CN113172643A - Laboratory automatic logistics system robot - Google Patents

Abstract

The invention provides a robot of an automatic logistics system in a laboratory, and relates to the field of logistics robots. This automatic logistics system robot in laboratory, including objective table and mobile robot body, the fixed upper end that sets up at the mobile robot body of objective table, the back lateral wall of objective table leans on upper end department to be provided with industry flat board, control panel and numeric keyboard, industry flat board and numeric keyboard are located same horizontal plane, are located the fixed autonomic button that is provided with on the objective table lateral wall of industry flat board and numeric keyboard upper end, the fixed speaker that is provided with in top one side of objective table. The robot moves based on laser navigation, the path is flexible, multiple safety settings are achieved, obstacles in the process of advancing are avoided, the safety of the robot is improved, the obstacles are automatically avoided, the changeable requirement of the line is met, the manpower is replaced by the robot in the process of transportation, the cost is greatly reduced, the efficiency is improved, and delivery errors can be avoided.

Description

Laboratory automatic logistics system robot

Technical Field

The invention relates to the technical field of logistics robots, in particular to a robot of an automatic logistics system in a laboratory.

Background

The BUS system is a tool in lean logistics systems through which orderly flow of items (including laboratory samples) can be achieved, covering various links such as delivery, transportation, transfer, sorting, distribution, and the like.

The conventional BUS system is used for carrying and delivering a cargo for a BUS personnel trolley, runs once every fixed time, and realizes point-to-point transportation through manual recording or identification tasks, and comprises a TIC industry (a third party detection industry is also generally called the TIC industry and comprises three categories of detection (Testing), Inspection (Inspection) and authentication (verification)), and the current BUS system mainly adopts manual transportation.

With the diversification of the business of third-party laboratories, the requirements on the labor for the operation of the BUS system are higher and higher. On one hand, the product line in a laboratory is abundant, and the number of workers needs to be increased; on the other hand, the increase of the traffic requires more contents of manual memory, identification and transportation, and the working strength of corresponding brain and physical strength is improved. Meanwhile, the manual memory task is complex and various, the error probability is increased to a certain degree, and the lag of the task is improved due to untimely response.

The following shortcomings mainly exist when the current artificial BUS system is applied to logistics operation in a laboratory: (1) the existing detection industry comprises a plurality of works such as delivery, transportation, transfer, sorting, distribution and the like, has a plurality of working procedures, needs a plurality of full-time or part-time personnel, and has high labor cost; (2) the conventional laboratory BUS system needs a cart to carry objects to move at multiple points in a laboratory area, and high-frequency operation cannot be realized temporarily due to high working intensity, so that a certain hysteresis property appears in tasks; (3) the existing laboratory BUS system needs to manually memorize the target position of each cargo when in multitask, and when the tasks are frequent, the probability of errors in taking and sending the goods is high, so that detection accidents are caused; (4) the existing laboratory BUS system cannot avoid the risk of transporting chemicals by laboratory personnel; (5) the existing laboratory BUS system cannot realize contactless transmission between people, and effective isolation is achieved.

To sum up, in order to ensure normal and easy operation of laboratory logistics, a laboratory automatic logistics system robot needs to be designed.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a robot of an automatic logistics system in a laboratory, which solves the problems that the existing logistics system in the laboratory is carried out manually, so that the cost is high, the labor intensity is high, the error rate is high, and meanwhile, workers can contact chemicals.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: the laboratory automatic logistics system robot comprises an object stage and a mobile robot body, wherein the object stage is fixedly arranged at the upper end of the mobile robot body, an industrial flat plate, a control panel and a numeric keyboard are arranged on the upper end of the rear side wall of the object stage, the industrial flat plate and the numeric keyboard are positioned on the same horizontal plane, an autonomous button is fixedly arranged on the side wall of the object stage positioned at the upper end of the industrial flat plate and the numeric keyboard, a loudspeaker is fixedly arranged on one side of the top end of the object stage, lateral laser is fixedly arranged at the centers of two sides of the top end of the object stage, an emergency stop button is arranged at the center of two sides of the top end of the object stage, a three-color lamp is arranged at the center of the top end of the object stage, wireless communication heads are arranged on two sides of the three-color lamp, and the wireless communication heads are connected to the top end of the object stage;

be provided with polylith goods shelves bottom plate between the inside wall of objective table, the polylith all be provided with polylith goods shelves baffle between the goods shelves bottom plate and between goods shelves bottom plate and the objective table top.

Preferably, the goods shelves bottom plate is that the slope of high back low before, and is placed, and is a plurality of the rear side of goods shelves bottom plate all is provided with the reservoir, and the lower extreme of reservoir runs through the goods shelves bottom plate, the top and the bottom of reservoir all are provided with the coupling, the lower extreme of coupling is connected with the honeycomb duct, the lower extreme of honeycomb duct is connected to the coupling of the reservoir top of below, and the coupling of the reservoir below of lower floor's goods shelves bottom plate is connected with the fluid-discharge tube, and the bottom of fluid-discharge tube runs through the objective table bottom and leads to the outer end.

Preferably, the bottom end of the shelf partition board is provided with a diversion trench.

Preferably, the goods shelves bottom plate and goods shelves baffle divide into a plurality of goods stations with the objective table inner, and all be provided with the pilot lamp on the goods shelves bottom plate lateral wall that every goods station corresponds.

Preferably, a plurality of sonar detectors are arranged at the bottom end of the rear wall of the object stage.

Preferably, the workflow of the laboratory automated logistics system robot comprises the following steps:

s1, scanning a working point map by a robot, then establishing a self-running map of the robot, and marking a standby point and a working site on the map;

s2, setting a calling terminal at each station, wherein the calling terminals at different stations are connected into a robot network through different codes;

s3, the worker sends a task to the robot through the calling terminal, and the robot supports task superposition;

s4, automatically planning a path by the robot according to the tasks, and then completing all the tasks in sequence;

and S5, after the task is finished, the robot stops at a standby point nearby.

8. Preferably, the specific steps of planning the path by the robot in S4 are as follows:

a. receiving a new task in the running process of the robot, firstly judging whether a task is in the current state, if so, performing the step b, otherwise, performing the step c;

b. d, judging whether the task end point is closer to the new task end point or not, if so, performing the step d, and otherwise, performing the step e;

c. automatically planning the shortest path to the standby point, and then performing step f;

d. planning the shortest path to execute the current task, then planning the shortest path to execute a new task, and then performing the step f;

e. planning the shortest path to execute a new task, then planning the shortest path to execute the current task, and then performing the step f;

f. and the operation is finished when the mobile terminal goes to a standby point.

(III) advantageous effects

The invention provides a robot of an automatic logistics system in a laboratory. The method has the following beneficial effects:

1. the robot designed by the invention moves based on laser navigation, has flexible path, is provided with the front main laser, the side laser and the rear sonar, and is provided with multiple safety settings, so that obstacles in the process of traveling are avoided, the safety of the robot is improved, the obstacles are automatically avoided, and the requirement of variable lines is met.

2. The robot designed by the invention adopts an inclined object carrying platform design, realizes automatic drainage through the liquid storage device and the flow guide pipe, and keeps the warehouse location of the object carrying platform clean and tidy.

3. The robot designed by the invention can realize real-time task receiving and a multi-task cooperative processing mode, improves the transportation timeliness and effectively avoids multi-task processing error accidents.

4. The robot designed by the invention replaces BUS personnel, so that the personnel cost can be saved, meanwhile, the risk of conveying chemicals by the personnel is effectively avoided by machine transportation, the contact between the people is reduced in a specific period or in a special environment, the risk of mutual infection is reduced, the operation frequency is improved, and the overall office efficiency is improved.

Drawings

FIG. 1 is a northeast isometric view of the structure of the present invention;

FIG. 2 is a side view of the structure of the present invention;

FIG. 3 is a front cross-sectional view of the structure of the present invention;

FIG. 4 is a rear view of the structure of the present invention;

FIG. 5 is a front view of the present invention;

FIG. 6 is a bottom view of the structure of the present invention;

FIG. 7 is a top view of the structure of the present invention;

FIG. 8 is a northwest isometric view of the structure of the present invention;

FIG. 9 is a schematic flow chart of the robot path planning process of the present invention;

FIG. 10 is a diagram of a calling terminal according to the present invention;

fig. 11 is a simplified view of a robot control interface according to the present invention.

Wherein, 1, an object stage; 2. a three-color lamp; 3. a wireless communication head; 4. a speaker; 5. lateral laser; 6. independently pressing a key; 7. a numeric keypad; 8. an industrial flat plate; 9. a control panel; 10. a diversion trench; 11. an emergency stop key; 12. an indicator light; 13. a shelf floor; 14. a sonar detector; 15. a liquid discharge pipe; 16. a mobile robot body; 17. a reservoir; 18. a pipe joint; 19. a flow guide pipe; 20. a shelf clapboard.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example (b):

as shown in fig. 1-8, an embodiment of the present invention provides a robot for a laboratory automatic logistics system, including an object stage 1 and a mobile robot body 16, the mobile robot body 16 is a high-load AGV cart, the mobile robot body 16 is provided with a front main laser for identifying a front path, the object stage 1 is fixedly disposed at an upper end of the mobile robot body 16, a rear side wall of the object stage 1 is provided with an industrial flat plate 8, a control panel 9 and a numeric keypad 7 near the upper end, the control panel 9 is provided with a robot startup and shutdown key, a display screen on the panel can display information of a current robot task, a target point, a fault, etc., the industrial flat plate 8 and the numeric keypad 7 are located on the same horizontal plane, the side wall of the object stage 1 at the upper ends of the industrial flat plate 8 and the numeric keypad 7 is fixedly provided with an autonomous key 6, the industrial flat plate 8 is used for human-computer interaction, the input and the confirmation of the information after the materials are taken and placed are finished, the numeric keyboard 7 is used for assisting man-machine information interaction, the entity key input of the information is finished through the self-definition of the numeric keyboard 7, and the autonomous key 6 can self-define the relevant functions of the robot, such as reversing, charging, material taking confirmation and material placing confirmation.

A loudspeaker 4 is fixedly arranged on one side of the top end of the objective table 1, lateral lasers 5 are fixedly arranged at the centers of the two sides of the top end of the objective table 1, is used for scanning barriers at the left side and the right side during the moving of the robot and avoiding collision during the moving and turning, the centers of the two sides of the top end of the objective table 1 are both provided with an emergency stop key 11, the three-color lamp 2 is arranged at the center of the top end of the objective table 1 and used for displaying the working state of the robot, the wireless communication heads 3 are arranged at the two sides of the three-color lamp 2, the wireless communication head 3 is connected with the top end of the objective table 1, the wireless communication head 3 is used for receiving task information sent by workers, the bottom end of the rear wall of the objective table 1 is provided with a plurality of sonar detectors 14, the sonar detectors 14 can detect the condition of the rear end of the robot, the combination of the front main laser and the lateral laser 5 ensures that the robot can avoid obstacles in the movement process summary.

Be provided with 4 goods shelves bottom plate 13 between the inside wall of objective table 1, all be provided with a plurality of goods shelves baffle 20 between 4 goods shelves bottom plate 13 and between goods shelves bottom plate 13 and the 1 top of objective table, 4 goods shelves bottom plate 13 and goods shelves baffle 20 divide into 9 goods stations with 1 inner of objective table, 3 big 6 little, and 1 inboard adoption anticorrosive material of objective table makes, and all be provided with pilot lamp 12 on the 13 lateral wall of goods shelves bottom plate that every goods station corresponds, guiding gutter 10 has been seted up to the bottom of goods shelves baffle 20.

The shelf base plate 13 is placed in an inclined manner with a high front and a low rear, the inclination angle is set to 5 degrees in the embodiment, the liquid storage devices 17 are arranged on the rear sides of the shelf base plate 13, the lower end of the liquid storage device 17 penetrates through the shelf bottom plate 13, the top end and the bottom end of the liquid storage device 17 are respectively provided with a pipe joint 18, the lower end of the pipe joint 18 is connected with a flow guide pipe 19, the lower end of the flow guide pipe 19 is connected with the pipe joint 18 above the liquid storage device 17 below, the pipe joint 18 below the liquid storage device 17 of the lowest shelf bottom plate 13 is connected with a liquid discharge pipe 15, the bottom end of the liquid discharge pipe 15 penetrates through the bottom end of the objective table 1 to be communicated with the outer end, when the robot stops suddenly during moving to cause liquid cargo to be splashed, the liquid moves backwards along the inclined shelf bottom plate 13, flows into the inner end of the liquid storage device 17 through the diversion trench 10, then flows to the bottom end of the object stage 1 through the guide pipe 19 and is discharged through the discharge pipe 15, so that the cleanness of the inner end of the object stage 1 is ensured.

The working process of the robot of the laboratory automatic logistics system comprises the following steps:

s1, a robot scans a whole environment map by means of laser of the robot, a robot running map is established, standby points and work stations are marked on the map, and each work station can be used as a starting point and a destination of a task;

s2, each station needs to be provided with a calling terminal, and calling terminals of different stations are connected into a robot network through different codes;

s3, the running route of the robot can be flexibly set according to the working requirement, when the robot stands by or executes tasks, a worker can send the tasks to the robot through a calling terminal, the robot supports task superposition, the robot circularly runs according to the main route during multi-task, the tasks sent by the traveling route station are executed in real time, the shortest route between the current position and the required station is taken as the priority for executing the tasks, and the robot can independently plan the shortest route during single-task running;

s4, automatically planning a path by the robot according to the tasks, and then completing all the tasks in sequence;

and S5, after the task is finished, the robot stops at a standby point nearby.

As shown in fig. 9, the specific steps of the robot planning path are as follows:

a. receiving a new task in the running process of the robot, firstly judging whether a task is in the current state, if so, performing the step b, otherwise, performing the step c;

b. d, judging whether the task end point is closer to the new task end point or not, if so, performing the step d, and otherwise, performing the step e;

c. automatically planning the shortest path to the standby point, and then performing step f;

d. planning the shortest path to execute the current task, then planning the shortest path to execute a new task, and then performing the step f;

e. planning the shortest path to execute a new task, then planning the shortest path to execute the current task, and then performing the step f;

f. and the operation is finished when the mobile terminal goes to a standby point.

Each site calls through a call terminal when issuing a task, and a call terminal interface displays a current task, a next task, a task list, and a current site number of the robot, as shown in fig. 10. The calling to the robot is manually controlled through a 'calling' or 'canceling' key, the calling state of the interface can display whether the robot is successfully called, the queue condition of the current task can be inquired in real time through a 'task list' of the interface, and the current task can be 'deleted' or 'suspended'.

When a material taking task is received, the robot goes to a corresponding station, voice prompt in-place information is played through the loudspeaker 4, materials are manually placed on the corresponding storage positions of the object stage 1, and the material placement storage positions and the station conveying numbers are input through the robot industrial flat plate 8 interface, as shown in fig. 11, the autonomous key 6 is operated, the material feeding completion confirmation information is given to the robot, the material receiving task is completed, and feeding is performed on the corresponding target station. When the robot reaches a feeding target station, the robot manually takes materials through voice prompt, the indicating lamp 12 is used for lighting and displaying a material storage position to be taken, and after manual material taking is finished, the robot is given material taking completion confirmation information through controlling the automatic key 6, so that a feeding task is finished.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (7)

1. Laboratory automation logistics system robot, including objective table (1) and mobile robot body (16), its characterized in that: the mobile robot is characterized in that the objective table (1) is fixedly arranged at the upper end of a mobile robot body (16), an industrial flat plate (8), a control panel (9) and a numeric keyboard (7) are arranged at the position, close to the upper end, of the rear side wall of the objective table (1), the industrial flat plate (8) and the numeric keyboard (7) are located on the same horizontal plane, an autonomous key (6) is fixedly arranged on the side wall of the objective table (1) at the upper end of the industrial flat plate (8) and the numeric keyboard (7), a loudspeaker (4) is fixedly arranged on one side of the top end of the objective table (1), lateral lasers (5) are fixedly arranged at the centers of the two sides of the top end of the objective table (1), emergency stop keys (11) are arranged at the centers of the two sides of the top end of the objective table (1), a three-color lamp (2) is arranged at the centers of the top end of the objective table (1), wireless communication heads (3) are arranged at the two sides of the three-color lamp (2), the wireless communication head (3) is connected to the top end of the objective table (1);

be provided with polylith goods shelves bottom plate (13) between the inside wall of objective table (1), polylith all be provided with polylith goods shelves baffle (20) between goods shelves bottom plate (13) and objective table (1) top.

2. The laboratory automated logistics system robot of claim 1, wherein: shelf bottom plate (13) are the slope of high back low before being placed, and are a plurality of the rear side of shelf bottom plate (13) all is provided with reservoir (17), and the lower extreme of reservoir (17) runs through shelf bottom plate (13), the top and the bottom of reservoir (17) all are provided with coupling (18), the lower extreme of coupling (18) is connected with honeycomb duct (19), the lower extreme of honeycomb duct (19) is connected to coupling (18) of reservoir (17) top of below, and coupling (18) of reservoir (17) below of lower floor shelf bottom plate (13) are connected with fluid-discharge tube (15), and the bottom of fluid-discharge tube (15) runs through objective table (1) bottom and leads to the outer end.

3. The laboratory automated logistics system robot of claim 1, wherein: the bottom end of the shelf partition board (20) is provided with a diversion trench (10).

4. The laboratory automated logistics system robot of claim 1, wherein: the inner end of the objective table (1) is divided into a plurality of goods stations by the shelf bottom plates (13) and the shelf partition plates (20), and the outer side wall of the shelf bottom plate (13) corresponding to each goods station is provided with an indicator lamp (12).

5. The laboratory automated logistics system robot of claim 1, wherein: the bottom end of the rear wall of the object stage (1) is provided with a plurality of sonar detectors (14).

6. The laboratory automated logistics system robot of claim 1, wherein: the work flow of the laboratory automatic logistics system robot comprises the following steps:

s1, scanning a working point map by a robot, then establishing a self-running map of the robot, and marking a standby point and a working site on the map;

s2, setting a calling terminal at each station, wherein the calling terminals at different stations are connected into a robot network through different codes;

s3, the worker sends a task to the robot through the calling terminal, and the robot supports task superposition;

s4, automatically planning a path by the robot according to the tasks, and then completing all the tasks in sequence;

and S5, after the task is finished, the robot stops at a standby point nearby.

7. The laboratory automated logistics system robot of claim 6, wherein: the specific steps of the robot planning path in the step S4 are as follows:

a. receiving a new task in the running process of the robot, firstly judging whether a task is in the current state, if so, performing the step b, otherwise, performing the step c;

b. d, judging whether the task end point is closer to the new task end point or not, if so, performing the step d, and otherwise, performing the step e;

c. automatically planning the shortest path to the standby point, and then performing step f;

d. planning the shortest path to execute the current task, then planning the shortest path to execute a new task, and then performing the step f;

e. planning the shortest path to execute a new task, then planning the shortest path to execute the current task, and then performing the step f;

f. and the operation is finished when the mobile terminal goes to a standby point.

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