CN-122008169-A - Self-adaptive clamping AGV system for chemical synthesis automatic platform

CN122008169ACN 122008169 ACN122008169 ACN 122008169ACN-122008169-A

Abstract

The invention discloses a self-adaptive clamping AGV system for a chemical synthesis automation platform, and relates to the field of intelligent laboratory automation equipment. The system comprises an AGV chassis, a lifting upright post, a multi-degree-of-freedom clamping actuator, a sensing system and a control system. The multi-degree-of-freedom clamping actuator comprises a sealed double-shaft universal joint mechanism, a modularized quick-change clamping jaw and a miniature six-dimensional force/moment sensor. The sealed double-shaft universal joint mechanism adopts a perfluoro ether rubber sealing ring and a hastelloy sleeve to form a full-sealed structure, so that 90-degree pitching and 360-degree yawing movement are realized. The sensing system comprises a visual camera for identifying the pose of the material basket. And the control system dynamically adjusts the clamping gesture and the clamping force according to the visual information and the feedback of the force sensor, so that the flexible grabbing is realized. The invention has compact structure and strong corrosion resistance, can self-adaptively grasp the material basket with any placement angle, accurately control the clamping force, and is suitable for the automatic carrying of various materials in a chemical synthesis automatic platform.

Inventors

CHEN XIAOYI
ZENG WENGUI
HUANG KAIJUN
SUN FENG

Assignees

宁波兴博元智能技术有限公司

Dates

Publication Date: 20260512
Application Date: 20260306

Claims (8)

1. An adaptive clamping AGV system for a chemical synthesis automation platform, comprising: the AGV chassis is integrated with a navigation module, a power supply and a main controller; The lifting stand column is arranged on the AGV chassis and used for driving the multi-degree-of-freedom clamping actuator to lift along the vertical direction; The multi-degree-of-freedom clamping actuator comprises a sealed double-shaft universal joint mechanism, a modularized quick-change clamping jaw and a miniature six-dimensional force/moment sensor, wherein the miniature six-dimensional force/moment sensor is arranged between the sealed double-shaft universal joint mechanism and the modularized quick-change clamping jaw; the sensing system comprises a visual camera arranged on the AGV chassis or the lifting upright post and is used for identifying the pose of the target material basket; The control system is respectively and electrically connected with the AGV chassis, the lifting upright post, the multi-degree-of-freedom clamping actuator and the sensing system and is used for controlling the multi-degree-of-freedom clamping actuator to adjust the gesture and execute the clamping action according to the gesture information identified by the sensing system and the force information fed back by the miniature six-dimensional force/moment sensor.
2. The self-adaptive clamping AGV system for a chemical synthesis automation platform according to claim 1, wherein the sealed biaxial gimbal mechanism comprises an inner spherical shell, an outer spherical shell, and a perfluoroether rubber seal ring and a hastelloy sleeve disposed at a joint between the inner spherical shell and the outer spherical shell to form a fully sealed structure.
3. The self-adaptive clamping AGV system for a chemical synthesis automation platform according to claim 1, wherein the modular quick-change jaw comprises one or more of a self-centering tri-finger jaw, a parallelogram link jaw, or a magnetically attractable-mechanical compound jaw, and wherein the clamping surface of the modular quick-change jaw is provided with a polytetrafluoroethylene cushion.
4. An adaptive gripping AGV system for a chemical synthesis automation platform according to claim 3 wherein said gripping surface is an arcuate groove configuration.
5. The adaptive gripping AGV system for a chemical synthesis automation platform according to claim 1, wherein the sensing system further comprises an ambient gas sensor for detecting ambient gas concentration and a gyroscope for calibrating the direction of motion of the AGV.
6. The self-adaptive clamping AGV system for a chemical synthesis automation platform according to claim 1, wherein the control system adopts a self-adaptive impedance control algorithm to dynamically adjust the position and clamping force of the modularized quick-change clamping jaw according to pose information recognized by the sensing system and force information fed back by the miniature six-dimensional force/moment sensor.
7. The adaptive gripping AGV system for a chemical synthesis automation platform according to claim 5, wherein the control system controls the sealed biaxial gimbal mechanism to initiate an internal positive pressure protection mode when the concentration of harmful gases detected by the ambient gas sensor exceeds a preset threshold.
8. The adaptive gripping AGV system for a chemical synthesis automation platform according to claim 1, wherein the lifting column is connected to the AGV chassis by a hydraulic cylinder, the hydraulic cylinder being a double acting hydraulic cylinder.

Description

Self-adaptive clamping AGV system for chemical synthesis automatic platform Technical Field The invention relates to the technical field of intelligent laboratory automation equipment, in particular to a self-adaptive clamping AGV system for a chemical synthesis automation platform. Background With the continuous development of chemical synthesis technology, the high-flux chemical synthesis platform is increasingly widely applied in the fields of medicine research and development, material manufacturing and the like. Automated Guided Vehicles (AGVs) are widely used for material transfer between reaction stations, storage areas and analytical instrumentation due to their efficiency and flexibility. However, when the existing AGV clamps special materials such as reaction bottles and reagent containers in chemical experiments, mechanical clamping jaws in fixed directions or only limited horizontal/vertical directions are generally adopted, so that the AGV cannot adapt to a material basket with a non-standard placement angle, and stations are required to be aligned strictly, and the flexibility and the adaptability of the system are reduced. In addition, the jaw joints are directly exposed to harsh environments such as volatile organic solvents, acid-base steam and the like, and are easy to corrode, so that the service life and the performance of the jaw joints are influenced. Aiming at the problems, the prior art attempts to introduce a cooperative mechanical arm for improvement, but has the defects of high cost, huge volume and the like, and fails to carry out special protection and safety optimization aiming at a chemical experiment scene. Meanwhile, the traditional clamping jaw adopts a rigid structure, so that the clamping force is difficult to accurately control in the clamping process, the risk of leakage caused by breakage of the glass reactor is possibly caused, the expansibility of the traditional clamping jaw is poor, and the traditional clamping jaw is difficult to be compatible with material baskets with different sizes and interfaces. Therefore, development of an AGV clamping system which is compact in structure, corrosion-resistant, capable of omni-directional clamping, safe and reliable is needed to solve the problem of automatic conveying caused by the fact that a material basket in a chemical synthesis platform is arranged at a random angle and in a harsh environment. Disclosure of Invention Aiming at the technical problems in the related art, the invention provides a self-adaptive clamping AGV system for a chemical synthesis automation platform, which can overcome the defects in the prior art. In order to achieve the technical purpose, the technical scheme of the invention is realized as follows: an adaptive clamping AGV system for a chemical synthesis automation platform; This an AGV system is got to self-adaptation clamp for chemical synthesis automation platform includes: the AGV chassis is integrated with a navigation module, a power supply and a main controller; The lifting stand column is arranged on the AGV chassis and used for driving the multi-degree-of-freedom clamping actuator to lift along the vertical direction; The multi-degree-of-freedom clamping actuator comprises a sealed double-shaft universal joint mechanism, a modularized quick-change clamping jaw and a miniature six-dimensional force/moment sensor, wherein the miniature six-dimensional force/moment sensor is arranged between the sealed double-shaft universal joint mechanism and the modularized quick-change clamping jaw; the sensing system comprises a visual camera arranged on the AGV chassis or the lifting upright post and is used for identifying the pose of the target material basket; The control system is respectively and electrically connected with the AGV chassis, the lifting upright post, the multi-degree-of-freedom clamping actuator and the sensing system and is used for controlling the multi-degree-of-freedom clamping actuator to adjust the gesture and execute the clamping action according to the gesture information identified by the sensing system and the force information fed back by the miniature six-dimensional force/moment sensor. Further, the sealed double-shaft universal joint mechanism comprises an inner spherical shell, an outer spherical shell, and a perfluoroether rubber sealing ring and a hastelloy shaft sleeve which are arranged at the joint of the inner spherical shell and the outer spherical shell, so as to form a full-sealed structure. Further, the modularized quick-change clamping jaw comprises one or more of a self-centering three-finger clamping jaw, a parallelogram connecting rod clamping jaw and a magnetic attraction-mechanical composite clamping jaw, and a polytetrafluoroethylene buffer pad is arranged on the clamping surface of the modularized quick-change clamping jaw. Further, the clamping surface is of an arc-shaped groove structure. Further, the sensing system further comprises an ambient