阅读说明：本技术 一种智能全自动生物样本离心机器人 (Intelligent full-automatic biological sample centrifugal robot ) 是由 曹玉 于 2021-06-22 设计创作，主要内容包括：本发明涉及离心机器人设备技术领域,尤其涉及一种智能全自动生物样本离心机器人,一种智能全自动生物样本离心机器人,包括机器人主体,所述机器人主体为水平放置的不规则形,且机器人主体的表面前后两端设有滑槽,所述机器人主体的左右两端通过转动连接的机械仿生手臂。本发明结构简单、操作简便,通过设置的机械仿生手臂的设置,解决了目前生物样本离心机,纯手工,贴条码容易出错的问题,同时通过设置的试管套,有效的防止了试管脱落的问题,同时通过试管套上的第一定位装置和机械仿生手臂上第二定位装置,提高了整体工作效率,降低了生成成本,通过设置的摄像装置,解决了目前生物样本离心机过程记录不完整的问题。(The invention relates to the technical field of centrifugal robot equipment, in particular to an intelligent full-automatic biological sample centrifugal robot which comprises a robot main body, wherein the robot main body is irregularly-shaped and is horizontally arranged, sliding grooves are formed in the front end and the rear end of the surface of the robot main body, and the left end and the right end of the robot main body are mechanical bionic arms which are connected in a rotating mode. The mechanical bionic arm is arranged, so that the problem that the existing biological sample centrifuge is purely manual and easily makes mistakes when bar codes are pasted is solved, the problem that test tubes fall off is effectively solved through the arranged test tube sleeve, the overall working efficiency is improved through the first positioning device on the test tube sleeve and the second positioning device on the mechanical bionic arm, the generation cost is reduced, and the problem that the existing biological sample centrifuge is incomplete in process record is solved through the arranged camera device.)

1. The utility model provides a full-automatic biological sample centrifugal robot of intelligence, includes robot main part (1), its characterized in that: the robot comprises a robot main body (1), sliding grooves (2) are arranged at the front end and the rear end of the surface of the robot main body (1), mechanical bionic arms (3) connected with the left end and the right end of the robot main body (1) in a rotating mode are arranged at the front end and the rear end of the surface of the robot main body (1), a robot head (4) fixedly connected with the top of the robot main body (1), a base (5) fixedly connected with the bottom of the robot main body (1), a first servo motor (43) fixedly connected with the bottom of the interior of the robot main body (1), a mounting plate (6) is connected with the top of the first servo motor (43), a first electric push rod (7) is fixedly connected with the right end of the mounting plate (6), a first chassis (8) is fixedly connected with the surface of an extension shaft of the first electric push rod (7), and a first test tube sleeve (11) is arranged at the top of the first chassis (8) in a sliding connection mode, the bottom of the first test tube sleeve (11) is provided with a first push plate (12), the left end of the mounting plate (6) is fixedly connected with a fourth electric push rod (39), the surface of an extending shaft of the fourth electric push rod (39) is fixedly connected with a second chassis (40), the top of the second chassis (40) is connected with a second test tube sleeve (41) in a sliding manner, the bottom of the second test tube sleeve (41) is provided with a second push plate (42), the bottoms of the second push plate (42) and the first push plate (12) are fixedly connected with a return spring (13), the bottoms of the second push plate (42) and the first push plate (12) are provided with a third electric push rod (14), the bottoms of the inner walls of the first test tube sleeve (11) and the second test tube sleeve (41) are provided with a first positioning device (15), the top end of the inner wall of the robot main body (1) is fixedly connected with a fixed block (16), a snake-shaped bent pipe (18) is fixedly connected with the surface of the fixed block (16), a camera device (19) is fixedly connected with the bottom of the snake-shaped bent pipe (18), the top end of the inner wall of the robot main body (1) is fixedly connected with an electric slide rail (36), and the bottom of the electric slide rail (36) is fixedly connected with a fifth electric push rod (20), and the bottom of the fifth electric push rod (20) is fixedly connected with a return plate (21), the bottom end in the return plate (21) is fixedly connected with a piston cylinder (22), a distance sensor (37) is arranged at the bottom of the piston cylinder (22), a pressing plate (23) is fixedly connected with the top of the piston cylinder (22), the top of the pressing plate (23) is fixedly connected with a second electric push rod (24), and the top of the second electric push rod (24) is fixedly connected with the clip-shaped plate (21), and a printer (38) is fixedly connected to the left side surface of the robot main body (1).

2. The intelligent full-automatic biological sample centrifugation robot of claim 1, wherein: the inside sliding connection of spout (2) has shield (10), shield (10) and spout (2) constitute sliding construction, shield (10) are made by ya keli material.

3. The intelligent full-automatic biological sample centrifugation robot of claim 1, wherein: the palm of the mechanical bionic arm (3) is provided with a second positioning device (34), and the mechanical bionic arm (3) and the robot main body (1) form a fixed structure.

4. The intelligent full-automatic biological sample centrifugation robot of claim 1, wherein: robot head (4) are the level irregularly shaped of placing, and the inside of robot head (4) is equipped with artificial intelligence chip (17), both ends are equipped with microphone (32) about the surface of robot head (4), the top fixed connection of robot head (4) has camera (25).

5. The intelligent full-automatic biological sample centrifugation robot of claim 1, wherein: the base (5) are irregularly shaped and horizontally arranged, a bottom fixedly connected with base plate (26) of the base (5) is provided, the front and back ends of the bottom of the base plate (26) are fixedly connected with sliding wheels (35), the bottom of the base plate (26) is provided with a pair of grooves (27), the top of the base plate (26) is connected with a rotating shaft (28) through rotation, the left end and the right end of the rotating shaft (28) are fixedly connected with rotating wheels (33), the surface of the rotating shaft (28) is fixedly connected with a first bevel gear (29), the top of the base (5) is fixedly connected with a second servo motor (30), and an extending shaft of the second servo motor (30) is fixedly connected with a second bevel gear (31).

6. The intelligent full-automatic biological sample centrifugation robot of claim 1, wherein: the first push plate (12) and the second push plate (42) are provided with three groups, the inner walls and the surfaces of the first test tube sleeve (11) and the second test tube sleeve (41) are provided with rubber rings (9), and the first chassis (8) and the second chassis (40) are identical in structure.

7. The intelligent full-automatic biological sample centrifugation robot of claim 4, wherein: the artificial intelligence chip (17) is connected with the mechanical bionic arm (3), the first electric push rod (7), the camera device (19), the fifth electric push rod (20), the second electric push rod (24), the third electric push rod (14), the camera (25), the second servo motor (30), the microphone (32), the electric sliding rail (36), the distance sensor (37), the printer (38) and the fourth electric push rod (39) through wires.

Technical Field

The invention relates to the technical field of centrifugal robot equipment, in particular to an intelligent full-automatic biological sample centrifugal robot.

Background

A Robot (Robot) is an intelligent machine that can work semi-autonomously or fully autonomously. Historically, the earliest robots are puppet robots built by the inventor of the inventor according to the images of Liu 25219, the robots are provided with organs and have the capabilities of sitting, standing, worship, lying and the like, the robots have basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improve the working efficiency and quality, serve the life of the human beings, and expand or extend the range of activities and capabilities of the human beings.

The existing biological sample centrifuge is purely manual, a bar code is easy to make mistakes, process records are incomplete, and pipes are wrongly arranged.

Disclosure of Invention

The invention aims to provide an intelligent full-automatic biological sample centrifugal robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

an intelligent full-automatic biological sample centrifugal robot comprises a robot main body, wherein the robot main body is horizontally arranged irregularly, sliding grooves are formed in the front end and the rear end of the surface of the robot main body, mechanical bionic arms are connected with the left end and the right end of the robot main body in a rotating mode, the top of the robot main body is fixedly connected with a robot head, the bottom of the robot main body is fixedly connected with a base, a first servo motor is fixedly connected with the bottom of the interior of the robot main body, a mounting plate is connected with the top of the first servo motor in a fixing mode, a first electric push rod is fixedly connected with the right end of the mounting plate, a first chassis is fixedly connected with the surface of an extending shaft of the first electric push rod, a first test tube sleeve is connected with the top of the first chassis in a sliding mode, a first push plate is arranged at the bottom of the first test tube sleeve, and a fourth electric push rod is fixedly connected with the left end of the mounting plate, the extension shaft of the fourth electric push rod is fixedly connected with a second chassis, the top of the second chassis is connected with a second test tube sleeve through a sliding way, the bottom of the second test tube sleeve is provided with a second push plate, the bottom of the second push plate and the bottom of the first push plate are fixedly connected with a reset spring, the bottom of the second push plate and the bottom of the first push plate are provided with a third electric push rod, the bottom of the inner wall of the first test tube sleeve and the bottom of the inner wall of the second test tube sleeve are provided with a first positioning device, the top end of the inner wall of the robot main body is fixedly connected with a fixed block, the surface of the fixed block is fixedly connected with a snake-shaped elbow, the bottom of the snake-shaped elbow is fixedly connected with a camera device, the top end of the inner wall of the robot main body is fixedly connected with an electric slide rail, the bottom of the electric slide rail is fixedly connected with a fifth electric push rod, and the bottom of the fifth electric push rod is fixedly connected with a return plate, the robot is characterized in that a piston cylinder is fixedly connected to the bottom end of the inner portion of the return-shaped plate, a distance sensor is arranged at the bottom of the piston cylinder, a pressing plate is fixedly connected to the top of the piston cylinder, a second electric push rod is fixedly connected to the top of the pressing plate, the top of the second electric push rod is fixedly connected with the return-shaped plate, and a printer is fixedly connected to the left side face of the robot main body.

Preferably, the inside sliding connection of spout has the shield, the shield constitutes sliding construction with the spout, the shield is made by ya keli material.

Preferably, the palm of the mechanical bionic arm is provided with a second positioning device, and the mechanical bionic arm and the robot main body form a fixed structure.

Preferably, the robot head is the irregularly shaped of level placement, and the inside of robot head is equipped with artificial intelligence chip, both ends are equipped with the microphone about the surface of robot head, the top fixed connection of robot head has the camera.

Preferably, the base is irregularly shaped and is horizontally arranged, a bottom fixedly connected with base plate is arranged at the bottom of the base, a front connecting end and a rear connecting end of the bottom of the base plate are fixedly connected with sliding wheels, a pair of grooves are formed in the bottom of the base plate, a rotating shaft is connected to the top of the base plate through rotation, the rotating wheels are fixedly connected to the left end and the right end of the rotating shaft, a first bevel gear is fixedly connected to the surface of the rotating shaft, a second servo motor is fixedly connected to the top of the base, and a second bevel gear is fixedly connected to an extending shaft of the second servo motor.

Preferably, the first push plate and the second push plate are provided with three groups, the inner walls and the surfaces of the first test tube sleeve and the second test tube sleeve are provided with rubber rings, and the first chassis and the second chassis are identical in structure.

Preferably, the artificial intelligence chip is connected with the mechanical bionic arm, the first electric push rod, the camera device, the fifth electric push rod, the second electric push rod, the third electric push rod, the camera, the second servo motor, the microphone, the electric slide rail, the distance sensor, the printer and the fourth electric push rod through wires.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention has simple structure and simple and convenient operation, solves the problem that the existing biological sample centrifuge is purely manual and is easy to make mistakes when pasting bar codes through the arrangement of the mechanical bionic arm and the artificial intelligent chip, effectively prevents the problem that a test tube falls off through the arranged test tube sleeve, and improves the overall working efficiency and reduces the generation cost through the first positioning device on the test tube sleeve and the second positioning device on the mechanical bionic arm;

2. according to the invention, the problem of incomplete process record of the current biological sample centrifuge is solved through the arranged artificial intelligence chip and the camera device, the movement is more convenient through the arranged sliding wheel, great convenience is brought to users, and the use of a robot is more facilitated through the arranged limiting bolt;

3. according to the invention, the problem of wrong tube distribution in the process of the existing biological sample centrifuge is solved through the arranged artificial intelligence chip, the second electric push rod and the piston cylinder, the protective performance of the robot main body is improved through the arranged box door, meanwhile, the artificial intelligence chip and the microphone are arranged, the robot has rich language communication capacity, the integral practicability and applicability are improved, and the robot is more convenient and faster.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a schematic front view of the present invention;

FIG. 3 is a schematic main sectional view of the present invention;

FIG. 4 is a schematic main sectional view of a base according to the present invention;

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

FIG. 6 is a schematic top view of a first chassis of the present invention;

FIG. 7 is a side view of the first chassis of the present invention;

fig. 8 is a schematic block diagram of the present invention.

In the figure: 1. a robot main body; 2. a chute; 3. a mechanical bionic arm; 4. a robot head; 5. a base; 6. mounting a plate; 7. a first electric push rod; 8. a first chassis; 9. a rubber ring; 10. a dust cover; 11. a first test tube sleeve; 12. a first push plate; 13. a return spring; 14. a third electric push rod; 15. a first positioning device; 16. a fixed block; 17. an artificial intelligence chip; 18. a snake-shaped bent pipe; 19. a camera device; 20. a fifth electric push rod; 21. a return plate; 22. a piston cylinder; 23. a pressing plate; 24. a second electric push rod; 25. a camera; 26. a base plate; 27. a groove; 28. a rotating shaft; 29. a first bevel gear; 30. a second servo motor; 31. a second bevel gear; 32. a microphone; 33. a rotating wheel; 34. a second positioning device; 35. a sliding wheel; 36. an electric slide rail; 37. a distance sensor; 38. a printer; 39. a fourth electric push rod; 40. a second chassis; 41. a second test tube sleeve; 42. a second push plate; 43. a first servo motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 to 8, the present invention provides a technical solution: an intelligent full-automatic biological sample centrifugal robot comprises a robot main body 1, wherein the robot main body 1 is in an irregular shape which is horizontally placed, sliding grooves 2 are formed in the front end and the rear end of the surface of the robot main body 1, a mechanical bionic arm 3 is rotatably connected with the left end and the right end of the robot main body 1, a robot head 4 is fixedly connected with the top of the robot main body 1, a base 5 is fixedly connected with the bottom of the robot main body 1, a first servo motor 43 is fixedly connected with the bottom inside the robot main body 1, a mounting plate 6 is connected with the top of the first servo motor 43 in a bearded mode, a first electric push rod 7 is fixedly connected with the right end of the mounting plate 6, a first chassis 8 is fixedly connected with the surface of an extending shaft of the first electric push rod 7, a first test tube sleeve 11 is connected with the top of the first chassis 8 in a sliding mode, a first push plate 12 is arranged at the bottom of the first test tube sleeve 11, a fourth electric push rod 39 is fixedly connected with the left end of the mounting plate 6, a second chassis 40 is fixedly connected with the surface of an extending shaft of the fourth electric push rod 39, a second test tube sleeve 41 is slidably connected with the top of the second chassis 40, a second push plate 42 is arranged at the bottom of the second test tube sleeve 41, a reset spring 13 is fixedly connected with the bottoms of the second push plate 42 and the first push plate 12, a third electric push rod 14 is arranged at the bottoms of the second push plate 42 and the first push plate 12, a first positioning device 15 is arranged at the bottoms of the inner walls of the first test tube sleeve 11 and the second test tube sleeve 41, a fixed block 16 is fixedly connected with the top end of the inner wall of the robot main body 1, a snake-shaped bent tube 18 is fixedly connected with the surface of the fixed block 16, a camera device 19 is fixedly connected with the bottom of the snake-shaped bent tube 18, an electric slide rail 36 is fixedly connected with the top end of the inner wall of the robot main body 1, and a fifth electric push rod 20 is fixedly connected with the bottom of the electric slide rail 36, the bottom of the fifth electric push rod 20 is fixedly connected with a return-shaped plate 21, the bottom end of the inside of the return-shaped plate 21 is fixedly connected with a piston cylinder 22, the bottom of the piston cylinder 22 is provided with a distance sensor 37, the top of the piston cylinder 22 is fixedly connected with a pressing plate 23, the top of the pressing plate 23 is fixedly connected with a second electric push rod 24, the top of the second electric push rod 24 is fixedly connected with the return-shaped plate 21, and the left side surface of the robot main body 1 is fixedly connected with a printer 38.

The scheme has the following working processes:

when in use, a person places a test tube in the first test tube sleeve 11, the upper part of the test tube is positioned at the upper side of the first test tube sleeve 11, the cryopreserved tube is placed in the second test tube sleeve 41, the upper part of the cryopreserved tube is positioned at the upper side of the second test tube sleeve 41, labeling is convenient, a printer 38 prints out a bar code, the artificial intelligence chip 17 controls the first electric push rod 7 to push out the first chassis 8, the third electric push rod 14 is started to sequentially push out the first test tube sleeves 11 in the same row in a step shape to avoid influencing labeling, the cryopreserved tubes are sequentially pushed out, the artificial intelligence chip 17 of the robot head 4 sequentially controls the mechanical bionic arm 3 to paste the bar codes on the test tube and the cryopreserved tube, after the bar codes are pasted, the artificial intelligence chip 17 controls the first electric push rod 7 to push back the first chassis 8, meanwhile, the artificial intelligence chip 17 starts the first servo motor 43 to drive the mounting plate 6 to separate the test tube, the artificial intelligence chip 17 controls the camera device 19 to record the test tube in separation, after the separation is completed, the artificial intelligence chip 17 controls the electric slide rail 36 to a proper position, then the fifth electric push rod 20 is started, the second electric push rod 24 is started at the same time, the test tube in the first test tube sleeve 11 is extracted, after the extraction is completed, the artificial intelligence chip 17 controls the electric slide rail 36 to a proper position, the fifth electric push rod 20 is started, the second electric push rod 24 is started at the same time, the test tube in the second test tube sleeve 41 is injected, after the injection is completed, the artificial intelligence chip 17 controls the fourth electric push rod 39, and the second chassis 40 is pushed out to the rear of the robot main body 1, so that the working principle of the invention is completed.

According to the working process, the following steps are known:

the invention has simple structure and simple and convenient operation, solves the problem that the existing biological sample centrifuge is only manually operated and is easy to make mistakes when pasting bar codes by the arrangement of the mechanical bionic arm 3 and the artificial intelligent chip 17, effectively prevents the test tube from falling off by the arranged test tube sleeve, and improves the whole working efficiency and reduces the generation cost by the first positioning device 15 on the test tube sleeve and the second positioning device 34 on the mechanical bionic arm 3; the problem of incomplete process record of the conventional biological sample centrifuge is solved by the aid of the artificial intelligent chip 17 and the camera device 19, the centrifuge is more convenient to move by the aid of the sliding wheel 35, great convenience is brought to users, and the centrifuge is more beneficial to use of a robot by the aid of the limiting bolt; through artificial intelligence chip 17, second electric putter 24 and the piston cylinder 22 that sets up, solved the problem of present biological sample centrifuge process branch wrong pipe, through the chamber door that sets up, improved the barrier propterty of robot main part 1, simultaneously through artificial intelligence chip 17 and the microphone 32 that sets up, have abundant language and exchange the ability, improved holistic practicality and suitability, convenient and fast more.

Further, the inside sliding connection of spout 2 has dust cover 10, and dust cover 10 constitutes sliding structure with spout 2, and dust cover 10 is made by ya keli material.

Furthermore, a second positioning device 34 is arranged at the palm of the mechanical bionic arm 3, and the mechanical bionic arm 3 and the robot main body 1 form a fixed structure.

Further, robot head 4 is the irregularly shaped of level placement, and the inside of robot head 4 is equipped with artificial intelligence chip 17, and both ends are equipped with microphone 32 about the surface of robot head 4, and the top fixed connection of robot head 4 has camera 25.

Further, the base 5 is the irregularly shaped of level placement, and the bottom fixedly connected with bottom plate 26 of base 5, the bottom of bottom plate 26 is continuous fixed connection's before and after has a movable pulley 35, and the bottom of bottom plate 26 is equipped with a pair of recess 27, there is axis of rotation 28 bottom 26's top is through rotating the connection, and both ends add fixed connection have the rotating wheel 33 about axis of rotation 28, there is first bevel gear 29 the fixed surface connection of axis of rotation 28, there is second servo motor 30 the top fixed connection of base 5, and there is second bevel gear 31 the extension shaft fixed connection of second servo motor 30.

Furthermore, the first push plate 12 and the second push plate 42 are provided with three sets, the inner walls and the surfaces of the first test tube sleeve 11 and the second test tube sleeve 41 are provided with rubber rings 9, and the first chassis 8 and the second chassis 40 have the same structure.

Further, the artificial intelligence chip 17 is connected with the mechanical bionic arm 3, the first electric push rod 7, the camera device 19, the fifth electric push rod 20, the second electric push rod 24, the third electric push rod 14, the camera 25, the second servo motor 30, the microphone 32, the electric slide rail 36, the distance sensor 37, the printer 38 and the fourth electric push rod 39 through wires.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.