CN112210483A

CN112210483A - Intelligent inoculation robot

Info

Publication number: CN112210483A
Application number: CN202010951525.9A
Authority: CN
Inventors: 李加友; 于建兴; 陆筑凤; 徐雅玲; 赵可及
Original assignee: Jiaxing University
Current assignee: Jiaxing University
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2021-01-12

Abstract

An intelligent inoculation robot comprises a base, a strain pumping device, a strain inoculation module and an inoculation amount control system, wherein the strain inoculation module is installed on the base, the strain pumping device is located on one side of the base and is connected with the strain inoculation module through a conveying pipeline, the inoculation amount control system is connected with the strain inoculation module, the strain inoculation module comprises a guide rod cylinder, a solenoid valve, an air compressor, an inoculation head and a support, the guide rod cylinder is installed on the base through the support, the guide rod cylinder is connected with the air compressor through a pipeline, the solenoid valve is arranged in the middle of the pipeline, and the inoculation head is installed on a movable part of the guide rod cylinder in a downward direction; the invention is provided with the inoculation amount control system, so that the strain inoculation amount can be accurately controlled, the production efficiency of the ECO plate is improved, and the quality is guaranteed; the invention is also provided with a monitoring device which can know the current flow and pressure at each position and can set required parameters at the same time, thereby being beneficial to improving the quality of the ECO plate.

Description

Intelligent inoculation robot

Technical Field

The invention relates to the technical field of strain inoculation, in particular to an intelligent inoculation robot.

Background

The straw resources are rich, the straw has good biodegradability, the straw can be used as a substrate for fungus growth, the straw powder can be bonded and molded under the bonding action generated by hypha of the fungus during growth, and ECO plates with different shapes and different characteristics can be produced by changing a mold, controlling molding conditions and the like.

The existing ECO plate production process adopts an artificial inoculation mode to perform inoculation, and the artificial inoculation needs a lot of time and causes the phenomenon of uneven strain distribution because of the artificial inoculation.

Disclosure of Invention

Technical problem to be solved

The invention provides an intelligent inoculation robot, which solves the problem that the conventional ECO plate production process needs to adopt a manual inoculation mode for inoculation.

(II) technical scheme

In order to solve the technical problem, the invention provides an intelligent inoculation robot which comprises a base, a strain pumping device, a strain inoculation module and an inoculation amount control system, wherein the strain inoculation module is installed on the base, the strain pumping device is located on one side of the base and is connected with the strain inoculation module through a conveying pipeline, the inoculation amount control system is connected with the strain inoculation module, the strain inoculation module comprises a guide rod cylinder, an electromagnetic valve, an air compressor, an inoculation head and a support, the guide rod cylinder is installed on the base through the support, the guide rod cylinder is connected with the air compressor through a pipeline, the electromagnetic valve is arranged in the middle of the pipeline, and the inoculation head is installed on a movable part of the guide rod cylinder.

Further optimize, the inoculation head includes that one carries piece and three inoculation syringe needle, inoculation syringe needle word is arranged on carrying the piece, carry the piece to be the cuboid and be equipped with the passageway in inside, the inoculation syringe needle includes reinforced portion and porous syringe needle, reinforced portion inside is equipped with the check valve, reinforced portion and the inside channel connection of transfer block, porous syringe needle sets up in reinforced portion below.

Preferably, the diameter of the porous needle is 1-2cm, the inside of the porous needle is hollow, the head of the porous needle is conical, a plurality of holes are formed in the side wall of the porous needle, and the diameter of each hole is 1-5 mm.

Further preferably, the strain pumping device comprises a cylindrical barrel body and an outlet pipe, the cylindrical barrel body is gradually closed downwards, the outlet pipe is connected with the bottom of the cylindrical barrel body, the outlet pipe is connected with the conveying block through a conveying pipeline, and a small liquid pump is arranged in the middle of the conveying pipeline.

Further optimized, the inoculation amount control system includes flow control device and monitoring devices, the flow control device includes PLC, flowmeter and electrical control valve, the flowmeter sets up in the outlet pipe bottom, electrical control valve sets up in flowmeter upper portion, PLC connects flowmeter, electrical control valve and small-size liquid pump, PLC receives the flowmeter signal and controls the flowmeter, the flowmeter monitors liquid volume flow, and the signal of surveying gives PLC after through enlargeing, AD conversion, filtering treatment, PLC judges the back to current flow, sends the signal to give electrical control valve, electrical control valve controls the size of flow.

Further preferably, the monitoring device comprises a PLC and a touch screen, the touch screen is connected with the PLC, the monitoring device can know the current flow and pressure at each position, and meanwhile, the touch screen inputs and sets required parameters.

Further preferably, a photoelectric sensor is arranged on the side face of the reinforcing part and connected with the electromagnetic valve, a pressure sensor is arranged at the bottom of the reinforcing part and connected with the PLC.

Preferably, the bottom of the base is provided with a groove, and the groove is formed from the side close to the inoculation head to the opposite side.

(III) advantageous effects

1. The invention is provided with the inoculation amount control system, can accurately control the strain inoculation amount, and enables strains to be uniformly distributed, thereby ensuring the quality on the basis of improving the production efficiency of the ECO plate.

2. The invention is provided with the monitoring device, the monitoring device can know the current flow and pressure at each position, and simultaneously can set required parameters, so that the accuracy of the automatic inoculation process is greatly improved, and the quality of the ECO plate is favorably improved.

3. The inoculation needle head of the invention is specially designed, can evenly inject strain solution into wood fiber raw materials, accelerates the growth of strains and is beneficial to the rapid molding of an ECO plate.

Drawings

FIG. 1 is a schematic structural diagram of an intelligent inoculation robot;

FIG. 2 is a schematic view of an inoculation head structure;

FIG. 3 is a schematic view of an inoculation needle.

10, a base; 20. a cylindrical barrel body; 21. an outlet pipe; 22. a delivery conduit; 23. a small liquid pump; 30. a conveying block; 31. a reinforcing part; 310. a one-way valve; 32. a porous needle; 320. a hole; 33. a guide rod cylinder; 34. an electromagnetic valve; 35. a support; 36. an air compressor; 37. a photosensor; 38. a pressure sensor; 40. a flow meter; 41. an electric control valve; 42. a PLC; 50. a touch screen.

Detailed Description

The following describes in further detail embodiments of the present invention with reference to examples and the accompanying fig. 1 to 3. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

As shown in fig. 1, the intelligent inoculation robot comprises a base 10, a strain pumping device, a strain inoculation module and an inoculation amount control system, wherein the strain inoculation module is installed on the base 10, the strain pumping device is located on one side of the base 10 and is connected with the strain inoculation module through a conveying pipeline 22, the inoculation amount control system is connected with the strain inoculation module, and the inoculation amount control system is further connected with the strain pumping device.

As shown in fig. 1 and 2, the strain inoculation module comprises a guide rod cylinder 33, an electromagnetic valve 34, an air compressor 36, an inoculation head and a bracket 35, wherein the guide rod cylinder 33 is installed on the base 10 through the bracket 35, the movable part of the guide rod cylinder 33 faces downwards, the guide rod cylinder 33 is connected with the air compressor 36 through a pipeline, the electromagnetic valve 34 is arranged in the middle of the pipeline, and the inoculation head is installed on the movable part of the guide rod cylinder 33 in a downward direction.

As shown in fig. 1, the bottom of the base 10 is provided with a groove, which is opened from the side of the base 10 close to the inoculation head to the opposite side to form a through groove, and the through groove is mainly used for conveying the wood fiber raw material, so that the wood fiber raw material can be inoculated by the inoculation module.

As shown in fig. 1, the strain pumping device comprises a cylindrical barrel body 20 and an outlet pipe 21, the cylindrical barrel body 20 is gradually closed downwards, the cylindrical barrel body 20 is used for accommodating strain liquid, a cover can be added for preventing mixed bacteria, the outlet pipe 21 is connected with the bottom of the cylindrical barrel body 20, the outlet pipe 21 is used for installing an electric regulating valve 41, a conveying pipeline 22 is connected with the outlet pipe 21 and a conveying block 30, a small-sized liquid pump 23 is arranged in the middle of the conveying pipeline 22, and the small-sized liquid pump 23 is used for pumping the strain liquid to the strain inoculation module.

As shown in fig. 2-3, the inoculation head comprises a conveying block 30 and three inoculation needles, the inoculation needles are arranged on the conveying block 30 in a straight line, the conveying block 30 is a cuboid and is internally provided with a channel, the inoculation needle comprises a reinforcing part 31 and a porous needle 32, a one-way valve 310 is arranged inside the reinforcing part 31, the reinforcing part 31 is connected with the channel inside the conveying block 30, the porous needle 32 is arranged below the reinforcing part 31, the diameter of the porous needle 32 is 1-2cm, the porous needle 32 is hollow and is conical in head, the porous needle 32 is provided with a plurality of holes 320 on the side wall, and the diameter of the holes 320 is 1-5 mm.

As shown in figure 1, the inoculation amount control system comprises a flow control device and a monitoring device, the flow control device comprises a PLC42, a flow meter 40 and an electric control valve 41, the flow meter 40 is arranged at the bottom of an outlet pipe 21 and used for detecting the flow, the electric control valve 41 is arranged at the upper part of the flow meter 40, the PLC42 is connected with the flow meter 40, the electric control valve 41 and a small-sized liquid pump 23, the PLC42 receives signals of the flow meter 40 and controls the flow meter 40, the flow meter 40 monitors the flow of liquid, the measured signals are amplified, A/D converted and filtered and then sent to the PLC42, the PLC42 judges the current flow and sends signals to the electric control valve 41, the electric control valve 41 controls the flow, the specific electric control valve 41 adopts an electric V-shaped adjusting ball valve, the flow of liquid is adjusted by utilizing the area (V-shaped window) formed by the rotation of a ball core, meanwhile, the direct connection mode is adopted to connect with the actuating mechanism, so that the device has the advantages of compact structure, small size, light weight, small resistance, stable and reliable action and the like; the monitoring device comprises a PLC42 and a touch screen 50, the touch screen 50 is connected with the PLC42, the current flow and pressure at each position can be known through the monitoring device, and meanwhile required parameters can be set through the touch screen 50.

Specifically, the PLC42 controller of the control core of the system includes a PS-200 type 2A power supply (for supplying power to the controller), a CPU314 (core processor with 16 digital inputs), and an FM355C module (dedicated hardware PID, having two paths, i.e., two analog inputs and two analog outputs); the system connects the target flowmeter 40 with the feedback signal input pins 4 and 5 of the FM355C module, and a 10K load resistor is connected between the feedback signal input pins 4 and 5 of the two-wire flowmeter 40; 8. 9 is an analog output pin which is connected with the electric regulating valve 41; 14. pins 15, 18 and 19 are input and output of the second path of PID; to improve the reliability of the system, the system can now be monitored using the touch screen 50 when an accident occurs in the PC.

The PID algorithm is realized by adopting a PID control technology, and becomes one of the main technologies of industrial control due to simple structure, good stability, reliable work, high speed and convenience; in practice, there are also PI and PD controls; the PID controller calculates the control quantity by using proportion, integral and differential according to the error of the system to control; the configuration and parameters of the system controller must be determined empirically and by field commissioning.

To realize the PID algorithm, firstly configuring hardware and network parameters through an engineering guide in a programming environment, wherein a selected power module is PS-2002A, a central processing unit is CPU14IFM, a PID controller is FM335C type, opening an OBI main program block after configuration is completed, calling an FB31 module, and carrying out necessary parameter setting on FB 31; the setting of the PID parameters is determined according to the specific situation of the control object on one hand; another aspect is experience; kP is used for solving amplitude oscillation, the amplitude of the amplitude oscillation is large when the kP is large, but the oscillation frequency is small, and the system has long stabilization time; ki is fast and slow in response speed of solving the action, ki is slow when being larger than the response speed, and otherwise, ki is fast; the kd is used for eliminating static errors, generally, the kd setting is small, and the influence on a system is small; generally, if the curve oscillates frequently, the kP value will increase; if the curve fluctuation is too large, the kp value is reduced; if the curve returns slowly after deviating, the integration time should be reduced; if the curve fluctuation period is too long, the integration time is added; if the oscillation frequency of the curve is high, the integral time should be reduced by differentiation; if the curve fluctuation period is too long, the integration time is lengthened; if the curve oscillation frequency is fast, the differential should be reduced; if the difference is large and the curve fluctuates slowly, the differentiation time should be lengthened.

As shown in fig. 3, a photoelectric sensor 37 is disposed on a side surface of the reinforcing portion 31, the photoelectric sensor 37 is connected to the electromagnetic valve 34, a pressure sensor 38 is disposed at a bottom of the reinforcing portion 31, the pressure sensor 38 is connected to the PLC42, the photoelectric sensor 37 is a CX-441 type photoelectric sensor 37, and the pressure sensor 38 is a 26PC type pressure sensor 38.

When in use, a high-performance production strain ZJXU1805 is needed to be obtained firstly, the strain can quickly grow on the main base material of straws, only lignin is consumed in the growth process of the strain, crystalline cellulose in the straws is completely reserved, and the matrix has good mechanical strength; meanwhile, the hyphae of the strain ZJXU1805 generates extracellular polysaccharide in the growth process, and has good adhesive property to straws and hyphae; preparing strains into strain liquid, adding the strain liquid into the cylindrical barrel body 20, and then starting the air compressor 36; when the assembly line for automatically producing the ECO board is operated, the block for conveying the wood fiber raw material passes through the groove of the base 10, the photoelectric sensor 37 installed on the reinforcing part 31 sends a signal to the electromagnetic valve 34, the electromagnetic valve 34 is opened, compressed air enters the guide rod cylinder 33 through the pipeline, the movable part of the guide rod cylinder 33 moves downwards, the strain inoculation module moves downwards, the porous needle 32 is inserted into the wood fiber raw material, the wood fiber raw material is compacted in the previous process and can bear a certain pressure, after the porous needle 32 completely enters the wood fiber raw material, the pressure sensor 38 on the reinforcing part 31 touches the wood fiber raw material to generate an electric signal and transmit the electric signal to the PLC42, the PLC42 sends a signal to the small-sized liquid pump 23 to instruct the small-sized liquid pump 23 to work, and the small-sized liquid pump 23 immediately starts to pump the strain liquid into the conveying block 30, the strain liquid enters the three inoculation needles through the inner pipeline of the conveying block 30, enters the porous needle 32 after passing through the one-way valve 310, a plurality of holes 320 with the diameter of 1-5mm are arranged on the side wall of the porous needle 32, and the strain liquid is dispersed into the wood fiber raw material through the holes 320; meanwhile, the flow meter 40 in the outlet pipe 21 monitors the flow rate of the strain liquid in real time and reports the flow rate to the PLC42, the PLC42 sends a signal to the electric control valve 41 after judging the current flow rate, and the electric control valve 41 controls the flow rate; meanwhile, the operator can know the current flow and pressure at each position through the monitoring device and can set required parameters.

In summary, the above embodiments are not intended to be limiting embodiments of the present invention, and modifications and equivalent variations made by those skilled in the art based on the spirit of the present invention are within the technical scope of the present invention.

Claims

1. The utility model provides an intelligent inoculation robot, its characterized in that, includes base, bacterial pumping installations, bacterial inoculation module and inoculation amount control system, bacterial inoculation module installs on the base, bacterial pumping installations is located base one side and links to each other with bacterial inoculation module through pipeline, inoculation amount control system links to each other with bacterial inoculation module, bacterial inoculation module includes guide arm cylinder, solenoid valve, air compressor machine, inoculation head and support, the guide arm cylinder passes through the support mounting on the base, the guide arm cylinder passes through the pipeline with the air compressor machine and links to each other, the pipeline middle part is equipped with the solenoid valve, the inoculation head is installed on the movable part of guide arm cylinder.

2. The intelligent inoculation robot of claim 1, wherein the inoculation head comprises a conveying block and three inoculation needles, the inoculation needles are arranged in a row on the conveying block, the conveying block is a cuboid and is provided with a channel inside, the inoculation needles comprise a reinforcing portion and a porous needle, a one-way valve is arranged inside the reinforcing portion, the reinforcing portion is connected with the channel inside the conveying block, and the porous needle is arranged below the reinforcing portion.

3. The intelligent inoculation robot of claim 2, wherein the diameter of the porous needle is 1-2cm, the porous needle is hollow and has a conical head, the side wall of the porous needle is provided with a plurality of holes, and the diameter of the holes is 1-5 mm.

4. The intelligent inoculation robot according to claim 3, wherein the strain pumping device comprises a cylindrical barrel body and an outlet pipe, the cylindrical barrel body gradually closes downwards, the outlet pipe is connected with the bottom of the cylindrical barrel body, the conveying pipeline is connected with the outlet pipe and the conveying block, and a small liquid pump is arranged in the middle of the conveying pipeline.

5. The intelligent inoculation robot according to claim 4, wherein the inoculation amount control system comprises a flow control device and a monitoring device, the flow control device comprises a PLC, a flow meter and an electric control valve, the flow meter is arranged at the bottom of the outlet pipe, the electric control valve is arranged at the upper part of the flow meter, the PLC is connected with the flow meter, the electric control valve and the small-sized liquid pump, the PLC receives signals of the flow meter and controls the flow meter, the flow meter monitors the flow rate of the liquid, the measured signals are sent to the PLC after being amplified, subjected to A/D conversion and subjected to filtering processing, the PLC sends signals to the electric control valve after judging the current flow rate, and the electric control valve controls the flow rate.

6. The intelligent inoculation robot of claim 5, wherein the monitoring device comprises a PLC and a touch screen, the touch screen is connected with the PLC, the monitoring device can know the current flow and pressure everywhere, and meanwhile the touch screen inputs parameters required by setting.

7. The intelligent inoculation robot as claimed in claim 6, wherein a photoelectric sensor is arranged on the side of the reinforcing part, the photoelectric sensor is connected with the electromagnetic valve, a pressure sensor is arranged at the bottom of the reinforcing part, and the pressure sensor is connected with the PLC.

8. The intelligent inoculation robot of claim 1, wherein the base is provided with a groove at the bottom, and the groove is formed from the side close to the inoculation head to the opposite side.