CN102478791B - Control system of experimental device of batch samples - Google Patents
Control system of experimental device of batch samples Download PDFInfo
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- CN102478791B CN102478791B CN 201010563610 CN201010563610A CN102478791B CN 102478791 B CN102478791 B CN 102478791B CN 201010563610 CN201010563610 CN 201010563610 CN 201010563610 A CN201010563610 A CN 201010563610A CN 102478791 B CN102478791 B CN 102478791B
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Abstract
The invention relates to a control system of an experimental device of batch samples. The control system is characterized by comprising an analog signal input unit, a switch signal input unit, a pulse signal input unit, a motor control unit, a temperature control unit, a system control unit, a communication unit and a power source unit, wherein the analog signal input unit, the switch signal input unit and the pulse signal input unit are all connected with the system control unit, and are used for transmitting various signals collected by the experimental device to the system control unit; the motor control unit comprises a pulse source, an annular distributor and a motor driver, and is used for receiving commands output by the system control unit, so as to control the running process of a stepping motor; the temperature control unit is used for receiving an output signal of the system control unit to adjust the temperature of a crystal growing furnance in the experimental device of the batch samples; and the communication unit is interconnected with the system control unit, so as to realize bidirectional communication with a superior system.
Description
Technical field
The present invention relates to the control system of batch samples experimental provision, be specifically related to a kind of control system of batch sample experimental provision.
Background technology
At present China batch sample experimental provision control system, can not satisfy Future in China materials sciences in space experimental requirements, be in particular in:
● once be merely able to control the processing of 6 samples at most.
● be merely able to use this a kind of temperature control mode of PID, and be single warm area control.
● be merely able to control the operation of two motors.
● do not possess distant operating function.
It is used for the enterprising row space Experiment of Material Science of No. 3 airships of divine boat.
Summary of the invention
The objective of the invention is to, the deficiency that exists for the control system that overcomes present batch sample experimental provision, thus a kind of control system of batch sample experimental provision is provided.
For achieving the above object, the present invention proposes a kind of control system of batch sample experimental provision, it is characterized in that described control system comprises: simulating signal input block, switching signal input block, pulse signal input block, motor control unit, temperature control unit, system control unit, communication unit and power supply unit;
Described simulating signal input block links to each other with system control unit, and the various simulating signals that are used for the experimental provision that will gather are delivered to system control unit;
Described switching signal input block links to each other with system control unit, is used for the limit signal of input limit switch output is delivered to system control unit;
Described pulse signal input block links to each other with system control unit, is used to accept the positional information that input pulse signal and count pulse number obtain sample positional information is delivered to system control unit;
Described motor control unit comprises an impulse source, a ring distributor links to each other with system control unit with motor driver and this unit, thereby is used to accept the motion process of the instruction control step motor of system control unit output; Motor driver is used for the operation of drive motor.Between motor driver and the control module photoisolator is arranged, be used to prevent the interference of motor control module;
Described temperature control unit links to each other with system control unit, and the output signal that is used for accepting system control unit is regulated the temperature of sample experimental provision crystal growing furnace in batches, and this unit comprises:
The temperature signal load module, this module is gathered the multi way temperature signal of sensor, and removes the interference on this signal, and this signal is carried out filtering, obtains real temperature information.
The control algolithm module, this module is used the control algolithm that is suitable for this temperature control system most, and by regulating the power of heating, the stability of control temperature makes fluctuating up and down in less than 0.05% scope of temperature;
The heater-driven module, this module is regulated the power of supplying with well heater, makes well heater that enough heat energy can be arranged, and makes the interior temperature of burner hearth reach desirable setting value, and keeps stable; Between heat driven module and the control module photoisolator is arranged, only be used to put heating current the interference of control system;
Two-way communication between described communication unit and system control unit interconnection realization and the superior system;
Adopt isolating means to avoid of the interference of limit switch input signal between described limit switch input signal and the control module to system control unit and simulating signal input block; Described simulating signal input block is made up of some block signal tablets, and the signal tablet is provided with the interface of standard;
Wherein, the experimental provision of described batch sample comprises: sample library, multi-dimensional movement mechanism, heating furnace;
Described multi-dimensional movement mechanism comprises hand body vertical support frame and horizontal screw lead, and vertical and tangential movement, the hand body of realizing mechanical arm grasps seesawing of the seesawing of sample ampoule and relieving sample ampoule, sample library, stove;
Described sample library and heating furnace are arranged on same upright position, and the both sides up and down of this device are equipped with two sample libraries, and heating furnace is arranged between two sample libraries;
It is characterized in that,
This device also comprises the sample latch mechanism, comprises the female and clamping storehouse of locking screw core, the locking of clamping storehouse of coaxial setting; Described clamping storehouse is cylindric, is used to hold the sample ampoule; One end in this clamping storehouse is provided with the face slightly of locking; Described locking screw core comprises two sections cylinders that internal diameter is different, and wherein, one section internal diameter is identical with the internal diameter that clamps the storehouse, and the internal diameter of another section is bigger, forms the space between itself and the sample ampoule, is used to hold mechanical arm; Use rotating fixedly connected between locking screw core and the clamping storehouse; Described clamping storehouse locking mother fixedly installs, and is sheathed on the joint portion in locking screw core and clamping storehouse, and the locking in the cooperation clamping storehouse, inside of one end face slightly is provided with the inclined-plane;
Described mechanical arm comprises: mechanical main hand, mechanical assistant, location blind nut, buffer spring and scrambler; The main hand of described machinery is used for promptly sample ampoule, comprising: three or above finger, coaxial sheathed main hand hand body and hand body pull bar, strainer, outer rotor transposition key; The finger of the main hand of machinery is provided with teeth, is used for matching with teeth groove on the sample ampoule, with the measuring-signal of transmission sample ampoule; The leading section of described main hand hand body is provided with the first finger riveted joint position, is used for the middle part of rotatable riveted joint finger; The front end of described hand body pull bar also cooperates and is provided with second finger riveted joint position, is used for the end of rotatable riveted joint finger; The intermediate host of described hand body pull bar is polygon and is nested in the main hand hand body; The sheathed strainer that is fixed with in the rear portion of described hand body pull bar, individual annular groove is arranged on the cylindrical of this strainer front end, cooperate the spring slide-way of main hand hand body inwall strainer to be fixed on the inner chamber of main hand hand body by this annular groove, its inner wall at end is provided with internal spline, is used to mesh outer rotor transposition key; Described mechanical assistant is a shift fork, is used to drive latch mechanism, realizes the chucking of sample in feed bin and unclamps, and comprising: fork and internal spline portion; Described fork is arranged in the circular groove on the main hand hand body, is used to lock mechanism; Described internal spline portion supports and is located between strainer and the location blind nut, and its internal spline cooperates outer rotor transposition spline.
The control system that the purpose of this invention is to provide a kind of batch samples experimental provision is utilized it can control the experiment of up to a hundred samples automatically, and be need not manual intervention.It also can use the mode of distant operation, under the control of distant operational order, adjusts the process of sample processing in real time according to experimental requirements.
For achieving the above object, the invention provides a kind of control system of circuit batch sample experimental provision, it is characterized in that total system is made up of simulating signal input block, switching signal input block, pulse signal input block, motor control unit, temperature control unit, system control unit, communication unit, power supply unit.It can control in batches sample experimental provision, and one-time continuous is finished the test of all samples that sample experimental provision in batches loaded.Control system has two kinds of working methods, and a kind of is the fully automatic working mode, and a kind of is distant operation element mode.
During control system work, at first control mechanical arm and on vertical support frame, run to the residing upright position of the sample that will grasp, when limit switch herein is effective, stop its operation.The controlling level guide screw movement is to the sample position that will get then, and its position limit switch and scrambler from here determines.It is effective that the control sample library runs to limit switch forward.The closed sample that grasps of control mechanical arm.This moment, mechanical arm turned clockwise, and with release between sample and the sample chamber, controlled sample library again and moved rearwards to bottommost, when limit switch herein is effective, stopped the operation of sample library, and sample is removed.Control mechanical arm then and on vertical support frame, move earlier, under the drive of horizontal screw lead, run to the middle part again, aim at burner hearth, aim at the position at burner hearth place by the limit switch and definite jointly its of scrambler of vertical direction and horizontal direction.The control stove marches forward, and sample is inserted in the burner hearth, stops the operation of stove when limit switch herein is effective.
Control the holding temperature that burner hearth heats up and reaches setting.Use pid control algorithm and feed forward control method, or adopt forecast Control Algorithm, or adopt neural network control method, or adopt other control methods that is suitable for native system, make furnace temperature keep temperature stabilization.Furnace temperature is controlled stove and is slowly moved backward after a period of stabilisation, growth (processing) process of beginning sample.
After the experiment of sample and process were finished, the control mechanical arm moved on vertical support frame earlier, ran to the material cabin place of this sample on sample library then under the drive of horizontal screw lead, aimed at the material cabin under the location of limit switch.The control sample library moves forward, and when sample library front limit switch was effective, sample was placed among the material cabin.The control mechanical arm is rotated counterclockwise, and under the effect of limit switch and scrambler, will lock between sample and the sample chamber.
So, controller is finished the process of a sample.
Controller control mechanical arm grasps next sample.
Described batch sample scientific experiment apparatus control system, it is characterized in that total system is made up of simulating signal input block, switching signal input block, pulse signal input block, motor control unit, temperature control unit, system control unit, communication unit, power supply unit.It can control in batches sample experimental provision, and one-time continuous is finished the test of all samples that sample experimental provision in batches loaded, as shown in Figure 1.
Described batch sample scientific experiment apparatus control system, it is characterized in that, it is characterized in that, this control system can be gathered the various simulating signals that had in the experimental provision by the simulating signal input block, comprises thermocouple signal, ambient temperature signal, humidity sensor signal, vibration sensor signal, current sensor signal and voltage sensor signals.Various signals amplify weak signal at first by the amplification filtering circuit, and the noise in the signal of being exported by filtering circuit filtering sensor simultaneously makes the signal of sensor output become the strong signal of high signal to noise ratio.The simulating signal input block is made up of some block signal tablets, and the interface of standard is arranged on the signal tablet, can determine the number of desired signal tablet according to the quantity of simulating signal.
Described batch sample scientific experiment apparatus control system is characterized in that, it is characterized in that, this control system can be imported the limit signal of limit switch output by the switching signal input block, in order to stopping of control motor, but and the numbering of judgement sample.Adopt isolating means (available photoelectricity is isolated or electric capacity is isolated) between limit switch input signal and the control module, to avoid the interference of limit switch signal to control module and simulating signal input block.
Described batch sample scientific experiment apparatus control system, it is characterized in that, this control system can be passed through pulse signal input block input pulse signal, in order to the count pulse number, thus the positional information (sample enters the positional information in burner hearth and the growth course) of acquisition sample.
Described batch sample scientific experiment apparatus control system is characterized in that this control system can be controlled the motion process of motor by motor control unit.(stepper motor is the motor by pulse signal control because the motor in the batch sample experimental provision is stepper motor, the angle that motor turns over is directly proportional with the pulse number strictness), therefore its controller needs an impulse source and a ring distributor, can use two kinds of methods of software and hardware to realize.The hardware implementation method is: send pulse by timer chip (for example 8253,8254 etc.), realize ring distributor by programmable chip (for example chips such as GAL, PAL, FPGA, CPLD), and in programmable chip, realize the selection of Motor logic (synchronization has only a motor operation).The output signal of ring distributor is moved by high-power driving chip drives motor through isolating (available photoelectricity is isolated or electric capacity is isolated) back control high-power driving chip (can be large power triode, NMOS pipe, PMOS pipe etc.).Ring distributor also can be realized by software, utilizes timer and I/O pin among the CPU, realizes the software ring distributor.
Described batch sample scientific experiment apparatus control system is characterized in that, this control system can be controlled the temperature of crystal growing furnace in the batch sample experimental provision by temperature control unit.The output signal of temperature sensor thermopair enters A/D converter after by the simulating signal input block, and system control unit carries out computing by temperature control unit after reading the A/D transformation result.During computing or use pid control algorithm or use predictive control algorithm or use the ANN (Artificial Neural Network) Control algorithm, and the feedforward decoupling zero, result calculated is with the form output of PWM.Output signal, heats crystal growing furnace with this by high-power driving chip drives resistance wire through isolating (available photoelectricity is isolated or electric capacity is isolated) back control high-power driving chip (can be large power triode, NMOS pipe, PMOS pipe etc.).Type of heating has two kinds, and a kind of is that many groups stove silk is heated simultaneously, and another kind is that the mode with timesharing heats many groups stove silk, the heating in turn of also promptly many group stove silks, and that takes turns is spaced apart the hundreds of millisecond.
Described batch sample scientific experiment apparatus control system is characterized in that, this control system can be controlled other unit and whole experiment by system control unit.System control unit is made up of CPU, program storage, data-carrier store, house dog and A/D converter.
Described batch sample scientific experiment apparatus control system is characterized in that, this control system can be come and the host computer swap data by communication unit, accepts the telecommand that host computer sends, and the experimental data that collects in the experimentation is sent to host computer.
Described batch sample scientific experiment apparatus control system is characterized in that, this control system can provide system required various power supplys by power supply unit, comprise the 5V power supply in the digital circuit, in the mimic channel ± the 12V power supply, the power supply of motor, the power supply of heating etc.
Described batch sample scientific experiment apparatus control system is characterized in that this control system has distant operating function, can accept distant operational order, and controls the operation of motor, rising, maintenance and the reduction of control temperature under distant operational order control.The user can utilize distant operational order according to the requirement of oneself, by batch sample experimental provision control system the duty of batch sample experimental provision is controlled.
Described batch sample scientific experiment apparatus control system is characterized in that, this control system can automatically be controlled the processing tasks that batch sample scientific experiment device is finished all (up to a hundred) samples under the situation of not having artificial intervention.In whole experiment, need not any manual intervention.
The concrete method of work of control system of batch sample experimental provision of the present invention comprises following steps:
The experimental provision of sample is under the control of system control unit in batches, motor control unit control mechanical arm vertically runs to the upright position of the sample thief ampoule of wanting, after the limit switch signal that is sent by the switching signal input block is effective, control the mechanical arm tangential movement again to the sample position that will get; Controlling specimen holder then, to arrive limit switch forward effective; The control mechanical arm closes to close and grasps the sample ampoule, controls specimen holder afterwards and moves to bottommost, and the sample ampoule is removed; The vertical earlier operation of control mechanical arm, level run is aimed at burner hearth to the middle part again, and the control heating furnace marches forward, and the sample ampoule is inserted in the burner hearth; Temperature control unit begins the sample ampoule is heated, and begins the process to sample; After the sample grown process was finished, heating furnace was stepped back limit switch fast and is effectively located; The vertical earlier back of mechanical arm level run is aimed at feed bin to the feed bin place of this sample, and specimen holder moves forward, and when specimen holder front limit switch was effective, the sample ampoule was placed among the feed bin, and sample is locked.Controller control mechanical arm grasps next sample;
Wherein, in motor operation course, pulse signal input block number system control module sends to the pulse number of motor control unit, and obtains the positional information of sample thus;
Signals such as the temperature data in the system control unit control simulating signal input block collection experimentation and the voltage of system, electric current, vibration;
The experimental data that obtains in the experimentation sends superior system to by communication unit, and receives the control command of superior system.
The present invention has the following advantages: have the multichannel analog signals input of different amplitudes, the multi-analog signalling channel can be provided, and can accept the different signal of amplitude (0.01mV-10V).The simulating signal input block is made up of some block signal tablets, and the interface of standard is arranged on the signal tablet, can determine the number of desired signal tablet according to the quantity of simulating signal; Multi-way switch amount and pulse signal input can provide multi-way switch amount signalling channel and multiplex pulse amount input channel; Modular design, the experimental provision control system of sample scientific experiment is simple in structure in batches, the interface with standard, each functional unit block can make up as required, is the modular construction of standard; The temperature-controlled precision height, its temperature control system control accuracy height can be less than 0.05%.It uses the control mode of multiple-input and multiple-output, can control the crystal growing furnace of many warm areas.The algorithm that it uses is PID control, or PREDICTIVE CONTROL, or ANN (Artificial Neural Network) Control; Can carry out distant operation control, can accept distant operational order, under the control of distant operational order, finish various control tasks.Have distant operating function, can accept distant operational order, and under distant operational order control, control the operation of motor, rising, maintenance and the reduction of control temperature.The user can be according to the requirement of oneself, utilize distant operational order, by batch sample experimental provision control system the duty of batch sample experimental provision is controlled, but the operational process of full-automatic control equipment can automatically be controlled the processing tasks that batch sample scientific experiment device is finished all (up to a hundred) samples under the situation of not having artificial intervention.
Description of drawings
Fig. 1 the present invention is the one-piece construction figure of sample experimental provision control system in batches;
Fig. 2 is a batch sample machining control process flow diagram.
Embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, batch sample experimental provision control system is by being made up of simulating signal input block, switching signal input block, pulse signal input block, motor control unit, temperature control unit, system control unit, communication unit, power supply unit.During control system work, at first control mechanical arm and on vertical support frame, run to the residing upright position of the sample that will grasp, when limit switch herein is effective, stop its operation.The controlling level guide screw movement is to the sample position that will get then, and its position limit switch and scrambler from here determines.It is effective that the control sample library runs to limit switch forward.The closed sample that grasps of control mechanical arm.This moment, mechanical arm turned clockwise, and with release between sample and the sample chamber, controlled sample library again and moved rearwards to bottommost, when limit switch herein is effective, stopped the operation of sample library, and sample is removed.Control mechanical arm then and on vertical support frame, move earlier, under the drive of horizontal screw lead, run to the middle part again, aim at burner hearth, aim at the position at burner hearth place by the limit switch and definite jointly its of scrambler of vertical direction and horizontal direction.The control stove marches forward, and sample is inserted in the burner hearth, stops the operation of stove when limit switch herein is effective.
Control the holding temperature that burner hearth heats up and reaches setting.Use pid control algorithm and feed forward control method, or adopt forecast Control Algorithm, or adopt neural network control method, make furnace temperature keep temperature stabilization.Furnace temperature is controlled stove and is slowly moved backward after a period of stabilisation, growth (processing) process of beginning sample.
After the experiment of sample and process were finished, the control mechanical arm moved on vertical support frame earlier, ran to the material cabin place of this sample on sample library then under the drive of horizontal screw lead, aimed at the material cabin under the location of limit switch.The control sample library moves forward, and when sample library front limit switch was effective, sample was placed among the material cabin.The control mechanical arm is rotated counterclockwise, and under the effect of limit switch and scrambler, will lock between sample and the sample chamber.
So, controller is finished the process of a sample.Sample experimental provision control system continues control batch sample experimental provision and carries out the processing of next sample in batches.
Accompanying drawing 2 has been described the workflow of the experimental provision of sample in batches, be specially experimental provision under the control of system control unit, motor control unit control mechanical arm vertically runs to the upright position of the sample thief ampoule of wanting, after the limit switch signal that is sent by the switching signal input block is effective, control the mechanical arm tangential movement again to the sample position that will get.Controlling specimen holder then, to arrive limit switch forward effective.The control mechanical arm closes to close and grasps the sample ampoule, controls specimen holder afterwards and moves to bottommost, and the sample ampoule is removed.The vertical earlier operation of control mechanical arm, level run is aimed at burner hearth to the middle part again.The control heating furnace marches forward, and the sample ampoule is inserted in the burner hearth.Temperature control unit begins the sample ampoule is heated, and also promptly begins the process to sample.Sample can have dual mode to process, and a kind of is that heating furnace moves backward, and another kind is that move the temperature field in the control heating furnace.After the sample grown process was finished, heating furnace fell back on the back limit switch fast and effectively locates.The vertical earlier back of mechanical arm level run is aimed at feed bin to the feed bin place of this sample.Specimen holder moves forward, and when specimen holder front limit switch was effective, the sample ampoule was placed among the feed bin, and sample is locked.Controller control mechanical arm grasps next sample.
In motor operation course, pulse signal input block number system control module sends to the pulse number of motor control unit, and obtains the positional information of sample thus.
In whole experiment, system control unit control simulating signal input block is gathered temperature data and other data (for example data such as the voltage of system, electric current, vibration) in the experimentation.
The experimental data that obtains in the experimentation sends superior system to by communication unit, and receives the control command of superior system.
Need to prove, more than the embodiment of the present invention of Jie Shaoing and and unrestricted.It will be understood by those of skill in the art that any to technical solution of the present invention modification or be equal to and substitute the spirit and scope that do not break away from technical solution of the present invention, it all should be encompassed in the claim scope of the present invention.
Claims (8)
1. control system of sample experimental provision in batches, it is characterized in that described control system comprises: simulating signal input block, switching signal input block, pulse signal input block, motor control unit, temperature control unit, system control unit, communication unit and power supply unit;
Described simulating signal input block links to each other with system control unit, and the various simulating signals that are used for the experimental provision that will gather are delivered to system control unit;
Described switching signal input block links to each other with system control unit, is used for the limit signal of switching signal input block output is delivered to system control unit;
Described pulse signal input block links to each other with system control unit, is used to accept the input pulse signal, and the positional information of count pulse number acquisition sample, and positional information is delivered to system control unit;
Described motor control unit comprises an impulse source, a ring distributor links to each other with system control unit with motor driver and this unit, thereby is used to accept the motion process of the instruction control step motor of system control unit output; Motor driver is used for the operation of drive motor, between motor driver and the system control unit photoisolator is arranged, and is used to prevent the interference of motor to control module;
Described temperature control unit links to each other with system control unit, and the output signal that is used for accepting system control unit is regulated the temperature of sample experimental provision crystal growing furnace in batches, and this unit comprises:
The temperature signal load module, this module is gathered the multi way temperature signal of sensor, and removes the interference on this signal, and this signal is carried out filtering, obtains real temperature information;
The control algolithm module, this module is used control algolithm, and by regulating the power of heating, the stability of control temperature makes fluctuating up and down in less than 0.05% scope of temperature;
The heater-driven module, this module is regulated the power that well heater is supplied with in output, makes well heater that enough heat energy can be arranged, and makes the interior temperature of burner hearth reach desirable setting value, and keeps stable; Between heater-driven module and the system control unit photoisolator is arranged, be used to prevent the interference of heating current control system;
Two-way communication between described communication unit and system control unit interconnection realization and the superior system;
Adopt isolating means to avoid of the interference of limit switch input signal between described switching signal input block and the system control unit to system control unit and simulating signal input block; Described simulating signal input block is made up of some block signal tablets, and the signal tablet is provided with the interface of standard;
Wherein, the experimental provision of described batch sample comprises: sample library, multi-dimensional movement mechanism, heating furnace;
Described multi-dimensional movement mechanism comprises hand body vertical support frame and horizontal screw lead, and vertical and tangential movement, the hand body of realizing mechanical arm grasps seesawing of the seesawing of sample ampoule and relieving sample ampoule, sample library, heating furnace;
Described sample library and heating furnace are arranged on same upright position, and the both sides up and down of this device are separately installed with two sample libraries, and heating furnace is arranged between two sample libraries;
This device also comprises the sample latch mechanism, comprises the female and clamping storehouse of locking screw core, the locking of clamping storehouse of coaxial setting; Described clamping storehouse is cylindric, is used to hold the sample ampoule; One end in this clamping storehouse is provided with the face slightly of locking; Described locking screw core comprises two sections cylinders that internal diameter is different, and wherein, one section internal diameter is identical with the internal diameter that clamps the storehouse, and the internal diameter of another section is bigger, forms the space between itself and the sample ampoule, is used to hold mechanical arm; Use rotating fixedly connected between locking screw core and the clamping storehouse; Described clamping storehouse locking mother fixedly installs, and is sheathed on the joint portion in locking screw core and clamping storehouse, and the locking in the cooperation clamping storehouse, inside of one end face slightly is provided with the inclined-plane;
Described mechanical arm comprises: mechanical main hand, mechanical assistant, location blind nut, buffer spring and scrambler; The main hand of described machinery is used for promptly sample ampoule, comprising: three or above finger, coaxial sheathed main hand hand body and hand body pull bar, strainer, outer rotor transposition key; The finger of the main hand of machinery is provided with teeth, is used for matching with teeth groove on the sample ampoule, with the measuring-signal of transmission sample ampoule; The leading section of described main hand hand body is provided with the first finger riveted joint position, is used for the middle part of rotatable riveted joint finger; The front end of described hand body pull bar also cooperates and is provided with second finger riveted joint position, is used for the end of rotatable riveted joint finger; The intermediate host of described hand body pull bar is polygon and is nested in the main hand hand body; The sheathed strainer that is fixed with in the rear portion of described hand body pull bar, individual annular groove is arranged on the cylindrical of this strainer front end, cooperate the spring slide-way of main hand hand body inwall strainer to be fixed on the inner chamber of main hand hand body by this annular groove, its inner wall at end is provided with internal spline, is used to mesh outer rotor transposition key; Described mechanical assistant is a shift fork, is used to drive latch mechanism, realizes the chucking of sample in feed bin and unclamps, and comprising: fork and internal spline portion; Described fork is arranged in the circular groove on the main hand hand body, is used to lock mechanism; Described internal spline portion supports and is located between strainer and the location blind nut, and its internal spline cooperates outer rotor transposition spline.
2. the control system of batch sample experimental provision according to claim 1 is characterized in that, described isolating means comprises the photoelectricity isolation or electric capacity is isolated.
3. the control system of batch sample experimental provision according to claim 1 is characterized in that, described positional information comprises: sample enters the positional information in burner hearth and the growth course.
4. the control system of batch sample experimental provision according to claim 1 is characterized in that, described system control unit comprises: CPU, program storage, data-carrier store, house dog and A/D converter.
5. the control system of batch sample experimental provision according to claim 1 is characterized in that, described power supply unit can provide the 5V in the digital circuit power supply, in the mimic channel ± the 12V power supply, the power supply that the driving power of motor and well heater are required.
6. the control system of batch sample experimental provision according to claim 1, it is characterized in that, described control system also comprises distant operational module, be used to accept distant operational order, utilize distant operational order, the duty of batch sample experimental provision is controlled by batch sample experimental provision control system.
7. the control system of batch sample experimental provision according to claim 1, it is characterized in that described simulating signal comprises: thermocouple signal, ambient temperature signal, humidity sensor signal, vibration sensor signal, current sensor signal, voltage sensor signals.
8. control the method for sample experimental provision in batches for one kind, this method adopts the control system of sample experimental provision in batches, it is characterized in that described control system comprises: simulating signal input block, switching signal input block, pulse signal input block, motor control unit, temperature control unit, system control unit, communication unit and power supply unit;
Described simulating signal input block links to each other with system control unit, and the various simulating signals that are used for the experimental provision that will gather are delivered to system control unit;
Described switching signal input block links to each other with system control unit, is used for the limit signal of switching signal input block output is delivered to system control unit;
Described pulse signal input block links to each other with system control unit, is used to accept the input pulse signal, and the positional information of count pulse number acquisition sample, and positional information is delivered to system control unit;
Described motor control unit comprises an impulse source, a ring distributor links to each other with system control unit with motor driver and this unit, thereby is used to accept the motion process of the instruction control step motor of system control unit output; Motor driver is used for the operation of drive motor, between motor driver and the system control unit photoisolator is arranged, and is used to prevent the interference of motor to control module;
Described temperature control unit links to each other with system control unit, and the output signal that is used for accepting system control unit is regulated the temperature of sample experimental provision crystal growing furnace in batches, and this unit comprises:
The temperature signal load module, this module is gathered the multi way temperature signal of sensor, and removes the interference on this signal, and this signal is carried out filtering, obtains real temperature information;
The control algolithm module, this module is used control algolithm, and by regulating the power of heating, the stability of control temperature makes fluctuating up and down in less than 0.05% scope of temperature;
The heater-driven module, this module is regulated the power that well heater is supplied with in output, makes well heater that enough heat energy can be arranged, and makes the interior temperature of burner hearth reach desirable setting value, and keeps stable; Between heater-driven module and the system control unit photoisolator is arranged, only be used to put heating current the interference of control system;
Two-way communication between described communication unit and system control unit interconnection realization and the superior system;
Adopt isolating means to avoid of the interference of limit switch input signal between described switching signal input block and the system control unit to system control unit and simulating signal input block; Described simulating signal input block is made up of some block signal tablets, and the signal tablet is provided with the interface of standard;
Wherein, the experimental provision of described batch sample comprises: sample library, multi-dimensional movement mechanism, heating furnace;
Described multi-dimensional movement mechanism comprises hand body vertical support frame and horizontal screw lead, and vertical and tangential movement, the hand body of realizing mechanical arm grasps seesawing of the seesawing of sample ampoule and relieving sample ampoule, sample library, heating furnace;
Described sample library and heating furnace are arranged on same upright position, and the both sides up and down of this device are equipped with two sample libraries, and heating furnace is arranged between two sample libraries;
This device also comprises the sample latch mechanism, comprises the female and clamping storehouse of locking screw core, the locking of clamping storehouse of coaxial setting; Described clamping storehouse is cylindric, is used to hold the sample ampoule; One end in this clamping storehouse is provided with the face slightly of locking; Described locking screw core comprises two sections cylinders that internal diameter is different, and wherein, one section internal diameter is identical with the internal diameter that clamps the storehouse, and the internal diameter of another section is bigger, forms the space between itself and the sample ampoule, is used to hold mechanical arm; Use rotating fixedly connected between locking screw core and the clamping storehouse; Described clamping storehouse locking mother fixedly installs, and is sheathed on the joint portion in locking screw core and clamping storehouse, and the locking in the cooperation clamping storehouse, inside of one end face slightly is provided with the inclined-plane;
Described mechanical arm comprises: mechanical main hand, mechanical assistant, location blind nut, buffer spring and scrambler; The main hand of described machinery is used for promptly sample ampoule, comprising: three or above finger, coaxial sheathed main hand hand body and hand body pull bar, strainer, outer rotor transposition key; The finger of the main hand of machinery is provided with teeth, is used for matching with teeth groove on the sample ampoule, with the measuring-signal of transmission sample ampoule; The leading section of described main hand hand body is provided with the first finger riveted joint position, is used for the middle part of rotatable riveted joint finger; The front end of described hand body pull bar also cooperates and is provided with second finger riveted joint position, is used for the end of rotatable riveted joint finger; The intermediate host of described hand body pull bar is polygon and is nested in the main hand hand body; The sheathed strainer that is fixed with in the rear portion of described hand body pull bar, individual annular groove is arranged on the cylindrical of this strainer front end, cooperate the spring slide-way of main hand hand body inwall strainer to be fixed on the inner chamber of main hand hand body by this annular groove, its inner wall at end is provided with internal spline, is used to mesh outer rotor transposition key; Described mechanical assistant is a shift fork, is used to drive latch mechanism, realizes the chucking of sample in feed bin and unclamps, and comprising: fork and internal spline portion; Described fork is arranged in the circular groove on the main hand hand body, is used to lock mechanism; Described internal spline portion supports and is located between strainer and the location blind nut, and its internal spline cooperates outer rotor transposition spline;
Described method concrete steps are as follows:
At first, the experimental provision of sample is under the control of system control unit in batches, motor control unit control mechanical arm vertically runs to the upright position of the sample thief ampoule of wanting, after the limit switch signal that is sent by the switching signal input block is effective, control the mechanical arm tangential movement again to the sample position that will get;
Controlling specimen holder then, to arrive limit switch forward effective; The control mechanical arm closes to close and grasps the sample ampoule, controls specimen holder afterwards and moves to bottommost, and the sample ampoule is removed; The vertical earlier operation of control mechanical arm, level run is aimed at burner hearth to the middle part again, and the control heating furnace marches forward, and the sample ampoule is inserted in the burner hearth;
At last, temperature control unit begins the sample ampoule is heated, and begins the process to sample; After the sample process was finished, heating furnace was stepped back limit switch fast and is effectively located; The vertical earlier back of mechanical arm level run is aimed at feed bin to the feed bin place of this sample, and specimen holder moves forward, and when specimen holder front limit switch was effective, the sample ampoule was placed among the feed bin, and with sample locking, controller control mechanical arm grasps next sample;
Wherein, in motor operation course, pulse signal input block number system control module sends to the pulse number of motor control unit, and obtains the positional information of sample thus;
The temperature data in the system control unit control simulating signal input block collection experimentation and voltage, electric current, the vibration signal of system;
The experimental data that obtains in the experimentation sends superior system to by communication unit, and receives the control command of superior system.
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| CN104965538B (en) * | 2015-07-06 | 2018-04-13 | 四川英杰电气股份有限公司 | A kind of heating power supply control method of crystal growing process |
| EP3255519B1 (en) * | 2016-06-09 | 2019-02-20 | Roche Diagniostics GmbH | Laboratory sample distribution system and method of operating a laboratory sample distribution system |
| CN109656286B (en) * | 2018-12-10 | 2021-07-30 | 湖南航天天麓新材料检测有限责任公司 | Macromolecular crystallization space material experimental device and method |
| CN117348578A (en) * | 2023-12-05 | 2024-01-05 | 成都源流立创科技有限公司 | Physical and chemical laboratory system, communication implementation method of system and laboratory |
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Address after: 100190 No. two south of Zhongguancun, Haidian District, Beijing 1 Patentee after: NATIONAL SPACE SCIENCE CENTER, CAS Address before: 100190 No. two south of Zhongguancun, Haidian District, Beijing 1 Patentee before: Space Science & Applied Research Centre, Chinese Academy of Sciences |
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