manual operation is not high and the sample is easy to be polluted manually when the test tube sample needs to be inspected and the like in a biological laboratory, a medical laboratory, a chemical laboratory and other laboratories. However, in the existing single-arm robot workbench, the electric clamping jaw at the free end of the robot is generally fixed by a bolt, so that when different types of electric clamping jaws need to be replaced according to different experimental operations, the operation is too complicated, personnel intervention is required, and the pollution risk of a sample is increased. Meanwhile, when the robot works, the problem that the robot is easy to collide with experimental equipment on the workbench because the experimental equipment on the workbench is more and has no anti-collision function. Therefore, there is a need for a single-arm robotic work table that can quickly and automatically replace the motorized pawl at the end of the robot and monitor the work path during the robot work.

Disclosure of Invention

The utility model aims to provide a single-arm robot workbench, which solves the problems, and achieves the purposes of quickly and automatically replacing an electric claw at the end part of a robot and monitoring a working path in the working process of the robot.

In order to achieve the above object, the present utility model provides the following solutions: a single arm robotic workstation comprising:

the top of the table top is fixedly connected with a frame, and a sample storage box, a reagent box and a sample fixing unit are arranged at the top of the table top;

the robot unit is arranged at the top of the table top and is correspondingly arranged with the sample storage box, the reagent box and the sample fixing unit;

the standby clamping jaw unit is arranged at the top of the table top, a plurality of clamping jaws are placed in the standby clamping jaw unit, and the robot unit is arranged corresponding to one clamping jaw;

and a visual recognition unit disposed between the robot unit and the frame.

Preferably, the robot unit comprises a single-arm robot and a sliding rail arranged on the table top, the sliding rail is arranged between the sample storage box, the reagent box and the sample fixing unit, a connecting block is connected in the sliding rail in a sliding manner, a driving assembly is arranged between the connecting block and the sliding rail, a sliding seat is fixedly connected to the top of the connecting block, the single-arm robot is fixedly connected to the top of the sliding seat, and the single-arm robot is correspondingly arranged with the sample storage box, the reagent box, the standby clamping jaw unit and the sample fixing unit.

Preferably, the visual recognition unit comprises a plurality of cameras fixedly connected to the top of the frame and displacement sensors fixedly connected to the outer wall, close to the free end, of the single-arm robot, and the cameras and the displacement sensors are respectively and electrically connected with external computer equipment.

Preferably, the standby clamping jaw unit comprises a plurality of supporting frames fixedly connected to the table top, a placing groove is formed in one side of each supporting frame in an inward mode, the clamping jaws are placed at the top of each supporting frame through a positioning assembly, the clamping jaws are correspondingly arranged in the placing groove, and the clamping jaws are detachably connected with the single-arm robot through a connecting assembly.

Preferably, the positioning assembly comprises a supporting plate fixedly connected to the top of the clamping jaw and two groups of positioning rods fixedly connected to the top of the supporting frame, the two groups of positioning rods are respectively located on two sides of the placing groove, clamping grooves are respectively formed in two opposite side walls of the supporting plate inwards, and the two groups of clamping grooves are respectively and correspondingly arranged with the two groups of positioning rods.

Preferably, the connecting assembly comprises a connecting column fixedly connected to the top of the supporting plate and a connecting hole formed in the free end of the single-arm robot, an electromagnet is fixedly connected to the bottom of the connecting hole, the connecting column and the electromagnet are correspondingly arranged, two groups of clamping blocks are fixedly connected to the side wall of the connecting column, the two groups of clamping blocks are asymmetrically arranged relative to the axis of the connecting column, two groups of grooves are formed in the side wall of the connecting hole, and the two groups of grooves are respectively and correspondingly arranged with the two groups of clamping blocks.

Preferably, one end of the sample storage box is provided with an opening, the edge of the opening of the sample storage box is hinged with a box cover, the top of the box cover is fixedly connected with a first gear, the first gear is coaxially arranged with a hinge shaft of the box cover, the top of the sample storage box is vertically and fixedly connected with a first motor, an output shaft of the first motor is fixedly sleeved with a second gear, the second gear is meshed with the first gear, a tray is horizontally and slidably connected between two opposite inner walls of the sample storage box, the tray is positioned at the bottom of the inner side of the sample storage box, the sliding direction of the tray is perpendicular to the opening of the sample storage box, and a sliding driving assembly is arranged between the tray and the bottom wall of the inner side of the sample storage box.

Preferably, the sample fixing unit comprises a bottom plate fixedly connected to the top of the table top, a plurality of placing grooves are formed in the top of the bottom plate downwards, two groups of supporting rods are vertically and fixedly connected to the top edge of the bottom plate, a fixing frame is horizontally and fixedly connected to the tops of the supporting rods, a plurality of test tube jacks are formed in the fixing frame and correspond to the placing grooves.

Compared with the prior art, the utility model has the following advantages and technical effects: the sample storage box has the main functions of temporarily storing samples to be detected and preventing pollution; the reagent box has the main function of temporarily storing reagents required in the experiment; the main function of the sample fixing unit is to stably place a test tube required by an experiment on a table top; the robot unit is mainly used for driving the clamping jaw to finish operations such as grabbing, pipetting and the like; the spare clamping jaw unit has the main function of temporarily storing clamping jaws; the visual recognition unit is mainly used for carrying out path monitoring on the operation of the robot unit. In whole, the utility model can quickly and automatically replace the electric claw at the end part of the robot according to the requirement of the next experiment, and can monitor the working path of the robot in the working process of the robot, prevent accidents such as collision and the like and improve the safety and accuracy of the experiment.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a top view of a table of the present utility model;

FIG. 2 is an enlarged view of part A of FIG. 1;

FIG. 3 is a front view of the table of the present utility model;

FIG. 4 is an enlarged view of part B of FIG. 3;

FIG. 5 is an enlarged view of part C of FIG. 3;

FIG. 6 is a front cross-sectional view of the sample locker of the present utility model;

FIG. 7 is a cross-sectional view of a drive assembly of the present utility model;

wherein, 1, the mesa; 2. a frame; 3. a slide rail; 4. a sample storage box; 5. a reagent box; 6. a fixing frame; 7. a single arm robot; 8. test tube jack; 9. a support rod; 10. a case cover; 11. a first gear; 12. a second gear; 13. a first motor; 14. a screw rod; 15. a slide; 16. a connecting block; 17. a second motor; 18. a support frame; 19. a positioning rod; 20. a placement groove; 21. a clamping groove; 22. a supporting plate; 23. a connecting column; 24. a clamping block; 25. a connection hole; 26. a groove; 27. an electromagnet; 28. a camera; 29. a displacement sensor; 30. a clamping jaw; 31. a tray; 32. a placement groove; 33. a bottom plate; 34. a rack; 35. a third gear; 36. and a third motor.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In order that the above-recited objects, features and advantages of the present utility model will become more readily apparent, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description.

Referring to fig. 1-7, the present utility model provides a single-arm robotic workstation comprising:

the table top 1 is fixedly connected with a frame 2 at the top edge of the table top 1, and a sample storage box 4, a reagent box 5 and a sample fixing unit are arranged at the top of the table top 1;

the robot unit is arranged at the top of the table top 1 and corresponds to the sample storage box 4, the reagent box 5 and the sample fixing unit;

the standby clamping jaw unit is arranged at the top of the table top 1, a plurality of clamping jaws 30 are arranged in the standby clamping jaw unit, and the robot unit is arranged corresponding to one clamping jaw 30;

a visual recognition unit provided between the robot unit and the frame 2.

The sample storage box 4 has the main function of temporarily storing samples to be detected, so that pollution is prevented; the main function of the reagent box 5 is to temporarily store reagents needed in the experiment; the main function of the sample fixing unit is to stably place a test tube required by an experiment on the table top 1; the main function of the robot unit is to drive the clamping jaw 30 to finish operations such as grabbing, pipetting and the like; the main function of the spare jaw unit is to temporarily store the jaw 30; the visual recognition unit is mainly used for carrying out path monitoring on the operation of the robot unit. In whole, the utility model can quickly and automatically replace the electric claw at the end part of the robot according to the requirement of the next experiment, and can monitor the working path of the robot in the working process of the robot, prevent accidents such as collision and the like and improve the safety and accuracy of the experiment.

Further optimizing scheme, the robot unit includes single-arm robot 7 and sets up slide rail 3 on mesa 1, and slide rail 3 is located between sample storage tank 4, reagent case 5 and the sample fixed unit, and sliding connection has connecting block 16 in slide rail 3, is provided with drive assembly between connecting block 16 and the slide rail 3, and the top fixedly connected with slide 15 of connecting block 16, single-arm robot 7 fixedly connected at the top of slide 15, and single-arm robot 7 corresponds the setting with sample storage tank 4, reagent case 5, reserve clamping jaw unit and sample fixed unit.

Further optimizing scheme, drive assembly is including rotating the lead screw 14 of connection in slide rail 3, and lead screw 14 and slide rail 3 parallel arrangement, lead screw 14 run through connecting block 16 and with connecting block 16 transmission connection, mesa 1 internal fixation has second motor 17, and the output shaft and the lead screw 14 coaxial line fixed connection of second motor 17.

As shown in fig. 7, a laboratory small-sized single-arm robot is used as the single-arm robot 7. When the single-arm robot 7 needs to transversely and quickly move, the second motor 17 is controlled to rotate, the second motor 17 drives the screw rod 14 to rotate, and the screw rod 14 drives the connecting block 16 to translate in the sliding rail 3 through the threaded transmission when rotating, so that the connecting block 16 drives the single-arm robot 7 to transversely and quickly move through the sliding seat 15, and the working radius of the single-arm robot 7 is further increased.

Further optimizing scheme, the visual recognition unit includes a plurality of cameras 28 of fixed connection at frame 2 top and fixed connection displacement sensor 29 on the outer wall that single armed robot 7 is close to the free end, a plurality of cameras 28 and displacement sensor 29 respectively with external computer equipment electric connection.

The operator realizes the planning of the path by controlling the motion trail of the single-arm robot 7 to complete the experiment. The cameras 28 can record video images of the workbench and transmit the video images to external computer equipment, and meanwhile, the displacement sensor 29 can monitor and transmit back the position change of the single-arm robot in real time, so that the multi-dimensional operation of the motion trail of the single-arm robot 7 is realized, and collision is avoided.

Further optimizing scheme, reserve clamping jaw unit includes a plurality of fixed connection support frames 18 on mesa 1, and standing groove 20 has been seted up inwards to one side of support frame 18, and clamping jaw 30 is placed at the top of support frame 18 through locating component, and clamping jaw 30 corresponds the setting with standing groove 20, and clamping jaw 30 passes through coupling assembling and single-arm robot 7 and can dismantle the connection.

Further optimizing scheme, locating component includes layer board 22 and two sets of locating lever 19 at support frame 18 top of fixed connection at clamping jaw 30 top, and two sets of locating lever 19 are located the both sides of standing groove 20 respectively, inwards have seted up draw-in groove 21 respectively on the two opposite lateral walls of layer board 22, and two sets of draw-in grooves 21 correspond the setting with two sets of locating lever 19 respectively.

Further optimizing scheme, coupling assembling includes fixed connection at the spliced pole 23 at layer board 22 top and sets up the connecting hole 25 at single-arm robot 7 free end, and the bottom fixedly connected with electro-magnet 27 of connecting hole 25, spliced pole 23 and electro-magnet 27 correspond the setting, and fixedly connected with two sets of fixture blocks 24 on the lateral wall of spliced pole 23, two sets of fixture blocks 24 set up with the axis asymmetry of spliced pole 23, have seted up two sets of recesses 26 on the lateral wall of connecting hole 25, and two sets of recesses 26 correspond the setting with two sets of fixture blocks 24 respectively.

As shown in fig. 2 and 5, the two sets of clamping blocks 24 are asymmetrically arranged about the axis of the connecting column 23, so that the relative position between the two sets of clamping blocks can be fixed each time the single-arm robot 7 is connected with the clamping jaw 30, and guarantee is provided for subsequent accurate operation.

When the single-arm robot 7 needs to connect a certain clamping jaw 30, the single-arm robot 7 moves the free end to the position above the clamping jaw 30 to be connected, and aligns the connecting hole 25 with the connecting column 23 at the top of the clamping jaw 30, and simultaneously aligns two groups of grooves 26 on the connecting hole 25 with two groups of clamping blocks 24 respectively. The free end of the single-arm robot 7 is lowered, the connecting column 23 is inserted into the connecting hole 25, the clamping block 24 slides into the groove 26, then the electromagnet 27 is electrified, and the electromagnet 27 attracts the connecting column 23, so that connection is completed.

When the single-arm robot 7 returns the clamping jaw 30 to the supporting frame 18, the single-arm robot 7 needs to align the clamping groove 21 on the supporting plate 22 with the positioning rod 19 and then lower the clamping jaw 30, so that the positioning rod 19 is just positioned in the clamping groove 21 after the clamping jaw 30 is placed in place, the accuracy of the placing position of the clamping jaw 30 is realized, the clamping jaw 30 is conveniently positioned by the single-arm robot 7 when being used next time, and the quick connection is convenient.

Further optimizing scheme, the one end of sample storage tank 4 is the opening setting, the opening limit portion of sample storage tank 4 articulates there is case lid 10, the first gear 11 of top fixedly connected with of case lid 10, first gear 11 sets up with the articulated shaft coaxial line of case lid 10, the first motor 13 of vertical fixedly connected with in top of sample storage tank 4, fixed cover is equipped with second gear 12 on the output shaft of first motor 13, second gear 12 meshes with first gear 11 mutually, horizontal sliding connection has tray 31 between the two opposite inner walls of sample storage tank 4, tray 31 is located the inboard bottom of sample storage tank 4 and the slip direction is mutually perpendicular with the opening of sample storage tank 4, be provided with sliding drive subassembly between tray 31 and the inboard diapire of sample storage tank 4.

Further optimizing scheme, the sliding driving assembly comprises a rack 34 fixedly connected to the bottom of the tray 31 and a third motor 36 fixedly connected to the bottom of the inner side of the sample storage box 4, a third gear 35 is fixedly sleeved on an output shaft of the third motor 36, and the third gear 35 is meshed with the rack 34.

As shown in fig. 6, the tray 31 has a main function of placing the sample. When the single-arm robot 7 needs to acquire a sample from the sample storage box 4, the first motor 13 rotates to drive the second gear 12 to rotate, the second gear 12 rotates to drive the first gear 11 to rotate, and the first gear 11 rotates by a certain angle to drive the box cover 10 to rotate around the hinge shaft so as to open the box cover 10. Afterwards, the third motor 36 rotates to drive the third gear 35 to rotate, and when the third gear 35 rotates, the rack 34 is driven to slide through gear transmission, the rack 34 drives the tray 31 to horizontally slide in the sample storage box 4, so that the tray 31 slides out of the sample storage box 4, samples are sent out, and further the single-arm robot 7 is convenient to drive the clamping jaw 30 to grab the samples.

Further optimizing scheme, the sample fixed unit includes the bottom plate 33 of fixed connection at mesa 1 top, and a plurality of standing grooves 32 have been seted up downwards at the top of bottom plate 33, and two sets of branches 9 of vertical fixedly connected with in top limit portion of bottom plate 33, horizontal fixedly connected with mount 6 between the top of two sets of branches 9, a plurality of test tube jack 8 have been seted up on the mount 6, and a plurality of test tube jack 8 correspond the setting with a plurality of standing grooves 32 respectively.

As shown in fig. 1 and 4, the single-arm robot 7 can clamp the test tube, and then place the test tube between the test tube jack 8 and the placing groove 32 vertically from top to bottom, so that the test tube can be stably placed on the table top 1.

The working procedure of this embodiment is as follows: in performing a scientific experiment, an operator controls the first motor 13 to rotate to open the cover 10, and places a sample to be tested on the tray 31 in the sample locker 4. The reagent box 5 is filled with a reagent to be used. Thereafter, the single-arm robot 7 removes the test tube containing the sample from the tray 31 in the sample locker 4 according to the planned route and inserts the test tube into the test tube insertion hole of the holder 6. After that, the single-arm robot 7 takes out the reagent from the reagent tank 5 and drops the reagent into a sample tube to perform an experiment.

During the experiment or in the middle of two groups of experiments, if the used clamping jaw 30 needs to be replaced, the single-arm robot 7 can place the used clamping jaw 30 on the unoccupied supporting frame 18, and then, the free end is aligned with the clamping jaw 30 needing to be used and connected through the magnetic force of the electromagnet 27, so that the clamping jaw 30 is replaced.

In the description of the present utility model, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

The above embodiments are only illustrative of the preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model, and various modifications and improvements made by those skilled in the art to the technical solutions of the present utility model should fall within the protection scope defined by the claims of the present utility model without departing from the design spirit of the present utility model.

Claims

1. A single-arm robotic workstation, comprising:

the device comprises a table top (1), wherein a frame (2) is fixedly connected to the top edge of the table top (1), and a sample storage box (4), a reagent box (5) and a sample fixing unit are arranged at the top of the table top (1);

the robot unit is arranged at the top of the table top (1), and is correspondingly arranged with the sample storage box (4), the reagent box (5) and the sample fixing unit;

the standby clamping jaw unit is arranged at the top of the table top (1), a plurality of clamping jaws (30) are arranged in the standby clamping jaw unit, and the robot unit is arranged corresponding to one clamping jaw (30);

and a visual recognition unit arranged between the robot unit and the frame (2).

2. A single-arm robotic workstation as recited in claim 1, wherein: the robot unit includes single-arm robot (7) and sets up slide rail (3) on mesa (1), slide rail (3) are located sample storage tank (4), reagent case (5) with between the sample fixed unit, sliding connection has connecting block (16) in slide rail (3), connecting block (16) with be provided with drive assembly between slide rail (3), the top fixedly connected with slide (15) of connecting block (16), single-arm robot (7) fixed connection is in the top of slide (15), single-arm robot (7) with sample storage tank (4), reagent case (5), reserve clamping jaw unit and sample fixed unit correspond the setting.

3. A single-arm robotic workstation as recited in claim 2, wherein: the visual recognition unit comprises a plurality of cameras (28) fixedly connected to the top of the frame (2) and displacement sensors (29) fixedly connected to the outer wall, close to the free end, of the single-arm robot (7), and the cameras (28) and the displacement sensors (29) are respectively and electrically connected with external computer equipment.

4. A single-arm robotic workstation as recited in claim 2, wherein: the standby clamping jaw unit comprises a plurality of supporting frames (18) fixedly connected to the table top (1), a placing groove (20) is formed in one side of each supporting frame (18) in an inward mode, clamping jaws (30) are placed at the top of each supporting frame (18) through a positioning assembly, the clamping jaws (30) are correspondingly arranged in the corresponding placing grooves (20), and the clamping jaws (30) are detachably connected with the single-arm robot (7) through a connecting assembly.

5. A single-arm robotic workstation as recited in claim 4, wherein: the positioning assembly comprises a supporting plate (22) fixedly connected to the top of the clamping jaw (30) and two groups of positioning rods (19) fixedly connected to the top of the supporting frame (18), wherein the two groups of positioning rods (19) are respectively located at two sides of the placing groove (20), clamping grooves (21) are respectively formed in two opposite side walls of the supporting plate (22) inwards, and the two groups of clamping grooves (21) are respectively and correspondingly arranged with the two groups of positioning rods (19).

6. A single-arm robotic workstation as recited in claim 5, wherein: the connecting assembly comprises a connecting column (23) fixedly connected to the top of the supporting plate (22) and a connecting hole (25) formed in the free end of the single-arm robot (7), an electromagnet (27) is fixedly connected to the bottom of the connecting hole (25), the connecting column (23) is correspondingly arranged with the electromagnet (27), two groups of clamping blocks (24) are fixedly connected to the side wall of the connecting column (23), the two groups of clamping blocks (24) are asymmetrically arranged relative to the axis of the connecting column (23), two groups of grooves (26) are formed in the side wall of the connecting hole (25), and the two groups of grooves (26) are respectively and correspondingly arranged with the two groups of clamping blocks (24).

7. A single-arm robotic workstation as recited in claim 1, wherein: one end of sample storage tank (4) is the opening setting, the opening limit portion of sample storage tank (4) articulates there is case lid (10), the top fixedly connected with first gear (11) of case lid (10), first gear (11) with the articulated shaft coaxial line setting of case lid (10), the vertical fixedly connected with first motor (13) in top of sample storage tank (4), fixed cover is equipped with second gear (12) on the output shaft of first motor (13), second gear (12) with first gear (11) mesh mutually, horizontal sliding connection has tray (31) between the relative inner wall of sample storage tank (4), tray (31) are located the inboard bottom of sample storage tank (4) and slip direction with the opening of sample storage tank (4) is mutually perpendicular, tray (31) with be provided with slip drive assembly between the inboard diapire of sample storage tank (4).

8. A single-arm robotic workstation as recited in claim 1, wherein: the sample fixing unit comprises a bottom plate (33) fixedly connected to the top of the table top (1), a plurality of placing grooves (32) are formed in the top of the bottom plate (33) downwards, two groups of support rods (9) are vertically and fixedly connected to the edge of the top of the bottom plate (33), a fixing frame (6) is horizontally and fixedly connected between the tops of the support rods (9), a plurality of test tube jacks (8) are formed in the fixing frame (6), and the test tube jacks (8) are respectively and correspondingly arranged with the placing grooves (32).