CN102236335A - Positioning system for comprehensive toxicity detection suction and drainage device - Google Patents
Positioning system for comprehensive toxicity detection suction and drainage device Download PDFInfo
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- CN102236335A CN102236335A CN2010101563424A CN201010156342A CN102236335A CN 102236335 A CN102236335 A CN 102236335A CN 2010101563424 A CN2010101563424 A CN 2010101563424A CN 201010156342 A CN201010156342 A CN 201010156342A CN 102236335 A CN102236335 A CN 102236335A
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- 230000001988 toxicity Effects 0.000 title claims abstract description 26
- 231100000419 toxicity Toxicity 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 title abstract description 8
- 238000013519 translation Methods 0.000 claims abstract description 37
- 238000005070 sampling Methods 0.000 claims abstract description 25
- 230000009183 running Effects 0.000 claims abstract description 12
- 238000012546 transfer Methods 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 11
- 239000000243 solution Substances 0.000 description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- NRZZLYODXDSLEK-UHFFFAOYSA-N (6-ethoxy-6-oxohexyl) 3,5-diacetamido-2,4,6-triiodobenzoate Chemical compound CCOC(=O)CCCCCOC(=O)C1=C(I)C(NC(C)=O)=C(I)C(NC(C)=O)=C1I NRZZLYODXDSLEK-UHFFFAOYSA-N 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000000605 extraction Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000004020 luminiscence type Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000011259 mixed solution Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004962 physiological condition Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 231100000167 toxic agent Toxicity 0.000 description 1
- 239000003440 toxic substance Substances 0.000 description 1
- 231100000041 toxicology testing Toxicity 0.000 description 1
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Abstract
The invention discloses a positioning system for a comprehensive toxicity detection suction and drainage device. The positioning system comprises an upper plate, a lower plate and a bottom plate arranged between the upper and lower plates. A lifting stepper motor is arranged on the upper plate. A ball screw is connected to a main shaft of the lifting stepper motor. A lifting table is connected to the ball screw. Linear guide ways for limiting the motion trail of the lifting table are arranged on the bottom plate. A translation stepper motor is arranged on the lifting table. A mechanical arm is sleeved to the main shaft of the translation stepper motor. Sampling nozzles are arranged on the mechanical arm. The positioning system also comprises a controller for controlling the running of the lifting stepper motor and the translation stepper motor. The lifting stepper motor can accurately control the rotating angle of the ball screw to further accurately position the mechanical arm in a vertical direction. Moreover, the translation stepper motor can accurately control the rotating angle in a horizontal direction to accurately position the mechanical arm in the horizontal direction. Therefore, the problems of sampling failures caused by the inaccurate positioning of the mechanical arm in the conventional positioning system are solved.
Description
Technical field
The present invention relates to comprehensive water-body toxicity detection technique field, more particularly, relate to a kind of comprehensive toxicity that is used for and detect vacuum device used positioning system.
Background technology
To the detection of comprehensive water-body toxicity, the characteristics of luminescence of general using photogen detects.Photogen can send the blue-green visible light of wavelength at 450nm～490nm under normal physiological condition, luminous intensity is constant under certain test condition, after water body to be detected contacts, because the toxicant in the water body has the effect that suppresses luminous, so the luminous intensity of photogen is changed to some extent, the degree that changes and the concentration of water body are correlationship within the specific limits, simultaneously relevant with the toxicity size of water body toxicity, therefore, the luminous intensity of measurement photogen just can be learnt the comprehensive toxicity of water body.
Before detecting comprehensive water-body toxicity, at first need water sample to be detected and photogen are mixed, make it contact reaction, extract the mixed liquor sample then, detect the luminous intensity of photogen in the mixed liquor by specific accurate photometer, and then draw the comprehensive toxicity of water body to be measured.
No matter in mixing water sample to be detected and photogen process, still extract in the described mixed solution process, all need vacuum device used extraction solution, and, described vacuum device used position controlled by positioning system.At present, online toxicity analyzer detects, and positioning system generally adopts belt pulley to drive mechanical arm and does tangential movement, and eccentric mechanism drives mechanical wall and moves up and down.But the problem that sampling mechanical arm location is forbidden often appears in this system in sampling process, cause the sampling failure, continues to carry out subsequent commands under the sampling situation in mistake, causes detection water body toxicity result inaccurate.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of comprehensive toxicity that is used for to detect vacuum device used positioning system, to solve because the problem of the sampling failure that causes is forbidden in the location of mechanical arm.
For achieving the above object, the invention provides following technical scheme:
A kind of comprehensive toxicity that is used for detects vacuum device used positioning system, comprising: upper and lower plate, and be arranged at base plate between the described upper and lower plate, wherein:
Described upper plate is provided with the lifting stepper motor, is connected with ball-screw on the main shaft of this lifting stepper motor;
Be connected with lifting table on the described ball-screw;
Described base plate is provided with the line slideway that limits described lifting table movement locus;
Described lifting table is provided with the translation stepper motor, is socketed with mechanical arm on the main shaft of this translation stepper motor, on this machinery wall sampling head is installed;
Also comprise: the controller of controlling the running of described lifting stepper motor and translation stepper motor.
Preferably, described controller comprises:
Send the host computer of steering order;
Control module is used to receive the steering order that described host computer sends and is translated into gating pulse and sends;
Driver is used to receive the gating pulse that described control module sends, and drives the running of described lifting stepper motor and translation stepper motor respectively.
Preferably, described mechanical arm comprises:
Main body, this main body is provided with the semicolumn groove, and is provided with on the main body outer wall of described semicolumn groove holding screw is installed;
Be connected clamping plate on the described main body by hand tighten screw, these clamping plate and described main body are provided with on the corresponding position of semicolumn groove, are provided with and described semicolumn groove corresponding grooves.
Preferably, also comprise: be arranged at the upper and lower limit bit switch on the described line slideway, be used to limit the limit travel that moves up and down of described lifting table.
Preferably, described positioning system also comprises: be arranged at the left and right limit switch on the described lifting table, be used to limit the limit travel of the rotation of described mechanical arm.
Preferably, described positioning system also comprises: be arranged at the location of first on described line slideway optocoupler, when described lifting table triggers described first location during optocoupler,, and described signal is transferred to described host computer by it by this first location optocoupler feedback signal and control module.
Preferably, described positioning system also comprises: be arranged at the location of second on described lifting table optocoupler, when described mechanical arm triggers described second location during optocoupler,, and described signal is transferred to described host computer by it by this second location optocoupler feedback signal and control module.
Preferably, described positioning system also comprises first scrambler that is arranged on the described lifting stepper motor, is used for generating feedback pulse according to described lifting stepper motor main shaft rotation situation, and transfers to described host computer by described control module.
Preferably, described positioning system also comprises second scrambler that is arranged on the described translation stepper motor, is used for generating feedback pulse according to described translation stepper motor main shaft rotation situation, and transfers to described host computer by described control module.
Preferably, be provided with protective cover between described upper and lower plate and the lifting table.
This shows, the comprehensive toxicity that is used for provided by the present invention detects vacuum device used positioning system, under the control of described controller, described lifting stepper motor running, realize moving of described mechanical wall in the vertical direction, described translation stepper motor running realizes the rotation in the horizontal direction of described mechanical arm.Described lifting stepper motor can accurately be controlled the angle that ball-screw rotates, and then accurately locate at vertical direction for described mechanical arm, and, described translation stepper motor can accurately be controlled the angle that described mechanical arm rotates in the horizontal direction, be its accurate location in the horizontal direction, solved existing positioning system because the problem of the sampling failure that causes is forbidden in the location of mechanical arm.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention, to do simple introduction to the accompanying drawing of required use among the embodiment below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
A kind of sampling system structural front view that is used for the comprehensive water-body toxicity detection that Fig. 1 provides for the embodiment of the invention;
A kind of sampling system structure side view that is used for the comprehensive water-body toxicity detection that Fig. 2 provides for the embodiment of the invention;
A kind of vacuum device used structure vertical view that is used for the comprehensive water-body toxicity detection that Fig. 3 provides for the embodiment of the invention;
Fig. 4 is the vertical view of the disclosed mechanical arm of the embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making under the creative work prerequisite, and the every other embodiment that is obtained belongs to protection domain of the present invention.
The embodiment of the invention provides a kind of comprehensive toxicity that is used for to detect vacuum device used positioning system, to solve because the problem of the sampling failure that causes is forbidden in the location of mechanical arm.
In conjunction with Fig. 1, Fig. 2 and shown in Figure 3, the described comprehensive toxicity that is used for detects vacuum device used positioning system, comprise: upper plate 1, lower plate 2, and be arranged at base plate 3 between the upper and lower plate, wherein: upper plate 1 is provided with lifting stepper motor 101, is connected with ball-screw 301 on the main shaft of this lifting stepper motor; Ball-screw 301 is connected with lifting table 303; The line slideway 302 that limits lifting table 303 movement locus is set on the base plate 3; Lifting table 303 front ends are provided with translation stepper motor 304, are socketed with mechanical arm 305 on the main shaft of this translation stepper motor, on this machinery wall sampling head 306 are installed; In order to control lifting stepper motor 101 and 304 runnings of translation stepper motor, this system also comprises controller (not illustrating among the figure).
In the disclosed positioning system of the embodiment of the invention, ball-screw 301 is made up of screw rod, nut and ball, gyration can be converted into rectilinear motion, and lifting table 303 is connected on ball-screw 301 nuts, can under the effect of ball, rotate, realize moving up and down along screw rod.
And, between upper plate 1 and lifting table 303, and be provided with protective cover between lower plate 2 and the lifting table 303, have the dustproof and waterproof function.
In the toxicity testing process, sampling head 306 is directly deeply deposited the groove of solution, because sampling head 306 uses corrosion-resistant light-proof material to be made, can make the liquid that is extracted avoid extraneous illumination effect like this.Under vacuum device used effect, solution enters along sampling head 306 that this is vacuum device used, finishes the liquid process of getting.Because before using vacuum device used extraction solution, need this vacuum device used position of control, make it accurately act on the groove that holds solution, promptly need to control the position of mechanical arm 305, make the sampling head 306 that is arranged on the mechanical arm 305 insert the groove of depositing solution accurately, this just needs the disclosed room of embodiment of the invention system works.
Concrete, controller control lifting stepper motor 101 and 304 actions of translation stepper motor, the main shaft of lifting stepper motor 101 rotates, can drive the ball-screw 301 that links to each other with this main shaft rotates, under the rotation of ball-screw 301, lifting table 303 is according to the difference of its rotation direction, move up and down along its axle center, the moving up and down of lifting table 303 can drive the translation stepper motor 304 that is arranged at lifting table 303 front ends and move up and down, the mechanical arm 305 that is arranged on the translation stepper motor 304 is moved up and down, and then determine the position of its in the vertical direction; Afterwards, translation stepper motor 304 spindle operations, can drive the mechanical arm 305 that is socketed on translation stepper motor 304 main shafts in the horizontal direction, along with translation stepper motor 304 be the center of circle, with mechanical arm 305 length be radius along circular motion, determine its position in the horizontal direction.
When the disposable absorption of needs is a plurality of when depositing the solution of groove content of solution, mechanical arm 305 is provided with a plurality of sampling heads 306, mechanical arm 305 is positioned, respectively a plurality of sampling heads 306 are inserted respectively in the corresponding with it groove, by vacuum device used extraction solution.
And described controller can comprise: host computer, and control module and driver, wherein, described host computer is used for requiring to send steering order according to detecting; Described control module can be converted into gating pulse with the steering order that described host computer sends, and acts on described driver, the running of described lifting stepper motor of this driver control and translation stepper motor main shaft.Concrete, for easy to operate, described lifting stepper motor and translation stepper motor are provided with a driver respectively.Described driver can also feed back the working condition of described lifting stepper motor and translation stepper motor in control module, is forwarded to described host computer by this control module.
Because the main shaft rotational angle degree of accuracy of lifting stepper motor and translation stepper motor is higher, the steering order that described host computer sends accurately can be acted on mechanical arm 305, accurately control its displacement on vertical direction and horizontal direction, realize accurate location mechanical arm 305.
The concrete structure of this mechanical arm as shown in Figure 4, comprise: main body 201 and be connected clamping plate 202 on the main body 201, wherein: be respectively arranged with semi-cylindrical recesses on main body 201 and the clamping plate 202 corresponding positions, after clamping plate 202 are connected on the main body 201 by hand-tight screw 204, the semi-cylindrical recesses that is arranged at respectively on main body 201 and the clamping plate 202 is spliced into cylindrical hole, is used to place sampling head 306.
According to the difference of extracting solution, need the diameter of sampling head 306 also inequality, owing to be arranged on the different changes of specification of the semi-cylindrical recesses on main body 201 and the clamping plate 202, the diameter of the cylindrical hole of the placement sampling head of Xing Chenging is constant like this, can only place a kind of sampling head of diameter this moment, toxicity detected caused certain restriction.In order to address the above problem, also be provided with holding screw 203 on the main body 201 of mechanical arm, being installed on main body 201 is provided with on the outer wall of semi-cylindrical recesses, like this, just can pass through the spacing that holding screw 203 is regulated main bodys 201 and clamping plate 202, and then regulate the diameter of the cylindrical hole of placing sampling head.
For fear of the generation of above-mentioned phenomenon, the disclosed positioning system of the embodiment of the invention is provided with limit switch on line slideway 302, limits the shift motion of lifting table 303.Concrete, referring to Fig. 1 and Fig. 2, in the upper end of line slideway 302 upper limit position switch 401 is set, the lower end is provided with lower position switch 402, when lifting table 303 touches upper limit position switch 401 or lower position switch 402, because the barrier effect of this limit switch, lifting table 303 will stop to move, at this moment, the limit switch that is triggered feeds back signal to control module, transfers to host computer by it and reports to the police.Simultaneously, limit switch is set also on lifting table 303, limits the limit travel that horizontally rotates of mechanical arm 305.Concrete, referring to Fig. 1 and Fig. 3, at the left end of mechanical arm 305 left limit switch 403 is set, at right-hand member right limit switch 404 is set, equally, in the process that mechanical arm 305 horizontally rotates, when touching left limit switch 403 or right limit switch 404, because the barrier effect of this limit switch, mechanical arm 305 will stop to move, and the limit switch that is triggered feeds back signal to control module, transfers to host computer by it and reports to the police.
After each toxicity detects off-test, need be made zero in the position of mechanical arm 305, promptly return initial position, detect the liquid work of getting of test for next toxicity and prepare.For this reason, line slideway 302 is provided with the first location optocoupler 406, and the second location optocoupler 405 is set on lifting table 303.After a toxicity detects end, mechanical arm 305 is moved to optocoupler 405 places, second location, trigger this location optocoupler, at this moment, second location optocoupler 405 feedback signals are to control module, be forwarded to host computer by it, by its sending controling instruction, and be converted into gating pulse by control module, Control Driver drives 304 runnings of translation stepper motor, drive mechanical arm 305 and transfer back to initial position, finish making zero on mechanical arm 305 horizontal directions; Again lifting table 303 is moved to optocoupler 406 places, first location, trigger this location optocoupler, equally, first location optocoupler 406 feedback signals are forwarded to host computer by it, by its sending controling instruction to control module, and be converted into gating pulse by control module, Control Driver drives 101 runnings of lifting stepper motor, drives lifting table 303 and transfers back to initial position, finishes making zero on mechanical arm 305 vertical directions.
In the disclosed positioning system of the foregoing description, for the running position of real-time monitored mechanical arm 305, lifting stepper motor 101 is provided with first scrambler 102, and translation stepper motor 304 is provided with second scrambler 103.In lifting stepper motor 101 operation process, the rotation situation of the first scrambler 102 monitoring lifting in real time stepper motor, 101 main shafts, it is fed back to host computer by control module, whether the angle of being judged described lifting stepper motor 101 main shafts rotation by host computer is wrong, if wrong, then send warning.Equally, in translation stepper motor 304 operation process, second scrambler 103 that is provided with thereon can real-time rotation situation with described translation stepper motor 304 main shafts feed back to host computer by control module, whether the angle of being judged described translation stepper motor 304 main shafts rotation by host computer is wrong, if wrong, then send warning.
Need to prove, in this article, relational terms such as first and second grades only is used for an entity or operation are made a distinction with another entity or operation, and not necessarily requires or hint and have the relation of any this reality or in proper order between these entities or the operation.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby make and comprise that process, method, article or the equipment of a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or also be included as this process, method, article or equipment intrinsic key element.Do not having under the situation of more restrictions, the key element that limits by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined herein General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (10)
1. one kind is used for comprehensive toxicity and detects vacuum device used positioning system, it is characterized in that, comprising: upper and lower plate, and be arranged at base plate between the described upper and lower plate, wherein:
Described upper plate is provided with the lifting stepper motor, is connected with ball-screw on the main shaft of this lifting stepper motor;
Be connected with lifting table on the described ball-screw;
Described base plate is provided with the line slideway that limits described lifting table movement locus;
Described lifting table is provided with the translation stepper motor, is socketed with mechanical arm on the main shaft of this translation stepper motor, on this machinery wall sampling head is installed;
Also comprise: the controller of controlling the running of described lifting stepper motor and translation stepper motor.
2. system according to claim 1 is characterized in that, described controller comprises:
Send the host computer of steering order;
Control module is used to receive the steering order that described host computer sends and is translated into gating pulse and sends;
Driver is used to receive the gating pulse that described control module sends, and drives the running of described lifting stepper motor and translation stepper motor respectively.
3. system according to claim 1 is characterized in that, described mechanical arm comprises:
Main body, this main body is provided with the semicolumn groove, and is provided with on the main body outer wall of described semicolumn groove holding screw is installed;
Be connected clamping plate on the described main body by hand tighten screw, these clamping plate and described main body are provided with on the corresponding position of semicolumn groove, are provided with and described semicolumn groove corresponding grooves.
4. system according to claim 1 is characterized in that, also comprises: be arranged at the upper and lower limit bit switch on the described line slideway, be used to limit the limit travel that moves up and down of described lifting table.
5. system according to claim 1 is characterized in that, also comprises: be arranged at the left and right limit switch on the described lifting table, be used to limit the limit travel of the rotation of described mechanical arm.
6. system according to claim 2, it is characterized in that, also comprise: be arranged at the location of first on described line slideway optocoupler, when described lifting table triggers described first location during optocoupler, by this first location optocoupler feedback signal and control module, and described signal is transferred to described host computer by it.
7. system according to claim 2, it is characterized in that, also comprise: be arranged at the location of second on described lifting table optocoupler, when described mechanical arm triggers described second location during optocoupler, by this second location optocoupler feedback signal and control module, and described signal is transferred to described host computer by it.
8. system according to claim 2, it is characterized in that, also comprise first scrambler that is arranged on the described lifting stepper motor, be used for generating feedback pulse, and transfer to described host computer by described control module according to described lifting stepper motor main shaft rotation situation.
9. system according to claim 2, it is characterized in that, also comprise second scrambler that is arranged on the described translation stepper motor, be used for generating feedback pulse, and transfer to described host computer by described control module according to described translation stepper motor main shaft rotation situation.
10. according to any described system of claim 1 to 9, it is characterized in that, be provided with protective cover between described upper and lower plate and the lifting table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010156342 CN102236335B (en) | 2010-04-27 | 2010-04-27 | Positioning system for comprehensive toxicity detection suction and drainage device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010156342 CN102236335B (en) | 2010-04-27 | 2010-04-27 | Positioning system for comprehensive toxicity detection suction and drainage device |
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| Publication Number | Publication Date |
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| CN102236335A true CN102236335A (en) | 2011-11-09 |
| CN102236335B CN102236335B (en) | 2013-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201010156342 Active CN102236335B (en) | 2010-04-27 | 2010-04-27 | Positioning system for comprehensive toxicity detection suction and drainage device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078018A (en) * | 2016-08-16 | 2016-11-09 | 江门市弘程精密制造有限公司 | A kind of welding manipulator walking mechanism |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2638029Y (en) * | 2003-07-15 | 2004-09-01 | 河北科技大学 | Detecting instrument automatic moving locating machine for remote detection |
| CN201344934Y (en) * | 2009-01-13 | 2009-11-11 | 浙江理工大学 | Water quality comprehensive biological toxicity on-line automatic analyzer |
-
2010
- 2010-04-27 CN CN 201010156342 patent/CN102236335B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2638029Y (en) * | 2003-07-15 | 2004-09-01 | 河北科技大学 | Detecting instrument automatic moving locating machine for remote detection |
| CN201344934Y (en) * | 2009-01-13 | 2009-11-11 | 浙江理工大学 | Water quality comprehensive biological toxicity on-line automatic analyzer |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078018A (en) * | 2016-08-16 | 2016-11-09 | 江门市弘程精密制造有限公司 | A kind of welding manipulator walking mechanism |
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| CN102236335B (en) | 2013-04-10 |
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