CN110376221A - The automation pressure-like device and method of heavy metal-polluted soil instrument - Google Patents
The automation pressure-like device and method of heavy metal-polluted soil instrument Download PDFInfo
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- CN110376221A CN110376221A CN201910638697.8A CN201910638697A CN110376221A CN 110376221 A CN110376221 A CN 110376221A CN 201910638697 A CN201910638697 A CN 201910638697A CN 110376221 A CN110376221 A CN 110376221A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000000843 powder Substances 0.000 claims abstract description 53
- 238000005303 weighing Methods 0.000 claims abstract description 36
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000009471 action Effects 0.000 claims abstract description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 7
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Classifications
-
- 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
- G01N1/286—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q involving mechanical work, e.g. chopping, disintegrating, compacting, homogenising
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
Abstract
The present invention provides a kind of automation pressure-like device and methods of heavy metal-polluted soil instrument, belong to soil environment Quality Detection field, including pedestal, rotation clamp device, container, electronic weighing device, automatic powder feeding device, shaking device, press and General controller；Between rotating clamp device setting in the base, rotation clamp device is provided with multiple placing grooves on pedestal, one of placing groove is sequentially installed with electronic weighing device, automatic powder feeding device, shaking device and press for placing container in remaining placing groove；General controller is internally provided with mechanical arm action control module, data acquisition module plus powder control module, shake control module and pressure-like control module, the connection of the signal input part of electronic weighing device and General controller, automatic powder feeding device, shaking device and pressure-like control module are connect with the signal output end of General controller respectively.The production quality and modular size of standard sample of soil can be greatly improved in the device, significantly reduce the Production Time of standard sample of soil.
Description
Technical field
The invention belongs to soil environment Quality Detection technical fields, and in particular to a kind of automation of heavy metal-polluted soil instrument
Pressure-like device and method.
Background technique
With industrial quickly development, trade waste discharge and chemical pesticide etc. aggravate the heavy metal pollution of soil,
Seriously threaten the health of the mankind.Therefore, carrying out heavy metal in soil detection is necessary.Sample detection pre-processing
There is extremely important effect in scientific experiment, sample amounts is collected, analysis, can be obtained by the analysis to pedotheque
To certain block soil or some Soils In The Region content of beary metal as a result, heavy metal in soil too high levels are alleviated or avoided to people
Body has adverse effect on.
In present scientific research, in order to obtain high-precision test and physico-chemical analysis data, need to prepare by experiment
Device tests the completeness and precision of sampling to improve, to reduce unnecessary systematic error and random error.Conventional soil
In earth heavy metal analysis scientific experiment, need to be accomplished manually the standard specimen production of pedotheque to be detected, it is low that there is working efficiencies
Under, the drawbacks such as standard specimen is lack of standardization, detection accuracy is low.It is mainly shown as: first is that being difficult to ensure that the weight of each sample is consistent；Two
It is that there are non-uniform situations for the sample manually suppressed.Radioactive ray is seriously affected to determine pedotheque content of beary metal
It is fixed to measure.
For improve heavy metal-polluted soil laser induced breakdown spectroscopy (LIBS) characteristic spectral line signal-to-background ratio (SBR) and stability,
And Element detection limit is reduced, it is discrete to have studied 4 kinds of elemental characteristics such as the radiation of soil LIBS continuous background and Fe, Pb, Ca, Mg
The polarization characteristic of spectral line, comparative analysis is with and without the relative standard deviation (RSD) of elemental characteristic spectral line, SBR under polarization conditions
It is limited with detection.So the quality for improving pedotheque is particularly important, and it is now domestic few dedicated for pedotheque compacting
Self-reacting device, and the demand that customization instrumental function on the market is suppressed now far more than experiment, bulky and valence
Lattice are high.
Therefore, the application proposes a kind of automation pressure-like device of heavy metal-polluted soil instrument.
Summary of the invention
In order to overcome the shortcomings of the prior art described above, the present invention provides a kind of automations of heavy metal-polluted soil instrument
Pressure-like device and method.
To achieve the goals above, the invention provides the following technical scheme:
The automation pressure-like device of heavy metal-polluted soil instrument, including pedestal, rotation clamp device, container, electronic weighing
It sets, automatic powder feeding device, shaking device, press and General controller；
The rotation clamp device is arranged among the pedestal, sets on the pedestal around the rotation clamp device
Multiple placing grooves are equipped with, one of them described placing groove is sequentially installed in remaining described placing groove for placing the container
The electronic weighing device, automatic powder feeding device, shaking device and press；
The General controller is internally provided with mechanical arm action control module, data acquisition module plus powder control module, shake
Dynamic control module and pressure-like control module, the electronic weighing device are connect with the signal input part of the General controller, it is described oneself
Dynamic powder adding device, shaking device and pressure-like control module are connect with the signal output end of the General controller respectively；
The container is for holding pedotheque, and the automatic powder feeding device is for being added soil-like into the container
Product, the electronic weighing device are used to weigh the weight of pedotheque in the container, and the shaking device is for making the appearance
Pedotheque is evenly distributed in device, and the press is for being compacted pedotheque in the container.
Preferably, the rotation clamp device includes bottom plate, rotating base, mechanical arm, six degree of freedom gripper, machinery
Arm controller and rechargeable lithium battery, the mechanical arm are made of the first arm and the second arm, and the bottom base plate is provided with support
Feet, the rotating base are arranged on the bottom plate, the rotating seat bottom and bottom plate, first arm lower end with it is described
Rotating seat top, the first arm upper end and second arm lower end, second arm upper end and the gripper pass through steering engine respectively
Connection, it can be achieved that the rotating base, the first arm, the second arm and six degree of freedom gripper rotate within the scope of 360 °, it is described can
Charged lithium cells are used to power for the mechanical arm controller and steering engine, and the machinery arm controller is electrically connected with each steering engine, institute
It states mechanical arm controller and the General controller communicates to connect.
Preferably, the automatic powder feeding device includes feed bin, support frame, vibrator, valve and valve driver, described
Feed bin is funnel structure, and the feed bin top is feeding inlet, bottom is discharge port, and the feed bin is arranged on support frame as described above,
In the discharge outlet, the valve driver is used to control the unlatching size of the valve, the valve for the valve setting
Driver and the General controller communicate to connect, and the vibrator setting is in the feed bin outer wall and close to the valve, the electricity
Sub- weighing device is arranged in the directly below the discharge opening.
Pre- selection of land, the valve are operated pneumatic valve or electrically operated valve.
Preferably, the measuring and amplifying electricity that the electronic weighing device is made of resistance strain type sensor R1 and IC2, IC3
Road, IC1 and peripheral cell composition digital display panel table composition, IC1 be converter IC L7126, sensor R1 using E350~
The resistance-strain amount that R1 is generated is converted into voltage signal and exported by ZAA foil resistance foil gauge, measuring circuit, and IC3 will be converted
Weak voltage signal afterwards amplifies, and inputs amplified signal as the analog voltage of A/D converter, IC4 offer 1,
22V reference voltage, while the reference voltage after R5, R6 and RP2 partial pressure as A/D converter, the ginseng of converter IC L7126
It examines voltage input anode to be introduced by RP2 Interposer contact, negative terminal is then introduced by the Interposer contact of RP3.
Preferably, the press use pneumatic actuation mode, the drive part of the press include pressure regulator valve, reversal valve,
Speed governing valve and cylinder, the quantity of the speed governing valve are two, and the outlet of the pressure regulator valve connects gas source, and the pressure regulator valve goes out
Mouth is connected to the entrance of reversal valve, and two outlets of the reversal valve are connected to two speed regulation valve inlets respectively, two institutes
The outlet for stating speed governing valve is connected to the epicoele of the cylinder and cavity of resorption respectively, and location sensitive switch, institute are provided on the cylinder
Rheme sets inductive switch and the General controller communication connection.
Preferably, the model STM32 single-chip microcontroller of the mechanical arm controller, the control flaps type number of the mechanical arm
For MG995, the control flaps machine model of the six degree of freedom gripper is TBSN-K15.
It preferably, further include electronic control display screen, the signal output of the electronic control display screen and the General controller
End connection.
Another mesh of the invention is to provide a kind of automation pressure-like method of heavy metal-polluted soil instrument, comprising the following steps:
Step 1: the container being placed in the placing groove, adding in the automatic powder feeding device needs well
The sample powder to be suppressed；
Step 2: starting the rotation clamp device, grabbed by the six degree of freedom gripper of the rotation clamp device
The container is simultaneously placed on the electronic weighing device by the container；
Step 3: starting the automatic powder feeding device, sample is added into the container by the automatic powder feeding device
Powder, the electronic weighing device moment detects the weight of sample powder in the container during addition；When detection weight
Amount reaches set point value, and the automatic powder feeding device stops working；
Step 4: the six degree of freedom gripper grabs the container and the container is placed on the press, opens
The press is moved, lid is pressed into the sample powder uniform compaction made in the container in the container by the press, described
Press stops working；
Step 5: the six degree of freedom gripper grabs the container and the container is placed on beside the press
On placing groove, the sample suppressed can be taken away.
The pressure that the automation pressure-like device and method of heavy metal-polluted soil instrument provided by the invention passes through improvement soil huge sum of money instrument
Sampling device realizes uniform, the unification of standard sample of soil, specifically has the advantages that
(1) sample container that fixed weight is clamped by control robot arm device, realizes and soil-like is added by setting weight
Container flexibly can be transferred to another operating point from an operating point by the robot arm device of product, various dimensions；
(2) using the registration of electronic weighing device 4 transmission signal as the input signal for controlling automatic powder feeding device,
Weight is accurately automatically controlled, artificial weighing bring error is reduced；
(3) shaking device solve the problems, such as pedotheque be unevenly distributed in container and, make compacting uniformly, to subsequent
Ray detection heavy metal content in soil reduces error；
(4) being pressed into lid together with press keeps sample compacting close, and people only needs to put in fixed bit into empty container
Wall, lid finally take the pedotheque suppressed away；
(5) device combines mechanical, electrical, gas phase, and the production quality and modular size of standard sample of soil can be greatly improved,
The content of beary metal in soil is more accurately measured convenient for heavy metal-polluted soil radiation instrument, can significantly reduce the production of standard sample of soil
Time promotes general work efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the automation pressure-like device of the heavy metal-polluted soil instrument of the embodiment of the present invention 1；
Fig. 2 is the structural schematic diagram for rotating clamp device；
Fig. 3 is the rotation schematic diagram of mechanical arm in a coordinate system；
Fig. 4 is the structural schematic diagram of automatic powder feeding device；
Fig. 5 is the overall procedure frame of the automation pressure-like device of the embodiment of the present invention 1；
Fig. 6 is the work flow diagram for rotating clamp device；
Fig. 7 is the circuit diagram of electronic weighing device；
Fig. 8 is the pneumatic principle schematic diagram of press.
Detailed description of the invention:
Pedestal 1, rotation clamp device 2, container 3, electronic weighing device 4, automatic powder feeding device 5, shaking device 6, press
7, placing groove 8, bottom plate 21, rotating seat 22, mechanical arm 23, six degree of freedom gripper 24, mechanical arm controller 25, chargeable lithium
Battery 26, support feet 27, feed bin 51, support frame 52, vibrator 53, valve 54, valve driver 55, pressure regulator valve 71, commutation
Valve 72, speed governing valve 73, cylinder 74.
Specific embodiment
With reference to the accompanying drawing, further description of the specific embodiments of the present invention.Following embodiment is only used for more
Technical solution of the present invention is clearly demonstrated, and not intended to limit the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside",
The orientation or positional relationship of the instructions such as " axial direction ", " radial direction ", " circumferential direction " is to be based on the orientation or positional relationship shown in the drawings, only
It is technical solution of the present invention and simplified description for ease of description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply relatively heavy
The property wanted.In the description of the present invention, it should be noted that unless otherwise specific regulation or limit, term " connected " " connects
Connect " it should broadly understood, for example, it may be being fixedly connected, it may be a detachable connection or integral type connects；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, be also possible to indirectly connected through an intermediary.For this field
Those of ordinary skill for, the specific meanings of the above terms in the present invention can be understood according to specific conditions.In the present invention
Description in, unless otherwise indicated, the meaning of " plurality " is two or more, and this will not be detailed here.
Embodiment 1
It is specific as shown in Figure 1, including pedestal the present invention provides a kind of automation pressure-like device of heavy metal-polluted soil instrument
1, clamp device 2, container 3, electronic weighing device 4, automatic powder feeding device 5, shaking device 6, press 7 and General controller are rotated；
It rotates clamp device 2 to be arranged among pedestal 1, rotation clamp device 2 is provided with multiple placements on pedestal 1
Slot 8, one of placing groove 8 are sequentially installed with electronic weighing device 4, add automatically for placing container 3 in remaining placing groove 8
Powder device 5, shaking device 6 and press 7；
General controller is internally provided with 23 action control module of mechanical arm, data acquisition module plus powder control module, vibration
Control module and pressure-like control module, electronic weighing device 4 are connect with the signal input part of General controller, automatic powder feeding device 5,
Shaking device 6 and pressure-like control module are connect with the signal output end of General controller respectively；
Container 3 is for holding pedotheque, and automatic powder feeding device 5 is for pedotheque, electronic scale to be added into container 3
Refitting sets 4 for weighing the weight of pedotheque in container 3, and shaking device 6 is used to that pedotheque in container 3 to be made to be evenly distributed,
Press 7 is for being compacted pedotheque in container 3.
Specifically, in the present embodiment, as shown in Fig. 2, rotation clamp device 2 includes bottom plate 21, rotating seat 22, mechanical arm
23, six degree of freedom gripper 24, mechanical arm controller 25 and rechargeable lithium battery 26, mechanical arm 23 is by the first arm and the second arm
Composition, 21 bottom of bottom plate are provided with support feet 27, and rotating seat 22 is arranged on bottom plate 21, the rotating seat bottom and bottom plate,
First arm lower end and rotating seat top, the first arm upper end and the second arm lower end, the second arm upper end and gripper are distinguished
By steering engine connection, it can be achieved that rotating seat 22, the first arm, the second arm and six degree of freedom gripper 24 rotate within the scope of 360 °,
Rechargeable lithium battery 26 is used to power for mechanical arm controller 25 and steering engine, and mechanical arm controller 25 is electrically connected with each steering engine, machine
Tool arm controller 25 and General controller communicate to connect.
As shown in figure 4, automatic powder feeding device 5 includes feed bin 51, support frame 52, vibrator 53, valve 54 and valve driving
Device 55, feed bin 51 are funnel structure, be feeding inlet at the top of feed bin 51, bottom is discharge port, and feeding inlet is used to store up into soil powder
End, feed bin 51 are arranged on support frame 52, and the setting of valve 54 is in discharge outlet, and valve driver 55 is for control valve 54
Size is opened, to adjust the size of load, valve driver 55 and General controller are communicated to connect, and vibrator 53 is arranged in feed bin
51 outer walls and close to valve 54, prevent discharging aerial, make to discharge smooth reliable, the setting of electronic weighing device 4 discharge port just under
Side.
As shown in figure 8, press 7 uses pneumatic actuation mode in the present embodiment, the drive part of press 7 includes pressure regulator valve
71, reversal valve 72, speed governing valve 73 and cylinder 74, the quantity of speed governing valve 73 are two, and the outlet of pressure regulator valve 71 connects gas source, are adjusted
The outlet of pressure valve 71 is connected to the entrance of reversal valve 72, and two outlets of reversal valve 72 connect with two 73 entrances of speed governing valve respectively
Logical, the outlet of two speed governing valves 73 is connected to the epicoele of cylinder 74 and cavity of resorption respectively, is provided with location sensitive on cylinder 74 and is opened
It closes.The present embodiment increases two-way speed governing valve 73 in the gas circuit of original press, and pressure head is enable to move up and down at different rates,
To adapt to the demand of different operating situation；Upper and lower position inductive switch is installed additional in the cylinder 74 of press simultaneously, makes compressor operation
When, the position of pressure head can detecte, and then provide condition to automatically control.Location sensitive switch and General controller communication connection, root
Different pressing process schemes is needed when suppressing according to sample, increases automatic control system, to meet process requirements.
As shown in fig. 7, the measuring and amplifying electricity that electronic weighing device 4 is made of resistance strain type sensor R1 and IC2, IC3
Road, IC1 and peripheral cell composition digital display panel table composition, IC1 be converter IC L7126, sensor R1 using E350~
The resistance-strain amount that R1 is generated is converted into voltage signal and exported by ZAA foil resistance foil gauge, measuring circuit, and IC3 will be converted
Weak voltage signal afterwards amplifies, and inputs amplified signal as the analog voltage of A/D converter, IC4 offer 1,
22V reference voltage, while the reference voltage after R5, R6 and RP2 partial pressure as A/D converter, the ginseng of converter IC L7126
It examines voltage input anode to be introduced by RP2 Interposer contact, negative terminal is then introduced by the Interposer contact of RP3, and both ends reference voltage can be to biography
Sensor nonlinearity erron is compensated in right amount.
In the present embodiment, the model STM32 single-chip microcontroller of 23 controller of mechanical arm, the control flaps type number of mechanical arm 23
For MG995, the control flaps machine model of six degree of freedom gripper 24 is TBSN-K15.
Further, in this embodiment further including electronic control display screen, the letter of display screen and General controller is controlled electronically
The connection of number output end.
Mechanical arm working principle explanation
(1) workflow introduction
It uses a mechanical arm 23, and mechanical arm 23 is formed with 3 MG995 model steering engines, and front end adds six degree of freedom machine
Machinery claw 24 is operated by STM32 chip controls steering engine, gripper.Mechanical arm 23 is connected on rotating seat 22, rotating seat 22 with
42BYGH34 stepper motor combines, and using controllor for step-by-step motor, controls motor and rotating seat 22 is driven to rotate, by mechanical arm
23 migration next processes.One procedure of every completion issues signal, and 23 moving in rotation of mechanical arm is downward after receiving return signal
One procedure.The key of device is that sample container is transferred to each operating point in certain sequence with high-precision mechanical arm,
The mechanical arm of six degree of freedom can flexibly clamp container, and the turntable of pedestal can be with 360 degree rotation:
As shown in Figure 5 and Figure 6, the substantially course of work are as follows:
1. being put into empty container 3 in A point first, clicks and start on electronic control display screen, the tight container 3 of gripper
Each joint position rotation of mechanical arm simultaneously smoothly lifts and shifts the transfer of empty container wall；
2. signal hair will be completed after the step for position and release mechanism folder of the manipulator motion to each operating point, completion
To General controller, start-up operation signal is sent a signal to tri- working positions of B/C/D again by General controller, is allowed to bring into operation；
3. issuing after the work of tri- complete cost pools of working position of B/C/D to General controller and completing signal, General controller will be completed
Message issues rotation clamp device 2 again, and the gripper of rotation clamp device 2 is clamped and returns to turned position Shi Zaixiang General controller
Issue the instruction that can carry out next step.It could only be rotated to next working position when gear unit, which issues, completes signal.
(2) clamp device working principle is rotated
The first step is to establish coordinate system, if mechanical arm and the tie point of shaft are origin, x coordinate axis is that mechanical arm is horizontal
Straight line where direction, y-coordinate axis are the straight line vertical with shaft.For ease of description, remember two nodes difference of mechanical arm
It is the gripper of terminal for O, A, BC.As shown in Figure 3.If the length of the mechanical arm from origin to endpoint is once d1, d2, if
OA and the angle of horizontal direction are θ1, the angle of OA and AB are θ2, the angle of AB and BC sections of manipulators are θ3。
(2) gripper working principle
Gripper by integrate motor, servo-drive, pwm signaling interface TBSN-K15 steering engine control.
Steering engine control principle:
The servo-system of pwm steering engine is controlled by the pulse of variable-width, and control line is for transfer pulse.
In general, the reference signal of steering engine is all to be 20ms, duty ratio limited range 0.5-2.5ms in the period.This benchmark of 1.5ms
Signal definition is median signal, is exactly to control its position for being in 135 ° for 270 ° of steering engines when pulsewidth is to 1.5ms.Rudder
Machine generally has maximum rotation angle and minimum rotation angle, the definition in middle position exactly maximum angle to minimum angles
Middle position.More most important to be, the maximum rotation angle of different steering engines may not be identical, but the pulse of intermediate position
Width is certain, that is, 1.5ms.
Pwm steering engine controls generic logic: in terms of control, there are two types of modes.Mode one: control chip itself is used
Pwm module, sets the period, with dedicated pwm pin by changing duty ratio control；Mode two: timer technique control is used
System, it is 500-2500 ì s that period 20ms, pwm, which effectively control numerical value, can calculate theoretical precision in this way are as follows: angle/2000.
Automatic powder feeding device course of work explanation:
1, container 3 is placed on electronic weighing device 4 by mechanical arm；
2, valve driver 55 opens valve 54 according to the parameter set, while vibrator 53 starts to shake, powder
End drops into 3 container of container from the discharge port of feed bin 51；
3, valve 54 is closed, and vibrator 53 stops vibration；
4,4 measuring powder weight of electronic weighing device, such as reaches setting value, signals to mechanical arm and is transferred to its container 3
Next station；If not up to setting value, above step is repeated；
It should be noted that valve 54 is electrically operated valve or operated pneumatic valve in the present embodiment, valve driver 55 can use gas
Dynamic element cylinder or electric element motor and transmission component composition, can determine according to different operating conditions；54 openings of sizes of valve
It to be adjusted according to different pulverulences with opening time.
The automation pressure-like device working principle of heavy metal-polluted soil instrument provided in this embodiment illustrates:
As shown in Figure 1, there is A, B, C, D, E five fixed points on pedestal, realize respectively by empty container be transmitted to fixed position,
Be fitted into sample and weigh, the soil in sample is evenly distributed in container by vibroseis work, then using driving unit by sample
Product are suppressed, finally move to the automatic cycle that fixed position is taken out.Whole operation is a cycle, and pressure-like effect can be improved
Rate, and the beginning and end of whole flow process are manipulated by display screen, general technical flow chart is as shown in Figure 1.
The operating point A specific workflow:
Empty container 3 is placed to the operating point A.
The operating point B specific workflow:
It is made of primary electron weighing device 4 and automatic powder feeding device 5, at B point position, by rotation clamp device 2
Six degree of freedom gripper 24 presss from both sides empty container 3 above the electronic weighing device 4 embedded to pedestal 1 and moving down puts container 3
Six degree of freedom gripper 24 is then unclamped on electronic weighing device 4, when the pressure sensor of electronic weighing device 4 is experienced
When pressure (weight of empty container 3 can be arranged in advance), the valve 54 of 5 feeding bin 51 of automatic powder feeding device of soil powder is stored
It opens, powder is fallen into empty container 3 by funnel, the variation of so-called weight information is sent to total by electronic weighing device 4 in real time
Device is controlled, and is shown on electronic control display screen, if reach preset weight, pressure sensor is just sent a signal to always
Control device is closed 55 control valve 54 of valve driver, stops that powder is added, while pressure sensor is also issued to General controller
Signal, rotation clamp device 2 clamp the container 3 for filling soil powder again, translate up and return to shaking device 6.
The operating point C specific workflow:
Shaking device 6 is placed on the operating point C, and shaking device 6 is existing apparatus, inside has eccentric turbine high in orbit
Speed turns round and generates powerful centrifugal force.Shell is made of-extrusion molding baking vanish aluminum component with the bottom plate handled firmly.
Eccentric turbine is prelubricated to be matched with the support of guard ring bearing by two high powers.Using the inside race of bearing and outer
The design of seat ring is only needed just to be easily exchanged bearing using-pin spanner, utilizes the left-handed bottom plate system fixed with right-handed thread
Automatic locking.Separately there is the pipe screw thread of standard in air inlet and exhaust outlet, makes to guarantee smooth degassing function, exhaust meets current state
Noise regulations requirement on border.
The operating point D specific workflow:
Press 7 is placed on D operating point, press 7 the signal for receiving General controller sending for a period of time after movable axis Y band
Pressing plate Z decline fixed range will be repeated several times rear Y and Z and revert to original position and stop in the lid indentation container 3 of sample container 3
Only.Achieve the purpose that for soil powder to be compacted, signal will be completed after movable axis stop motion and is sent to General controller.
For press using compressed air as power source, the present embodiment increases speed governing valve in the gas circuit of original press, enables pressure head
It moves up and down at different rates, to adapt to the demand of different operating situation, the cylinder of press, which installs upper and lower position induction additional, to be opened
It closes, when making compressor operation, the position of pressure head be can detecte, and then provide condition to automatically control；Needs when being suppressed according to sample
Different pressing process schemes increases automatic control system, to meet process requirements.The press is high-efficient and knot easy to operate
Structure is simple and convenient to operate, is cheap, superior performance, without oil hydraulic system and it is electronic standby when generated noise, can save
Electric power saving consumption reduces production cost, has very high cost performance.
It adjusts atmospheric pressure and reaches required pressure, high yield rate with regard to adjustable.Guide rod, guide plate equipped with anti-rotating, precision
Height adapts to high speed and precision blanking.
The present embodiment makes not only the quality that single sample can be improved of automated machine device, while can be with
It reduces and is varied in weight, brought by the tightness degree of each sample compacting is inconsistent between batch sample due to alleged
Error.Integration compacting process is completed instead of people, and plenty of time flower need not prepared this science and technology of sample by scientific research personnel
Content is low but on time and the demanding thing of manipulative ability, can save the time for analyzing and researching.
The device is by mechanical, electrical, gas phase in conjunction with controlling.Transmission unit is mainly realized by motor and steering engine.Transmitting mechanical
Arm is made of MG995 model steering engine, and front end adds alloy machine machinery claw, is operated by STM32 chip controls steering engine, gripper.It is mechanical
Arm is connected on rotating seat 22, and rotating seat 22 is combined with 42BYGH34 stepper motor, uses stepper motor General controller, control
Motor drives rotating seat 22 to rotate, by mechanical arm migration next process.The key of device is with high-precision mechanical arm,
The sixdegree-of-freedom simulation being made up of using modularized joint axis run-in index and the rectilinear connecting rod of axis is comprehensive as research object
Close its control basis of analysis.Carry out that modular system is integrated and overall control architecture using modularized joint as research object again
Design and the emulation and optimization of control system provide theoretical foundation for the application of modularized joint control technology.It can be by sample
This container 3 is transferred to each operating point in certain sequence, and the mechanical arm of six degree of freedom can flexibly clamp container 3, pedestal
Turntable can complete addition fixed amount sample, vibration keeps samples-soil powder equal with 360 degree rotation during rotating one week
The demands such as even, press compacting sample simultaneously return to initial position.Press is then realized by cylinder, using compressed air as power source, effect
Rate is high and easy to operate, can reduce labour, is applicable to automatic assembly line institutional operation, and structure is simple, operation side
Just, cheap, superior performance, without oil hydraulic system and it is electronic standby when generated noise, power consumption reduction can be saved
Production cost has very high cost performance；Power output is easily adjusted simultaneously, need to only be adjusted atmospheric pressure with regard to adjustable and be reached required pressure,
High yield rate.Guide rod, guide plate equipped with anti-rotating, precision is high, adapts to high speed and precision compacting；It finally can also can basis
Different products or mold, adjustment height, speed, stroke, pressure size and punching press time.
Common and technology maturation mechanical progress function combination in the market is realized step by step by the device completes the sample
The demand of product preparation, mechanical replacement can reduce the error in artificial preparation process, it is ensured that high quality sample is obtained,
Convenient for subsequent detection.By that will design and the simplification of required equipment, the cost of whole device is reduced.Simultaneously in similar soil
The professional apparatus for preparation of test sample there are the market vacancy in the case where be suitble to present school's level to the teacher for doing related scientific research
It is recommended to use, and can be not only used for pedotheque preparation, can be also used for the sample preparation of other silty articles, it can be with
It can be suitable for different scenes according to specific requirements are slightly modified on the disciplinary studies such as chemical-biological.
Embodiment described above is merely preferred embodiments of the present invention, and the scope of protection of the present invention is not limited to this,
Anyone skilled in the art within the technical scope of the present disclosure, the technical solution that can be become apparent to
Simple change or equivalence replacement, all belong to the scope of protection of the present invention.
Claims (9)
1. a kind of automation pressure-like device of heavy metal-polluted soil instrument, which is characterized in that including pedestal (1), rotation clamp device
(2), container (3), electronic weighing device (4), automatic powder feeding device (5), shaking device (6), press (7) and General controller；
Rotation clamp device (2) setting is intermediate in the pedestal (1), around rotation clamping dress on the pedestal (1)
It sets (2) and is provided with multiple placing grooves (8), one of them described placing groove (8) is put for placing the container (3), described in remaining
It sets in slot (8) and is sequentially installed with the electronic weighing device (4), automatic powder feeding device (5), shaking device (6) and press (7)；
The General controller is internally provided with mechanical arm action control module, data acquisition module plus powder control module, shake control
Module and pressure-like control module, the electronic weighing device (4) connect with the signal input part of the General controller, described to add automatically
Powder device (5), shaking device (6) and pressure-like control module are connect with the signal output end of the General controller respectively；
The container (3) for holding pedotheque, the automatic powder feeding device (5) is used to that soil to be added into the container (3)
Earth sample, the electronic weighing device (4) are used to weigh the weight of the container (3) interior pedotheque, the shaking device (6)
For making the container (3) interior pedotheque be evenly distributed, the press (7) is for being compacted the container (3) interior pedotheque.
2. the automation pressure-like device of heavy metal-polluted soil instrument according to claim 1, which is characterized in that the rotation clamping
Device (2) includes bottom plate (21), rotating seat (22), mechanical arm (23), six degree of freedom gripper (24), mechanical arm controller (25)
With rechargeable lithium battery (26), the mechanical arm (23) is made of the first arm and the second arm, and bottom plate (21) bottom is provided with
It supporting feet (27), the rotating seat (22) is arranged on the bottom plate (21), rotating seat (22) bottom and bottom plate (21),
First arm lower end and the rotating seat (22) top, the first arm upper end and second arm lower end, second arm upper end
Pass through steering engine respectively with the gripper to connect, it can be achieved that the rotating seat (22), the first arm, the second arm and six degree of freedom are mechanical
Pawl (24) rotates within the scope of 360 °, and the rechargeable lithium battery (26) is used to supply for the mechanical arm controller (25) and steering engine
Electricity, the machinery arm controller (25) are electrically connected with each steering engine, the machinery arm controller (25) and the General controller communication link
It connects.
3. the automation pressure-like device of heavy metal-polluted soil instrument according to claim 1, which is characterized in that described to add powder automatically
Device (5) includes feed bin (51), support frame (52), vibrator (53), valve (54) and valve driver (55), the feed bin
It (51) is funnel structure, at the top of the feed bin (51) be feeding inlet, bottom is discharge port, and the feed bin (51) is arranged in the branch
On support (52), valve (54) setting is in the discharge outlet, and the valve driver (55) is for controlling the valve
(54) unlatching size, the valve driver (55) and the General controller communicate to connect, and the vibrator (53) is arranged in institute
State feed bin (51) outer wall and close to the valve (54), the electronic weighing device (4) is arranged in the directly below the discharge opening.
4. the automation pressure-like device of heavy metal-polluted soil instrument according to claim 5, which is characterized in that the valve (54)
For operated pneumatic valve or electrically operated valve.
5. the automation pressure-like device of heavy metal-polluted soil instrument according to claim 1, which is characterized in that the electronic-weighing
The number that measuring and amplifying circuit, IC1 and the peripheral cell that device (4) is made of resistance strain type sensor R1 and IC2, IC3 form
Aobvious panel table composition, IC1 are converter IC L7126, and sensor R1 uses E350~ZAA foil resistance foil gauge, measuring circuit
By R1 generate resistance-strain amount be converted into voltage signal output, IC3 will be converted after weak voltage signal amplify, and will
Amplified signal is inputted as the analog voltage of A/D converter, and IC4 provides 1,22V reference voltage, while through R5, R6 and RP2
As the reference voltage of A/D converter after partial pressure, the reference voltage input anode of converter IC L7126 is drawn by RP2 Interposer contact
Enter, negative terminal is then introduced by the Interposer contact of RP3.
6. the automation pressure-like device of heavy metal-polluted soil instrument according to claim 1, which is characterized in that the press (7)
Using pneumatic actuation mode, the drive part of the press (7) include pressure regulator valve (71), reversal valve (72), speed governing valve (73) and
Cylinder (74), the quantity of the speed governing valve (73) are two, and the outlet of the pressure regulator valve (71) connects gas source, the pressure regulator valve
(71) outlet is connected to the entrance of reversal valve (72), two of the reversal valve (72) outlets respectively with two speed governing valves
(73) entrance is connected to, and the outlet of two speed governing valves (73) is connected to the epicoele of the cylinder (74) and cavity of resorption respectively, described
Location sensitive switch, the location sensitive switch and the General controller communication connection are provided on cylinder (74).
7. the automation pressure-like device of heavy metal-polluted soil instrument according to claim 2, which is characterized in that the mechanical arm control
The model STM32 single-chip microcontroller of device (23) processed, the control flaps machine model MG995 of the mechanical arm (23), the six degree of freedom
The control flaps machine model of gripper (24) is TBSN-K15.
8. the automation pressure-like device of heavy metal-polluted soil instrument according to claim 1, which is characterized in that further include electronics control
Display screen processed, the electronic control display screen are connect with the signal output end of the General controller.
9. a kind of pressure-like method of the automation pressure-like device of heavy metal-polluted soil instrument according to any one of claims 1 to 8,
Characterized by comprising the following steps:
Step 1: the container (3) being placed in the placing groove (8), the addition in the automatic powder feeding device (5)
The sample powder for needing to suppress well；
Step 2: the starting rotation clamp device (2) passes through the six degree of freedom gripper (24) of rotation clamp device (2)
It grabs the container (3) and the container (3) is placed on the electronic weighing device (4)；
Step 3: starting the automatic powder feeding device (5), pass through addition in the automatic powder feeding device (5) Xiang Suoshu container (3)
Sample powder, the weight of electronic weighing device (4) the moment detection interior sample powder of the container (3) during addition
Amount；When sense weight reaches set point value, the automatic powder feeding device (5) stops working；
Step 4: the six degree of freedom gripper (24) grabs the container (3) and the container (3) is placed on the press
(7) on, start the press (7), lid is pressed into the sample made in the container (3) in the container (3) by the press (7)
Product powder uniform compaction, the press (7) stop working；
Step 5: the six degree of freedom gripper (24) grabs the container (3) and the container (3) is placed on the press
(7) on the placing groove (8) beside, the sample suppressed can be taken away.
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| CN201910638697.8A CN110376221B (en) | 2019-07-15 | 2019-07-15 | Automatic sample pressing device and method for soil heavy metal instrument |
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| CN201910638697.8A CN110376221B (en) | 2019-07-15 | 2019-07-15 | Automatic sample pressing device and method for soil heavy metal instrument |
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Cited By (1)
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