CN108033424B - Solvent extraction method automation system - Google Patents
Solvent extraction method automation system Download PDFInfo
- Publication number
- CN108033424B CN108033424B CN201810055290.8A CN201810055290A CN108033424B CN 108033424 B CN108033424 B CN 108033424B CN 201810055290 A CN201810055290 A CN 201810055290A CN 108033424 B CN108033424 B CN 108033424B
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- bottle
- discharging
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- feeding
- water bath
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- 238000000638 solvent extraction Methods 0.000 title claims abstract description 11
- 238000000034 method Methods 0.000 title abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 242
- 238000007599 discharging Methods 0.000 claims abstract description 116
- 239000000463 material Substances 0.000 claims abstract description 79
- 239000007788 liquid Substances 0.000 claims abstract description 64
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 46
- 238000000605 extraction Methods 0.000 claims abstract description 20
- 238000001914 filtration Methods 0.000 claims abstract description 11
- 239000002904 solvent Substances 0.000 claims abstract description 10
- 239000002131 composite material Substances 0.000 claims abstract description 9
- 238000005086 pumping Methods 0.000 claims description 21
- 239000002699 waste material Substances 0.000 claims description 15
- 238000012546 transfer Methods 0.000 claims description 10
- 238000002347 injection Methods 0.000 claims description 5
- 239000007924 injection Substances 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 11
- 238000004458 analytical method Methods 0.000 abstract description 8
- 239000000126 substance Substances 0.000 abstract description 5
- 238000012360 testing method Methods 0.000 abstract description 3
- 238000000926 separation method Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 4
- 239000000872 buffer Substances 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000036541 health Effects 0.000 description 2
- 231100000331 toxic Toxicity 0.000 description 2
- 230000002588 toxic effect Effects 0.000 description 2
- 238000012863 analytical testing Methods 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012160 loading buffer Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 150000002894 organic compounds Chemical class 0.000 description 1
- 238000002203 pretreatment Methods 0.000 description 1
- 230000037452 priming Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C7/00—Concurrent cleaning, filling, and closing of bottles; Processes or devices for at least two of these operations
- B67C7/0006—Conveying; Synchronising
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D11/00—Solvent extraction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/02—Conveying systems characterised by their application for specified purposes not otherwise provided for for conveying workpieces through baths of liquid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
- B67C3/22—Details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
- B67C3/22—Details
- B67C3/24—Devices for supporting or handling bottles
Landscapes
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Basic Packing Technique (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention relates to an automatic system for a solvent extraction method, which comprises a feeding and filling device, an automatic water bath device, a pipetting and blanking device and a control center system, wherein the control center system is in circuit connection with the feeding and filling device, the automatic water bath device and the pipetting and blanking device, the feeding and filling device comprises a feeding truss mechanism and a liquid separation and filling mechanism, the automatic water bath device comprises a large truss composite mechanical arm and an ultrasonic water bath workbench, and the pipetting and blanking device comprises a filtering pipetting mechanism and a blanking truss mechanism; the invention can realize the functions of automatic feeding and intelligent liquid-separating and quantitative filling of different chemical solvents, can automatically execute actions such as material taking, ultrasonic water bath, discharging and the like according to different technological requirements, and can realize the automatic ultrasonic constant-temperature water bath extraction of a material bottle sample by matching with the starting and stopping of an ultrasonic water bath instrument, realize the function of automatically discharging a large material bottle test liquid by filtering and transferring to a specific small material bottle and a finished product small material bottle, completely replace the former manual work, and save the manpower and material resources of an analysis and detection mechanism.
Description
[ technical field ]
The invention relates to the technical field of analytical chemistry equipment, in particular to an automatic system of a solvent extraction method.
[ background Art ]
Solvent extraction is one of the usual pretreatment means for analytical testing of organic compounds. Currently, in a detection mechanism, the pretreatment of solvent extraction mainly relies on manual operations of adding an extraction solvent into a sample, extracting by an extraction device, and separating an extraction liquid to be detected. The analysis and detection mechanism has high requirements on the academic and technical level of the staff, but more simple repeated contents exist than pretreatment in the current analysis and detection process, and the analysis and detection mechanism is manually operated by the staff, so that the detection mechanism not only spends a great deal of effort and working time of the detection staff, but also spends a great deal of manpower and material resources for the analysis and detection mechanism. During the solvent extraction process, the exposure of toxic and harmful chemical substances can occur to the detection personnel, and the safety and health of the personnel are affected.
[ summary of the invention ]
The invention aims to solve the defects and provide an automatic system for solvent extraction. According to different technological requirements, the automatic feeding and intelligent liquid-separating quantitative filling functions of different chemical solvents can be realized, the actions of taking materials, discharging and the like can be automatically executed, the automatic ultrasonic constant-temperature water bath extraction of a material bottle sample is realized through the starting and stopping of an ultrasonic water bath instrument, and the automatic discharging function of filtering and transferring a large material bottle test liquid to a specific small material bottle and a finished product small material bottle is realized.
The automatic system for the solvent extraction method comprises feeding and filling equipment, automatic water bath equipment, pipetting and baiting equipment and a control center system, wherein the control center system is in circuit connection with the feeding and filling equipment, the automatic water bath equipment and the pipetting and baiting equipment.
The feeding filling equipment comprises a feeding truss mechanism 1 and a liquid-separating filling mechanism 2, wherein the feeding truss mechanism 1 comprises a feeding tray 3, a pneumatic piston 4, a stepping servo system 5 and a transfer robot 6, the feeding tray 3 is vertically arranged on the pneumatic piston 4, the stepping servo system 5 is connected with the transfer robot 6, and the stepping servo system 5 and the transfer robot 6 are positioned above the feeding tray 3; the liquid separating and filling mechanism 2 comprises a bottle feeding conveying belt 7, a positioning chuck 8, a code scanning module 9, a metering pump 10, a large bottle arranging cover mechanism 11, a large bottle locking cover mechanism 12, a bottle discharging and pressing mechanism 13 and a large bottle discharging conveying belt 14, wherein the left end of the bottle feeding conveying belt 7 is connected with the feeding truss mechanism 1 and is positioned below a carrying robot 6, the right end of the bottle feeding conveying belt 7 is connected with the positioning chuck 8, the code scanning module 9, the metering pump 10, the large bottle arranging cover mechanism 11, the large bottle locking cover mechanism 12 and the bottle discharging and pressing mechanism 13 are positioned on the same platform 15, a plurality of semicircular bottle clamping grooves 16 are uniformly distributed on the circumference of the positioning chuck 8, the code scanning module 9, the liquid feeding head 17, the large bottle arranging cover mechanism 11 and the large bottle locking cover mechanism 12 are respectively arranged at the edge of the positioning chuck 8, the metering pump 10 is respectively connected with an extraction solvent bottle, the liquid feeding head 17 is respectively connected with the positioning chuck 10, the bottle discharging and pressing mechanism 11 and the large bottle locking cover mechanism 13 are positioned at the same area of the same vertical position of the bottle clamping chuck 8, and the bottle discharging and pressing mechanism 12 is positioned at the position of the bottle clamping chuck 8, and the bottle clamping cover mechanism 14 is positioned at the position of the same round clamping groove 14. The bottle discharging conveyor belt I14 is provided with a bottle discharging module 18, and the bottle discharging module 18 is provided with a plurality of round bottle clamping grooves 19.
The automatic water bath equipment comprises a large truss composite mechanical arm and an ultrasonic water bath workbench 22, the large truss composite mechanical arm is arranged above the ultrasonic water bath workbench 22 and comprises a mechanical arm 21, a material grabbing mechanical arm 28, a stepping motor servo system 29 and a large truss guide rail 30, the material grabbing mechanical arm 28 is matched with and connected with the front end of the mechanical arm 21, the stepping motor servo system 29 is matched and connected with the rear end of the mechanical arm 21, the stepping motor servo system 29 is in sliding connection with the large truss guide rail 30, a material feeding working position 23, a material feeding buffer working position 24, an ultrasonic water bath working position 25, a material discharging waiting working position 26 and a material discharging working position 27 are arranged on the ultrasonic water bath workbench 22, material containing trays are arranged on the upper end faces of the material feeding working position 23, the material feeding buffer working position 24, the ultrasonic water bath working position 25, the material discharging waiting working position 26 and the material discharging working position 27, and ultrasonic water bath instrument are arranged at the ultrasonic water bath working position 25.
The pipetting and baiting equipment comprises a filtration pipetting mechanism 101 and a baiting truss mechanism 102, wherein the filtration pipetting mechanism 101 comprises a bottle feeding conveyer belt 103, a big bottle code scanning module 104, a big bottle cover opening mechanism 105, a big bottle cover removing mechanism 106, a needle extracting mechanism 107, a filter head loading mechanism 110, a small bottle cover mechanism 111, a small bottle cover locking mechanism 112, a small bottle discharging mechanism 118, a small bottle feeding mechanism 119, a small bottle scanning module 120, a filter head extracting mechanism 121, a needle cylinder ejection mechanism 122, a small bottle arranging tray 123, a needle cylinder arranging tray 124, a needle head arranging tray 125, a waste bottle pushing mechanism 126, a needle cylinder feeding tray mechanism 127, a needle head assembling mechanism 128, a waste bottle collecting tray 129, a small bottle cover locking chuck 130, a liquid injecting mechanism 131, a liquid pumping and transferring chuck 132, a big bottle cover removing chuck 133 and a liquid pumping mechanism 134, the bottle feeding conveyer belt 103 is connected with the big bottle cover removing chuck 133, the big bottle cap removing chuck 133 is provided with a plurality of material bottle clamping grooves 135 uniformly distributed on the circumference, the big bottle code scanning module 104, the big bottle cap opening mechanism 105 and the big bottle cap removing mechanism 106 are arranged at the edge of the big bottle cap removing chuck 133, the waste bottle pushing mechanism 126 is positioned below one of the material bottle clamping grooves 135 on the big bottle cap removing chuck 133, the waste bottle pushing mechanism 126 is matched and connected with the waste bottle collecting tray 129, the circumference of the liquid pumping and transferring chuck 132 is uniformly distributed with a plurality of circular clamping grooves 136, the liquid pumping and transferring chuck 132 is arranged above the big bottle cap removing chuck 133, the circular clamping grooves 136 in the intersecting area of the liquid pumping and transferring chuck 132 and the big bottle cap removing chuck 133 are overlapped with the two circular centers of the material bottle clamping grooves 135, the upper end and the lower end of the liquid pumping mechanism 134 are respectively provided with a manipulator 137, the needle pulling mechanism 107 is arranged below the liquid pumping and transferring chuck 132, the filter head mechanism 110 is arranged below the liquid pumping and transferring chuck 132, the filter head loading mechanism 110 is cooperatively connected with the filter head arranging vibration disc 108, a plurality of circular small material bottle clamping grooves 138 are uniformly distributed on the circumferential edge of the small bottle locking chuck 130, the small bottle locking chuck 130 is positioned below the liquid pumping and transferring chuck 132, the small material bottle clamping grooves 138 in the intersecting area of the small bottle locking chuck 130 and the liquid pumping and transferring chuck 132 are overlapped with the two circular centers of the circular clamping grooves 136, the liquid filling mechanism 131 is vertically arranged above the liquid pumping and transferring chuck 132 and is right opposite to the overlapped small material bottle clamping grooves 138 and the circular clamping grooves 136, the filter head extracting mechanism 121 is arranged below the liquid pumping and transferring chuck 132, the needle head entering mechanism 127 comprises a carrying manipulator mechanism, the needle head assembling mechanism 128 is cooperatively connected with the needle head arranging vibration disc 124, the small bottle locking mechanism 111, the small bottle locking mechanism 112 and the small bottle locking mechanism 119 are vertically arranged on the small bottle locking chuck 130, and the small bottle locking mechanism is vertically connected with the small bottle locking mechanism 119, and the small bottle locking mechanism is vertically arranged on the small bottle locking chuck 111 and the small bottle locking chuck 119, and the small bottle locking mechanism is vertically connected with the small bottle locking mechanism 119; the discharging truss mechanism 102 comprises a discharging carrying manipulator 113, a discharging tray 114, a discharging stepping servo system 115, a finished product positioning mechanism 116 and a bottle discharging conveyor belt II 117, wherein the right end of the bottle discharging conveyor belt II 117 is connected with a bottle discharging mechanism 118, the finished product positioning mechanism 116 is positioned at the left end of the bottle discharging conveyor belt II 117, the discharging stepping servo system 115 is connected with the discharging carrying manipulator 113, the discharging carrying manipulator 113 is vertically positioned above the bottle discharging conveyor belt II 117, and the discharging tray 114 is arranged on the side edge of the left end of the bottle discharging conveyor belt II 117.
The discharging truss mechanism 102 further comprises a discharging pushing mechanism 139, and the discharging pushing mechanism 139 is cooperatively connected with the discharging tray 114.
Compared with the prior art, the invention has novel structure and convenient use, can realize the functions of automatic feeding and intelligent liquid-separating and quantitative filling of different chemical solvents according to different process requirements, automatically execute actions such as material taking, material discharging and the like, and realize the automatic ultrasonic constant-temperature water bath extraction of a material bottle sample by matching with the starting and stopping of an ultrasonic water bath instrument, realize the function of automatically discharging a large material bottle test liquid to a specific small material bottle and a finished product small material bottle by filtering and moving, completely replace the former work, release a detection personnel to engage in the part with high technical content in the work, ensure the best of the people, save the manpower and material resources of an analysis detection mechanism, avoid the exposure of personnel to toxic and harmful chemical substances in the solvent extraction process, ensure the safety and health of personnel, remove maintenance time, effectively improve the pretreatment yield of samples and deserve popularization and application.
[ description of the drawings ]
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic structural view of the loading filling apparatus of the present invention;
FIG. 3 is a schematic view of the structure of the automatic water bath apparatus of the present invention;
FIG. 4 is a schematic structural view of the pipetting blanking apparatus of the present invention;
in the figure: 1. the feeding truss mechanism, 2, the liquid-separating filling mechanism, 3, a feeding tray, 4, a pneumatic piston, 5, a stepping servo system, 6, a carrying robot, 7, a bottle feeding conveyor belt, 8, a positioning chuck, 9, a code scanning module, 10, a quantitative pump, 11, a big bottle cap arranging mechanism, 12, a big bottle cap locking mechanism, 13, a bottle discharging and pressing mechanism, 14, a bottle discharging conveyor belt I, 15, a platform, 16, a semicircular bottle clamping groove, 17, a liquid filling head, 18, a bottle discharging module, 19, a circular bottle clamping groove, 21, a mechanical arm, 22, an ultrasonic water bath workbench, 23, a feeding working position, 24, a feeding buffer working position, 25, an ultrasonic water bath working position, 26, a discharging waiting working position, 27, a discharging working position, 28, a material grabbing robot, 29, a stepping motor servo system, 30, a big truss guide rail, 101, a filtering liquid-transferring mechanism, 102, a discharging truss mechanism, 103 and a bottle feeding conveyor belt, 104, a large bottle code scanning module, 105, a large bottle cover opening mechanism, 106, a large bottle cover removing mechanism, 107, a needle extracting mechanism, 108, a filter head arranging vibration disk, 109, a small bottle arranging vibration disk, 110, a filter head arranging mechanism, 111, a small bottle cover arranging mechanism, 112, a small bottle locking mechanism, 113, a discharging and conveying manipulator, 114, a discharging material disk, 115, a discharging stepping servo system, 116, a finished product positioning mechanism, 117, a second bottle discharging conveying belt, 118, a small bottle discharging mechanism, 119, a small bottle feeding mechanism, 120, a small bottle scanning module, 121, a filter head extracting mechanism, 122, a needle ejecting mechanism, 123, a small bottle arranging vibration disk, 124, a needle arranging vibration disk, 125, a needle arranging vibration disk, 126, a waste bottle ejecting mechanism, 127, a needle feeding disk mechanism, 128, a needle assembling mechanism, 129, a waste bottle collecting tray, 130, a small bottle cover clamping disk, 131 and a liquid injecting mechanism, 132. the device comprises a liquid pumping and pipetting chuck, 133, a large bottle cap removing chuck, 134, a liquid pumping mechanism, 135, a material bottle clamping groove, 136, a round clamping groove, 137, a mechanical arm, 138, a small material bottle clamping groove, 139 and a discharging pushing mechanism.
Detailed description of the preferred embodiments
The invention is further described below with reference to the accompanying drawings:
as shown in figure 1, the invention comprises a feeding and filling device, an automatic water bath device, a pipetting and blanking device and a control center system, wherein the control center system is in circuit connection with the feeding and filling device, the automatic water bath device and the pipetting and blanking device.
As shown in fig. 2, the feeding and filling equipment comprises a feeding truss mechanism 1, a liquid separation and filling mechanism 2 and a control center system; the feeding truss mechanism 1 comprises a feeding tray 3, a pneumatic piston 4, a stepping servo system 5 and a transfer robot 6, wherein the feeding tray 3 is vertically arranged on the pneumatic piston 4, the stepping servo system 5 is connected with the transfer robot 6, and the stepping servo system 5 and the transfer robot 6 are positioned above the feeding tray 3; the liquid separating and filling mechanism 2 comprises a bottle feeding conveying belt 7, a positioning chuck 8, a code scanning module 9, a metering pump 10, a big bottle arranging cover mechanism 11, a big bottle locking cover mechanism 12, a bottle discharging and pressing mechanism 13 and a bottle discharging conveying belt 14, wherein the left end of the bottle feeding conveying belt 7 is connected with the feeding truss mechanism 1 and is positioned below the carrying robot 6, the right end of the bottle feeding conveying belt 7 is connected with the positioning chuck 8, the code scanning module 9, the metering pump 10, the big bottle arranging cover mechanism 11, the big bottle locking cover mechanism 12 and the bottle discharging and pressing mechanism 13 are positioned on the same platform 15, and a plurality of (e.g.: 16, the drawing is partially drawn) semicircular bottle clamping groove 16, the code scanning module 9 is arranged at the edge of the positioning chuck 8, the code scanning laser radiation area can effectively cover the label above the positioning chuck 8, the two (or more) quantitative pumps 10 are respectively connected with two (or more) extraction solvent bottles, the two (or more) liquid injection heads 17 are respectively connected with the two (or more) quantitative pumps 10, the liquid injection heads 17 are vertically arranged above the semicircular bottle clamping groove 16 of the positioning chuck 8, the large bottle cover arranging mechanism 11 is arranged around the positioning chuck 8, the outlet of the large bottle cover arranging mechanism 11 is vertically arranged above the semicircular bottle clamping groove 16 of the positioning chuck 8, the large bottle cover locking mechanism 12 is arranged around the positioning chuck 8, the locking cover gripping hand of the large bottle cover arranging mechanism is vertically arranged above the semicircular bottle clamping groove 16 of the positioning chuck 8, the bottle discharging and pressing mechanism 13 is vertically arranged at the intersection area of the positioning chuck 8 and the bottle discharging conveyer belt 14, the bottle discharging conveyer belt 14 is arranged below the positioning chuck 8, the bottle discharging module 18 is arranged on the bottle discharging conveyer belt 14, the bottle outlet module 18 is provided with a plurality of round bottle clamping grooves 19. The control center system circuit is connected with the pneumatic piston 4, the stepping servo system 5, the carrying robot 6, the bottle feeding conveyer belt 7, the positioning chuck 8, the code scanning module 9, the quantitative pump 10, the big bottle cap arranging mechanism 11, the big bottle cap locking mechanism 12, the bottle discharging and pressing mechanism 13 and the first bottle discharging conveyer belt 14.
The feeding tray 3 of the invention is pushed by the pneumatic piston 4 to the lower part of the carrying robot 6. The transfer robot 6 controlled by the stepping servo system 5 grips the bottles in the feeding tray 3 by moving left and right and up and down, and sends the bottles to the bottle feeding conveyor belt 7, and the bottles are sent to the semicircular bottle clamping groove 16 of the positioning chuck 8 by the conveyor belt. The code scanning module 9 recognizes two-dimensional code information of the material bottle, obtains pretreatment method information of the material bottle, and determines which quantitative pump is designated by the control system to inject a certain volume of extraction solvent into the material bottle. The positioning chuck 8 rotates clockwise to convey the solvent-filled material bottles to the position below the large bottle cap arranging mechanism 11, and one bottle cap slides off the track outlet of the cap arranging mechanism to cover the material bottles. Immediately after the vial is rotated under the vial cap locking mechanism 12, the vial cap is locked. The positioning chuck 8 continues to rotate, the material bottle is conveyed to the lower part of the bottle discharging and pressing mechanism 13, and is pressed into the circular material bottle clamping groove 19 of the bottle discharging module 18 by the mechanism. After a plurality of clamping grooves of the bottle outlet module are filled with material bottles, the material bottles are conveyed to a material feeding working position of the automatic water bath equipment by a bottle outlet conveying belt.
As shown in fig. 3, the automatic water bath equipment comprises a large truss composite mechanical arm and an ultrasonic water bath workbench 22, the large truss composite mechanical arm is arranged above the ultrasonic water bath workbench 22 and comprises a mechanical arm 21, a grabbing mechanical arm 28, a stepping motor servo system 29 and a large truss guide rail 30, the grabbing mechanical arm 28 is matched with and connected with the front end of the mechanical arm 21, the rear end of the mechanical arm 21 is matched and connected with the stepping motor servo system 29, the stepping motor servo system 29 is slidably connected with the large truss guide rail 30, a feeding working position 23, a feeding buffering working position 24, an ultrasonic water bath working position 25, a discharging waiting working position 26 and a discharging working position 27 are arranged on the ultrasonic water bath workbench 22, a feeding tray is arranged on the upper end faces of the feeding working position 23, the feeding buffering working position 24, the ultrasonic water bath working position 25, the discharging waiting working position 26 and the discharging working position 27, and an ultrasonic water bath instrument is arranged at the ultrasonic water bath working position 25.
The gripping robot 28 of the present invention grips a plurality of large bottles in the bottle discharge module 18 of the loading filling apparatus each time and feeds them into a loading tray on the loading station 23. If the loading tray on the loading station 23 is full, the subsequent large bottles may be grasped by the grasping robot 28 into the loading tray on the loading buffer station 24. After the material containing tray is filled, the material grabbing mechanical arm 28 sends the material grabbing mechanical arm to the ultrasonic water bath working position 25 for extraction. After extraction is completed, the grabbing mechanical arm 28 sends the materials to the material containing tray on the material discharging waiting working position 26 or the material discharging working position 27 to wait to be finally transferred to the material containing tray on the material discharging working position 27.
As shown in fig. 4, the pipetting and blanking device includes a filtration pipetting mechanism 101 and a blanking truss mechanism 102, where the filtration pipetting mechanism 101 includes a bottle feeding belt 103, a large bottle stacking module 104, a large bottle capping mechanism 105, a large bottle capping mechanism 106, a needle pulling mechanism 107, a filter head loading mechanism 110, a small bottle capping mechanism 111, a small bottle capping mechanism 112, a small bottle discharging mechanism 118, a small bottle feeding mechanism 119, a small bottle scanning module 120, a filter head pulling mechanism 121, a syringe ejection mechanism 122, a small bottle stacking tray 123, a syringe stacking tray 124, a needle stacking tray 125, a waste bottle pushing mechanism 126, a syringe tray feeding mechanism 127, a needle assembling mechanism 128, a waste bottle collecting tray 129, a small bottle capping chuck 130, a liquid filling mechanism 131, a liquid pumping and pipetting chuck 132, a large bottle capping chuck 133 and a liquid pumping mechanism 134, the bottle feeding belt 103 is connected with the large bottle capping chuck 133, a plurality of material clamping grooves 135 are uniformly distributed on the circumference of the large bottle capping mechanism 133 (the large bottle gripping mechanism 119 is a part of the map scanning module 120, the filter head pulling mechanism is located on the large bottle gripping chuck 132, the large bottle gripping chuck is located on the periphery of the large bottle stacking chuck 132, the laser chuck is located on the periphery of the large bottle stacking chuck 132, and the laser chuck 133 is located on the periphery of the large bottle stacking chuck 132, and the round-shaped chuck is located on the periphery of the large bottle stacking chuck 132, and the round-shaped laser chuck is located on the periphery of the large bottle stacking chuck 132. In this intersection region, two discs each have a card slot facing each other. The upper end and the lower end of the liquid pumping mechanism 134 are respectively provided with a manipulator 137, which are respectively and vertically positioned above and below the circular clamping groove 136 of the liquid pumping and transferring chuck 132. The extraction needle mechanism 107 is located below the pipetting chuck 132. The filter head loading mechanism 110 is located below the pipetting chuck 132 and is connected to the filter head conditioning disk 108. The vial lock cap cartridge 130 has a plurality of circular vial lock grooves 138 (partially shown) uniformly distributed on its circumferential edge, the discs being positioned adjacent to and at a lower height than the pipetting chuck 132, the two chucks projecting a small area of intersection. In this intersection area, two trays each have a bottle neck facing each other. The liquid injection mechanism 131 is vertically arranged above the liquid pumping and transferring chuck 132 and is opposite to the two clamping grooves. The filter head extraction mechanism 121 is located below the pipetting chuck 132. The syringe ejection mechanism 122 assumes an open clip configuration, containing the pipetting chuck 132. The cylinder tray-in mechanism 127 comprises a handling manipulator mechanism and is connected to the cylinder tray 124. The needle assembly mechanism 128 is located below the pipetting chuck 132 and is connected to the needle management vibratory plate 125. The vial cap mechanism 111 is positioned around the vial cap locking chuck 130 with its robot positioned vertically above the chuck and the cap mechanism is connected to the vial cap handling shake disk 109. The vial lock cap mechanism 112 is disposed about a vial lock cap chuck 130 with its lock cap member positioned vertically above the chuck. The vial output mechanism 118 contains a handling robot that is positioned around the vial lock cap cartridge. The vial feeding mechanism 119 is located adjacent the vial lock cap chuck, contains a removable vial clamping slot, and is connected to the vial straightening vibration plate 123. The vial scanning module 120 is disposed about a vial lock cover chuck 130. The discharging truss mechanism 102 comprises a discharging carrying manipulator 113, a discharging tray 114, a discharging stepping servo system 115, a finished product positioning mechanism 116 and a bottle discharging conveyor belt II 117, wherein the right end of the bottle discharging conveyor belt II 117 is connected with a bottle discharging mechanism 118, the finished product positioning mechanism 116 is positioned at the left end of the bottle discharging conveyor belt II 117, the discharging stepping servo system 115 is connected with the discharging carrying manipulator 113, the discharging carrying manipulator 113 is vertically positioned above the bottle discharging conveyor belt II 117, and the discharging tray 114 is positioned at the side edge of the left end of the bottle discharging conveyor belt II 117. The discharge tray 114 is cooperatively connected with a discharge pushing mechanism 139.
The large truss composite mechanical arm conveys the large material bottles waiting at the discharging working position to the large bottle cap removing chuck 133 through the bottle feeding conveying belt 103 of the pipetting and blanking equipment in a plurality of grabbing modes each time, and each large material bottle sequentially enters the material bottle clamping groove 135. The bottle cap removing chuck rotates anticlockwise, and the big material bottle is scanned at the position of the big bottle code scanning module 104. After the control center system of the automated equipment obtains the code scanning information of the large material bottle, the vial feeding mechanism 119 is informed to convey a small material bottle to the vial locking cap chuck 130, and then the vial locking cap chuck is rotated clockwise to convey the small material bottle to the vial scanning module 120 for code scanning. And the control center system correlates the two-dimension code information of the large material bottle with the two-dimension code information of the small material bottle corresponding to the two-dimension code information. The large bottle cap removing chuck 133 continues to rotate, and the large material bottles are sequentially rotated to the large bottle cap opening mechanism 105 and the large bottle cap removing mechanism 106 to finish the removal of the bottle caps. At the same time, the syringe management tray 124 delivers syringes to the syringe tray mechanism 127 into the circular catch 136 on the pipetting chuck 132, the syringes are rotated over the needle assembly mechanism 128, the needles delivered by the needle management tray 125 are mounted to the syringes by the robotic arm, and then to the underside of the pipetting mechanism 134. The large material bottle with the cover removed also arrives below the liquid extraction mechanism, at this time, the mechanical arm at the lower end of the liquid extraction mechanism lifts the large material bottle upwards, so that the needle head can enter the large material bottle, and the mechanical arm at the upper end upwards pulls the needle cylinder push rod to extract the extraction solution with corresponding volume according to the code scanning information of the large material bottle. The large vials are then pushed out of the vial clamping slot 135 by the vial ejection mechanism 126 and stored in the vial collection tray 129. The syringe from which the extraction solution is extracted is sent to the upper side of the needle extraction mechanism 107, and the needle is extracted; next, a filter head is installed above the filter head assembly 110. The cartridge with filter head is then brought under the priming mechanism 131 and a corresponding volume of filtered solution is primed into the vial in the lower vial lock cap cartridge 130 based on the vial sweep information. The cartridge is then removed by the filter head extraction mechanism 121 and fed out of the pipetting chuck 132 into the waste cartridge by the cartridge ejection mechanism 122. The vial cap management shake disk 109 inputs a vial cap to the vial cap mechanism 111. The vials are sequentially packaged by a vial cap mechanism 111 and a vial cap locking mechanism 112. In order to prevent the vials from toppling over on the second vial discharge conveyor 117, the product positioning mechanism 116 initially pushes out a semicircular slot in the front of the conveyor into which the vial is gripped by the vial discharge mechanism 118, and the slot is retracted to the side of the conveyor after the vials are stable. The discharging step servo system 115 controls the discharging carrying manipulator 113 to grasp a plurality of small material bottles each time on the conveyor belt and send the small material bottles to the discharging tray 114, and the small material bottles are pushed out by the discharging pushing mechanism 139 and put into a final sample tray for analysis by a corresponding analysis instrument.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the invention are intended to be equivalent substitutes and are included in the scope of the invention.
Claims (1)
1. An automated solvent extraction system, characterized by: the automatic water bath device comprises feeding and filling equipment, automatic water bath equipment, pipetting and blanking equipment and a control center system, wherein the control center system is connected with the feeding and filling equipment, the automatic water bath equipment and the pipetting and blanking equipment through circuits;
the feeding filling equipment comprises a feeding truss mechanism (1) and a liquid separating filling mechanism (2), wherein the feeding truss mechanism (1) comprises a feeding tray (3), a pneumatic piston (4), a stepping servo system (5) and a carrying robot (6), the feeding tray (3) is vertically arranged on the pneumatic piston (4), the stepping servo system (5) is connected with the carrying robot (6), and the stepping servo system (5) and the carrying robot (6) are positioned above the feeding tray (3); the liquid separating and filling mechanism (2) comprises a bottle feeding conveying belt (7), a positioning chuck (8), a code scanning module (9), a metering pump (10), a large bottle cover arranging mechanism (11), a large bottle cover locking mechanism (12), a bottle discharging and pressing mechanism (13) and a first bottle feeding conveying belt (14), the left end of the bottle feeding conveying belt (7) is connected with a feeding truss mechanism (1) and is positioned below a carrying robot (6), the right end of the bottle feeding conveying belt (7) is connected with the positioning chuck (8), the code scanning module (9), the metering pump (10), the large bottle cover arranging mechanism (11), the large bottle cover arranging mechanism (12) and the bottle discharging and pressing mechanism (13) are positioned on the same platform (15), a plurality of semicircular bottle clamping grooves (16) are uniformly distributed on the circumference of the positioning chuck (8), the code scanning module (9), the liquid filling head (17), the large bottle cover arranging mechanism (11) and the large bottle cover arranging mechanism (12) are respectively installed at the edge of the positioning chuck (8), the solvent filling head (17) is respectively connected with the metering pump (17), and the solvent filling head (17) is respectively connected with the metering pump (17) The outlet end of the big bottle cap arranging mechanism (11) and the cap locking handle end of the big bottle cap locking mechanism (12) are vertically positioned above a semicircular bottle clamping groove (16) of the positioning chuck (8), the bottle discharging and pressing mechanism (13) is vertically arranged in an intersecting area of the positioning chuck (8) and a bottle discharging conveyer belt I (14), and the bottle discharging conveyer belt I (14) is arranged below the positioning chuck (8);
the automatic water bath equipment comprises a large truss composite mechanical arm and an ultrasonic water bath workbench (22), wherein the large truss composite mechanical arm is arranged above the ultrasonic water bath workbench (22), the large truss composite mechanical arm comprises a mechanical arm (21), a grabbing mechanical arm (28), a stepping motor servo system (29) and a large truss guide rail (30), the grabbing mechanical arm (28) is connected with the front end of the mechanical arm (21) in a matched mode, the stepping motor servo system (29) is connected with the rear end of the mechanical arm (21) in a matched mode, the stepping motor servo system (29) is connected with the large truss guide rail (30) in a sliding mode, a feeding working position (23), a feeding buffering working position (24), an ultrasonic water bath working position (25), a discharging waiting working position (26) and a discharging working position (27) are arranged on the ultrasonic water bath workbench (22), a feeding tray is placed on the upper end face of the grabbing mechanical arm (28), and the ultrasonic water bath working position (25) is provided with the ultrasonic water bath instrument;
the pipetting and blanking equipment comprises a filtration pipetting mechanism (101) and a blanking truss mechanism (102), the filtration pipetting mechanism (101) comprises a bottle feeding conveyer belt (103), a large bottle code scanning module (104), a large bottle cover opening mechanism (105), a large bottle cover removing mechanism (106), a needle pulling mechanism (107), a filter head filling mechanism (110), a small bottle cover filling mechanism (111), a small bottle cover locking mechanism (112), a small bottle outlet mechanism (118), a small bottle feeding mechanism (119), a small bottle scanning module (120), a filter head pulling mechanism (121), a needle cylinder ejection mechanism (122), a small bottle code scanning disc (123), a needle cylinder code scanning disc (124), a needle code scanning disc (125), a waste bottle pushing mechanism (126), a needle cylinder code scanning disc mechanism (127), a needle assembling mechanism (128), a waste bottle collecting tray (129), a small bottle cover locking chuck (130), a liquid injection mechanism (131), a liquid pumping and liquid moving chuck (132), a large bottle cover removing chuck (133) and a liquid pumping mechanism (134), the bottle cover feeding conveyer belt (103) is connected with the large bottle cover removing chuck (135), and the large bottle code scanning conveyer belt (104) is provided with a plurality of round slots (104) and the large bottle code scanning disc (133) The big bottle uncapping mechanism (105) and the big bottle uncapping mechanism (106) are arranged at the edge of the big bottle uncapping chuck (133), the waste bottle pushing mechanism (126) is arranged below one of the material bottle clamping grooves (135) on the big bottle uncapping chuck (133), the waste bottle pushing mechanism (126) is matched and connected with the waste bottle collecting tray (129), a plurality of circular clamping grooves (136) are uniformly distributed on the circumference of the liquid suction and liquid removing chuck (132), the liquid suction and liquid removing chuck (132) is arranged above the big bottle uncapping chuck (133), the circular clamping grooves (136) in the intersection area of the liquid suction and liquid removing chuck (132) and the big bottle uncapping chuck (133) are overlapped with the two circular centers of the material bottle clamping grooves (135), a mechanical arm (137) is arranged at the upper end and the lower end of the liquid suction and liquid removing mechanism (134), the needle extraction mechanism (107) is arranged below the liquid suction and liquid removing chuck (132), the liquid suction and liquid removing head mechanism (110) is arranged below the liquid suction and liquid removing chuck (132), the filter head mechanism (110) is uniformly distributed on the circumference of the bottle clamping chuck (130), the bottle cap clamping chuck (130) and the liquid suction and transfer chuck (132) are intersected, a bottle clamping groove (138) and two circular centers of a circular clamping groove (136) are overlapped, the liquid injection mechanism (131) is vertically arranged above the liquid suction and transfer chuck (132) and is opposite to the overlapped bottle clamping groove (138) and the circular clamping groove (136), the filter head pulling-out mechanism (121) is arranged below the liquid suction and transfer chuck (132), the needle cylinder disc entering mechanism (127) comprises a carrying manipulator mechanism, the needle cylinder disc entering mechanism (127) is matched and connected with a needle cylinder arranging vibration disc (124), the needle head assembling mechanism (128) is matched and connected with a needle head arranging vibration disc (125), the bottle cap mechanism (111), the bottle cap locking mechanism (112), the bottle cap feeding mechanism (119) and the bottle scanning module (120) are arranged at the edge of the bottle cap clamping chuck (130), and the bottle cap arranging mechanism (111) is matched and connected with the bottle cap arranging vibration disc (109), and the bottle cap arranging mechanism (128) is matched and connected with the bottle cap arranging mechanism (109) and the bottle cap arranging vibration disc (111) vertically; the discharging truss mechanism (102) comprises a discharging conveying mechanical arm (113), a discharging tray (114), a discharging stepping servo system (115), a finished product positioning mechanism (116) and a bottle discharging conveying belt II (117), wherein the right end of the bottle discharging conveying belt II (117) is connected with a small bottle discharging mechanism (118), the finished product positioning mechanism (116) is positioned at the left end of the bottle discharging conveying belt II (117), the discharging stepping servo system (115) is connected with the discharging conveying mechanical arm (113), the discharging conveying mechanical arm (113) is vertically positioned above the bottle discharging conveying belt II (117), and the discharging tray (114) is arranged on the side edge of the left end of the bottle discharging conveying belt II (117);
a bottle discharging module (18) is arranged on the bottle discharging conveyor belt I (14), and a plurality of round bottle clamping grooves (19) are formed in the bottle discharging module (18); the discharging truss mechanism (102) further comprises a discharging pushing mechanism (139), and the discharging pushing mechanism (139) is connected with a discharging tray (114) in a matched mode.
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| CN201810055290.8A CN108033424B (en) | 2018-01-19 | 2018-01-19 | Solvent extraction method automation system |
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| CN201810055290.8A CN108033424B (en) | 2018-01-19 | 2018-01-19 | Solvent extraction method automation system |
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| CN110280497B (en) * | 2019-07-22 | 2024-02-02 | 深圳市药品检验研究院（深圳市医疗器械检测中心） | Extraction system |
| CN114047274A (en) * | 2021-09-22 | 2022-02-15 | 四川轻化工大学 | Separation and extraction system for nuclides in radioactive sample |
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