CN110002217A - Control device and control method are carried in a kind of heating extraction of pedotheque - Google Patents
Control device and control method are carried in a kind of heating extraction of pedotheque Download PDFInfo
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- CN110002217A CN110002217A CN201910228730.XA CN201910228730A CN110002217A CN 110002217 A CN110002217 A CN 110002217A CN 201910228730 A CN201910228730 A CN 201910228730A CN 110002217 A CN110002217 A CN 110002217A
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- axis
- straight line
- mould group
- line mould
- mute
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- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/34—Purifying; Cleaning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/44—Sample treatment involving radiation, e.g. heat
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- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
A kind of pedotheque disclosed by the invention heats extraction and carries control device and control method, can solve current pedotheque heating extraction pretreatment process complexity, low efficiency, and harmful technical problem.Including tri- axis straight line mould group of XYZ；The mute straight line mould group of X-axis is two and is parallel to each other；It is connected by synchronizing shaft with shaft joint between two X-axis mould groups；Sliding block is respectively set in each straight line mould group, electronic clamping jaw is fixedly connected on the sliding block of the mute straight line mould group of Z axis, and sliding block passes through synchronous belt respectively and connect with train of reduction gears, and train of reduction gears is connect with integrated bus driving motor, and driving motor is connect with controller；Electronic clamping jaw lower end is equipped with clamping device, and clamping device is connect with controller, and the clamping bore of clamping device is adjustable.The present invention uses the planer type structure being made of the mute straight line mould group of tri- axis of XYZ, and at low cost, working range is big, easy to control, and straight line mould group uses toothed belt transmission mode, and movement velocity is fast, operation noise is small, light and handy durable.
Description
Technical field
The present invention relates to pedotheque pretreatment technology fields, and in particular to a kind of pedotheque heating extraction carrying control
Device and control method.
Background technique
Sample pre-treatments are extremely important for analysis detection, occupy 60% or more time of entire analytic process,
And main analytical error also comes from sample pre-treatments link, and heating extraction is as the important ring in pedotheque pre-treatment
Section, has a great impact to analysis detection result.
The pre-treatment of pedotheque, which relies on substantially, at present has been manually done, and the degree of automation is lower, complex disposal process, flower
Time-consuming length, low efficiency, especially heating leaching process are substantially manual operations completion, use in heating leaching process
The digestion agents such as strong acid and strong base are also easy to cause operator itself certain injury, and manual operation exist it is very big random
Property, it is difficult to ensure that the consistency of sample handling processes, manual operation is substituted using automated machine device to be greatly improved
The consistency of sample handling processes reduces pre-treatment link bring analytical error.Extraction pre-treatment is heated for pedotheque
The problem of process, proposes a kind of heating extraction of pedotheque and carries control device and its control method.
Summary of the invention
Control device and control method are carried in a kind of pedotheque heating extraction proposed by the present invention, can solve current soil
Sample heating extraction pretreatment process the degree of automation is low, and complex disposal process spends time length, low efficiency, easily to operator
The technical problem that member damages etc..
To achieve the above object, the invention adopts the following technical scheme:
A kind of pedotheque heating extraction carrying control device, including tri- axis straight line mould group of XYZ, the tri- axis straight line of XYZ
Mould group includes the mute straight line mould group of X-axis, the mute straight line mould group of Y-axis and the mute straight line mould group of Z axis；
The mute straight line mould group of X-axis is fixed on bracket, and the mute straight line mould group quantity of X-axis is two, two X-axis
Mute straight line mould group is parallel to each other；It is attached between two X-axis mould groups by synchronizing shaft and shaft joint；
The mute straight line mould group of two X-axis and the mute straight line mould group of Y-axis and the mute straight line mould group of Z axis constitute planer type structure；
Sliding block is respectively set in the mute straight line mould group of two X-axis, the mute straight line mould group of Y-axis and the mute straight line mould group of Z axis, the Y-axis is straight
Line mould group both ends are connect with the sliding block in the mute straight line mould group of two X-axis, the middle part of Z axis straight line mould group and the mute straight line mould of Y-axis
The sliding block connection of group, electronic clamping jaw are fixedly connected on the sliding block of the mute straight line mould group of Z axis；
On the sliding block of the mute straight line mould group of X-axis, the sliding block and the mute straight line mould group of Z axis of the mute straight line mould group of Y-axis
Sliding block passes through synchronous belt respectively and connect with train of reduction gears, and the train of reduction gears is connect with integrated bus driving motor, institute
Driving motor is stated to connect with controller；
The electronic clamping jaw lower end is equipped with clamping device, and the clamping device is connect with controller, the clamping device
Clamping bore it is adjustable.
Further, the both ends of the mute straight line mould group of the X-axis, the mute straight line mould group of Y-axis and the mute straight line mould group of Z axis are equal
Limit switches are installed, and origin switch is installed in one end close to driving motor, safe spacing signal is provided and origin returns
Zero-signal, the limit switch and origin switch are connect with controller respectively.
It further, further include host computer, the host computer is connect with controller.
Further, the mute straight line mould group both ends of the Y-axis pass through edge-on L-type connecting plate and the mute straight line mould of X-axis respectively
Sliding block connection in group.
Further, pass through the sliding block of T-type connecting plate and the mute straight line mould group of Y-axis in the middle part of the mute straight line mould group of the Z axis
Connection.
Further, the electronic clamping jaw is connected on the sliding block of the mute straight line mould group of Z axis by clamping jaw connecting plate.
On the other hand extraction is heated invention additionally discloses a kind of pedotheque and carry control method, using above-mentioned soil-like
Control device is carried in product heating extraction, is included the following steps,
S100, tri- axis straight line mould group of XYZ searching origin switch signal realizes that origin returns to zero under the control of the controller first
Function determines three-dimensional geometry coordinate system；
S200, host computer assign coordinate points and trajectory path planning information, and controller is sent out after parsing information by bus
It is sent on driving motor, and reads the location information of three Axle mould groups in real time；
After S300, driving motor drive three Axle mould groups to move to designated position, controller passes through the electronic clamping jaw of bus marco
It completes to act the clamping or placement of heating extraction experimental ware.
As shown from the above technical solution, advantages of the present invention:
(1), the present invention is using the planer type structure being made of the mute straight line mould group of tri- axis of XYZ, at low cost, working range
Greatly, easy to control, straight line mould group uses toothed belt transmission mode, and movement velocity is fast, operation noise is small, light and handy durable.Driving electricity
Machine drives stepper motor using integrated bus, have wiring it is succinct, without lose step, low-temperature-rise, high revolving speed, high torque (HT), low cost,
The advantages that easy to maintain.
(2), for the present invention using the small-sized electric clamping jaw for being internally integrated servo-system, chucking power, stroke are adjustable, support soft
Property clamping, can the breakables such as holding test tubes, funnel.Clamping device, can be limited in electronic clamping jaw through multi-level Combination Design
The reality used in the heating extraction treatment process such as middle clamping test tube, conical flask, the small funnel of curved neck, titration cup, volumetric flask in stroke
Test vessel.
(3), controller of the present invention is connect by bus with control device is carried, and wiring is succinct, easy to control, occupies interface
It is few, it is convenient for Function Extension and maintenance.Host computer devises friendly human-computer interaction interface, and the operation shape of control device is carried in monitoring
State realizes unmanned remote control and heating leaching process one-key start function.
Detailed description of the invention
Fig. 1 is general structure schematic diagram of the present invention；
Fig. 2 is schematic view of the front view of the present invention；
Fig. 3 is the electronic clamping jaw of the present invention and clamping device structural schematic diagram；
Fig. 4 is control flow block diagram of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.
As shown in Figure 1-Figure 3, control device is carried in the heating of pedotheque described in the present embodiment extraction, includes that X-axis is quiet
Sound straight line mould group 1, the mute straight line mould group 2 of Y-axis, the mute straight line mould group 3 of Z axis, integrated bus driving motor 4, train of reduction gears
5, electronic clamping jaw 6, clamping device 7, shaft joint 8, synchronizing shaft 9, sliding block 10, ground feet support 11, lower margin connector 12, edge-on L-type
The parts such as connecting plate 13, T-type connecting plate 14, clamping jaw connecting plate 15.
It is attached by shaft joint 8 with synchronizing shaft 9 between the mute straight line mould group 1 of two X-axis, to guarantee that two X-axis are quiet
Sound straight line mould group 1 can be run simultaneously；Straight line mould group uses toothed belt transmission mode, mitigates straight line mould group weight, to guarantee mould
The straight degree of group and the integrally-built rigidity of robot.
The mute straight line mould group 1 of two X-axis constitutes planer-type knot with the mute straight line mould group 2 of Y-axis and the mute straight line mould group 3 of Z axis
Structure, the mute straight line mould group 1 of two X-axis are connected to 8 by being tied on ground feet support 11 with support is whole by clamping jaw connecting plate 15
Structure and expanding machinery people's working range；Each straight line mould group is connect by train of reduction gears 5 with integrated bus driving motor 4,
Limit switches are installed at each straight line mould group both ends, and are being equipped with origin switch close to 4 one end of driving motor, provide safe limit
Position signal and origin return to zero signal；Driving motor 4 can be driven in straight line mould group after the deceleration of train of reduction gears 5 by synchronous belt
Sliding block 10 is moved along straight line mould group, and 2 both ends of Y-axis straight line mould group pass through the sliding block on edge-on L-type connecting plate 13 and two X-axis mould groups
10 connect, and are connect by T-type connecting plate 14 with the sliding block 10 in Y-axis mould group in the middle part of Z axis straight line mould group 3, electronic clamping jaw 6 passes through folder
Pawl connecting plate 15 is connected on the sliding block 10 of Z axis straight line mould group；
Electronic 6 lower end of clamping jaw is equipped with clamping device 7, and clamping device 7 can clamp examination through multi-level Combination Design, internal layer
The small container of bores, the middle layer such as pipe, the small funnel of curved neck, volumetric flask can clamp the slightly larger container of the bores such as conical flask, and outer layer can press from both sides
The container for taking the bores such as titration cup big；Electronic clamping jaw 6 drives clamping device 7 that can complete to use in heating extraction treatment process
Experimental ware clamping and placement, tri- axis straight line mould group of XYZ cooperates each three-dimensional coordinate point in achievable working range
Movement, which can realize the carrying function of heating extraction experimental ware in working range.
It further include host computer, host computer is connect with controller, and host computer devises friendly human-computer interaction interface, monitoring equipment
The operating status of device people realizes unmanned remote control and heating leaching process one-key start function.
The driving motor 4 drives stepper motor, compatible RS-485 and CAN bus communication control using integrated bus
Function, using standard Modbus-RTU bus protocol and CANopen bus protocol, have wiring it is succinct, without lose step,
Low-temperature-rise, high revolving speed, high torque (HT), low cost, it is easy to maintain the advantages that.
Controller is connect by bus with driving motor 4, and wiring is succinct, easy to control, and occupancy interface is few, is expanded convenient for function
Exhibition and maintenance.
For electronic clamping jaw 6 using the small-sized electric clamping jaw for being internally integrated servo-system, chucking power, stroke are adjustable, support soft
Property clamping, can the breakables such as holding test tubes, funnel.Clamping device, can be limited in electronic clamping jaw through multi-level Combination Design
The reality used in the heating extraction treatment process such as middle clamping test tube, conical flask, the small funnel of curved neck, titration cup, volumetric flask in stroke
Test vessel.
As shown in figure 4, the machine man-hour, tri- axis straight line mould group of XYZ finds origin under the control of the controller first
Switching signal realizes that origin returns to zero function, determines that three-dimensional geometry coordinate system, host computer assign coordinate points and trajectory path planning letter
Breath, controller parsing information pass through bus later and are sent on each driving motor 4, and read the position letter of three Axle mould groups in real time
Breath, after driving motor 4 drives three Axle mould groups to move to designated position, controller is completed by the electronic clamping jaw of bus marco to heating
Extract the clamping or placement movement of experimental ware.
The embodiment of the present invention uses dynamic trapezoidal velocity planning algorithm, keeps three axis straight line mould groups starting stopped process more flat
It is sliding, prevent liquid splash in experimental ware handling process.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (7)
1. control device is carried in a kind of pedotheque heating extraction, it is characterised in that: including tri- axis straight line mould group of XYZ, the XYZ
Three axis straight line mould groups include the mute straight line mould group (1) of X-axis, the mute straight line mould group (2) of Y-axis and the mute straight line mould group (3) of Z axis；
The mute straight line mould group (1) of X-axis is fixed on bracket, and mute straight line mould group (1) quantity of X-axis is two, two X
The mute straight line mould group (1) of axis is parallel to each other；It is attached between two X-axis mould groups by synchronizing shaft (9) and shaft joint (8)；
The mute straight line mould group (1) of two X-axis and the mute straight line mould group (2) of Y-axis and the mute straight line mould group (3) of Z axis constitute planer-type
Structure；It is respectively set on the mute straight line mould group (1) of two X-axis, the mute straight line mould group (2) of Y-axis and the mute straight line mould group (3) of Z axis
Sliding block (10), the Y-axis straight line mould group (2) both ends are connect with the sliding block (10) on the mute straight line mould group (1) of two X-axis, and Z axis is straight
The middle part of line mould group (3) is connect with the sliding block (10) of the mute straight line mould group (2) of Y-axis, and it is quiet that electronic clamping jaw (6) is fixedly connected on Z axis
On the sliding block (10) of sound straight line mould group (3)；
The sliding block (10) of the mute straight line mould group (1) of X-axis, the sliding block (10) of the mute straight line mould group (2) of Y-axis and Z axis are mute straight
Sliding block (10) in line mould group (3) is connect by synchronous belt with train of reduction gears (5) respectively, the train of reduction gears (5) and one
Body bus driver motor (4) connection, the driving motor (4) connect with controller；
Electronic clamping jaw (6) lower end is equipped with clamping device (7), and the clamping device (7) connect with controller, the clamping
The clamping bore of mechanism (7) is adjustable.
2. control device is carried in pedotheque heating extraction according to claim 1, it is characterised in that: the X-axis is mute
The both ends of the mute straight line mould group (2) of straight line mould group (1), Y-axis and the mute straight line mould group (3) of Z axis are mounted on limit switch, and
One end close to driving motor (4) is equipped with origin switch, provides safe spacing signal and origin returns to zero signal, the limit is opened
It closes and origin switch is connect with controller respectively.
3. control device is carried in pedotheque heating extraction according to claim 2, it is characterised in that: further include upper
Machine, the host computer are connect with controller.
4. control device is carried in pedotheque heating extraction according to claim 3, it is characterised in that: the Y-axis is mute
Straight line mould group (2) both ends are connect by edge-on L-type connecting plate (13) with the sliding block (10) on the mute straight line mould group (1) of X-axis respectively.
5. control device is carried in pedotheque heating extraction according to claim 3, it is characterised in that: the Z axis is mute
It is connect by T-type connecting plate (14) with the sliding block (10) of the mute straight line mould group (2) of Y-axis in the middle part of straight line mould group (3).
6. control device is carried in pedotheque heating extraction according to claim 3, it is characterised in that: the electronic clamping jaw
(6) it is connected on the sliding block (10) of the mute straight line mould group (3) of Z axis by clamping jaw connecting plate (15).
7. control method is carried in a kind of pedotheque heating extraction, using pedotheque described in claim 3-5 any one
Control device is carried in heating extraction, it is characterised in that: includes the following steps,
S100, tri- axis straight line mould group of XYZ searching origin switch signal realizes that origin returns to zero function under the control of the controller first,
Determine three-dimensional geometry coordinate system；
S200, host computer assign coordinate points and trajectory path planning information, are sent to after controller parsing information by bus
On driving motor (4), and the location information of three Axle mould groups is read in real time；
After S300, driving motor (4) drive three Axle mould groups to move to designated position, controller passes through the electronic clamping jaw of bus marco
(6) it completes to act the clamping or placement of heating extraction experimental ware.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910228730.XA CN110002217A (en) | 2019-03-25 | 2019-03-25 | Control device and control method are carried in a kind of heating extraction of pedotheque |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910228730.XA CN110002217A (en) | 2019-03-25 | 2019-03-25 | Control device and control method are carried in a kind of heating extraction of pedotheque |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110002217A true CN110002217A (en) | 2019-07-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910228730.XA Pending CN110002217A (en) | 2019-03-25 | 2019-03-25 | Control device and control method are carried in a kind of heating extraction of pedotheque |
Country Status (1)
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|---|---|
| CN (1) | CN110002217A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111017490A (en) * | 2019-12-20 | 2020-04-17 | 成都工业学院 | Automatic sampling device is used in mechanical component production |
| CN114261752A (en) * | 2021-12-29 | 2022-04-01 | 三明学院 | Feeding and discharging device for hollow pipe and feeding and discharging method thereof |
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| CN204414102U (en) * | 2015-01-20 | 2015-06-24 | 中国科学院宁波材料技术与工程研究所 | Cartesian robot |
| CN208054400U (en) * | 2018-01-29 | 2018-11-06 | 深圳市东精机电设备制造有限公司 | A kind of lithium battery electric core transplantation device |
| CN210001148U (en) * | 2019-03-25 | 2020-01-31 | 中国科学院合肥物质科学研究院 | soil sample heating leaching carrying control device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013071682A1 (en) * | 2011-11-18 | 2013-05-23 | 山东电力研究院 | Robot system and method for replacing battery in electric bus |
| CN104444360A (en) * | 2014-12-09 | 2015-03-25 | 华中科技大学无锡研究院 | Five-axis hub transfer robot and clamping manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111017490A (en) * | 2019-12-20 | 2020-04-17 | 成都工业学院 | Automatic sampling device is used in mechanical component production |
| CN111017490B (en) * | 2019-12-20 | 2021-12-28 | 成都工业学院 | Automatic sampling device is used in mechanical component production |
| CN114261752A (en) * | 2021-12-29 | 2022-04-01 | 三明学院 | Feeding and discharging device for hollow pipe and feeding and discharging method thereof |
| CN114261752B (en) * | 2021-12-29 | 2024-03-22 | 三明学院 | Feeding and discharging device for hollow pipe and feeding and discharging method thereof |
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