WO2022236947A1 - Fully automatic quality control system - Google Patents

Abstract

A fully automatic quality control system, comprising: a goods storage area (G) and a quality inspection area (Q), which are arranged in a positive pressure environment, and a control system, wherein the control system is internally provided with a set of several control flows of a robotic arm, and a set of control site image groups, which are formed according to time streams corresponding to the control flows of the robotic arm; in addition, the control system is internally provided with an image verification unit, which is used for comparing a real-time video stream, which is acquired by a camera system and is of the robotic arm performing a certain control flow, with a control image group of the corresponding control flow on the basis of time points. Therefore, fully automatic inspection in a cell production process is realized, and the quality stability in a cell batch production process is effectively guaranteed.

Description

A fully automatic quality control system

This application claims the priority of the Chinese patent application with the application number 202110520049.X and the title of the invention "a fully automatic quality control system" submitted to the China Patent Office on May 13, 2021, the entire contents of which are incorporated herein by reference Applying.

technical field

The invention relates to the field of biotechnology, and relates to a fully automatic quality control system.

Background technique

Quality control is an important part of the product life cycle of any enterprise. Among them, there are many experimental items for the quality control of biological products, and now most of them are manual operations. Traditional quality control has the characteristics of large demand for experimental personnel, long operation time, cumbersome operation steps, and high professional technical requirements, which also increases the burden on biopharmaceutical companies. With the development of science and technology, and my country's new requirements for the intelligent manufacturing of the pharmaceutical industry, the automation of quality control will be an important link in the development of bio-enterprises.

In traditional quality control projects, all the materials and consumables used are collected, stored and used by the experimenters alone. The materials and consumables often have problems such as insufficient reserves and misplaced placement; the quality inspection of a complete set of biological products often requires several people to spend Days of time and energy, and there are certain errors in manual operation; there will also be errors in the collection of experimental results and the writing of experimental records. A full-automatic quality control system can solve all problems. Goods storage and quality inspection are perfectly integrated to achieve a full-process quality inspection process of material input, experimental operation, data output, and data monitoring. In the true sense, fully automatic quality control is realized. control inspection.

Contents of the invention

The purpose of the present invention is to provide a fully automatic quality control system, which fully automates quality inspection in the biological industry including cell products, and effectively ensures the stability of quality in the mass production process of cells.

In order to achieve the above object, the present invention proposes the following technical solutions: a fully automatic quality control system, comprising,

The goods storage area and the quality inspection area are arranged in a positive pressure environment; the goods storage area is equipped with a number of goods, a robot arm A for operating the goods, and a camera system A for monitoring the manipulation of the robot arm A. The inspection area is equipped with a number of quality inspection devices for quality inspection of goods, at least one robot arm B that accepts the goods transmitted by the robot arm A and operates the quality inspection device to perform quality inspection on the goods, and controls the robot arm B. A camera system B that monitors actions by manipulating them;

It also includes a control system, which has a built-in collection of several control processes of the robot arm A, a set A of image groups of each control site formed according to the time flow corresponding to each control process of the robot arm A, and a collection of several control processes of the robot arm B. And a set B of image groups of each manipulation site formed according to the time flow corresponding to each manipulation process of the robotic arm B;

At the same time, the control system has a built-in image verification unit, which is used to combine the real-time video stream A of the robot arm A obtained by the camera system A for a certain control process with the image of the control site. The control image group corresponding to the control process in the set A of the corresponding control process is compared according to the time point; and the real-time video stream B used to carry out a certain control process of the robot arm B acquired by the camera system B, and the control The control image groups corresponding to the control process in the set B of the site image groups are compared according to time points;

Definition, the time point is the time when the robot arm A or robot arm B arrives at the set control position after the control process is started and the time when the control process starts is superimposed.

As an improved technical solution of the present application, when there are two or more robotic arms B, each robotic arm B is set up in different areas, and each robotic arm B operates independently in its respective area to complete the quality inspection of the goods in their corresponding areas Or transmission; each robotic arm B is provided with a camera system B.

As an improved technical solution of the present application, the movement path of the robotic arm A is as follows:

When the robot arm B is one, the robot arm A takes the center of the robot arm A as the origin O1, and takes the line where the robot arm A and the robot arm B are located as the X axis to pass through the origin O1 and be perpendicular to A coordinate system A is established in the X-axis direction as the Y-axis; the specific coordinates of the operating position of the robot arm A in the coordinate system A are designed in a double insurance manner with the shortest path and no obstructions on the movement path;

When there are two or more robotic arms B, the robotic arm A takes the center of the robotic arm A as the origin O1, and takes the straight line where the robotic arm A and the robotic arm B closest to the robotic arm A is located. is the X-axis, establish a coordinate system A as the Y-axis passing through the origin O1 and perpendicular to the X-axis direction; use the shortest path and the specific coordinates of the operating site of the robot arm A in the coordinate system A Double insurance design with no obstructions on the movement path.

As an improved technical solution of the present application, the method for verifying the operation accuracy of the robotic arm by the image verification unit is as follows, and the robotic arm is robotic arm A or robotic arm B;

When the robot arm performs a single control process: the image verification unit will collect the real-time video stream of the robot arm performing the control process acquired by the camera system, and compare the real-time video stream with the control corresponding to the control process The site image group is compared according to time points; the video stream is video stream A or video stream B;

When the robotic arm performs two or more manipulation processes: the image verification unit acquires the start time of each manipulation process, and compares the time points in the image group of the manipulation site corresponding to each manipulation process with the start time of each manipulation process Time superimposition, sorting all the manipulation site images of all manipulation processes after superimposition according to time points after superimposition, and finally comparing the real-time video stream with the sorted manipulation site images according to time points.

As an improved technical solution of the present application, the control system is provided with a collection of control points for each control process of the robot arm; a positioning device for positioning the operation action of the robot arm is provided on the robot arm; the control system is used to receive The control position information of the robot arm fed back by the positioning device is matched with the control position point corresponding to the control process; the robot arm is the robot arm A or the robot arm B.

As an improved technical solution of the present application, the goods are carried by a carrying device during the transportation process; the carrying device has an upper carrying surface and a lower control surface;

The upper bearing surface is partially sunken to form a bearing space for accommodating containers for the quality control process; the upper bearing surface is also provided with at least one positioning rod at a corner of the bearing space;

The lower control surface is partly indented to form a machine arm extending groove, and at least one card slot is provided on the side wall of the machine arm extending into the groove; at the same time, the lower control surface is also provided with a bearing device storage limit the positioning slot.

As an improved technical solution of the present application, the bottom of the carrying space is a plane or a surface provided with several limit holes; the limit holes have matching centrifuge tube bottom wall, EP tube bottom wall, syringe needle bottom wall or no The concave surface of the bottom wall of the heat source tube.

As an improved technical solution of the present application, the goods are stored on a rotating shelf; the rotating shelf includes:

The driving mechanism adopts a servo motor to provide driving force, and the servo motor is provided with a zero return device;

The rotating disk is driven by the drive mechanism to rotate at any angle; and,

A plurality of shelves arranged on the rotating disk in a circular array; the shelves are provided with a plurality of goods placement parts, and each goods placement part is provided with a goods limit protrusion and a goods detection mechanism;

Wherein, each shelf is used to store the same kind of goods, and each shelf is equipped with an identifier for disclosing the information of the same kind of goods on the shelf;

The goods detection mechanism adopts an infrared detection device or a weight sensing device.

As an improved technical solution of the present application, the servo motor controls the minimum rotation angle of the rotating disk to realize the robot arm A to place or take out the goods, and the control method is as follows:

Define the position where the robot arm A puts or takes out the goods on the rotary shelf as the zero rotation position of the rotary shelf; mark the shelf that was originally at the zero position, and record its identifier as serial number NO 1, and turn the shelves clockwise It is recorded as the serial number NO 2...NO n...NO N, where n is a positive integer between 1 and N, and N is a positive integer;

When the serial number of the shelf at the zero rotation position is NO n, the serial number of the shelf that the robotic arm needs to pick up is NO k, and k is defined as a positive integer between 1 and N, and N is a positive integer greater than 1;

If k is greater than n, judge whether k-n is greater than N/2, if it is greater, the servo motor will control the rotating shelf to rotate counterclockwise (N-k+n)*360°/N, if it is smaller, the servo motor will control the rotating shelf to rotate clockwise ( k-n)*360°/N;

If k is less than n, judge whether n-k is greater than N/2. If it is greater, the servo motor will control the rotating shelf to rotate clockwise (N-n+k)*360°/N. If it is smaller, the servo motor will control the rotating shelf to rotate counterclockwise ( n-k)*360°/N.

As an improved technical solution of the present application, the quality inspection area includes an ultra-clean workbench; the quality inspection area includes an ultra-clean workbench; the ultra-clean workbench has a An open operation space; define the top surface as a surface arranged relative to the bottom surface; define the back surface as the surface connecting the bottom surface and the top surface, and also be the opposite surface for the operation of the robot arm; defining said side as a face simultaneously connecting said bottom face, said top face and said back face;

The back side of the ultra-clean workbench is provided with a wind hole, and the wind pressure of the wind hole is greater than the wind pressure of the positive pressure environment.

As an improved technical solution of the present application, several oblique flow air holes and several advection air holes are provided on the upper back of the ultra-clean workbench, and the air direction of the oblique flow air holes is relative to the operation plane of the ultra-clean workbench. It has an inclination angle of 10°-70°; the wind direction of the advection air hole is parallel to the operation plane of the ultra-clean workbench.

As an improved technical solution of the present application, the top surface of the ultra-clean workbench has a set slope, and an ultraviolet lamp is provided on the top surface, and the irradiation direction of the ultraviolet lamp is perpendicular to the top surface; The roughness of the bottom surface of the ultra-clean bench is between 0.6 μm and 1.0 μm.

As an improved technical solution of the present application, the quality inspection area is also provided with a waste liquid treatment device; the waste liquid treatment device includes a waste liquid treatment end installed in the positive pressure environment, and a External waste liquid collection end, disinfectant storage end and press;

The waste liquid treatment end is provided with a base with a waste liquid treatment barrel placement slot and a waste liquid treatment barrel placed in the waste liquid treatment barrel placement slot; the waste liquid treatment barrel includes a cylindrical barrel body at the upper end and A funnel-shaped structure at the lower end, the funnel-shaped structure is inserted into the placement groove of the waste liquid treatment barrel;

The waste liquid collection end includes a waste liquid collection barrel, and the liquid inlet of the waste liquid collection barrel is connected to the funnel-shaped structure of the waste liquid treatment barrel through a hose;

The disinfectant storage end includes a disinfectant liquid storage tank with a liquid spray pipeline; the liquid outlet end of the liquid spray pipeline surrounds a circular section of the cylindrical barrel, and the liquid outlet end is arranged with several Disinfection spout;

The press is connected to the liquid surface of the waste liquid collection barrel through a pipeline to provide negative pressure for the waste liquid collection barrel; the press is connected to the liquid surface of the disinfectant liquid storage barrel through another pipeline Above, positive pressure is provided for the disinfectant liquid storage tank.

As an improved technical solution of the present application, the quality inspection area is also equipped with a waste collection device, a transmission device and a sterilization device;

The waste collection device includes at least two waste barrels; the inner wall of the waste barrel is provided with a light signal sensor at a set height, and the light signal of the light signal sensor can cover the waste barrel of the waste barrel at this height. section;

One end of the transmission device is set in the quality inspection area, and the other end extends out of the quality inspection area; the waste bucket is placed on the transmission device;

The sterilizing area of the sterilizing device can cover a section of the conveying device extending outside the quality inspection area.

Beneficial effect:

It can be seen from the above technical solutions that the technical solution of the present invention provides a fully automatic quality control system to realize the full automation of quality detection in the cell production process.

In this application, the entire quality control system is placed in a positive pressure environment, that is, both the product storage area and the quality inspection area are placed in a positive pressure environment, and the positive pressure environment is controlled through external settings to finally realize that the quality control system as a whole can be in a B-level environment. At the same time, this application also specially designed the positive pressure air environment of the ultra-clean workbench in the quality inspection area, so that the ultra-clean workbench has a local A-level operating space to ensure the aseptic quality inspection work, and the ultra-clean workbench After equipment integration, the operation of the robot arm B can be facilitated.

This application uses robotic arm A and at least one robotic arm B to control the quality control practical operation program of the quality control system, and uses the control image set to perform real-time verification of the actions of robotic arm A and robotic arm B to ensure the quality of the automated control process. control is performed correctly. It is also assisted by the detection of the operating position of the robotic arm. Through the verification of the control position of each process, the secondary judgment of the workflow of the robotic arm can be realized to ensure the accuracy of the fully automatic workflow.

Since the robot arm A mainly performs transmission work and a small amount of manipulation actions, this application can effectively reduce the construction cost of the application system by designing the motion mode of the robot arm A and simplifying its motion path. Because robot arm B needs to carry out quality control operations for transmission with robot arm A, robot arm C or robot arm D can be added as needed. And all robot arms can be independently selected as single arm or double arm according to the control needs.

This application specially designs the carrying device of goods, which is convenient for the gripping operation of the robot arm, and can also meet the carrying requirements of various goods; that is, one type of structure can meet the transmission requirements of all goods in the process.

At the same time, in order to meet the needs of automatic quality control, this application is equipped with a rotating shelf, which has the characteristics of large-capacity inventory, and uses the identifier mark combined with the detection of the goods detection mechanism to clearly classify, locate and detect the goods, which is convenient for machine identification. . Since the rotating shelf has a large capacity, it determines that a large amount of energy will be consumed for each rotation of the rotating shelf. Therefore, this application also uses the minimum angle rotation of the rotating turntable to realize the removal of the target goods by the robot arm, and finally achieve low energy consumption and high goods. Take out speed.

Since the design of this application is an integrated quality control system, compared with manual operation, the ultra-clean workbench needs an open operating space, but only relying on the positive pressure environment in a large environment cannot satisfy the work on the ultra-clean workbench. Requirements, therefore, this application is to promote the air pressure of the ultra-clean workbench to be greater than the air pressure in the large environment by improving the wind direction and air holes of the ultra-clean workbench, so as to ensure the requirements of the local A-level environment of the ultra-clean workbench, and the ultra-clean workbench The clean workbench is integrated with the equipment to facilitate the operation of the mechanical arm C.

In addition, because one robot arm has to control multiple devices or equipment, which has an extremely complex motion path, the application divides the area, so that different areas of the robot arm have multiple fixed or relatively fixed operating positions, so this application The motion path design of the robot arm mainly depends on the coordinate system where the robot arm itself is located, so as to realize the dual combination of the action of the device and the action of the robot arm to realize the efficient operation of the robot arm.

In summary, the fully automatic quality control system of this application realizes different quality inspection procedures through the simple and fast pick-up, transfer and operation of the robot arm; through the deployment of the general control system, the robot arm can perform different tasks at different times; and through The double verification of the image verification system and the detection system assisted by each equipment realizes the guarantee of the accuracy of the operation of the robot arm. It has complete functions, simple, fast and accurate operation, and can accurately meet all quality control requirements in the cell production process.

Description of drawings

Fig. 1 depicts a schematic diagram of the overall structure of a fully automatic quality control system of the present application;

Fig. 2 depicts the schematic diagram of the structure of the rotating shelf of the present application;

Fig. 3 shows a schematic view of the structure of the carrying device of the present application at a first viewing angle;

FIG. 4 shows a schematic structural diagram of the carrying device of the present application at a second viewing angle;

Fig. 5 depicts the schematic diagram of the structure of the ultra-clean workbench of the present application;

Figure 6 shows a schematic diagram of the structure of the waste liquid treatment device of the present application;

Fig. 7 shows the schematic structure of the storage rack set of the present application;

FIG. 8 shows a schematic structural view of the operator A of the robotic arm A of the present application;

FIG. 9 shows a schematic structural view of the operator B of the robotic arm B of the present application;

In the figure: G, goods storage area; Q, quality inspection area; 1, robot arm A; 11, first finger; 12, second finger; 13, first clamping surface; 14, limit protrusion; 15, 16. Touching end; 2. Robot arm B; 21. First operating finger; 22. Second operating finger; 23. First continuous recess; 24. Second continuous recess; 25. Camera System B; 3. Robot arm C; 4. Rotating shelf; 41. Servo motor; 42. Rotating plate; 43. Shelf; , dynamic rack; 541, rack body; 542, rack support surface; 55, pipette gun; 56, waste liquid treatment barrel; 561, liquid spray pipe; 57, base; 581, waste liquid collection barrel; 582, Disinfectant liquid storage barrel; 59. Press; 6. Cell culture box; 7. -80°C refrigerator; 8. -20°C refrigerator; 9. Carrying device; 91. Upper bearing surface; 92. Lower control surface; 93, positioning rod; 94, machine arm stretches into groove; 95, draw-in groove; 96, positioning groove.

Detailed ways

The present application discloses an automatic quality control system, which mainly satisfies the requirement that the quality inspection of biological products can be carried out in batches, automatically and with high quality. In particular, the fully automatic quality control system of this application, in order to meet the high requirements for the environment in the quality inspection process of biological products: it mainly divides areas, sets different robot arms in different areas to meet the requirements of different working conditions, and adopts a central control system at the same time Regulate each control system, camera system, etc., and the control system realizes the control of the robot arm, and uses the image verification library to verify the operation of the robot arm, effectively ensuring the simplicity, accuracy and height of the control during the operation of the robot arm flexibility. The image verification library mentioned here refers to the set A of image groups of each control point formed according to the time flow corresponding to each control process of the robot arm A1 and the control positions formed according to the time flow corresponding to each control process of the robot arm A1. Set B of point image groups.

In order to better explain the technical solution of the present application, the following will be described in detail in conjunction with specific examples:

Example 1

A schematic structural diagram of an automatic quality control system as shown in FIG. 1 . In this embodiment, a fully automatic quality control system includes a goods storage area G, a quality inspection area Q and a control system arranged in a positive pressure environment (using a positive pressure air outlet).

The goods storage area G is provided with a number of goods, a robotic arm A1 for operating the goods, and a camera system A for monitoring the manipulation of the robotic arm A1.

The quality inspection area Q is provided with several quality inspection devices for quality inspection of goods, at least one robot arm B2 that accepts the goods transmitted by the robot arm A1 and operates the quality inspection device to perform quality inspection on the goods, and The camera system B25 that monitors the manipulation of the robotic arm B2. The camera system A (or camera system B25) can be a camera located at the top of the goods storage area G, or it can be arranged on the robot arm A1 (or camera system B25) so that the robot arm A1 (or camera system B25) can be clearly observed Operation site The location of a specific action. Of course, multiple cameras can also be used to combine shooting to obtain action observation pictures.

The control system has a built-in collection of several manipulation processes of the robotic arm A1, and a set A of image groups of manipulation points formed according to the time flow corresponding to each manipulation process of the robotic arm A1. The control system has a built-in image verification unit, which is used to combine the real-time video stream A of a certain control process of the robot arm A1 acquired by the camera system A with the control site image group The manipulation image groups corresponding to the manipulation process in A are compared by time point. Definition, the time point is the time when the robot arm A1 arrives at the set control position after the control process is started and the time when the control process starts is superimposed. Compared with the video stream, the manipulated image set formed by manipulating the time flow of the process captures the specific action at a specific point at a specific time. The complexity of the verification and the reduction of the content of the manipulation image set can greatly reduce the demand for hardware equipment of the manipulation system while ensuring the stability of manipulation. The manipulating image is a standard operating diagram of the robot arm under different working conditions calculated from the starting time according to actual operation or simulation.

The control system has a built-in collection of several manipulation processes of the robotic arm B2, and a set B of images of each manipulation site formed according to the time flow corresponding to each manipulation process of the robotic arm B2. The control system has a built-in image verification unit, which is used to compare the real-time video stream B of the robot arm B2 acquired by the camera system B25 for a certain control process with the set B of the image group of the control site The manipulation image groups corresponding to the manipulation process are compared according to time points. Definition, the time point is the time when the robotic arm B2 arrives at the set control position after the control process starts and the time when the control process starts is superimposed.

When the robot arm B2 cannot meet the control requirements of the quality inspection area Q, another or more robot arms B2 (named as robot arm C3, robot arm D... in order to distinguish this embodiment) are provided. The robotic arm C3(D) is provided with a corresponding camera system C(D). Correspondingly, the control system has a built-in collection of several manipulation processes of the robot arm C3(D), and a set C(D) of image groups of each manipulation site formed according to the corresponding time flow of each manipulation process of the robotic arm C3(D). . The control system has a built-in image verification unit, which is used to compare the real-time video stream C(D) obtained by the camera system C(D) with the real-time video stream C(D) of the robotic arm C3(D) performing a certain control process, with the The manipulation image groups corresponding to the manipulation process in the set C(D) of manipulation site image sets are compared according to time points. Definition, the time point is the time when the robotic arm C3(D) arrives at the set control position after the control process starts and the time when the control process starts is superimposed. In order to clarify the division of labor, when there are two or more of the robot arms B2 (when the robot arm C3 or the robot arm D is provided), each robot arm (the robot arm B2, the robot arm C3 or the robot arm D) is set in different areas , and each robotic arm (robotic arm B2, robotic arm C3, or robotic arm D) operates independently in its own area to complete the quality inspection or transmission of goods in their corresponding areas; each robotic arm (robotic arm B2, robotic arm C3, or robotic arm D) is provided with a camera system (camera system B25, camera system C or camera system D).

Optionally, in some embodiments, the robot arm A1 is controlled by the control system A; the robot arm B2 is controlled by the control system B; the control system C controls the associated control system A and the control system B; in the control system C The image verification library set according to the quality control process (including all the images in the set A of the image group of the manipulation site, the set B of the image set of the manipulation site and the set C of the image set of the manipulation site, is set according to the needs The image combination after the operation time order of the control process); the image verification library is used for real-time verification control system A to control the consistency of the operation action of the robot arm A1 on the goods and the action in the image verification image in the image verification library , and used for the real-time verification control system B to control the consistency between the action of the robot arm B2 on the goods and the action in the verification image in the image verification library.

The method for the image verification unit to verify the operational accuracy of the robotic arm is as follows, and the robotic arm is the robotic arm A1, the robotic arm B2, the robotic arm C3 or the robotic arm D;

When the robot arm performs a single control process: the image verification unit will collect the real-time video stream of the robot arm performing the control process acquired by the camera system, and compare the real-time video stream with the control corresponding to the control process The site image group is compared according to the time point; the video stream is video stream A, video stream B, video stream C or video stream D; Manipulate video streams for comparison.

When the robotic arm performs two or more manipulation processes: the image verification unit acquires the start time of each manipulation process, and compares the time points in the image group of the manipulation site corresponding to each manipulation process with the start time of each manipulation process Time superimposition, sorting all the manipulation site images of all manipulation processes after superimposition according to time points after superimposition, and finally comparing the real-time video stream with the sorted manipulation site images according to time points. The detailed expression is as follows: Let the start time of a control process of the robot arm A1 be T0, the time long set of the corresponding control point image group is {t01, t02, t03, ... t0k}, and k is the control corresponding to the control process The number of site images, in this case, during the robot arm control process, the time point for the image verification unit to check the corresponding control site image group of the control process is {T0+t01, T0+t02, T0+t03, ... T0+t0k}; the start time of another manipulation process is T1, and the time long set corresponding to the control site image group is {t11, t12, t13, ... t1p}, p is the control site image corresponding to the manipulation process number, then in the control process, the time point when the image verification unit checks the corresponding control site image group of the control process is {T1+t01, T1+t02, T1+t03, ... T1+t0p}; The test unit will call {T0+t01, T0+t02, T0+t03, ... T0+t0k} and {T1+t01, T1+t02, T1+t03, ... T1+t0p} corresponding controls in chronological order site image, and the design of T0 and T1 ensures {T0+t01, T0+t02, T0+t03, ... T0+t0k} and {T1+t01, T1+t02, T1+t03, ... T1+t0p} No overlapping time points.

In order to further optimize the motion accuracy of the robotic arm, avoid interference between similar images caused by errors in the image processing system, and to review the accuracy of the robotic arm control, the control system is equipped with a control process for each robotic arm. A collection of control points; the robot arms are respectively provided with positioning devices for positioning the operation actions of the robot arms; the control system is used to receive the robot arm control position information fed back by the positioning devices, and control with the corresponding control process Matching verification is performed on the points; the robot arm is robot arm A1, robot arm B2, robot arm C3 or robot arm D. In detail, the control system is provided with a collection of control points for each control process of the robotic arm A1; the robotic arm A1 is provided with a positioning device A for positioning the operation of the robotic arm A1; the control The system is used to receive the control position information of the robotic arm A1 fed back by the positioning device A, and perform matching verification with the control position points of the corresponding control process. The control system is provided with robot arm B2 (robot arm C3 or robot arm D) according to the set of process control points set according to the control process; Arm D) the positioning device B (positioning device C or positioning device D) of the operation action; the control system receives the robot arm B2 (robot arm C3 or machine arm C3 or machine Arm D manipulates the position information, and performs matching verification with the manipulation position of the corresponding process. That is, the manipulation image of the position and the position information of the position are used to double ensure that the robot arm performs the action of the position rather than the same position of different positions. action.

In order to simplify the motion path of the robot arm, the motion path of the robot arm A1 is as follows:

When the robot arm B2 is one, the robot arm A1 takes the center of the robot arm A1 as the origin O1, and takes the line where the robot arm A1 and the robot arm B2 are located as the X axis to pass through the origin O1 and be vertical A coordinate system A is established in the X-axis direction as the Y-axis; the specific coordinates of the operating position of the robot arm A1 in the coordinate system A are designed in a double insurance manner with the shortest path and no obstructions on the movement path;

When there are two or more robotic arms B2, the robotic arm A1 takes the center of the robotic arm A1 as the origin O1, and the straight line between the robotic arm A1 and the robotic arm B2 nearest to the robotic arm A1 is the X-axis, establish a coordinate system A as the Y-axis passing through the origin O1 and perpendicular to the X-axis direction; use the shortest path and the specific coordinates of the operating site of the robot arm A1 in the coordinate system A Double insurance design with no obstructions on the movement path.

Preferably, when there are two or more robotic arms B2, the robotic arms B2 are respectively named as robotic arm B2, robotic arm C3 and robotic arm D, etc., robotic arm A1, robotic arm B2, robotic arm C3 and robotic arm D is located on the same straight line, and the center of the robot arm B2 is the origin O2, and the line where the robot arm A1 and the robot arm B2 are located is the X axis, so as to pass through the origin O2 and be perpendicular to the X The axis direction is the Y axis to establish a coordinate system B; the specific coordinates of the operating position of the robot arm B2 in the coordinate system B are designed in a double insurance manner with the shortest path and no obstructions on the motion path; similarly, the robot arm C3 and robotic arm D also design their motion paths in this way.

Example 2

FIG. 3 shows a schematic diagram of the first structure of the carrying device 9 of the present application.

In the process of goods transmission, it needs to be transported from the shelf 43 to each area to meet the quality inspection requirements. In order to unify the structure, it is convenient for the precise operation of the robot arm A1, the robot arm B2 or the robot arm C3. In some embodiments, the goods are carried by the carrying device 9 during the conveying process. The carrying device 9 of the present application can facilitate experimental operations such as gripping, transferring, storing, and tilting of the robot arm, and the whole process remains stable without affecting the aseptic state in the orifice plate. For the first time, the use of containers such as orifice plates has been transformed from manual operation to automatic detection.

In some embodiments, the carrying device 9 has an upper carrying surface 91 and a lower control surface 92 (which can be a split structure or an integrated structure); the upper carrying surface 91 is partially sunken to form a container for accommodating quality control processes bearing space (as shown in Figure 3); said upper bearing surface 91 is also provided with at least one positioning rod 93 at the corners of said bearing space; as shown in Figure 4, said lower control surface 92 part A machine arm extends into a groove 94, and at least one card slot 95 is provided on the side wall of the machine arm into the groove 94; at the same time, the lower control surface 92 is also provided with the positioning of the storage limit of the bearing device 9. Slot 96. Optionally, the positioning rod 93 has a positioning surface, and the positioning surface can be partially attached to the orifice plate carried by the carrying device 9; the positioning surface is a plane or a curved surface; the corner of the carrying space There are two positioning rods 93, and the positions of the two positioning rods 93 and the apex positions of the corners form a right triangle, preferably an isosceles triangle.

In some other embodiments, the carrying device 9 includes a main body of the carrying device 9, a positioning rod 93, a machine arm extending into a groove 94, and a card slot 95; the main body of the carrying device 9 is a concave integrated product, preferably a concave titanium alloy products. The four corners of the main body of the carrying device 9 have positioning rods 93, and each corner of the positioning rods 93 has 1 or 1 pair; the positioning rods 93 are cylindrical metal rods, and the number of diagonal positioning rods 93 is the same. A cylindrical metal rod can be used for positioning, a pair of positioning rods 93 are used for two corners, and a single positioning rod 93 is used for the other two corners, and the corresponding positioning effect can be achieved by performing overall positioning. The bottom of the main body of the carrying device 9 has a robotic arm extending into the groove 94 for the grasping portion of the robotic arm. The edge of the bottom of the robotic arm extending into the groove 94 has a positioning groove 96 to facilitate the mounting of the carrying device 9 on the corresponding bracket. The inwall of described robot arm stretches into groove 94 has the draw-in groove 95 that opens and locks for robot arm grasping. Described draw-in groove 95 has a pair and docking setting, and machine arm stretches into groove 94 opposite angles and is respectively provided with a draw-in groove 95 to facilitate the clamping of machine arm end, and the machine arm that diagonally sets enters from both ends can be stuck.

In some other embodiments, in order to meet the placement requirements of different goods, the bottom of the carrying space is a plane or a surface provided with several limiting holes; the limiting holes have matching centrifuge tube bottom wall, EP tube bottom wall , The concave surface of the bottom wall of the syringe needle or the bottom wall of the tube without heat source. By controlling the depth of the concave surface and the thickness of the upper bearing surface 91 , the placement requirements of different goods can be realized.

The working process of the carrying device 9 in the above embodiment is as follows: after the robot arm picks up the orifice plate, it is put into the carrying device 9 from directly above, and the orifice plate is fixed by the positioning rod 93 and the concave structure (carrying space) after being put in; After the grippers of the robotic arm are closed, they go deep into the bottom of the wide position of the carrying device 9; then unfold the grippers, and the grippers fit into the slot 95 at the bottom of the carrying device 9; then move the robotic arm to drive the carrying device 9, and then the Perform the following operations on the orifice plate: transfer (the transfer of the orifice plate is driven by the robot arm), tilt (the gripper of the robot arm rotates 30° clockwise. It can drive the carrying device 9 and the orifice plate therein, and then the orifice plate can be moved liquid or adding liquid), storage (the robot arm stays at the designated place, slowly place the carrying device 9 on the table, shrink the jaws, the carrying device 9 can be released, and then pulled out from the bottom of the carrying device 9 to complete the placement of the orifice plate ).

Corresponding to the carrying device 9 , FIG. 8 shows a schematic structural view of the operator A of the robotic arm A1 of the present application.

In order to match the automatic control program of the present application and the carrying device 9, in some embodiments, as shown in FIG. 7, the robot arm A1 has an operating hand A formed by a first finger 11 and a second finger 12; The first finger 11 and the second finger 12 are arranged in parallel and can slide relative to each other. The faces facing each other are respectively defined as the first clamping surface 13 and the second clamping surface, and the faces opposite to each other are defined as The first claw surface and the second claw surface; the operating hand is also provided with a camera system A; the camera system A is connected to the control system C; the first clamping surface 13 is set at the clamping position There is a first clamping slot, the second clamping surface is provided with a second clamping slot 15 at the clamping position, the first clamping slot and the second clamping slot 15 are in the The first finger 11 and the second finger 12 cooperate to form a clamping part during the sliding process; the first claw surface is partially recessed to form a first clamping groove, and the second claw surface is partially depressed to form a second clamping groove, The first clamping slot and the second clamping slot cooperate to form a claw clamping part; at the same time, part of the first clamping slot protrudes to form a limiting protrusion 14, which clamps the carrying device on the robot arm A1 9 o'clock cooperates with the positioning groove 96 to realize the relative fixation of the carrying device 9 relative to the operator A of the robot arm A1.

The first clamping surface 13 has a continuously arranged plane section, an inclined plane section and a groove section; the second clamping surface has a continuously arranged plane section, an inclined plane section and a groove section; the first clamping surface 13 and the slope opening of the slope section of the second clamping surface extend to the groove section of the first clamping surface 13, so as to promote the groove to have a smaller depth and a smaller moving distance to complete Clamping of goods. The clamping position is set on the groove segment.

Optionally, the end of the first finger 11 is provided with a pressing end 16; the refrigerator group and the incubator both use push-close doors.

In some embodiments, the robotic arm B2 has at least one operating hand B, the operating hand B has a first operating finger 21, a second operating finger 22, and monitors the first operating finger 21 and the second operating finger. Refers to the camera system B25 of 22; the camera system B25 is connected to the control system C. Wherein, the front of the first operation finger 21 has a first continuous recess 23 (the shape of each recess in the continuous recess is different); the front of the second operation finger 22 has a second continuous recess 24 in the continuous recess. The shape of each recess is different); the first continuous recess 23 and the second continuous recess 24; the first operating finger 21 and the second operating finger 22 can slide toward each other, during the sliding process The first continuous concave part 23 and the second continuous concave part 24 can form several continuous clamping parts of different shapes, so as to meet the requirements of centrifuge tubes (15mL, 50mL, etc.), sterile culture bottles, non-pyrogenic tubes, culture tubes, etc. The clamping of various containers such as dish, EP tube, ampoule bottle; The openings of the surface structures adjoin each other.

Optionally, in order to facilitate more precise operations, the quality inspection area Q is laid out with robotic arm B2 and robotic arm C3, and robotic arm B2, robotic arm C3 and the robotic arm A1 are all located on the same straight line to ensure For straight-line transmission. Since actions such as cap screwing operations are involved in the quality control process, the robot arm C3 is provided with two operators.

Example 3

The goods storage area G and the quality inspection area Q are arranged separately to ensure the independence and freedom of the respective work of the robotic arms in the two, and to avoid crosstalk between the robotic arms in the two. Of course, in other embodiments, if the interference between different robot arms can be avoided through the design of the control program, the goods storage area G and the quality inspection area Q can also adopt other layouts suitable for specific experimental environments.

The goods storage area G is provided with a rotating shelf 4, a refrigerator group, an incubator and a robot arm A1. In some embodiments, in order to facilitate the layout and the positioning of the operation site by the robot arm A1, the rotating shelf 4, the refrigerator group (such as a 4°C refrigerator, a -20°C refrigerator 8 and a -80°C refrigerator Box 7) and cell culture box 6 are arranged around three surfaces in the rotation direction of the robot arm A1. Since the revolving shelf 4 needs regular replenishment, the application arranges it on the edge of the entire positive pressure environment, the refrigerator group occupies one adjacent position, the cell culture box 6 occupies the other adjacent position, and the machine Arm A1 occupies its counter position; this position design not only ensures that goods can be loaded manually or by machine without intervening in the ultra-clean workbench area of robot arm A1, but also ensures that robot arm A1 can reach the rotating shelf 4, refrigerator group and Various control points of the incubator. The robot arm A1 controls the goods, devices and equipment in the goods storage area G, and transmits related goods to the robot arm located in the quality inspection area Q, effectively ensuring the convenience in the quality control process.

In some application examples, the carousel 4 is manually loaded, and a buffer room is provided near the carousel 4 during manual loading, and the buffer room adopts a negative pressure environment. In other application examples, the carousel 4 is loaded by a robot arm. If the robot arm is used to load the goods, the transfer window (prior art) with ultra-clean function is used to transfer, and the robot arm is sequentially loaded at the set position; or the non-machine arm A1 operating position of the rotating shelf 4 is set to load the goods The robot arm A1 is provided with a goods transmission buffer outside the goods storage area G. The goods transmission buffer is provided with a conveyor belt, and the robot arm A1 takes out the goods at a fixed point from the conveyor belt and loads the goods.

As shown in FIG. 2 , a schematic structural diagram of the carousel 4 of the present application.

In the example shown in FIG. 2 , the rotating shelf 4 includes: a driving mechanism, a rotating disk 42 and a shelf 43 .

The driving mechanism adopts the servo motor 41 to provide the driving force, and the servo motor 41 is provided with a zero return device, which is used to realize the zero return of the rotating disk 42 after each filling of goods, so as to ensure the accuracy of the operation of the robot arm A1. Wherein, the input control of the servo motor 41 adopts the input of the analog quantity to control, and the analog quantity input when the servo motor 41 controls the rotation of the rotating shelf 4 at different angles is different, so as to ensure that the rotating shelf 4 is rotated every time the servo motor 41 controls the rotation of the rotating shelf 4. The goods on the rotary shelf 4 can not vibrate visibly to the naked eye within the time range from the start of the rotation to the stop of the rotation. The specific input analog quantity can be obtained by finite element analysis method. The specific finite element analysis method can be obtained by those skilled in the art in combination with existing finite element analysis techniques. At the same time, the allowable moment of inertia load of the preferred servo motor 41 is 250N.m; the allowable thrust load is 800kgf, the allowable input speed is less than 2000r/min, and the reduction ratio is 1:20.

The rotating disc 42 is arranged with several shelves 43 in an annular array, and can be driven by the drive mechanism to rotate at any angle. In order to reduce weight, there is a wire hole in the middle of the rotating disk 42; there are several hollow holes (preferably 6-10) on any circumference of the rotating disk 42; Disc centerline setting. The shelves 43 are arranged on the outer circle of the hollow hole in an equicircumferential manner.

Optionally, the center position of the bottom of the rotating disk 42 is driven by the driving mechanism through a rotating column. In order to prevent foreign matter from causing the rotation of the rotating disk 42 to be blocked, the rotating disk 42 is mounted on a base 57, the rotating column is built in the base 57, and a passage for the rotating column to pass is reserved on the base 57. hole. The base 57 forms a protective cover for the rotating column and a support for the rotating disk 42, effectively stabilizing the installation of the large-capacity storage shelf 43 to meet the stable requirements of manipulation. In order to meet the requirements of forward rotation and reverse rotation of the servo motor 41, the servo motor 41 is connected to the rotating column through a gear transmission, of course, it can also be carried out by means of belt transmission.

Optionally, each shelf 43 is provided with an identifier for disclosing the information of the goods on the shelf 43 (the identifier adopts a barcode or a two-dimensional code, and all identifiers correspond to specific goods respectively), and several shelves 43 are provided. The goods placing part, each goods placing part is provided with a goods limiting protrusion and a goods detecting mechanism. In some embodiments, the shelf 43 adopts four columns to form the main body, and the columns are connected by cross beams; each shelf 43 is provided with several loading platforms in a manner of unequal height; The first support and the second support on the column, the goods are jointly supported by the first support and the second support through the carrying device 9 . Preferably, the first support or the second support is provided with a limiting protrusion at the position supporting the carrying device 9 to ensure that the goods do not shift or fall off when the rotating disk 42 rotates.

In some embodiments, for the product detection mechanism, an infrared sensor is installed at the four corners of the top bracket of the shelf 43, and an infrared sensor is installed on the top of each shelf 43, and each time a product box is put in or taken out , the control system will record accordingly.

In some embodiments, the goods detection mechanism adopts a total weight sensor arranged on the rotating disk 42, and a weight sensor is separately set up on each first support or second support of each shelf 43, and all weight sensors adopt Control system records. The control system prompts the rotating shelf 4 to supplement corresponding goods according to the data of each gravity sensor.

Optionally, in order to realize the maximum amount of storage and to facilitate the removal or insertion of goods by the robot arm A1 and manually, the shelves 43 have 24 columns, and each shelf 43 has 10 sets of first supports and second supports, This height can meet the scope of manual supplementary loading. Each carousel 4 can hold a total of 240 boxes of consumables, and the large cargo capacity can be suitable for various experimental needs.

Optionally, due to the heavy load of the rotating disk 42, in order to save energy and increase the service life of the servo motor 41, each column of the shelf 43 adopts a structure with four concave surfaces to reduce the weight of the rotating disk. 42 load.

During specific operations, there is a barcode (two-dimensional code) pasting board on the front side of each stage unit of the shelf 43, and the barcode (two-dimensional code) for storing consumables for this row of shelves 43 will be pasted on the outside of the top of each independent shelf 43. ), the robot arm A1 will scan the barcode (QR code) before picking up the goods, and at the same time control the atlas A and perform the image verification of the operation of the robot arm A1. The consumable box can only be removed if necessary.

In some embodiments, in order to simplify the control procedure, the way of placing or taking out goods on the rotating shelf 4 is as follows: there are N shelves 43, and the same product is placed on each shelf 43, and each shelf 43 corresponds to a separate Identifier; the servo motor 41 controls the rotating disk 42 to rotate the minimum angle to realize the robot arm A1 to pick up the goods, and the control method is,

Define the position where the robot arm A1 places or takes out the goods on the rotary shelf 4 as the zero rotation position of the rotary shelf 4; mark the shelf 43 that was originally at the zero position, and record its identifier as the serial number NO 1, and turn clockwise in turn In the direction, the shelves 43 are sequentially recorded as serial numbers NO 2...NO n...NO N, wherein n is a positive integer between 1 and N;

When the serial number of the shelf 43 in the zero rotation position is NO n, the serial number of the shelf 43 that the robot arm A1 needs to pick up is NO k, and k is defined as a positive integer between 1 and N, and N is a positive integer greater than 1;

If k is greater than n, then judge whether k-n is greater than N/2, if greater, then servo motor 41 controls rotating shelf 4 to rotate counterclockwise (N-k+n)*360°/N, if less than, servo motor 41 controls rotating shelf 4 Turn clockwise (k-n)*360°/N;

If k is less than n, then judge whether n-k is greater than N/2, if greater, servo motor 41 controls rotating shelf 4 to rotate clockwise (N-n+k)*360°/N, if less than, servo motor 41 controls rotating shelf 4 Turn (n-k)*360°/N counterclockwise.

As shown in Figure 4, the layout of the refrigerator or incubator of the present application.

In some embodiments, the refrigerator group includes refrigerators with different temperature requirements such as refrigerators at 4°C, refrigerators at -20°C, and refrigerators at -80°C. The incubator is arranged side by side with one or more refrigerators in the refrigerator group. In order to facilitate the operation of the robot arm, two adjacent refrigerated boxes, or an adjacent refrigerated box and an incubator adopt a door-to-door mode; Position signal switch. The door opening position signal switch shown is used to remind the system that the refrigerator or incubator door is open and the robot arm can be operated. At the same time, the door opening position signal switch can also ensure that the robot arm A1 can be positioned at a fixed point for precise door closing operation. The door-opening position signal switch is provided with an angle sensor between the door and the box (the box of the incubator or refrigerator), or a mechanical signal trigger switch is set at the maximum opening to prompt the opening to reach the target value.

Example 4

The quality inspection area Q is set on the other side of the rotation direction of the robot arm A1, and is equipped with at least one robot arm B2 and a quality inspection device; the robot arm B2 is used to receive the goods delivered by the robot arm A1 And operate the quality inspection and detection device to detect related goods. In order to meet the requirements of quality inspection, a robotic arm C3 is also provided. The robotic arm A1, the robotic arm B2 and the robotic arm C3 are located on the same straight line, and the goods of the robotic arm C3 come from the transmission of the robotic arm B2. The robot arm B2 and the robot arm C3 complete different quality inspection contents in the quality inspection area Q, and the two have area division and work program division.

The quality inspection and detection devices include real-time fluorescent quantitative PCR (qPCR) instruments, endotoxin gel analyzers, cell resuscitators, centrifuges of various specifications, microplate readers, plate washers, and sterile culture instruments to meet different needs. , Ultra-clean workbench 5, flow cytometer, nucleic acid extractor, sealing machine and other quality inspection equipment. At the same time, there is also a temporary storage area for goods in front of the corresponding instruments and equipment to meet the work needs of related equipment. The robotic arm B2 uses various methods such as buttons, touch screens, and rotary knobs to control related equipment. And all quality inspection and detection devices have relevant operation limiters when they are in use.

Such as a centrifuge, the centrifuge has an automatic cover opening mechanism, and the automatic cover opening mechanism is provided with a cover opening limiter to ensure that the robot arm C3 can accurately complete the opening and closing of the centrifuge. The centrifuge also has a drive mechanism (driven by a servo motor 41) and a centrifugal rotor driven by the drive mechanism to rotate. The zero setting controlled by the servo motor 41 can effectively control the centrifugal rotor to return to the initial position each time, so that the robot arm C3 can place and take out the centrifuge tube in the most convenient way.

In particular, since the real-time temperature of the centrifuge cannot be grasped in the automatic program, in some embodiments, the centrifuge also includes an emergency braking mechanism; The helix of alloy and the emergency stop button that is located on the servomotor 41; The helix has a ring-shaped heating body formed by helical action; The ring-shaped heating body has two extension ends with flanges; The first state of the spiral body is that the annular heating body is in clearance fit with the drive shaft (the transmission part connecting the servo motor 41 and the centrifugal rotor); the second state of the spiral body is that the annular heating body is attached to the The surface of the drive shaft; when the extension end is in the second state of the screw body, the flange opens the emergency stop button, and when the screw body is in the first state, the flange and the emergency stop button The buttons have a set distance.

In the technology of this embodiment, the annular heating body is formed by spiraling a surface with a certain width, and the surface is subjected to radiant heat generated by the drive shaft during the working process of the centrifuge. Since the heat generated during the working process of the centrifuge is mainly due to the frictional heat generated by the rotation of the drive shaft, the annular heating body in this technical solution can well simulate the heat received by the centrifugal container in the first state, and it is better than the heat received by the centrifugal container. To be more sensitive (because it is the closest to the drive shaft and receives the most radiant heat), there is a certain temperature perception difference between the annular heating body and the centrifuge rotor. The temperature perception difference is different for different centrifuge sizes, so it can be calculated through experiments and theoretical calculations. Ways to design the temperature at which martensite-austenite transformation occurs in shape memory alloys with two-way memory effect (that is, the temperature at which the ring-shaped heating body changes from the first state to the second state or from the second state to the first state temperature). When the radiant heat received by the annular heating body is greater than the phase transition temperature, the annular heating body undergoes a phase transition, that is, changes from the first state to the second state. Since the second state is designed to be that the annular heating body is attached to the surface of the drive shaft, at this time the annular heating body obtains heat from the drive shaft through heat transfer. When the heat is not enough to maintain the annular heating body to continue to maintain the second state, the annular heating body will change from the second state to the first state. At this time, the ambient temperature sensed by the centrifugal rotor is much lower than that of the annular heating body The heat at which a phase transition occurs.

Simultaneously, the flange releases the opening of the emergency brake button, and the control system can start and control the servo motor 41 . More preferably, the surface of the servo motor 41 is provided with a chute on the moving path of the phase-changing flange of the annular heating body, so as to ensure that the annular heating body will not rotate due to the force of the flange. Also able to solve the problem of the rotation of the annular heating body is that the surface of the flange is provided with a touch head, and the surface of the servo motor 41 is provided with a touch-type emergency brake button. The design of this embodiment effectively guarantees the harm to cell culture caused by centrifuge failure or overheating after continuous long-term work. Through theoretical design and limited number of experimental verifications, the most reasonable phase transition temperature of the annular heating body can be well obtained. Designing a specific shape memory alloy material with two-way memory effect through the phase transition temperature can be realized through the research on shape memory alloys in the prior art, and will not be described in detail in this application.

FIG. 5 shows a schematic structural view of the ultra-clean workbench 5 of the present application.

Described quality inspection area Q comprises ultra-clean bench 5; Described ultra-clean bench 5 has the open operation space that comprises bottom surface, top surface, back side 51 and two sides 52 formations (open area is convenient for machine arm operation One side, relative to the ultra-clean workbench 5 of prior art lacks glass baffle); Define described top surface as the face that is arranged relative to described bottom surface; Define described back 51 as connecting described bottom surface and described top surface The face is also the opposite face for the operation of the robot arm; the side face 52 is defined as the face connecting the bottom face, the top face and the back face 51 at the same time. Since the ultra-clean workbench 5 of the prior art is in order to ensure the cleanliness of the working environment, the diameter depth of the top surface (the depth that the machine arm can go straight into) is less than the diameter depth of the bottom surface. When used for the automatic quality control system of the present application, Continue to use the top-down negative pressure environment of the ultra-clean workbench 5 of the prior art, then the cleanliness during the operation of the robot arm cannot be guaranteed, so this application redesigns the environment of the ultra-clean workbench 5 based on the open operation space requirements . That is to say, in some embodiments, the back surface 51 of the ultra-clean workbench 5 is provided with air holes, and the wind pressure of the air holes is greater than the wind pressure of the positive pressure environment.

In particular, in order to facilitate the operation of the robot arm, the ultra-clean workbench 5 includes a rack set, a pipette gun 55 set, an operating support frame set and a waste liquid treatment device arranged in an open work area. In some embodiments, the back 51 of the ultra-clean workbench 5 is provided with several oblique flow air holes on the top and several advection air holes on the bottom, and the wind direction of the oblique flow air holes is relative to the ultra-clean work area. The operating plane of the table 5 has an inclination angle of 10°-70°; The purpose is to change the environment of the open work area of the whole ultra-clean workbench 5. Its principle of action is that if the back 51 is used to set the direct air hole, due to the obstruction of the rack group and the pipette gun 55 groups in the work area, the back of the obstruction will be blocked. The air pressure of 51 will be higher than the air pressure on the front of the barrier, which will easily lead to air pressure difference, and even produce slight turbulent gas, which cannot ensure that the working area is in a complete working environment of B level and above. In these embodiments, the alternate air flow of advection and oblique flow can effectively avoid the air pressure difference in the working area and ensure that the entire working area is in a stable positive pressure environment.

Optionally, in order to further optimize the airflow and avoid the generation of micro-turbulence, the several oblique flow air holes have different wind pressures from top to bottom, and the wind pressure of the air outlet of the oblique flow air holes located below is greater than that of the oblique flow air located above. The wind pressure of the hole, so that the wind on the back side of the barrier 51 can pass through the barrier and have the same or close flow velocity as the wind on the front of the barrier. The wind direction of the advection air hole is opened from the middle position of the back side 51 of the ultra-clean workbench 5 to both sides, so that the middle part of the back side 51 of the ultra-clean workbench 5 forms a limit negative pressure zone, which is located in the middle The wind of the oblique flow air hole below the section is blocked by the barrier, and the flow direction changes, and then quickly replenishes to the limit negative pressure area, and is driven by the wind of the advection air hole to quickly and smoothly disperse, so as to avoid the air outlet of the advection air hole directly acting behind the barrier The reflection creates a turbulent airflow.

FIG. 6 shows the schematic structure of the waste liquid treatment device of the present application.

The waste liquid treatment device includes a waste liquid treatment end located in the working area, a waste liquid collection end, a disinfectant storage end and a press 59 located outside the work area.

In some embodiments, the waste liquid treatment end is provided with a waste liquid treatment barrel base 57 and a waste liquid treatment barrel 56 placed in the waste liquid treatment barrel placement groove; the waste liquid treatment barrel 56 includes The cylindrical barrel body at the upper end and the funnel-shaped structure at the lower end, the funnel-shaped structure is inserted into the placement groove of the waste liquid treatment barrel.

In some embodiments, the waste liquid collection end includes a waste liquid collection barrel 581 , and the liquid inlet of the waste liquid collection barrel 581 is connected to the funnel-shaped structure of the waste liquid treatment barrel 56 through a hose.

In some embodiments, the disinfectant storage end includes a disinfectant liquid storage tank 582 with a liquid spray pipeline 561; the liquid outlet end of the liquid spray pipeline 561 is arranged around a circular section of the cylindrical barrel, And the liquid outlet end is provided with several disinfection nozzles.

In some embodiments, the press 59 is connected to the liquid above the waste liquid collection barrel 581 through a pipeline, and provides negative pressure for the waste liquid collection barrel 581; above the liquid level of the disinfectant liquid storage barrel 582 and provide positive pressure for the disinfectant liquid liquid storage barrel 582 .

A schematic structural diagram of the storage rack group as shown in FIG. 7 .

The shelf group includes a static shelf 53 and a dynamic shelf 54 .

The static storage rack 53 adopts a box structure with a hollow structure. The cargo carrying device 9 is placed on the top surface of the box. The side surface 52 of the box can be a mirror surface, or a 316 stainless steel panel with a roughness ranging from 0.6 μm to 1.0 μm. Preferably, the height of the static storage rack 53 is higher than the height of the dynamic storage rack 54, and is positioned between the dynamic storage rack 54 and the back side 51 of the ultra-clean workbench 5, and the inside of the ultra-clean workbench 5 is prevented from being polluted by the height difference. At the same time, it provides convenience for the operation of the robot arm.

The dynamic rack 54 includes a rack body 541 and a rack support surface 542 , the rack support surface 542 can rotate around the rack body 541 on one side, and can move up and down relative to the rack body 541 on the other side. During its design, the rack support surface 542 can be installed on the rack body 541 with a drive shaft and a drive shaft sleeve, and the drive shaft is driven by the drive motor to rotate, so that the rack support surface 542 is rotated around the side. That is, ensure that the support surface 542 of the rack has an inclined angle, so as to facilitate operations such as pipetting of liquid by the robot arm B2. Or one side of the rack supporting surface 542 is installed on the rack body 541 in the form of a hinge, and the other side uses a lifting cylinder to promote the rack to rotate relative to the rack body 541, which is highly controllable Also high stability.

The pipette gun 55 is a Bluetooth pipette gun 55, and the range of the pipette gun 55 can be regulated through the control system.

In some embodiments, in order to facilitate the sterilization of the ultra-clean workbench 5, the top surface of the ultra-clean workbench 5 has a set slope, and the top surface is provided with an ultraviolet lamp, and the irradiation direction of the ultraviolet lamp is perpendicular to the top surface; the roughness of the bottom surface of the ultra-clean workbench 5 is between 0.6 μm-1.0 μm. Utilize the light of the ultraviolet lamp and the set roughness surface of the working area and the side 52 of the static rack 53 to realize the scattering, refraction and reflection of the ultraviolet light and finally achieve the complete sterilization of the ultra-clean workbench 5 .

In some embodiments, the side 52 of the ultra-clean workbench 5 is also provided with an ultraviolet lamp.

In some embodiments, the quality inspection area Q is also provided with a waste collection device, a transport device and a sterilization device;

The waste collection device includes at least two waste barrels; the inner wall of the waste barrel is provided with a light signal sensor at a set height, and the light signal of the light signal sensor can cover the waste barrel of the waste barrel at this height. Cross-section; when the height of the waste in the waste bin exceeds the height of the light signal, the light signal is blocked, and the waste bin is transported out of the quality inspection area Q through the transmission device.

One end of the conveying device is set in the quality inspection area Q, and the other end extends out of the quality inspection area Q; the waste barrel is placed on the conveying device; when the waste barrel is emptied, the conveyor belt transports the waste barrel Go to QC area Q.

The sterilizing area of the sterilizing device can cover a section of the transmission device extending out of the quality inspection area Q, and is mainly used for the waste barrels entering from the outside to be sterilized before entering the quality inspection area Q, and the sterilized The method can be ultraviolet sterilization or high temperature sterilization.

Claims (14)

1. A fully automatic quality control system, characterized in that, comprising,

   The goods storage area and the quality inspection area are arranged in a positive pressure environment; the goods storage area is equipped with a number of goods, a robot arm A for operating the goods, and a camera system A for monitoring the manipulation of the robot arm A. The inspection area is equipped with a number of quality inspection devices for quality inspection of goods, at least one robot arm B that accepts the goods transmitted by the robot arm A and operates the quality inspection device to perform quality inspection on the goods, and controls the robot arm B. A camera system B that monitors actions by manipulating them;

   It also includes a control system, which has a built-in collection of several control processes of the robot arm A, a set A of image groups of each control site formed according to the time flow corresponding to each control process of the robot arm A, and a collection of several control processes of the robot arm B. And a set B of image groups of each manipulation site formed according to the time flow corresponding to each manipulation process of the robotic arm B;

   At the same time, the control system has a built-in image verification unit, which is used to combine the real-time video stream A of the robot arm A obtained by the camera system A for a certain control process with the image of the control site. The control image group corresponding to the control process in the set A of the corresponding control process is compared according to the time point; and the real-time video stream B used to carry out a certain control process of the robot arm B acquired by the camera system B, and the control The control image groups corresponding to the control process in the set B of the site image groups are compared according to time points;

   Definition, the time point is the time when the robot arm A or robot arm B arrives at the set control position after the control process is started and the time when the control process starts is superimposed.
2. A fully automatic quality control system according to claim 1, characterized in that, when there are two or more robotic arms B, each robotic arm B is set up in different areas, and each robotic arm B is in its own area The independent operation completes the quality inspection or transmission of the goods in their corresponding areas; each robot arm B is equipped with a camera system B.
3. A fully automatic quality control system according to claim 1, wherein the movement path of the robotic arm A is as follows:

   When the robot arm B is one, the robot arm A takes the center of the robot arm A as the origin O1, and takes the line where the robot arm A and the robot arm B are located as the X axis to pass through the origin O1 and be perpendicular to A coordinate system A is established in the X-axis direction as the Y-axis; the specific coordinates of the operating position of the robot arm A in the coordinate system A are designed in a double insurance manner with the shortest path and no obstructions on the movement path;

   When there are two or more robotic arms B, the robotic arm A takes the center of the robotic arm A as the origin O1, and takes the straight line where the robotic arm A and the robotic arm B closest to the robotic arm A is located. is the X-axis, establish a coordinate system A as the Y-axis passing through the origin O1 and perpendicular to the X-axis direction; use the shortest path and the specific coordinates of the operating site of the robot arm A in the coordinate system A Double insurance design with no obstructions on the movement path.
4. A fully automatic quality control system according to claim 1, characterized in that, the image verification unit checks the operation accuracy of the robotic arm in the following manner, and the robotic arm is robotic arm A or robotic arm B ;

   When the robot arm performs a single control process: the image verification unit will collect the real-time video stream of the robot arm performing the control process acquired by the camera system, and compare the real-time video stream with the control corresponding to the control process The site image group is compared according to time points; the video stream is video stream A or video stream B;

   When the robotic arm performs two or more manipulation processes: the image verification unit acquires the start time of each manipulation process, and compares the time points in the image group of the manipulation site corresponding to each manipulation process with the start time of each manipulation process Time superimposition, sorting all the manipulation site images of all manipulation processes after superimposition according to time points after superimposition, and finally comparing the real-time video stream with the sorted manipulation site images according to time points.
5. A fully automatic quality control system according to claim 1, characterized in that, the control system is provided with a collection of control points for each control process of the robot arm; The positioning device; the control system is used to receive the robot arm control position information fed back by the positioning device, and perform matching check with the control position point of the corresponding control process; the robot arm is the robot arm A or the robot arm b.
6. The fully automatic quality control system according to claim 1, wherein the goods are carried by a carrying device during the conveying process; the carrying device has an upper carrying surface and a lower control surface;

   The upper bearing surface is partially sunken to form a bearing space for accommodating containers for the quality control process; the upper bearing surface is also provided with at least one positioning rod at a corner of the bearing space;

   The lower control surface is partly indented to form a machine arm extending groove, and at least one card slot is provided on the side wall of the machine arm extending into the groove; at the same time, the lower control surface is also provided with a bearing device storage limit the positioning slot.
7. A fully automatic quality control system according to claim 6, wherein the bottom of the carrying space is a plane or a surface provided with several limit holes; the limit holes have matching centrifuge tube bottom wall, The concave surface of the bottom wall of the EP tube, the bottom wall of the syringe needle or the bottom wall of the non-pyrogenic tube.
8. A fully automatic quality control system according to claim 1, wherein the goods are stored on a rotating shelf; the rotating shelf includes:

   The driving mechanism adopts a servo motor to provide driving force, and the servo motor is provided with a zero return device;

   The rotating disk is driven by the drive mechanism to rotate at any angle; and,

   A plurality of shelves arranged on the rotating disk in a circular array; the shelves are provided with a plurality of goods placement parts, and each goods placement part is provided with a goods limit protrusion and a goods detection mechanism;

   Wherein, each shelf is used to store the same kind of goods, and each shelf is equipped with an identifier for disclosing the information of the same kind of goods on the shelf;

   The goods detection mechanism adopts an infrared detection device or a weight sensing device.
9. A fully automatic quality control system according to claim 8, characterized in that, the servo motor controls the rotating disk to rotate at a minimum angle to realize the robot arm A to place or take out goods, and the control method is as follows:

   Define the position where the robot arm A puts or takes out the goods on the rotary shelf as the zero rotation position of the rotary shelf; mark the shelf that was originally at the zero position, and record its identifier as serial number NO 1, and turn the shelves clockwise It is recorded as the serial number NO 2...NO n...NO N, where n is a positive integer between 1 and N, and N is a positive integer;

   When the serial number of the shelf at the zero rotation position is NO n, the serial number of the shelf that the robotic arm needs to pick up is NO k, and k is defined as a positive integer between 1 and N, and N is a positive integer greater than 1;

   If k is greater than n, judge whether k-n is greater than N/2, if it is greater, the servo motor will control the rotating shelf to rotate counterclockwise (N-k+n)*360°/N, if it is smaller, the servo motor will control the rotating shelf to rotate clockwise ( k-n)*360°/N;

   If k is less than n, judge whether n-k is greater than N/2. If it is greater, the servo motor will control the rotating shelf to rotate clockwise (N-n+k)*360°/N. If it is smaller, the servo motor will control the rotating shelf to rotate counterclockwise ( n-k)*360°/N.
10. A fully automatic quality control system according to claim 1, wherein the quality inspection area includes a clean bench; the clean bench has a bottom surface, a top surface, a back surface and two sides formed An open operation space; define the top surface as a surface arranged relative to the bottom surface; define the back surface as the surface connecting the bottom surface and the top surface, and also be the opposite surface for the operation of the robot arm; defining said side as a face simultaneously connecting said bottom face, said top face and said back face;

    The back side of the ultra-clean workbench is provided with a wind hole, and the wind pressure of the wind hole is greater than the wind pressure of the positive pressure environment.
11. A fully automatic quality control system according to claim 10, characterized in that, the upper part of the back of the ultra-clean workbench is provided with several oblique flow air holes and several advection air holes at the lower part, and the wind direction of the oblique flow air holes is It has an inclination angle of 10°-70° relative to the operating plane of the ultra-clean workbench; the wind direction of the advection air hole is parallel to the operating plane of the ultra-clean workbench.
12. A fully automatic quality control system according to claim 10, characterized in that the top surface of the ultra-clean workbench has a set slope, and the top surface is provided with an ultraviolet lamp, the ultraviolet lamp The irradiation direction is perpendicular to the top surface; the roughness of the bottom surface of the clean bench is between 0.6 μm and 1.0 μm.
13. A fully automatic quality control system according to claim 1, wherein the quality inspection area is also provided with a waste liquid treatment device; the waste liquid treatment device includes a waste liquid disposed in the positive pressure environment The processing end, the waste liquid collection end, the disinfectant storage end and the press located outside the positive pressure environment;

    The waste liquid treatment end is provided with a base with a waste liquid treatment barrel placement slot and a waste liquid treatment barrel placed in the waste liquid treatment barrel placement slot; the waste liquid treatment barrel includes a cylindrical barrel body at the upper end and A funnel-shaped structure at the lower end, the funnel-shaped structure is inserted into the placement groove of the waste liquid treatment barrel;

    The waste liquid collection end includes a waste liquid collection barrel, and the liquid inlet of the waste liquid collection barrel is connected to the funnel-shaped structure of the waste liquid treatment barrel through a hose;

    The disinfectant storage end includes a disinfectant liquid storage tank with a liquid spray pipeline; the liquid outlet end of the liquid spray pipeline surrounds a circular section of the cylindrical barrel, and the liquid outlet end is arranged with several Disinfection spout;

    The press is connected to the liquid surface of the waste liquid collection barrel through a pipeline to provide negative pressure for the waste liquid collection barrel; the press is connected to the liquid surface of the disinfectant liquid storage barrel through another pipeline Above, positive pressure is provided for the disinfectant liquid storage tank.
14. A fully automatic quality control system according to claim 1, wherein the quality inspection area is also provided with a waste collection device, a transmission device and a sterilization device;

    The waste collection device includes at least two waste barrels; the inner wall of the waste barrel is provided with a light signal sensor at a set height, and the light signal of the light signal sensor can cover the waste barrel of the waste barrel at this height. section;

    One end of the transmission device is set in the quality inspection area, and the other end extends out of the quality inspection area; the waste bucket is placed on the transmission device;

    The sterilizing area of the sterilizing device can cover a section of the conveying device extending outside the quality inspection area.

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