CN110376221B - Automatic sample pressing device and method for soil heavy metal instrument - Google Patents
Automatic sample pressing device and method for soil heavy metal instrument Download PDFInfo
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- CN110376221B CN110376221B CN201910638697.8A CN201910638697A CN110376221B CN 110376221 B CN110376221 B CN 110376221B CN 201910638697 A CN201910638697 A CN 201910638697A CN 110376221 B CN110376221 B CN 110376221B
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- 239000002689 soil Substances 0.000 title claims abstract description 64
- 238000003825 pressing Methods 0.000 title claims abstract description 37
- 229910001385 heavy metal Inorganic materials 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000000843 powder Substances 0.000 claims abstract description 52
- 238000005303 weighing Methods 0.000 claims abstract description 38
- 210000000078 claw Anatomy 0.000 claims description 27
- 230000001105 regulatory effect Effects 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 claims description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 7
- 229910052744 lithium Inorganic materials 0.000 claims description 7
- 239000011888 foil Substances 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000011160 research Methods 0.000 description 8
- 238000007599 discharging Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000002360 preparation method Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000001228 spectrum Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 238000002536 laser-induced breakdown spectroscopy Methods 0.000 description 2
- 230000010287 polarization Effects 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002440 industrial waste Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Classifications
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- 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
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- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
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- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention provides an automatic sample pressing device and method of a soil heavy metal instrument, belonging to the field of soil environment quality detection, and comprising a base, a rotary clamping device, a container, an electronic weighing device, an automatic powder adding device, a vibrating device, a press and a master controller; the rotary clamping device is arranged in the middle of the base, a plurality of placing grooves are formed in the base around the rotary clamping device, one placing groove is used for placing a container, and an electronic weighing device, an automatic powder adding device, a vibration device and a press are sequentially arranged in the other placing grooves; the automatic powder feeding device, the vibration device and the sample pressing control module are respectively connected with the signal output end of the master controller. The device can greatly improve the manufacturing quality and the standardized size of the soil standard sample, and obviously reduce the manufacturing time of the soil standard sample.
Description
Technical Field
The invention belongs to the technical field of soil environment quality detection, and particularly relates to an automatic sample pressing device and method of a soil heavy metal instrument.
Background
With the rapid development of industry, heavy metal pollution of soil caused by industrial waste emission, chemical pesticides and the like is aggravated, and the health of human beings is seriously threatened. Therefore, it is very necessary to conduct detection of heavy metals in soil. The sample detection pretreatment plays an extremely important role in scientific research experiments, samples are quantitatively collected and analyzed, and the heavy metal content result of soil in a certain land or a certain area can be obtained through analyzing the soil samples, so that adverse effects on human bodies caused by too high heavy metal content in the soil are reduced or avoided.
In the current scientific research, in order to acquire high-precision test and physicochemical analysis data, the completion degree and precision of experimental sampling are improved by means of an experimental preparation device, so that unnecessary systematic errors and random errors are reduced. In the conventional scientific research experiments for detecting the heavy metals in the soil, standard sample preparation of a soil sample to be detected needs to be completed manually, and the defects of low working efficiency, irregular standard sample, low detection precision and the like exist. The main manifestations are: firstly, it is difficult to ensure that the weight of each sample is consistent; secondly, the sample pressed manually has non-uniformity. The quantitative determination of the heavy metal content of the soil sample by radioactive rays is seriously affected.
In order to improve the signal-to-back ratio (SBR) and stability of the characteristic spectrum of the soil heavy metal Laser Induced Breakdown Spectroscopy (LIBS) and reduce the element detection limit, the polarization characteristics of the 4 element characteristic discrete spectrum lines such as soil LIBS continuous background radiation and Fe, pb, ca, mg are researched, and the Relative Standard Deviation (RSD), SBR and detection limit of the element characteristic spectrum lines under the condition of existence or non-polarization are compared and analyzed. Therefore, the improvement of the quality of the soil sample is particularly important, and at present, few automatic instruments specially used for pressing the soil sample are arranged in China, and the functions of the custom-made instruments on the market far exceed the requirements of experimental pressing, so that the machine is huge in volume and high in price.
Therefore, the application provides an automatic sample pressing device of soil heavy metal instrument.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an automatic sample pressing device and method for a soil heavy metal instrument.
In order to achieve the above object, the present invention provides the following technical solutions:
the automatic sample pressing device of the soil heavy metal instrument comprises a base, a rotary clamping device, a container, an electronic weighing device, an automatic powder adding device, a vibrating device, a press and a master controller;
the rotary clamping device is arranged in the middle of the base, a plurality of placing grooves are formed in the base around the rotary clamping device, one placing groove is used for placing the container, and the electronic weighing device, the automatic powder adding device, the vibration device and the press are sequentially arranged in the rest of placing grooves;
the automatic powder feeding device, the vibration device and the sample pressing control module are respectively connected with the signal output end of the master controller;
the automatic powder adding device is used for adding the soil sample into the container, the electronic weighing device is used for weighing the weight of the soil sample in the container, the vibration device is used for enabling the soil sample in the container to be uniformly distributed, and the press is used for compacting the soil sample in the container.
Preferably, the rotating clamping device comprises a bottom plate, a rotating base, a mechanical arm, a six-degree-of-freedom mechanical claw, a mechanical arm controller and a rechargeable lithium battery, wherein the mechanical arm consists of a first arm and a second arm, a supporting pad foot is arranged at the bottom of the bottom plate, the rotating base is arranged on the bottom plate, the bottom of the rotating base, the bottom plate, the lower end of the first arm, the top of the rotating base, the upper end of the first arm, the lower end of the second arm, the upper end of the second arm and the mechanical claw are respectively connected through a steering engine, the rotating base, the first arm, the second arm and the six-degree-of-freedom mechanical claw can rotate within a range of 360 degrees, the rechargeable lithium battery is used for supplying power to the mechanical arm controller and the steering engines, the mechanical arm controller is electrically connected with each steering engine, and the mechanical arm controller is in communication connection with the master controller.
Preferably, the automatic powder adding device comprises a feed bin, a support frame, a vibrator, a valve and a valve driver, wherein the feed bin is of a funnel structure, the top of the feed bin is a feed inlet, the bottom of the feed bin is a discharge outlet, the feed bin is arranged on the support frame, the valve is arranged at the discharge outlet, the valve driver is used for controlling the opening size of the valve, the valve driver is in communication connection with the master controller, the vibrator is arranged on the outer wall of the feed bin and is close to the valve, and the electronic weighing device is arranged under the discharge outlet.
The valve is a pneumatic valve or an electric valve.
Preferably, the electronic weighing device is composed of a measuring amplifying circuit composed of a resistance strain sensor R1, an IC2 and an IC3, a digital display panel meter composed of the IC1 and peripheral elements, wherein the IC1 is a converter ICL7126, the sensor R1 adopts E350-ZAA foil type resistance strain gauges, the measuring circuit converts resistance strain quantity generated by the R1 into voltage signals to be output, the IC3 amplifies the converted weak voltage signals, the amplified signals are used as analog voltage input of an A/D converter, the IC4 provides 1 and 22V reference voltages, meanwhile, the voltage is divided by the R5, the R6 and the RP2 and then used as reference voltages of the A/D converter, the reference voltage input positive end of the converter ICL7126 is introduced by an RP2 intermediate contact, and the negative end is introduced by an RP3 intermediate contact.
Preferably, the press adopts pneumatic drive mode, the drive part of press includes air-vent valve, switching-over valve, governing valve and cylinder, the quantity of governing valve is two, the export of air-vent valve is connected the air source, the export of air-vent valve and the entry intercommunication of switching-over valve, two exports of switching-over valve respectively with two the governing valve entry intercommunication, two the export of governing valve respectively with the upper chamber and the lower chamber intercommunication of cylinder, be provided with position inductive switch on the cylinder, position inductive switch with the communication of master controller is connected.
Preferably, the model of the mechanical arm controller is an STM32 singlechip, the model of a control rudder of the mechanical arm is MG995, and the model of a control steering engine of the six-degree-of-freedom mechanical claw is TBSN-K15.
Preferably, the system further comprises an electronic control display screen, wherein the electronic control display screen is connected with the signal output end of the master controller.
The invention further aims to provide an automatic sample pressing method of the soil heavy metal instrument, which comprises the following steps of:
step 1: placing the container in one placing groove, and adding sample powder to be pressed into the automatic powder adding device;
step 2: starting the rotary clamping device, grabbing the container through a six-degree-of-freedom mechanical claw of the rotary clamping device and placing the container on the electronic weighing device;
step 3: starting the automatic powder adding device, adding sample powder into the container through the automatic powder adding device, and detecting the weight of the sample powder in the container by the electronic weighing device at any time in the adding process; when the detected weight reaches a set value, the automatic powder adding device stops working;
step 4: the six-degree-of-freedom mechanical claw grabs the container and places the container on the press, the press is started, the press presses the cover into the container so that sample powder in the container is uniformly compacted, and the press stops working;
step 5: the six-degree-of-freedom mechanical gripper grabs the container and places the container on a placing groove beside the press, so that the pressed sample can be taken out.
The automatic sample pressing device and method for the soil heavy metal instrument provided by the invention realize uniformity and consistency of soil standard samples by improving the sample pressing device of the soil heavy metal instrument, and have the following beneficial effects:
(1) The soil sample is added according to the set weight by controlling the mechanical arm device to clamp the sample container with the fixed weight, and the multi-dimensional mechanical arm device can flexibly transfer the container from one working point to another working point;
(2) The indication transmission signal of the electronic weighing device 4 is used as an input signal for controlling the automatic powder adding device, so that the weight is accurately and automatically controlled, and errors caused by manual weighing are reduced;
(3) The vibration device solves the problem that soil samples are unevenly distributed in the container, so that the compaction is uniform, and the error for detecting the heavy metal content of the soil by subsequent rays is reduced;
(4) Pressing the cover into the container by a pressing machine to tightly press the sample, putting the container wall and the cover into the fixed position by a person, and finally taking the pressed soil sample;
(5) The device combines machine, electricity and gas phase, can greatly improve the manufacturing quality and the standardized size of soil standard sample, is convenient for soil heavy metal radioactivity appearance more accurately survey the heavy metal content in the soil, can show the manufacturing time of reducing soil standard sample, promotes overall work efficiency.
Drawings
Fig. 1 is a schematic structural diagram of an automatic sample pressing device of a soil heavy metal meter according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of a rotary gripping device;
FIG. 3 is a schematic view of the rotation of the robotic arm in a coordinate system;
FIG. 4 is a schematic view of the structure of the automatic powder feeding device;
FIG. 5 is a general flow frame of an automated sample pressing apparatus according to embodiment 1 of the present invention;
FIG. 6 is a flow chart of the operation of the rotating gripping device;
FIG. 7 is a schematic circuit diagram of an electronic weighing device;
fig. 8 is a schematic diagram of the pneumatic principle of the press.
Description of the drawings:
the automatic powder feeding device comprises a base 1, a rotary clamping device 2, a container 3, an electronic weighing device 4, an automatic powder feeding device 5, a vibration device 6, a press 7, a placing groove 8, a bottom plate 21, a rotary seat 22, a mechanical arm 23, a six-degree-of-freedom mechanical claw 24, a mechanical arm controller 25, a rechargeable lithium battery 26, a supporting pad 27, a storage bin 51, a supporting frame 52, a vibrator 53, a valve 54, a valve driver 55, a pressure regulating valve 71, a reversing valve 72, a speed regulating valve 73 and an air cylinder 74.
Detailed Description
The following describes the embodiments of the present invention further with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the technical solutions of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly specified or limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more, and will not be described in detail herein.
Example 1
The invention provides an automatic sample pressing device of a soil heavy metal instrument, which is shown in figure 1, and comprises a base 1, a rotary clamping device 2, a container 3, an electronic weighing device 4, an automatic powder adding device 5, a vibrating device 6, a press 7 and a master controller;
the rotary clamping device 2 is arranged in the middle of the base 1, a plurality of placing grooves 8 are formed in the base 1 around the rotary clamping device 2, one placing groove 8 is used for placing the container 3, and an electronic weighing device 4, an automatic powder adding device 5, a vibration device 6 and a press 7 are sequentially arranged in the rest placing grooves 8;
the electronic weighing device 4 is connected with the signal input end of the master controller, and the automatic powder adding device 5, the vibration device 6 and the sample pressing control module are respectively connected with the signal output end of the master controller;
the container 3 is used for holding soil sample, the automatic powder adding device 5 is used for adding soil sample to the container 3, the electronic weighing device 4 is used for weighing the weight of the soil sample in the container 3, the vibration device 6 is used for enabling the soil sample in the container 3 to be uniformly distributed, and the press 7 is used for compacting the soil sample in the container 3.
Specifically, in this embodiment, as shown in fig. 2, the rotating clamping device 2 includes a base plate 21, a rotating seat 22, a mechanical arm 23, a six-degree-of-freedom mechanical claw 24, a mechanical arm controller 25 and a rechargeable lithium battery 26, where the mechanical arm 23 is composed of a first arm and a second arm, a support pad 27 is disposed at the bottom of the base plate 21, the rotating seat 22 is disposed on the base plate 21, the bottom of the rotating seat is connected with the base plate, the lower end of the first arm is connected with the top of the rotating seat, the upper end of the first arm is connected with the lower end of the second arm, and the upper end of the second arm is connected with the mechanical claw through steering gears, so that the rotating seat 22, the first arm, the second arm and the six-degree-of-freedom mechanical claw 24 can rotate within a 360 ° range, the rechargeable lithium battery 26 is used for supplying power to the mechanical arm controller 25 and the steering gears, the mechanical arm controller 25 is electrically connected with each steering gear, and the mechanical arm controller 25 is connected with the master controller in communication.
As shown in fig. 4, the automatic powder adding device 5 comprises a bin 51, a support frame 52, a vibrator 53, a valve 54 and a valve driver 55, wherein the bin 51 is of a funnel structure, the top of the bin 51 is provided with a feeding hole, the bottom of the bin is provided with a discharging hole, the feeding hole is used for storing soil powder, the bin 51 is arranged on the support frame 52, the valve 54 is arranged at the discharging hole, the valve driver 55 is used for controlling the opening size of the valve 54 so as to adjust the discharging amount, the valve driver 55 is in communication connection with a master controller, the vibrator 53 is arranged on the outer wall of the bin 51 and is close to the valve 54, discharge overhead is prevented, smooth and reliable discharge is realized, and the electronic weighing device 4 is arranged under the discharging hole.
As shown in fig. 8, the press 7 in this embodiment adopts a pneumatic driving mode, the driving part of the press 7 includes two pressure regulating valves 71, a reversing valve 72, a speed regulating valve 73 and an air cylinder 74, the number of the speed regulating valves 73 is two, the outlet of the pressure regulating valve 71 is connected with an air source, the outlet of the pressure regulating valve 71 is communicated with the inlet of the reversing valve 72, the two outlets of the reversing valve 72 are respectively communicated with the inlets of the two speed regulating valves 73, the outlets of the two speed regulating valves 73 are respectively communicated with the upper cavity and the lower cavity of the air cylinder 74, and a position sensing switch is arranged on the air cylinder 74. In the embodiment, two speed regulating valves 73 are added on the air path of the original press, so that the pressure head can move up and down at different speeds to adapt to the requirements of different working conditions; meanwhile, an upper position sensing switch and a lower position sensing switch are additionally arranged on the air cylinder 74 of the press, so that the position of the pressure head can be detected when the press works, and further, conditions are provided for automatic control. The position induction switch is in communication connection with the master controller, and an automatic control system is added according to different pressing process schemes required during sample pressing so as to meet process requirements.
As shown in fig. 7, the electronic weighing device 4 is composed of a measuring amplifying circuit composed of resistance strain type sensors R1, IC2 and IC3, a digital display panel table composed of IC1 and peripheral elements, wherein IC1 is a converter ICL7126, the sensor R1 adopts E350-ZAA foil type resistance strain gauge, the measuring circuit converts resistance strain quantity generated by R1 into voltage signal output, the IC3 amplifies the converted weak voltage signal, the amplified signal is used as analog voltage input of an a/D converter, the IC4 provides 1, 22V reference voltage, meanwhile, the voltage is divided by R5, R6 and RP2 and then used as reference voltage of the a/D converter, the reference voltage input positive end of the converter ICL7126 is introduced by an RP2 middle contact, the negative end is introduced by an RP3 middle contact, and the reference voltage at two ends can compensate the nonlinear error of the sensor appropriately.
In the embodiment, the model of the controller of the mechanical arm 23 is STM32 singlechip, the model of the control rudder of the mechanical arm 23 is MG995, and the model of the control steering engine of the six-degree-of-freedom mechanical claw 24 is TBSN-K15.
Further, in this embodiment, the electronic control display screen is further included, and the electronic control display screen is connected with the signal output end of the master controller.
Description of the working principle of the mechanical arm
(1) Description of workflow
The mechanical arm 23 is used, the mechanical arm 23 is composed of 3 MG995 type steering engines, six-degree-of-freedom mechanical claws 24 are added at the front end, and the steering engines and the mechanical claws are controlled to operate by an STM32 chip. The mechanical arm 23 is connected to the rotating base 22, the rotating base 22 is combined with a 42BYGH34 stepping motor, a stepping motor controller is used for controlling the motor to drive the rotating base 22 to rotate, and the mechanical arm 23 is moved to the next process. And after receiving the return signal, the mechanical arm 23 rotates and moves to the next process. The device is characterized in that a high-precision mechanical arm is used for transferring sample containers to each working point in a certain sequence, the six-degree-of-freedom mechanical arm can flexibly clamp the containers, and a turntable of a base can rotate by 360 degrees:
as shown in fig. 5 and 6, the general operation is:
(1) firstly, putting an empty container 3 at the point A, clicking on an electronic control display screen, starting, and enabling a mechanical claw to tightly clamp the container 3 while enabling the positions of joints of a mechanical arm to rotate, so as to stably lift and transfer the wall of the empty container;
(2) the mechanical arm moves to the position of each working point and loosens the mechanical clamp, after the step is finished, a finishing signal is sent to the master controller, and the master controller sends a starting working signal to the three working positions B/C/D to start the operation;
(3) after the B/C/D three working positions complete the work of the position, a completion signal is sent to the master controller, the master controller sends the completion message to the rotating clamping device 2, and when the mechanical claws of the rotating clamping device 2 clamp and return to the rotating position, a command for the next step is sent to the master controller. Only when the transmission unit sends out a completion signal can the transmission unit rotate towards the next working position.
(2) Working principle of rotary clamping device
The first step is to establish a coordinate system, and set the connection point of the mechanical arm and the rotating shaft asThe origin, x coordinate axis is the straight line that arm horizontal direction is located, and y coordinate axis is the straight line that is perpendicular with the pivot. For convenience of description, two nodes of the mechanical arm are respectively O, A and BC and are mechanical claws of a terminal. As shown in fig. 3. Let the length of the mechanical arm from the origin to the end point be d1, d2 at a time, let OA and the included angle of the horizontal direction be theta 1 The included angle between OA and AB is theta 2 The included angle between AB and BC segment manipulator is theta 3 。
(2) Principle of operation of mechanical claw
The mechanical claw is controlled by a TBSN-K15 steering engine integrating a motor, a servo drive and a pwm signal interface.
Steering engine control principle:
the servo system of the pwm steering engine is controlled by variable width pulses, and the control lines are used to deliver the pulses. In general, the reference signals of the steering engine are all 20ms in period and have a limited duty cycle range of 0.5-2.5ms. The reference signal 1.5ms is defined as the median signal, which is controlled to be in 135 ° position for a 270 ° steering engine when the pulse width is 1.5ms. The steering engine generally has a maximum rotation angle and a minimum rotation angle, and the definition of the intermediate position is the intermediate position from the maximum angle to the minimum angle. Most importantly, the maximum rotation angles of different steering engines can be different, but the pulse width of the middle position is fixed, namely 1.5ms.
pwm steering engine control general logic: in terms of control, there are two ways. Mode one: the pwm module of the control chip is used, the period is set, and the special pwm pin is used for controlling by changing the duty ratio; mode two: the effective control value of pwm is 500-2500. Mu.s with the timer technique, and the theoretical precision is calculated as follows: angle/2000.
The working process of the automatic powder adding device is described:
1. the mechanical arm places the container 3 on the electronic weighing device 4;
2. the valve driver 55 opens the valve 54 according to the set parameters, and the vibrator 53 starts vibrating at the same time, so that the powder falls into the container 3 from the discharge hole of the bin 51;
3. valve 54 is closed and vibrator 53 stops vibrating;
4. the electronic weighing device 4 measures the weight of the powder, if the weight reaches a set value, signals the mechanical arm to transfer the container 3 to the next station; if the set value is not reached, repeating the steps;
it should be noted that, in this embodiment, the valve 54 is an electric valve or a pneumatic valve, the valve driver 55 may be composed of a pneumatic element cylinder or an electric element motor and a transmission assembly, and may be determined according to different working conditions; the size and time of opening of the valve 54 is adjusted for different powder conditions.
The automatic sample pressing device of soil heavy metal appearance that this embodiment provided theory of operation demonstrates:
as shown in fig. 1, the base is provided with five fixed points A, B, C, D, E, so that automatic circulation of conveying an empty container to a fixed position, loading and weighing a sample, uniformly distributing soil in the sample in the container by using a vibration source, pressing the sample by using a driving unit, and finally moving the sample to the fixed position and taking the sample out is realized. The whole operation is a period, so that the sample pressing efficiency can be improved, the beginning and the end of the whole flow are controlled through a display screen, and the overall technical flow chart is shown in fig. 1.
A working point specific working flow:
the empty container 3 is placed to the a working point.
B, working point specific working flow:
the automatic powder adding device comprises a main electronic weighing device 4 and an automatic powder adding device 5, wherein at the position of a point B, an empty container 3 is clamped above the electronic weighing device 4 embedded in a base 1 by a six-degree-of-freedom mechanical claw 24 of a rotating clamping device 2, the container 3 is placed on the electronic weighing device 4 and moves downwards, then the six-degree-of-freedom mechanical claw 24 is loosened, when a pressure sensor of the electronic weighing device 4 senses pressure (the weight of the empty container 3 can be set in advance), a valve 54 of a storage bin 51 on the automatic powder adding device 5 for storing soil powder is opened, powder falls into the empty container 3 from a funnel, the electronic weighing device 4 transmits the weighed weight information change to a master controller in real time, and the electronic control display screen is displayed, if the preset weight is reached, the pressure sensor sends a signal to the master controller so that a valve driver 55 controls the valve 54 to be closed, the powder adding device stops sending, and meanwhile, the rotating clamping device 2 clamps the container 3 containing the soil powder again, and translates upwards back to a vibration device 6.
C, specific working procedures of working points:
the vibration device 6 is placed at the working point C, the vibration device 6 is an existing device, and an eccentric turbine rotates on a track at a high speed to generate high-power centrifugal force. The shell consists of an extruded paint-baking aluminum piece and a hard-treated bottom plate.
The eccentric turbine is supported by two high-power, pre-lubricated, matched flighted bearings. By adopting the design of the inner seat ring and the outer race of the bearing, the bearing can be easily replaced by using a pin spanner, and the bottom plate system fixed by left-handed threads and right-handed threads can be automatically locked. In addition, the air inlet and the air outlet are provided with standard pipe threads, so that the smooth air discharging function is ensured, and the air discharging meets the current international noise regulation requirement.
D, specific working procedures of working points:
the press 7 is placed at the action point D, after the press 7 receives the signal sent by the master controller for a period of time, the movable shaft Y is lowered by a fixed distance along with the pressing plate Z to press the cover of the sample container 3 into the container 3, and the Y and the Z are restored to the original positions to stop after repeated times. The purpose of compacting soil powder is achieved, and a completion signal is sent to the master controller after the movable shaft stops moving.
The press uses compressed air as a power source, a speed regulating valve is added on the air path of the original press, so that the pressure head can move up and down at different speeds to adapt to the requirements of different working conditions, and an upper and lower position induction switch is additionally arranged on an air cylinder of the press, so that the position of the pressure head can be detected when the press works, and further, the condition is provided for automatic control; according to different pressing process schemes required during sample pressing, an automatic control system is added to meet the process requirements. The press has the advantages of high efficiency, easy operation, simple structure, convenient operation, low price, excellent performance, no noise generated by an oil pressure system and electric standby, power consumption saving, production cost reduction and high cost performance.
The pressure can be adjusted to the required pressure by adjusting the air pressure, and the yield is high. The anti-rotation guide rod and the guide plate are arranged, so that the precision is high, and the high-speed precise punching and loading device can be suitable for high-speed precise punching and loading.
In the embodiment, the quality of a single sample can be improved by using an automatic mechanical device, and meanwhile, errors caused by different weighing and inconsistent compacting degree of each sample among samples in the same batch can be reduced. The integrated pressing flow is completed instead of a person, and scientific researchers do not need to spend a great deal of time on the matters of low technological content, but high time and manual capability requirements of preparing samples, so that the time can be saved for analysis and research.
The device is controlled by a combination of mechanical, electrical and gas phases. The transmission unit is mainly realized by a motor and a steering engine. The conveying mechanical arm consists of an MG995 model steering engine, an alloy mechanical claw is added at the front end, and the steering engine and the mechanical claw are controlled to operate by an STM32 chip. The mechanical arm is connected to the rotating seat 22, the rotating seat 22 is combined with a 42BYGH34 stepping motor, a stepping motor master controller is used for controlling the motor to drive the rotating seat 22 to rotate, and the mechanical arm is moved to the next working procedure. The device is characterized in that a high-precision mechanical arm is used, a six-degree-of-freedom mechanical arm formed by modularized joints through axis parallel type and axis vertical type connecting rods is used as a research object, and the control basis of the six-degree-of-freedom mechanical arm is comprehensively analyzed. And the modularized joint is used as a research object to carry out modularized system integration and overall control structure design and simulation and optimization of a control system, so that a theoretical basis is provided for the application of a modularized joint control technology. Can shift each working point to sample container 3 according to certain order, six degree of freedom's robotic arm can grasp container 3 in a flexible way, and the carousel of base can 360 degrees rotations, accomplishes to add fixed quantity sample, shake the demand such as make sample soil powder even, press compaction sample and get back to the home position at the in-process of rotating a week. The press is realized by the air cylinder, takes compressed air as a power source, has high efficiency and easy operation, can reduce labor force, is applicable to integrated operation of an automatic assembly line, has simple structure, convenient operation, low price and excellent performance, does not generate noise when an oil pressure system and an electric standby, can save electric power consumption and reduce production cost, and has high cost performance; meanwhile, the output is easy to adjust, the required pressure can be adjusted only by adjusting the air pressure, and the yield is high. The anti-rotation guide rod and the guide plate are arranged, so that the precision is high, and the high-speed precision pressing machine can be suitable for high-speed precision pressing; finally, the height, the speed, the stroke, the pressure and the stamping time can be adjusted according to different products or dies.
The device combines functions of common machinery with mature technology in the market to meet the requirement of completing sample preparation step by step, and the replacement of machinery can reduce errors in the manual preparation process, can ensure to obtain high-quality samples, and is convenient for subsequent detection. By simplifying the design and the required equipment, the cost of the whole device is reduced. Meanwhile, the special preparation instrument for the similar soil detection samples is suitable for being recommended by teachers facing the related scientific research in the current school floor under the condition that the market is blank, can be used for preparing soil samples and samples of other powdery objects, and can be suitable for different scenes by slightly improving the special requirements in the research of subjects such as chemistry and biology.
The above embodiments are merely preferred embodiments of the present invention, the protection scope of the present invention is not limited thereto, and any simple changes or equivalent substitutions of technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention disclosed in the present invention belong to the protection scope of the present invention.
Claims (5)
1. An automatic sample pressing device of a soil heavy metal instrument is characterized by comprising a base (1), a rotary clamping device (2), a container (3), an electronic weighing device (4), an automatic powder adding device (5), a vibrating device (6), a press (7) and a master controller;
the rotary clamping device (2) is arranged in the middle of the base (1), a plurality of placing grooves (8) are formed in the base (1) in a surrounding mode, the rotary clamping device (2) is arranged in the base, one of the placing grooves (8) is used for placing the container (3), and the electronic weighing device (4), the automatic powder adding device (5), the vibration device (6) and the press (7) are sequentially arranged in the rest of the placing grooves (8);
the automatic powder adding device (5), the vibration device (6) and the sample pressing control module are respectively connected with the signal output end of the master controller;
the automatic powder adding device (5) is used for adding the soil sample into the container (3), the electronic weighing device (4) is used for weighing the soil sample in the container (3), the vibration device (6) is used for uniformly distributing the soil sample in the container (3), and the press (7) is used for compacting the soil sample in the container (3);
the rotating clamping device (2) comprises a bottom plate (21), a rotating seat (22), a mechanical arm (23), a six-degree-of-freedom mechanical claw (24), a mechanical arm controller (25) and a rechargeable lithium battery (26), wherein the mechanical arm (23) consists of a first arm and a second arm, a supporting pad foot (27) is arranged at the bottom of the bottom plate (21), the rotating seat (22) is arranged on the bottom plate (21), the bottom of the rotating seat (22) is electrically connected with the bottom plate (21), the lower end of the first arm is connected with the top of the rotating seat (22), the upper end of the first arm is connected with the lower end of the second arm, the upper end of the second arm is connected with the mechanical claw through a steering engine, the rotating seat (22), the first arm, the second arm and the six-degree-of-freedom mechanical claw (24) can rotate within a range of 360 DEG, the rechargeable lithium battery (26) is used for supplying power for the mechanical arm controller (25) and the steering engine, the mechanical arm controller (25) is electrically connected with each steering engine, and the mechanical arm controller (25) is connected with the general controller through communication;
the automatic powder adding device (5) comprises a feed bin (51), a support frame (52), a vibrator (53), a valve (54) and a valve driver (55), wherein the feed bin (51) is of a funnel structure, the top of the feed bin (51) is a feed inlet, the bottom of the feed bin is a discharge outlet, the feed bin (51) is arranged on the support frame (52), the valve (54) is arranged at the discharge outlet, the valve driver (55) is used for controlling the opening size of the valve (54), the valve driver (55) is in communication connection with the master controller, the vibrator (53) is arranged on the outer wall of the feed bin (51) and is close to the valve (54), and the electronic weighing device (4) is arranged under the discharge outlet;
the electronic weighing device (4) consists of a measuring amplifying circuit consisting of a resistance strain sensor R1, an IC2 and an IC3, and a digital display panel meter consisting of the IC1 and peripheral elements, wherein the IC1 is a converter ICL7126, and the sensor R1 adoptsThe 350-ZAA foil type resistance strain gauge comprises a measuring circuit, an IC3, an A/D converter, an IC4, an IC2 middle contact and an RP3 middle contact, wherein the measuring circuit converts resistance strain quantity generated by R1 into voltage signals to be output, the IC3 amplifies the converted weak voltage signals, the amplified signals are used as analog voltage input of the A/D converter, the IC4 provides 1.22V reference voltage, meanwhile, the reference voltage is divided by R5, R6 and RP2 and then used as reference voltage of the A/D converter, the reference voltage input positive end of the converter ICL7126 is introduced by the RP2 middle contact, and the negative end of the reference voltage input positive end of the converter ICL7126 is introduced by the RP3 middle contact;
the pneumatic control device is characterized in that the press (7) is in a pneumatic driving mode, the driving part of the press (7) comprises a pressure regulating valve (71), a reversing valve (72), a speed regulating valve (73) and air cylinders (74), the number of the speed regulating valves (73) is two, the outlet of the pressure regulating valve (71) is connected with an air source, the outlet of the pressure regulating valve (71) is communicated with the inlet of the reversing valve (72), the two outlets of the reversing valve (72) are respectively communicated with the two inlets of the speed regulating valve (73), the two outlets of the speed regulating valve (73) are respectively communicated with the upper cavity and the lower cavity of the air cylinder (74), and a position sensing switch is arranged on the air cylinder (74) and is in communication connection with the master controller.
2. The automated sample pressing device of a soil heavy metal apparatus according to claim 1, wherein the valve (54) is a pneumatic valve or an electric valve.
3. The automatic sample pressing device of the soil heavy metal instrument according to claim 1, wherein the model of the mechanical arm controller (25) is an STM32 singlechip, the model of a control steering engine of the mechanical arm (23) is MG995, and the model of a control steering engine of the six-degree-of-freedom mechanical claw (24) is TBSN-K15.
4. The automated sample pressing device of the soil heavy metal meter according to claim 1, further comprising an electronic control display screen, wherein the electronic control display screen is connected with a signal output end of the master controller.
5. A method for pressing a soil heavy metal apparatus according to any one of claims 1 to 4, characterized by comprising the steps of:
the steps are as follows: placing the container (3) in one placing groove (8), and adding sample powder to be pressed into the automatic powder adding device (5);
step 2: starting the rotary clamping device (2), grabbing the container (3) through a six-degree-of-freedom mechanical claw (24) of the rotary clamping device (2) and placing the container (3) on the electronic weighing device (4);
step 3: starting the automatic powder adding device (5), adding sample powder into the container (3) through the automatic powder adding device (5), and detecting the weight of the sample powder in the container (3) by the electronic weighing device (4) at the moment in the adding process; when the detected weight reaches a set value, the automatic powder adding device (5) stops working;
step 4: the six-degree-of-freedom mechanical gripper (24) grabs the container (3) and places the container (3) on the press (7), the press (7) is started, the press (7) presses the cover into the container (3) so that sample powder in the container (3) is uniformly compacted, and the press (7) stops working;
step 5: the six-degree-of-freedom gripper (24) grips the container (3) and places the container (3) on a placement groove (8) beside the press (7), so that the pressed sample can be taken out.
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| CN111170396A (en) * | 2020-01-07 | 2020-05-19 | 国家海洋局珠海海洋环境监测中心站 | Extraction equipment for detecting heavy metal in seawater |
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