CN112014320A - Automatic water sample detector - Google Patents
Automatic water sample detector Download PDFInfo
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- CN112014320A CN112014320A CN202010940506.6A CN202010940506A CN112014320A CN 112014320 A CN112014320 A CN 112014320A CN 202010940506 A CN202010940506 A CN 202010940506A CN 112014320 A CN112014320 A CN 112014320A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 63
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- 238000010438 heat treatment Methods 0.000 claims abstract description 76
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- 239000003638 chemical reducing agent Substances 0.000 claims description 7
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- 239000005030 aluminium foil Substances 0.000 claims description 3
- 238000009413 insulation Methods 0.000 claims description 3
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- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 8
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/3103—Atomic absorption analysis
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/75—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated
- G01N21/77—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated by observing the effect on a chemical indicator
- G01N21/78—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated by observing the effect on a chemical indicator producing a change of colour
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/00584—Control arrangements for automatic analysers
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Abstract
The invention relates to a water sample automatic detector, which comprises a heating execution assembly, a light splitting detection assembly, a bottle body execution assembly, a bottle cover execution assembly, a cover breaking execution mechanism and a mechanical arm execution assembly, wherein the bottle body execution assembly comprises a bottle body lifting mechanism, a bottle body rotating mechanism and a bottle body oscillating mechanism; the bottle cap execution assembly is arranged above the bottle body execution assembly and comprises a cover body swinging mechanism and a cover body turnover mechanism; the cover breaking executing mechanism is provided with a thimble with a downward pointed end and a cover breaking swinging executing mechanism; the manipulator execution assembly comprises a transverse moving mechanism, a longitudinal moving mechanism and a translation table, wherein a first manipulator used for adding a liquid sample into the bottle body in the positioning tube and a second manipulator used for clamping the digestion colorimetric tube on the test tube rack and placing the digestion colorimetric tube into the positioning tube are arranged on the translation table. The advantages are that: simple structure, the operation of being convenient for, intelligent degree improves, and is safe, can handle the multiunit test tube simultaneously.
Description
Technical Field
The invention relates to the field of chemical determination equipment, in particular to an automatic water sample detector for water quality detection.
Background
With the rapid development of social economy, the Chemical Oxygen Demand (COD) indicates that a chemical method measures the amount of reducing substances needing to be oxidized and reduced in a water sample, and in the research of river pollution and the property of industrial wastewater and the operation management of a wastewater treatment plant, the COD is an important organic pollution parameter which can be rapidly measured, the COD is often represented by a symbol, the COD is defined as that the amount of an oxidant consumed by oxidizing the reducing substances in one liter of the water sample is used as an index under a certain condition, the mg of oxygen required after all the water sample is oxidized is converted into mg of oxygen required after all the water sample is oxidized, the mg/L is used as the index, the COD reflects the pollution degree of the reducing substances in the water, and the index is also used as one of comprehensive indexes of the relative content of the.
High chemical oxygen demand means that the water contains a large amount of reducing substances, mainly organic pollutants. The higher the chemical oxygen demand, the more serious the organic pollution of river water, and the sources of the organic pollution may be pesticides, chemical plants, organic fertilizers and the like. If not treated, a plurality of organic pollutants can be adsorbed by the bottom mud at the bottom of the river to be deposited, and the organic pollutants can cause lasting toxic action on aquatic organisms within a plurality of years in the future. After massive death of aquatic life, the ecosystem in the river is destroyed. If people eat organisms in water, a large amount of toxins in the organisms are absorbed and accumulated in the bodies, and the toxins have carcinogenic, teratogenic and mutagenic effects and are extremely dangerous to people. In addition, irrigation with contaminated river water also affects plants and crops, which are prone to poor growth, and people cannot eat them.
With the implementation of the environmental pollution discharge total amount control policy in China, the measurement and calculation of the industrial wastewater COD discharge total amount index become urgent needs. The analysis of Chemical Oxygen Demand (COD) is typically a measure of the amount of organic contaminants in surface water and wastewater. ISO "ISO 15705 along with 2002Water quality-Determination OF THE CHEMICAL OXYGEN DEMAND index (ST-COD) -Small-scale analyzed-tube METHOD" and USEPA "METHOD 410.4THE DETERMINATION OF CHEMICAL OXYGEN DEMAND BY SEMI-AUTOMATED COLORIMETRY" are THE main international standards for COD measurement using THE sealed tube METHOD. The corresponding standard of China is' HJ/T399-.
The sealed tube COD measurement means that the sealed tube is used as a digestion tube, a small amount of water sample and a reagent are taken into the sealed tube, the sealed tube is placed into a small constant-temperature heating digestion device, the constant-temperature heating digestion is carried out, and the COD value is measured by a spectrophotometry method. The advantage of this method is that it uses pre-prepared sealed tubes, minimizing the handling of toxic and hazardous reagents. A typical sealed tube COD analysis procedure is as follows:
1. opening reagent tube cover
2. Removing a certain amount of sample to be measured
3. Injecting the sample into the reagent tube, screwing the cover of the reagent tube, and mixing the sample
4. Putting the uniformly mixed sample tube into a heating digestion device
5. The sample is heated and reacted at 150-165 ℃ for a specified time
6. After the reaction time is reached, the sample is placed in a cooling rack
7. Mixing the sample during cooling
8. After cooling to a prescribed temperature, the COD concentration was measured
The sealed tube has the performances of acid resistance, high temperature resistance, pressure resistance and burst prevention, can be used for digestion, can also be used for colorimetric measurement as a colorimetric tube, and is called as a digestion colorimetric tube.
The small heating digestion device takes an aluminum block as a heating body, heating holes are uniformly distributed, and the set heating temperature is the digestion reaction temperature. Meanwhile, due to the proper size of the sealing pipe, the digestion reaction liquid occupies a proper space proportion of the sealing pipe. One part of a sealing tube containing digestion reaction liquid is inserted into a heating hole of a heater, and the bottom of the sealing tube is heated at a constant temperature of 165 ℃; the upper part of the sealing tube is higher than the heating hole and is exposed in the space, and the top of the tube opening is cooled to about 85 ℃ under the natural cooling of air; the temperature difference ensures that the reaction liquid in the small sealed tube is in a micro-boiling reflux state at the constant temperature. After the reaction is cleared up by adopting the sealed tube, the sealed colorimetric tube can be directly measured on a special COD photometer after the reaction is cleared up. The method has the characteristics of small occupied space, low energy consumption, small reagent dosage, minimized waste liquid, simple and convenient operation, safety, stability, accuracy, reliability, suitability for mass measurement and the like, and makes up for the defects of the classical standard method.
Generally, the above working process is mainly realized by manual operation, and the defects of the working process are as follows:
(1) the manual operation has low working efficiency, and the water sample treatment is a time-consuming and labor-consuming process. During the process, a significant portion of the time is spent on reagent addition;
(2) the manual error is easy to generate in the manual operation, the distribution and transfer accuracy and the heating time are poor to control, and the operation error is large; especially, when the sample amount is large, the long-time manual operation is easy to generate errors;
(3) the danger of polluting experimental equipment and operators is easily caused;
(4) the sealing tube is in a high-temperature environment in the digestion process, and operators can be injured.
Therefore, the existing detection method is difficult to realize large-scale and large-batch efficient detection.
Disclosure of Invention
The invention aims to provide an automatic water sample detector aiming at the defects of the existing manual operation means, which is fully automatically and intelligently operated, is safe and can simultaneously process a plurality of groups of test tubes.
In order to achieve the above purpose, the embodiment of the present invention provides an automatic water sample detector, which is implemented by the following technical solutions:
the utility model provides a water sample automated inspection appearance, relates to a clear up colour comparison tube for water sample detects, and the upper and lower end of the bottle lid of this clear up colour comparison tube all can be connected rather than the bottleneck screw thread sealing of bottle, and clear up the one end of bottle lid under the colour comparison tube factory state and have solid solute through the aluminium foil seal, and its characterized in that, water sample automated inspection appearance includes:
the water sample test tube station is used for placing and positioning a test tube rack, and the test tube rack is used for containing test tubes filled with water sample liquid;
the digestion colorimetric tube station is used for placing and positioning the digestion colorimetric tube frame containing the digestion colorimetric tube;
the heating execution component is used for placing the digestion colorimetric tube frame and heating the digestion colorimetric tube on the digestion colorimetric tube frame;
the spectrophotometric detection component is used for placing the digestion colorimetric tube and performing spectrophotometric detection on the digestion colorimetric tube;
the bottle body executing assembly comprises a bottle body lifting mechanism and a bottle body rotating mechanism; the bottle body lifting mechanism is used for selectively carrying out integral lifting or integral oscillation on the bottle body rotating mechanism; the bottle body rotating mechanism comprises a positioning tube for vertically placing the digestion colorimetric tube, a bottle body clamp which is driven by the bottle body clamping executing mechanism to selectively clamp the bottle body of the digestion colorimetric tube in the positioning tube, and a rotating executing mechanism which drives the positioning tube and the bottle body clamp to rotate around the axis of the digestion colorimetric tube in the positioning tube;
the bottle cap execution assembly comprises a cover body swinging mechanism and a cover body overturning mechanism; the cover body swinging mechanism is used for enabling the cover body turnover mechanism to intermittently swing between a first limit position and a second limit position around a vertical axis; the cover body overturning mechanism comprises a bottle cap clamp which is driven by the cover body clamping actuating mechanism to selectively clamp and resolve the cap of the colorimetric tube in the positioning tube when the cover body overturning mechanism is positioned at a first limit position, and an overturning actuating mechanism which drives the bottle cap clamp to rotate around a horizontal shaft in a clearance mode when the cover body overturning mechanism is positioned at a second limit position;
the cap breaking actuating mechanism is provided with an ejector pin with a downward pointed end and a cap breaking swinging actuating mechanism which drives the ejector pin to swing right above the positioning tube when the bottle body rotating mechanism descends;
the manipulator execution assembly comprises a translation table which is driven by a transverse moving mechanism and a longitudinal moving mechanism to move among a water sample test tube station, a digestion colorimetric tube station, a bottle body execution assembly, a heating execution assembly and a light splitting detection assembly; the translation table is provided with a first manipulator, a second manipulator and two manipulator lifting mechanisms which respectively drive the first manipulator and the second manipulator to move up and down relative to the translation table; the second manipulator is used for clamping the digestion colorimetric tubes on the digestion colorimetric tube stations and placing the digestion colorimetric tubes into the positioning tube or the test tube groove, and clamping the digestion colorimetric tube racks on the digestion colorimetric tube stations and placing the digestion colorimetric tube racks on the positioning frame; the first manipulator is used for stirring the liquid sample, sucking the liquid sample and adding the liquid sample into the digestion colorimetric tube in the positioning tube;
and the controller is in control connection with the bottle lifting mechanism, the bottle clamping actuating mechanism, the rotating actuating mechanism, the cover body swinging mechanism, the cover body clamping actuating mechanism, the overturning actuating mechanism, the cover breaking swinging actuating mechanism, the heating actuating assembly, the light splitting detection assembly, the first mechanical arm, the second mechanical arm, the mechanical arm lifting mechanism, the transverse moving mechanism and the longitudinal moving mechanism.
The heating execution assembly comprises a positioning frame for placing and positioning the digestion colorimetric tube frame and an electric heating block for heating the digestion colorimetric tube in the positioning frame; the positioning frame can be arranged in a rotating mode and can swing around a horizontal axis under the driving of a positioning frame swing executing mechanism; the electric heating block is arranged below the positioning frame and driven by a heating block lifting mechanism to intermittently lift.
The heating execution assembly also comprises a cabin body with an opening at the top and a top cover capable of selectively sealing the opening at the top of the cabin body; the positioning frame is arranged in the cabin body, and two ends of the positioning frame are respectively provided with a shaft supported by a bearing on the side wall of the cabin body; two opposite side walls of the cabin body are also provided with holes, the hole is provided with a cabin door which can lift along with the lifting of the electric heating block, and the hole of at least one of the two side walls is provided with a fan; the controller is connected with the heating block lifting mechanism, the fan and the positioning frame swinging executing mechanism in a control mode; the top cover is supported by a slide rail arranged at the top of the cabin body and is driven by a slide actuating mechanism to rotate along the slide rail, so that an opening at the top of the cabin body can be selectively closed; the sliding actuating mechanism comprises a top cover driving motor and a top cover transmission belt wound between a pair of driving wheels and a pair of driven wheels; the top cover driving motor is fixedly arranged on the outer side of the cabin body; the driving wheel is arranged on an output shaft of the top cover driving motor, and the driven wheel is rotatably arranged at a driven wheel seat on the cabin body, so that the top cover transmission belt is horizontally arranged along the length direction of the slide rail; a rack is fixedly arranged at the bottom of the top cover along the length direction of the slide rail, and the driven wheel is coaxially fixed with a gear meshed with the rack; the positioning frame swinging executing mechanism comprises a positioning frame driving motor and a reduction gear set, and an output shaft of the positioning frame driving motor is connected with the reduction gear set and drives the heating frame to swing; a heat insulation layer is arranged at the joint of the shaft of the heating frame and the reduction gear set; the electric heating block is provided with a plurality of through holes and a temperature sensor, and heating rods penetrate through the through holes; the heating block lifting mechanism comprises a heating block driving motor, a speed reducer, a lead screw and a nut; the speed reducer is connected with an output shaft of the heating block driving motor and a lead screw, and the nut is sleeved on the lead screw and fixed with the electric heating block.
The light splitting detection assembly comprises a test tube groove for placing the digestion colorimetric tube, a light source emitter is arranged on one side of the test tube groove, and a light source receiver is arranged on the opposite side of the test tube groove; the test tube groove comprises a tubular fixed support, and windows are arranged on two sides of the fixed support, so that light from the light source emitter enters the light source receiver through the test tube groove; the upper end and the lower end of the fixed support are respectively provided with an upper bracket and a lower bracket in a rotatable manner through bearings, the upper bracket is positioned at the upper part of the lower bracket, and the upper bracket and the lower bracket are coaxial; the lower bracket is provided with a groove which can just contain the bottom of the tube to be tested; the upper bracket is annular, and is provided with a clamping piece for clamping the digestion colorimetric tube; in addition, the light splitting detection device also comprises a digestion colorimetric tube rotation driving mechanism for driving the upper bracket and the lower bracket to synchronously rotate.
The clamping piece comprises at least three spring pieces which are rotationally symmetrical and arranged on the upper support, one end of each spring piece is fixed with the top end of the upper support, and the other end of each spring piece is obliquely arranged towards the inside of the upper support and suspended, so that a to-be-tested pipe inserted into the upper support is clamped; clear up colour comparison tube rotary driving mechanism including clearing up the rotatory biax motor of colour comparison tube, it all installs the action wheel on two output shafts of colour comparison tube rotatory biax motor to clear up, be equipped with the follower on upper bracket and the lower carriage, two belts one-to-one convolute between a pair of action wheel and the follow driving wheel and tensioning.
The bottle body clamp and the bottle cap clamp respectively comprise a hand grip support, a left hand grip, a right hand grip and a connecting rod mechanism, wherein the left hand grip and the right hand grip are symmetrically hinged on the hand grip support, and the connecting rod mechanism drives the left hand grip and the right hand grip to release or close; the connecting rod mechanism is connected with a sliding block and moves along with the movement of the sliding block; the bottle body clamping actuating mechanism comprises a bottle body clamping driving motor, and a nut on a screw rod connected with the bottle body clamping driving motor is fixedly connected with a sliding block of the bottle body clamp, so that the sliding block of the bottle body clamp is driven to slide in a corresponding guide rail; two windows are symmetrically formed in the side wall of the positioning pipe, and the left hand grip and the right hand grip of the bottle body clamp are arranged at the windows; the cover body clamping executing mechanism comprises a cover body clamping driving motor, and a nut on a lead screw connected with the cover body clamping driving motor is fixedly connected with a sliding block of the bottle cap clamp, so that the sliding block of the bottle cap clamp is driven to slide in a corresponding guide rail.
The cover body swinging mechanism comprises a cover body rotating table, a cover body swinging driving motor, a bottom plate, a first vertical plate and a second vertical plate, wherein the cover body swinging driving motor is rotatably arranged, the first vertical plate and the second vertical plate are arranged on the bottom plate, the cover body swinging driving motor drives the cover body rotating table to rotate around the central shaft of the cover body rotating table through a group of gear transmission mechanisms, and the bottom plate is fixedly arranged on the rotating table; the turnover actuating mechanism comprises a rotating structural part and a turnover driving mechanism for driving the rotating structural part, the bottle cap clamp and the cap body clamping actuating mechanism are installed in the rotating structural part, and the left and right grippers of the bottle cap clamp are symmetrical to the axis of the rotating structural part.
Round holes are respectively formed in the first vertical plate and the second vertical plate, bearings are mounted on the round holes, the two bearings are coaxially arranged, and inner rings are sleeved on the rotating structural member; a cover body overturning driven wheel is arranged on the part of the rotating structural member between the first vertical plate and the second vertical plate, the overturning driving mechanism comprises a cover body overturning driving motor, a cover body overturning driving wheel is arranged on an output shaft of the cover body overturning driving motor, and a cover body overturning belt is wound between the cover body overturning driving wheel and the cover body overturning driven wheel and is tensioned; the rotating structural part is provided with a central through hole along the rotating axis of the rotating structural part, and the central through hole forms a guide rail of the upper sliding block of the bottle cap clamp.
The bottle body lifting mechanism comprises a plurality of guide pillars, connecting rods, a rotary table and a rotary table driving mechanism for driving the rotary table to rotate on a vertical plane, wherein the guide pillars, the connecting rods and the rotary table are vertically arranged; the bottle body rotating mechanism is movably arranged on the guide pillar, one end of the connecting rod is hinged with the outer edge of the rotary table, and the other end of the connecting rod is hinged with the bottle body rotating mechanism; the rotary actuating mechanism comprises a lifting plate, a bottle body rotating platform and a bottle body rotary driving motor, the lifting plate is movably arranged on the guide pillar, and the connecting rod is hinged with the lifting plate; the bottle body rotating platform can be rotatably arranged on the lifting plate, and the bottle body rotating driving motor drives the bottle body rotating platform to rotate through a belt transmission structure; the axis of the bottle body rotating platform is vertically arranged, and the positioning pipe is fixedly arranged on the central axis of the bottle body rotating platform; the rotary table driving mechanism comprises a bottle body lifting driving motor, and the bottle body lifting driving motor drives the rotary table to rotate through belt transmission.
The longitudinal moving mechanism comprises a longitudinal moving belt, a longitudinal moving driving motor, a longitudinal moving platform, an end panel and a longitudinal moving guide rail connected between the longitudinal moving platform and the end panel, the longitudinal moving belt is wound between a pair of longitudinal moving belt wheels, the diameters of the pair of belt wheels are the same, one belt wheel is arranged on an output shaft of the longitudinal moving driving motor, and the other longitudinal moving belt wheel is rotatably arranged on a driven wheel seat to enable the longitudinal moving belt to be horizontally and longitudinally arranged; the translation table is movably arranged on the guide pillar and is fixed with one side of the longitudinal moving belt, so that the translation table can slide along the longitudinal moving guide rail under the driving of the longitudinal moving belt;
the transverse moving mechanism comprises a transverse moving belt, a transverse moving driving motor, a first transverse moving guide rail and a second transverse moving guide rail; the first transverse moving guide rail and the second transverse moving guide rail are parallel to each other and are perpendicular to the longitudinal moving guide rail; the longitudinal moving platform is fixed on the sliding block of the first transverse moving guide rail, and the end panel can be movably arranged on the second transverse moving guide rail; the transverse belt is wound between a pair of transverse belt wheels, the diameters of the transverse belt wheels are the same, one transverse belt wheel is arranged on an output shaft of the transverse driving motor, and the other transverse belt wheel is rotatably arranged on a transverse driven wheel seat, so that the transverse belt is horizontally and transversely arranged; the longitudinal moving mechanism is fixed with one side of the transverse moving belt, and therefore the longitudinal moving mechanism can slide along the first transverse moving guide rail and the second transverse moving guide rail under the driving of the transverse moving belt;
the two manipulator lifting mechanisms respectively comprise a manipulator lifting motor and a group of guide pillars and racks, and the two ends of each guide pillar and the corresponding rack are respectively fixed into a whole through a connecting seat; the translation table is provided with four through holes which are vertically arranged, and the guide pillar and the rack are respectively sleeved in one through hole and can move up and down along the through holes; the manipulator lifting motor is arranged on the longitudinal moving platform, and an output shaft of the manipulator lifting motor is connected with a spline shaft arranged along the length direction of the longitudinal moving guide rail; two ends of the spline shaft are respectively supported by the longitudinal moving platform and the bearings on the end face plate; the two spline shafts are in meshed transmission with the two racks in a direct or indirect mode.
The invention has the advantages that: simple structure, the operation of being convenient for, intelligent degree improves, and is safe, can handle the multiunit test tube simultaneously.
Drawings
The above features and advantages of the present invention will become more apparent and readily appreciated from the following description of the exemplary embodiments thereof taken in conjunction with the accompanying drawings.
FIG. 1 is a schematic structural diagram of an digestion cuvette used in an embodiment of the present invention;
FIG. 2 is a schematic diagram of an overall structure of the automatic water sample detector according to the embodiment of the invention;
FIG. 3 is a schematic structural view of a bottle body actuating assembly, a bottle cap actuating assembly and a cap breaking actuating mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a cover breaking actuator according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram I of a bottle cap actuator assembly according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram II of a bottle cap actuator assembly according to an embodiment of the present invention;
fig. 7 is a sectional view of a bottle cap actuator assembly according to an embodiment of the present invention;
FIG. 8 is a schematic view of a bottle actuating assembly according to an embodiment of the present invention;
FIG. 9 is a cross-sectional view of a vial actuating assembly according to an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a robot actuator assembly of the present invention;
FIG. 11 is a schematic structural diagram of a robot actuator assembly of the present invention II;
FIG. 12 is a schematic diagram of a step of placing an digestion cuvette according to an embodiment of the present invention;
FIG. 13 is a schematic diagram illustrating a step of tearing an aluminum film of a bottle cap according to an embodiment of the present invention;
FIG. 14 is a schematic view of a rotary uncapping step according to an embodiment of the invention;
FIG. 15 is a schematic diagram of the steps of loading and flipping the cap according to the embodiment of the present invention;
fig. 16 is a schematic view illustrating a capping step according to an embodiment of the present invention;
FIG. 17 is a schematic structural diagram of a heating actuator assembly I according to an embodiment of the present invention;
FIG. 18 is a schematic structural diagram of a heating actuator assembly of the present invention II;
FIG. 19 is a schematic view of a heating actuator assembly of an embodiment of the present invention with side plates removed;
FIG. 20 is a schematic cross-sectional view of a heat actuator assembly according to an embodiment of the present invention;
FIG. 21 is a schematic structural view of a heating frame and an electric heater of a heating actuator assembly according to an embodiment of the present invention;
FIG. 22 is a schematic diagram of the overall structure of the light splitting detection assembly according to the embodiment of the present invention;
FIG. 23 is a schematic structural view of a light-splitting detection assembly with a cover removed according to an embodiment of the present invention;
FIG. 24 is a schematic cross-sectional view I of a spectroscopic detection assembly in accordance with an embodiment of the present invention;
FIG. 25 is a schematic cross-sectional view II of a spectroscopic detection assembly in accordance with an embodiment of the present invention.
Detailed Description
Referring to fig. 1-25, the reference numerals designate, respectively:
digestion colorimetric tube 1
Water sample test tube station 211
Digestion colorimetric tube station 213
Bottle body executing assembly 3
Bottle body lifting mechanism 31
A guide post 311, a driving motor 312 for lifting and lowering the bottle body, a driving wheel 313 for lifting and lowering the bottle body, a belt 314 for lifting and lowering the bottle body, a connecting rod 315, a rotary table 316, and a driven wheel 317 for lifting and lowering the bottle body
Bottle body rotating mechanism 32
A hand grip support 3221, a left hand grip 3222, a right hand grip 3223, a link mechanism 3224 and a slider 3225
Elevating plate 3231, vial turn table 3232, vial rotation driving motor 3233, and belt 3234
Bottle body clamping actuator 324
Bottle body clamping driving motor 3241, screw rod 3242 and nut 3243
Bottle cap actuating assembly 4
Lid body swing mechanism 41
A bottom plate 411, a first vertical plate 412, a second vertical plate 413, a cover body rotating table 414, a cover body swinging drive motor 415 and a gear transmission mechanism 416
Bottle body clamping actuator 421
Cover body clamping drive motor 4211, screw rod 4212 and nut 4213
Transverse moving mechanism 61
A traverse belt 611, a traverse driving motor 612, a first traverse rail 613, a slider 6131, a second traverse rail 614, and a traverse pulley 615
Longitudinal movement mechanism 62
A roller 621, a longitudinal moving belt 622, a longitudinal moving driving motor 623, a longitudinal moving guide 624, a longitudinal moving platform 625 and an end plate 626
Heating actuator 7
Sliding rail 711, fan 712, cabin door 713 and hole 714
Sliding actuator 721
A top cover driving motor 7211, a driving wheel 7212, a top cover transmission belt 7213 and a driven wheel 7214
Positioning frame 73
Positioning frame swing actuator 731
Positioning frame driving motor 7311, reduction gear set 7312
Heating block lifting mechanism 741
Through hole 742
Spectroscopic detection assembly 8
Mounting table 81
Tubular fixing support 8111, window 81111, window 81112, upper bracket 8112, lower bracket 8113, groove 81131 and spring piece 8114
Test tube rotation driving motor 814
Driving wheel 8141, driven wheel 8142 and belt 8143
The invention is described in further detail below with reference to the attached drawing figures to facilitate understanding by those skilled in the art:
reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "horizontal", "top", "bottom", "inner", "outer", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
The embodiment provides a water sample automated inspection appearance, and this water sample automated inspection appearance relates to a purpose-made colour comparison tube of clearing up, and it is shown with reference to fig. 1 that should clear up on the equal sealing of the upper and lower end of the bottle lid 11 of colour comparison tube 1 fits on its bottle 12, and clears up colour comparison tube 1 under the state of dispatching from the factory, and 11 lower extreme screw thread sealing of bottle lid are connected on bottle 12, and its upper end has solid solute through the aluminium foil seal.
It should be noted that the automatic water sample detector disclosed by the invention is not only suitable for the purpose-made digestion colorimetric tube, but also can realize full-automatic detection of the whole detection program by adopting the purpose-made digestion colorimetric tube, and is a scheme with the highest efficiency. Other conventional digestion colorimetric tubes are also suitable for the detector disclosed by the invention, and only manual operation or other equipment auxiliary operation is needed in the reagent adding process.
The reason for using such an digestion cuvette will be described in detail below in connection with the structure of the apparatus.
Referring to fig. 2, the water sample automatic detector in this embodiment includes a water sample test tube station, a digestion colorimetric tube station, a heating executing assembly 7, a light splitting detecting assembly 8, a bottle executing assembly 3, a bottle cap executing assembly 4, a cap breaking executing mechanism 5, a manipulator executing assembly 6, and a controller.
First, machine body 2
The machine body 2 is a main body of the water sample automatic detector, the lower part is provided with a cabinet 21, and the rear side of the cabinet 21 is provided with an upper frame 22 through a stand column.
The cabinet 21 is used for installing a water sample test tube station, a digestion colorimetric tube station, a manipulator cleaning station, a heating execution component 7, a light splitting detection component 8, a bottle execution component 3, a bottle cap execution component 4, a cap breaking execution mechanism 5 and a controller.
The upper frame 22 is used to mount the robot actuator assembly 6.
Water sample test tube station 211 is used for placing and fixing a position test-tube rack 212, and test-tube rack 212 is used for holding the test tube that is equipped with the water sample. A handle 2121 is protruded from the center of the tube rack 212 for manual sample loading.
It clears up colour comparison tube station 213 and is used for placing and fix a position and clears up colour comparison tube holder 214, clears up colour comparison tube holder 214 and is used for holding and clears up the colour comparison tube, and artifical appearance (colour comparison tube) of going up back, center department upwards extends the arch and has a handle 2141 for manipulator executive component 6 removes its whole centre gripping, for example places in heating executive component 7.
The manipulator cleaning station 215 is located beside the water sample test tube station 211, a cavity is arranged below the manipulator cleaning station, and cleaning devices such as a spray nozzle are arranged in the cavity. After the manipulator carries out the process of water sampling and stirring, remove and wash the manipulator in this cavity, avoid many times the water sample to mix and cause the measurement deviation.
The body 2 is provided with a frame 23 inside, and the frame 23 is rectangular and has a top plate 231, a bottom plate 232 and two side plates 233. The frame 23 serves as a mounting platform for the bottle body actuating assembly 3, the bottle cap actuating assembly 4 and the cap breaking actuating mechanism 5.
Second, the bottle body executing component 3
Referring to fig. 2, 3 and 8, the bottle body executing assembly 3 is used for implementing various motion commands to the bottle body 12, and includes a bottle body lifting mechanism 31 and a bottle body rotating mechanism 32. The bottle body elevating mechanism 31 is used to elevate or oscillate the bottle body rotating mechanism 32 as a whole.
2.1 bottle rotating mechanism 32
Referring to fig. 8 and 9, the bottle body rotating mechanism 32 includes a positioning tube 321, a bottle body clamp 322, a rotation actuator 323, and a bottle body clamp actuator 324. Wherein:
the positioning tube 321 is a hollow tubular structure, the upper end of the positioning tube is open, and the hollow cavity of the positioning tube can be used for vertically placing the digestion colorimetric tube 1. Two windows 3211 are symmetrically formed in the side wall of the positioning tube 321, and left and right grips of the bottle body clamp 322 are disposed at the two windows 3211.
The vial holder 322 is driven by the vial holding actuator 324 to selectively hold the vial 12 of the lysis cuvette 1 in the positioning tube 321. The bottle body clamp 322 comprises a guide rail pair composed of a sliding block 3225 and a guide rail, a grip support 3221, a left grip 3222 and a right grip 3223 symmetrically hinged to the grip support 3221, and a link mechanism 3224 for driving the left grip 3222 and the right grip 3223 to release or grip. The opposing sides of the left and right grips 3222 and 3223 have grooves for receiving the bottles 12. The linkage 3224 is connected to the slider 3225 and moves with the slider 3225.
The bottle clamping actuator 324 includes a bottle clamping driving motor 3241, a rotating shaft of the bottle clamping driving motor 3241 is connected to a screw rod 3242, a nut 3243 is installed on the screw rod 3242, and the nut 3243 is connected to the slider 3225 and drives the slider 3225 to slide in the corresponding guide rail. Therefore, when the bottle body clamping driving motor 3241 operates, the rotating shaft thereof drives the screw rod 3242 to rotate, and further drives the nut 3243 to vertically move on the screw rod 3242, and the slider 3225 moves along with the screw rod, so that the link mechanism 3224 pulls the left grip 3222 and the right grip 3223 to release or close.
The rotary actuator 323 is used to drive the positioning tube 321, the vial holder 322, and the vial holder actuator 324 to rotate around the axis of the cuvette 1 in the positioning tube 321.
The rotation actuator 323 includes a lifting plate 3231, a vial turn table 3232, and a vial rotation driving motor 3233. The bottle rotary table 3232 is vertically installed on the lifting plate 3231 in a rotatable manner, and the bottle rotary driving motor 3233 drives the rotary table 3232 to rotate through a belt 3234, which is a common driving means in the art and therefore will not be described herein again. The axis of the bottle body turn table 3232 is vertically arranged, and the positioning tube 321 is fixedly arranged on the central axis of the bottle body turn table 3232.
2.2 bottle lifting mechanism 31
Referring to fig. 3 and 8, the flask lifting mechanism 31 includes four guide posts 311, a flask lifting driving motor 312, a link 315, a turntable 316, and a flask lifting belt 314 wound between a flask lifting driving wheel 313 and a flask lifting driven wheel 317.
Four guide posts 311 are vertically arranged on the bottom plate 232 of the frame 23. The lifting plate 3231 is correspondingly provided with a hole sleeved on the guide post 311, movably arranged on the guide post 311, and vertically movable along the guide post 311.
The turntable 316 has a rotation axis which is supported by a bearing of a holder on the base plate 232 and can rotate on a vertical plane, and the turntable 316 is coaxially fixed with the bottle body elevating driven wheel 317 and is driven by the bottle body elevating driven wheel 317 to rotate.
A bottle lifting driving wheel 313 is arranged on the rotating shaft of the bottle lifting driving motor 312, and the rotating shaft drives the rotating disc 316 to rotate through the transmission of a bottle lifting belt 314. The outer edge of the turntable 316 is hinged with a connecting rod 315, and the other end of the connecting rod 315 is hinged with a lifting plate 3231; thus, the bottle rotating mechanism 32 is driven by the connecting rod 315 to move up and down periodically along the guide post 311 as the rotating disc 316 rotates.
As can be seen from the above, when the bottle body rotating mechanism 32 needs to be lifted slowly, the bottle body lifting driving motor 312 is controlled to rotate at a low speed. When the bottle rotating mechanism 32 is required to oscillate, the bottle lifting driving motor 312 is controlled to rotate at a high speed.
Third, bottle cap execution assembly 4
Referring to fig. 5 and 6, the bottle cap executing assembly 4 is disposed above the bottle body executing assembly 3, and is used for implementing various motion commands to the bottle cap 11, and includes a cap body swinging mechanism 41 and a cap body overturning mechanism 42. Wherein:
3.1 cover body swinging mechanism 41
Referring to FIG. 5, the cover tilting mechanism 41 is adapted to intermittently tilt the cover tilting mechanism 42 about a vertical axis between a first limit position and a second limit position.
The lid swing mechanism 41 includes a lid turntable 414, a lid swing drive motor 415, a bottom plate 411, and a first vertical plate 412 and a second vertical plate 413 which are set up on the bottom plate 411.
A cover swing driving motor 415 is mounted on the lower surface of the top plate 231 of the frame 23, and a cover turntable 414 is rotatably mounted on the upper surface of the top plate 231 of the frame 23 and is connected to an output shaft of the cover swing driving motor 415 through a set of gear mechanisms 416, so that the cover swing driving motor 415 drives the turntable to rotate through a set of gear mechanisms 416 when in operation. The axis of the rotating shaft of the cover rotating table 414 constitutes the vertical axis about which the cover turning mechanism 42 swings. Since the gear transmission structure is a common transmission means in the field, it is not described herein again.
The first vertical plate 412 is installed at a section of the bottom plate 411 and combined to form an L shape, and the second vertical plate 413 is installed in parallel to the first vertical plate 412 and installed at the middle of the bottom plate 411. The base plate 411 is fixed to the cover turntable 414.
3.2 cover turnover mechanism 42
Referring to fig. 5-7, the cover turnover mechanism 42 is mounted on the first vertical plate 412 and the second vertical plate 413, and includes a bottle body clamping actuator 421, a bottle cap clamp 422, and a turnover actuator 423.
When the cap overturning mechanism 42 is at the second limit position, the overturning actuator 423 drives the bottle cap fixture 422 to rotate intermittently around a horizontal shaft. When the cover turning mechanism 42 is at the first limit position, the bottle cap clamp 422 is driven by the cover clamping actuator to selectively clamp the bottle cap 11 of the dissolution cuvette 1 in the positioning tube 321.
The inversion actuator 423 includes a rotation structure 4231, a cover inversion belt 4232, and a cover inversion driving motor 4233. Round holes are coaxially formed in the first vertical plate 412 and the second vertical plate 413, the diameter of each hole in the first vertical plate 412 is larger than that of each hole in the second vertical plate 413, a bearing 4234 (fixedly connected with the outer ring of the bearing 4234) is installed on each round hole in the first vertical plate 412, and a bearing 4235 (fixedly connected with the outer ring of the bearing 4235) is installed on each round hole in the second vertical plate 413. The bearing 4234 and the inner ring of the bearing 4235 are sleeved on the rotating structural member 4231 and fixedly connected. Accordingly, the rotation member 4231 is movably disposed on the first vertical plate 412 and the second vertical plate 413, and rotates around a horizontal axis. A cover turning driven wheel 4236 is mounted on the portion of the rotating structure 4231 between the first vertical plate 412 and the second vertical plate 413. The cover body turning driving motor 4233 is fixedly arranged on the side surface of the second vertical plate 413, an output shaft of the cover body turning driving motor 4237 is provided with a cover body turning driving wheel 4237, and a cover body turning belt 4232 is wound between the cover body turning driving wheel 4237 and the cover body turning driven wheel 4236 and tensioned. Therefore, when the cover inversion driving motor 4233 is started, the rotating structure 4231 is driven to rotate by the belt transmission.
The rotary component 4231 is provided with a central through hole along its axis of rotation, which central through hole constitutes a guiding rail.
The bottle cap clamp 422 comprises a sliding block 4225, a gripper support 4221, a left gripper 4222 and a right gripper 4223 which are symmetrically hinged on the gripper support 4221, and a link mechanism 4224 for driving the left gripper 4222 and the right gripper 4223 to release or grip.
The gripper bracket 4221 is fixed on the rotating structure 4231, specifically on the end surface of the rotating structure 4231 located outside the first vertical plate 412. The opposite sides of the left grip 4222 and the right grip 4223 are provided with grooves adapted to the bottle cap 11. The link mechanism 4224 is hinged to the left and right grips 4222 and 4223, respectively, and is connected to the slider 4225 so as to move with the movement of the slider 4225. The slider 4225 is substantially cylindrical, is fitted in the central through hole of the rotary structure 4231, and forms a guide rail pair with the central through hole. The left grip 4222 and the right grip 4223 are arranged symmetrically to the axis of the rotational structure 4231.
The cover body clamping actuator 421 comprises a cover body clamping drive motor 4211, a rotating shaft of the cover body clamping drive motor 4211 is connected with a screw rod 4212, a nut 4213 is installed on the screw rod 4212, and the nut 4213 is connected with a sliding block 4225 and drives the sliding block 4225 to slide in a corresponding central through hole. Therefore, when the cover body clamping driving motor 4211 operates, the rotating shaft of the cover body drives the screw rod 4212 to rotate, further drives the nut 4213 to horizontally move on the screw rod 4212, and the sliding block 4225 moves along with the screw rod 4212, so that the link mechanism 4224 pulls the left gripper 4222 and the right gripper 4223 to release or close.
Fourth, break the cover actuator 5
Referring to fig. 4, the cap breaking actuator 5 includes a thimble 51, a swing arm 53, and a cap breaking swing actuator. The cover-breaking swing actuator includes a pin swing driving motor 52, the pin swing driving motor 52
Is fixedly arranged on the bottom surface of the top plate 231 of the frame 23, and the output shaft of the top plate extends upwards to the top plate 231. One end of the swing arm 53 is connected to an output shaft of the pin swing drive motor 52, and the other end is fixed with the pin 51. The tip of the thimble 51 is arranged downwards, and the tip direction of the thimble 51 and the axial direction of the output shaft of the thimble swing driving motor 52 are both vertical to the length direction of the swing arm 53. Therefore, when the bottle rotating mechanism 32 descends, the needle swing driving motor 52 drives the swing arm 53 to swing, and the needle 51 can move right above the positioning tube 321. When the bottle body rotating mechanism 32 is lifted again, the aluminum film of the bottle cap 11 of the extinction color comparison tube 1 in the positioning tube 321 can be just punctured.
Fifthly, a manipulator execution assembly 6
Referring to fig. 10 and 11, the robot actuator assembly 6 includes a traverse mechanism 61, a longitudinal movement mechanism 62, and a translation table 63. The transverse moving mechanism 61 is used for carrying out overall horizontal transverse translation on the longitudinal moving mechanism 62, and the longitudinal moving mechanism 62 is used for carrying out overall horizontal longitudinal translation on the translation table 63.
5.1 traversing mechanism 61
The traverse mechanism 61 includes a traverse belt 611, a traverse drive motor 612, a first traverse guide 613, and a second traverse guide 614. The first traverse rail 613 and the second traverse rail 614 are both horizontally and horizontally provided, and the first traverse rail 613 is formed by a plurality of linear rails arranged in parallel, each of which has a slider 6131. One end of the longitudinal moving mechanism 62 is fixed on the sliding block 6131, the other end is provided with a roller 621, and the roller 621 is arranged on the second traverse guide 614 in a rolling manner, so that the transverse translation of the longitudinal moving mechanism 62 is realized.
The traverse belt 611 is wound between a pair of traverse pulleys 615, the pair of traverse pulleys 615 having the same diameter, one of the traverse pulleys 615 being mounted on an output shaft of the traverse driving motor 612, and the other traverse pulley being rotatably provided on a driven pulley base and being capable of rotating about its own rotation shaft. The traverse belt 611 is horizontally and laterally arranged by being supported by a pair of traverse pulleys 615. The longitudinal moving mechanism 62 is fixed to one side of the traverse belt 611, and the longitudinal moving mechanism 62 can slide along the first traverse guide 613 and the second traverse guide 614 under the driving of the traverse belt 611.
5.2 longitudinal movement mechanism 62
The longitudinal moving mechanism 62 comprises a longitudinal moving belt 622, a longitudinal moving driving motor 623, a longitudinal moving guide 624, a longitudinal moving platform 625 and an end plate 626, wherein the longitudinal moving platform 625 is fixedly connected with a sliding block 6131, and the roller 621 is rotatably arranged on the end plate 626. The longitudinal moving rail 624 is composed of at least three guide posts, which are connected in parallel between the longitudinal moving platform 625 and the end plate 626, and connect the longitudinal moving rail 624, the longitudinal moving platform 625 and the end plate 626 as a whole. The translation stage 63 is movably disposed on the guide posts.
The belt 622 is wound between a pair of longitudinally moving pulleys having the same diameter, one of which is mounted on an output shaft of a drive motor 623, and the other of which is rotatably provided on a driven pulley holder and is capable of rotating about its own rotation shaft. The rip belt 622 is supported by a pair of rip pulleys, which are arranged horizontally and longitudinally. The translation stage 63 is fixed to one side of the translation belt 622, so that the translation stage 63 can slide along the guide rail 624 by the translation belt 622.
5.3 translation stage 63
The translation stage 63 is provided with a first robot 631, a second robot 632, a first robot lift motor 6317, and a second robot lift motor 6323.
The first manipulator 631 comprises a guide post 6311 and a rack 6312, wherein the guide post 6311 and the rack 6312 are both substantially cylindrical, and the upper and lower ends of the two are fixedly connected together by a connecting seat 6313. And a plurality of through holes which are vertically arranged are formed in the translation table 63, and the guide pillar 6311 and the rack 6312 are respectively sleeved in one through hole and can move up and down along the through holes. A suction pipe 6314 and a stirring motor (not shown) are installed on the connecting base 6313 at the lower end, an output shaft of the stirring motor extends downward and is connected with a stirring rod 6315, and the stirring rod 6315 is lower than the suction pipe 6314. The suction tube 6314 is connected to the injector device, and the stirring rod 6315 is used to suck the liquid sample and add the liquid sample into the digestion colorimetric tube vial 12 in the positioning tube 321 while stirring the liquid sample.
The second robot 632 is substantially identical in structure to the first robot 631, and also includes a guide post 6321 and a rack 6322. The guide post 6321 and the rack 6322 are both substantially cylindrical, and the upper and lower ends of the two are fixedly connected together by a connecting seat 6327. The guide post 6321 and the rack 6322 are respectively sleeved in a through hole and can move up and down along the through hole. A connecting base 6327 at the lower end is provided with an air cylinder 6325. The execution end of the air cylinder 6325 is provided with a clamp 6326, the clamp 6326 is driven by the air cylinder 6325 to perform a clamping action, and the clamp is used for clamping a test tube rack, digesting a colorimetric tube rack or digesting a colorimetric tube and putting the test tube rack or the colorimetric tube into a corresponding position.
An output shaft of the first robot lifting motor 6317 is connected to a spline shaft 6316 provided along the longitudinal direction of the guide rail 624, and an output shaft of the second robot lifting motor 6323 is connected to a spline shaft 6324 provided along the longitudinal direction of the guide rail 624. Spline shaft 6324 and spline shaft 6316 are supported at both ends by longitudinal movement platform 625 and bearings on end plate 626 and rotate. The spline shaft 6316 is engaged with the rack 6312, the spline shaft 6324 and the rack 6322 through a gear disposed on the spline shaft, so that when the first manipulator lifting motor 6317 or the second manipulator lifting motor 6323 is operated, the spline shaft is driven to rotate, the rack is driven to move up and down, and the first manipulator 631 or the second manipulator 632 also moves up and down.
Sixthly, a heating execution component 7
Referring to fig. 17, the heating executing assembly 7 mainly includes a positioning frame 73 for placing and positioning the digestion cuvette holder, and an electric heating block 74 for heating the digestion cuvette in the positioning frame 73; the positioning frame 73 can be arranged in a rotating way and can swing around a horizontal axis under the drive of a positioning frame swing executing mechanism;
the electric heating block 74 is disposed below the positioning frame 73 and driven to intermittently move up and down by a heating block lifting mechanism.
6.1 cabin 71 and roof 72
The heating execution assembly 7 has a chamber body 71, the chamber body 71 is disposed in the cabinet 21, the structure of the chamber body is a square cabinet body, the chamber body has a hollow cavity for placing a plurality of digestion colorimetric tube racks, and the top of the chamber body 71 is provided with an opening. The chamber 71 serves as the main structure of the entire heating actuator assembly, and other components are disposed thereon or therein.
The top cover 72 is used for selectively closing the top opening of the cabin 71. In this embodiment, the top of the cabin 71 is provided with a sliding rail 711 on the left and right end surfaces, and the top cover 72 is supported by the sliding rail 711 and driven by a sliding actuator 721 to rotate along the sliding rail 711, so as to selectively close the opening on the top of the cabin 71. Specifically, the slide actuator 721 includes a top cover driving motor 7211 and a top cover driving belt 7213 wound between a driving pulley 7212 and a driven pulley 7214. The top cover driving motor 7211 is fixedly arranged on the outer side of the cabin body 71; the driving pulley 7212 is mounted on an output shaft of the top cover driving motor 7211, and the driven pulley 7214 is rotatably provided at a driven pulley seat provided on the cabin 71, so that the top cover driving belt 7213 is horizontally arranged along the length direction of the slide rail 711. A rack 722 is fixedly arranged at the bottom of the top cover 72 along the length direction of the slide rail 711, and the driven wheel 7214 is coaxially fixed with a gear engaged with the rack 722. When the top cover driving motor 7211 rotates, the driving wheel 7212 is driven to rotate, the driven wheel 7214 is driven to rotate through the transmission of the top cover transmission belt 7213, and therefore the gear rotates to roll on the rack 722, and the top cover 72 is driven to translate.
6.2 positioning frame 73 and positioning frame swinging actuating mechanism 731
Referring to fig. 21, the positioning frame 73 is in a square frame shape and is used for placing the digestion colorimetric tube rack and driving the digestion colorimetric tube rack to swing. The number of the positioning frames 73 can be multiple, and the positioning frames 73 are used for processing the multiple groups of digestion colorimetric tube racks, and in this embodiment, the number of the positioning frames 73 is two.
The positioning frame 73 is disposed in the cavity of the cabin 71, and two ends thereof are provided with coaxially disposed rotating shafts. The front and rear side walls of the corresponding cabin 71 are correspondingly provided with bearings, and in this embodiment, the bearings are selected to be high-temperature-resistant sliding bearings due to the long-term high-temperature environment. The rotating shaft of the positioning frame 73 is supported by sliding bearings on the front and rear side walls of the cabin 71, and is driven by a positioning frame swing actuator 731 to swing around the shaft. The positioning frame swing actuator 731 includes a positioning frame driving motor 7311 and a reduction gear set 7312, and an output shaft of the positioning frame driving motor 7311 is connected to the reduction gear set 7312 and drives the two positioning frames 73 to swing. Specifically, the output shaft of the positioning frame driving motor 7311 is provided with a pinion, two sides of the pinion are respectively engaged with middle gears, each middle gear is engaged with a large gear, the rotating shaft of the large gear is coaxially connected with the shaft of the positioning frame 73 for transmission, and the gears form a reduction gear set 7312. Also, since the cabin 71 has a high temperature environment, a thermal insulation layer is provided at the connection between the shaft of the positioning frame 73 and the reduction gear set 7312 (i.e., the shaft of the bull gear).
6.3 electric heating Block 4 and heating Block lifting mechanism 41
Referring to fig. 21, an electrical heating block 74 is used to heat the tubes on the tube rack. The electric heating block 74 is also disposed in the cabin 71 and below the positioning frame 73. The electric heating block 74 is provided with 4 through holes 742 and a temperature sensor 743, and a heating rod is inserted into the through hole 742.
The electric heating block 74 is intermittently raised and lowered by a heating block raising and lowering mechanism 741. The heating block lifting mechanism 741 is a screw elevator, and includes a heating block driving motor 7412, a reducer 7413, a screw 7414, and a nut 7411. In operation, the heating block driving motor 7412 is used to drive the worm in the speed reducer 7413 to rotate, the worm is engaged with the worm wheel, the worm wheel is engaged with the lead screw 7414, so as to drive the lead screw 7414 to rotate, the nut 7411 is sleeved on the lead screw 7414 and fixed with the electric heating block 74, so as to drive the nut 7411 to do linear motion, and therefore the electric heating block 74 can move up and down.
6.4 Heat dissipation mechanism
Since the cavity of the cabin 71 is heated and then is in a high temperature state, a heat dissipation mechanism is further provided in this embodiment. The front and rear side walls of the cabin 71 provided with the bearings are further provided with two holes, wherein the two holes 714 are arranged on the rear side wall and respectively correspond to the two positioning frames 73, and the one hole (shielded by the fan 712 in the figure) is arranged in the middle of the front side wall.
The inside of the opening 714 is provided with a vertically arranged track, and the track is provided with a hatch 713, and the hatch 713 moves up and down along the track, so as to selectively close the cavity of the cabin 71 or open. In addition, a fan 712 is also disposed at the opening of the front side wall.
The elevating platform 7411 is connected to each of the hatches 713, so that the hatches 713 are lifted and lowered by the linkage of the electric heating blocks 74 when the elevating platform 7411 is lifted and lowered, and the cavity of the cabin 71 is closed in a lifted state, thereby improving the heating efficiency. And when the fan descends, the hole is opened, and the fan 712 performs forced air exhaust and heat dissipation.
It should be noted that in the above-mentioned structure, the rail at the opening not only serves as the lifting rail for the car door 713, but also indirectly constitutes the rail for the lifting/lowering of the lift table 7411.
Seven, light splitting detection component 8
Referring to fig. 22-25, the spectroscopic detection assembly 8 includes a mounting table 81, and the mounting table 81 has a rectangular parallelepiped shape and is provided with a plurality of mounting positions to form a mounting platform for other assemblies.
The mounting table 81 is provided with a test tube groove 811 for placing the digestion colorimetric tube, one side of the test tube groove 811 is provided with a light source emitter 812, the other opposite side is provided with a light source receiver 813, and light from the light source emitter 812 enters the light source receiver 813 through the test tube groove 811. A bar code scanner 816 for reading bar codes on the digestion color comparison tubes in the test tube groove 811 is also arranged on one side of the test tube groove 811.
Different from the prior art, the test tube slot 811 includes a circular tube-shaped fixing support 8111, two sides of the fixing support 8111 are provided with a window 81111 and a window 81112, the light source emitter 812 faces one side window 81111, and the light source receiver 813 faces the other side window 81112, thereby forming a light path channel.
The upper and lower brackets 8112 and 8113 are respectively mounted on the upper and lower ends of the fixed bracket 8111 through bearings 815 to achieve a rotatable connection. Wherein the upper bracket 8112 is fixed to an outer ring of one bearing 815, the lower bracket 8113 is fixed to an inner ring of the other bearing 815, and the fixed support 8111 is fixed to the other portion of the two bearings 815.
The upper carriage 8112 is located on top of the lower carriage 8113 and is coaxial therewith, i.e. the axes of rotation of the upper carriage 8112 and the lower carriage 8113 coincide.
The lower bracket 8113 is provided with a groove 81131 which can just contain the bottom of the digestion colorimetric tube to be measured.
The upper bracket 8112 is ring-shaped, and at least three spring pieces 8114, in this embodiment, three spring pieces, are rotationally symmetrically disposed on the upper bracket 8112. One end of spring leaf 8114 is fixed with upper bracket 8112's top, and the other end sets up and is unsettled to the inside slope of upper bracket 8112 to the enclosure is a confession and clears up the colour comparison tube male horn mouth, and when the colour comparison tube that awaits measuring to clear up inserted upper bracket 8112, these some spring leaves 8114 received the extrusion and the colour comparison tube was cleared up in the centre gripping.
In addition, a test tube rotation driving motor 814 is further disposed on the mounting table 81, and the test tube rotation driving motor 814 drives the upper frame 8112 and the lower bracket 8113 to rotate synchronously through a belt transmission structure.
Specifically, the test tube rotation driving motor 814 is a double-shaft motor, two output shafts of the double-shaft motor are respectively provided with a driving wheel 8141, the upper bracket 8112 and the lower bracket 8113 are respectively provided with a driven wheel 8142, and two belts 8143 are wound between the pair of driving wheel 8141 and the pair of driven wheels 8142 in a one-to-one correspondence manner and are tensioned. By controlling the diameter proportion of the driving wheel 8141 and the driven wheel 8142, the upper bracket 8112 and the lower bracket 8113 rotate coaxially and at the same rotating speed, so that the digestion colorimetric tube is driven to rotate.
Eight, controller
The controller is connected with the bottle body lifting mechanism, the bottle body clamping actuating mechanism, the rotating actuating mechanism, the cover body swinging mechanism, the cover body clamping actuating mechanism, the overturning actuating mechanism, the cover breaking swinging actuating mechanism, the heating actuating assembly, the light splitting detection assembly, the first mechanical arm, the second mechanical arm, the mechanical arm lifting mechanism, the transverse moving mechanism and the longitudinal moving mechanism in a controlling manner. The controller will be described below with reference to the operation principle and operation logic of the detector. In addition, the controller is also connected with a human-computer interaction module and used for information communication between the controller and the outside.
Description of operating principles and logic of operation
With reference to the above device structure, the following detailed description will be made of the working principle and the specific operation steps of the embodiment of the present invention:
first, digestion of the colorimetric bottle pretreatment
A. Digestion colorimetric tube before clamping treatment
And starting the transverse moving drive motor 612 and the longitudinal moving drive motor 623, controlling the translation table 63 to move, moving the second manipulator 632 to the digestion colorimetric tube station 213, and aligning the digestion colorimetric tube 1 to be clamped on the digestion colorimetric tube stand 214.
And then, the second manipulator lifting motor 6323 is started to control the second manipulator 632 to move downwards, and when the second manipulator is in place, the cylinder is started to drive the upper clamp of the second manipulator to clamp the digestion colorimetric tube 1.
B. Placing digestion colorimetric tube
Referring to fig. 12, the bottle body rotating mechanism 32 is in a raised state, the cover turnover mechanism 42 is in a first limit position, and the left gripper 4222 and the right gripper 4223 of the bottle cap fixture 422 are in an open state.
The second manipulator lifting motor 6323 is started to lift the second manipulator 632, and then the traverse driving motor 612 and the longitudinal moving driving motor 623 are started to control the translation stage 63 to move, so that the second manipulator 632 moves to the position above the corresponding positioning tube 321 through the opening position between the left gripper 4222 and the right gripper 4223.
It is noted here that in the preferred embodiment, wherever the digestion cuvette holder is positioned, the path of the second robot 632 before moving over the positioning tube 321 passes through the opening between the left and right grips 4222 and 4223. This is because: on the one hand, although the manipulator movement path can be made shorter by swinging the cover turnover mechanism 42 to the second extreme position, the swinging motion is increased and is not compensated. On the other hand, when the bottle cap clamp 422 finishes the cap screwing action, the bottle cap 11 is released, and the bottle cap is in the opening state without adding extra action. The selection robot thus enters the designated position through the opening of the bottle cap fixture 422.
Start second manipulator lift motor 6323, control second manipulator 632 downstream, start cylinder drive its anchor clamps after targetting in place and loosen and clear up colour comparison tube 1, clear up colour comparison tube 1 and get into registration arm 321, start bottle centre gripping driving motor 3241, control left side tongs 3222 and right tongs 3223 and grab and hold together, clear up in colour comparison tube 1 is fixed in registration arm 321.
And starting the second manipulator lifting motor 6323 to control the second manipulator 632 to lift, then starting the traverse driving motor 612 and the longitudinal driving motor 623 to control the translation stage 63 to move to the position of the digestion cuvette to be grabbed next time, and waiting for the next round of operation.
C. Puncture bottle cap aluminum film
As shown in fig. 13, the vial lifting drive motor 312 is activated to lower the vial rotating mechanism 32.
The ejector pin swing driving motor 52 of the cap breaking actuating mechanism 5 is started to drive the swing arm 53 to swing, and the ejector pin 51 moves to a position right above the positioning pipe 321.
When the bottle body lifting driving motor 312 is started to control the bottle body rotating mechanism 32 to rise again, the aluminum film of the bottle cap 11 of the dissolution color comparison tube 1 in the positioning tube 321 can be just punctured, and the solid solute in the aluminum film is exposed (the solid solute is in a block shape and is combined with the inner wall of the bottle cap 11, and cannot be spilled out when being overturned).
The thimble swing driving motor 52 is started to drive the swing arm 53 to swing back to the original position to wait for the next operation.
D. Rotary cover
Referring to fig. 14, the bottle body lifting drive motor 312 is actuated to lift the bottle body rotating mechanism 32 until the upper cap 11 is positioned between the left grip 4222 and the right grip 4223.
The cover body clamping driving motor 4211 is started, and the left gripper 4222 and the right gripper 4223 are controlled to grip the bottle cap 12.
The bottle body rotation driving motor 3233 is started to control and drive the positioning tube 321 and the bottle body clamp 322 to rotate, so as to drive the bottle body 12 to rotate, and meanwhile, the lifting driving motor 312 slowly moves downwards, so that the bottle cap 11 is separated from the bottle cap body 12.
E. Turnover bottle cap
As shown in fig. 15, the cover tilting mechanism 42 is driven to move to the second limit position by activating the cover swinging driving motor 415.
The cap body overturning driving motor 4233 is started to drive the rotating structure 4231 to rotate 180 degrees, and the bottle cap 11 gripped by the left gripper 4222 and the right gripper 4223 also rotates 180 degrees, so that the overturning is completed.
F. Drawing water sample
After the cover turnover mechanism 42 is moved away, the transverse movement driving motor 612 and the longitudinal movement driving motor 623 are started, the translation table 63 is controlled to move, the first manipulator 631 is moved to the position above the water sample test tube station 211, then the first manipulator lifting motor 6317 is started, the first manipulator 631 is controlled to descend, the suction pipe 6314 and the stirring rod 6315 enter the test tube with the water sample on the test tube rack 212, the stirring rod 6315 stirs the water sample, the suction pipe 6314 sucks the water sample, and stirring is stopped after the water sample is sucked.
G. Water sample is injected and the first mechanical arm is cleaned
The traverse driving motor 612 and the longitudinal driving motor 623 are started to control the translation stage 63 to move, so as to move the first manipulator 631 to the upper part of the positioning tube 321, then the first manipulator lifting motor 6317 is started to control the first manipulator 631 to descend, and after the positioning, the suction pipe 6314 injects a water sample into the bottle 12 in the positioning tube 321.
The first robot lifting motor 6317 is started to control the first robot 631 to lift, then the traverse driving motor 612 and the longitudinal driving motor 623 are started to control the translation stage 63 to move, so that the first robot 631 is moved to a position above the robot cleaning station 215, then the first robot lifting motor 6317 is started to control the first robot 631 to descend for cleaning, and then the first robot lifting motor is lifted again to wait for the next round of operation.
H. Screwing bottle cap
As shown in fig. 16, the cover tilting mechanism 42 is driven to move to the first limit position by activating the cover swinging driving motor 415, and the bottle cap 11 is located right above the bottle 12.
The bottle body rotation driving motor 3233 is started to control and drive the positioning tube 321 and the bottle body clamp 322 to rotate, so as to drive the bottle body 12 to rotate, and meanwhile, the lifting driving motor 312 moves upwards slowly, so that the bottle cap 11 is screwed with the bottle cap body 12.
The cover body clamping driving motor 4211 is started, and the left gripper 4222 and the right gripper 4223 are controlled to open to release the bottle cap 12.
I. Vibration digestion colorimetric tube
The bottle body lifting driving motor 312 is started, and the bottle body rotating mechanism 32 and the digestion colorimetric tube 1 thereon are driven by the turntable 316 and the connecting rod 315 to periodically oscillate up and down. The water sample in the digestion colorimetric tube 1 is contacted with the solute of the bottle cap 12 through oscillation and dissolved, and the oscillation is stopped after the dissolution is finished.
J. Digestion colorimetric tube after placement treatment
The vial lifting drive motor 312 is activated to raise the vial rotating mechanism 32.
The vial gripping drive motor 3241 is activated to control the opening of the left and right handles 3222, 3223.
The traverse driving motor 612 and the traverse driving motor 623 are started to control the translation stage 63 to move, and the second manipulator 632 is moved to a position right above the positioning pipe 321.
And then, the second manipulator lifting motor 6323 is started to control the second manipulator 632 to move downwards, and when the second manipulator is in place, the cylinder is started to drive the upper clamp of the second manipulator to clamp the digestion colorimetric tube 1.
And starting the second manipulator lifting motor 6323 to lift the second manipulator 632, then starting the traverse driving motor 612 and the longitudinal driving motor 623, and controlling the translation table 63 to move to the digestion cuvette station 213.
The second manipulator lifting motor 6323 is started, the second manipulator 632 is controlled to move downwards, after the manipulator is in place, the cylinder is started to drive the upper clamp to loosen and clear up the colorimetric tube 1, the clear up colorimetric tube 1 enters the clear up colorimetric tube rack 214, the transverse moving driving motor 612 and the longitudinal moving driving motor 623 are started, the translation table 63 is controlled to move to the position where the colorimetric tube needs to be grabbed and cleared up next round of operation.
Secondly, digestion treatment
A. Placing and digesting colorimetric tube stand
And starting the transverse moving drive motor 612 and the longitudinal moving drive motor 623 to control the translation table 63 to move, and moving the second manipulator 632 to the digestion colorimetric tube station 213.
And starting a second manipulator lifting motor 6323 to control the second manipulator 632 to move downwards, and starting an air cylinder to drive the upper clamp of the second manipulator to clamp the digestion colorimetric tube stand 214 after the second manipulator is in place.
The second manipulator lifting motor 6323 is started to lift the second manipulator 632, and then the traverse driving motor 612 and the traverse driving motor 623 are started to control the translation stage 63 to move above the thermal actuator 7.
At the same time, the top cover driving motor 7211 is activated, controlling the top cover 72 to translate, exposing the positioning frame 73 thereunder.
And starting a second manipulator lifting motor 6323 to control the second manipulator 632 to move downwards, starting an air cylinder to drive the upper clamp of the second manipulator to loosen the digestion colorimetric tube rack 214 after the second manipulator is in place, and enabling the digestion colorimetric tube rack 214 to enter the positioning frame 73 in the heating execution assembly 7.
And starting the transverse moving driving motor 612 and the longitudinal moving driving motor 623, controlling the translation table 63 to move, and waiting for the next round of operation.
B. Heating digestion
The heating block drive motor 7412 is activated to drive the electrical heating block 74 to raise, with the door 714 being raised concomitantly.
And simultaneously, the top cover driving motor 7211 is started to control the top cover 72 to translate and close the cabin 71 (optional step).
An electrical rod in the electrical heating block 74 heats the digestion cuvette holder 214 in the positioning frame 73 at a constant 165 ℃.
After the set heating time period is reached, heating is stopped, the heating block driving motor 7412 is started, the electric heating block 74 is driven to descend, and the cabin door 714 descends along with the electric heating block.
The fan 712 is activated to discharge air and dissipate heat.
When the digestion colorimetric tube frame 214 is reduced to the designated temperature, the top cover driving motor 7211 is started, the top cover 72 is controlled to translate, and the positioning frame 73 below the top cover is exposed; the positioning frame driving motor 7311 is started to control the positioning frame 73 to swing at 90 degrees left and right, and the digestion colorimetric tube rack 214 and the digestion colorimetric tube 1 swing synchronously. Its purpose is because the high temperature of clearing up the process, clears up materials such as moisture in cuvette 1 and breaks away from the liquid level with modes such as boiling or sublimation, and then condenses on the inner wall of clearing up cuvette 1 bottle inner wall and bottle lid. The materials can be returned to the water sample by swinging at 90 degrees from side to side, so that the error is reduced.
C. Reset digestion colorimetric tube stand
After the digestion cuvette holder 214 is lowered to a certain temperature.
The second manipulator lifting motor 6323 is started to lift the second manipulator 632, and then the traverse driving motor 612 and the longitudinal driving motor 623 are started to control the translation stage 63 to move above the heating execution assembly 7.
And starting a second manipulator lifting motor 6323 to control the second manipulator 632 to move downwards, and starting an air cylinder to drive the upper clamp to clamp the digestion colorimetric tube stand 214 after the second manipulator is in place.
And starting the transverse moving drive motor 612 and the longitudinal moving drive motor 623 to control the translation table 63 to move, and moving the second manipulator 632 to the digestion colorimetric tube station 213.
And starting a second manipulator lifting motor 6323 to control the second manipulator 632 to move downwards, and when the second manipulator is in place, starting an air cylinder to drive the upper clamp of the second manipulator to loosen the digestion colorimetric tube stand 214.
And starting the transverse moving driving motor 612 and the longitudinal moving driving motor 623, controlling the translation table 63 to move, and waiting for the next round of operation.
Three, light splitting detection
A. Placing digestion colorimetric tube
And starting the transverse moving drive motor 612 and the longitudinal moving drive motor 623 to control the translation table 63 to move, and moving the second manipulator 632 to the digestion colorimetric tube station 213.
And starting a second manipulator lifting motor 6323 to control the second manipulator 632 to move downwards, and when the second manipulator is in place, starting an air cylinder to drive an upper clamp of the second manipulator to clamp the digestion colorimetric tube 1.
The second manipulator lifting motor 6323 is started to start the second manipulator 632 to be lifted, and then the traverse driving motor 612 and the longitudinal driving motor 623 are started to control the translation stage 63 to move above the spectroscopic detection assembly 8.
The second manipulator lifting motor 6323 is started to control the second manipulator 632 to move downwards, when the second manipulator is in place, the cylinder is started to drive the clamp on the second manipulator to loosen the digestion colorimetric tube 1, and the digestion colorimetric tube 1 is placed into the test tube groove 811.
And starting the transverse moving driving motor 612 and the longitudinal moving driving motor 623, controlling the translation table 63 to move, and waiting for the next round of operation.
B. Spectroscopic detection
The light source emitter 812 and the light source receiver 813 are activated to perform spectrophotometric detection of the digestion cuvette 1 in the cuvette housing 811.
After the spectrophotometric detection is completed once, the test tube rotary driving motor 814 drives the digestion colorimetric tube 1 in the test tube groove 811 to rotate by a set angle according to a set degree, and then the spectrophotometric detection is performed again. Until the set number of light splitting detection is completed.
The operation steps of the device, the action executing mechanisms and the on-off time nodes of the electronic equipment are completely controlled by the controller.
The invention has the advantages that: simple structure, the operation of being convenient for, intelligent degree improves, and is safe, can handle the multiunit test tube simultaneously.
Although the present invention is described in detail with reference to the embodiments, it should be understood by those skilled in the art that the above embodiments are only one of the preferred embodiments of the present invention, and not all embodiments can be enumerated herein for the sake of brevity, and any embodiment that can embody the claims of the present invention is within the protection scope of the present invention.
Claims (10)
1. The utility model provides a water sample automated inspection appearance, relates to a clear up colour comparison tube for water sample detects, and the upper and lower end of the bottle lid of this clear up colour comparison tube all can be connected rather than the bottleneck screw thread sealing of bottle, and clear up the one end of bottle lid under the colour comparison tube factory state and have solid solute through the aluminium foil seal, and its characterized in that, water sample automated inspection appearance includes:
the water sample test tube station is used for placing and positioning a test tube rack, and the test tube rack is used for containing test tubes filled with water sample liquid;
the digestion colorimetric tube station is used for placing and positioning the digestion colorimetric tube frame containing the digestion colorimetric tube;
the heating execution component is used for placing the digestion colorimetric tube frame and heating the digestion colorimetric tube on the digestion colorimetric tube frame;
the spectrophotometric detection component is used for placing the digestion colorimetric tube and performing spectrophotometric detection on the digestion colorimetric tube;
the bottle body executing assembly comprises a bottle body lifting mechanism and a bottle body rotating mechanism; the bottle body lifting mechanism is used for selectively carrying out integral lifting or integral oscillation on the bottle body rotating mechanism; the bottle body rotating mechanism comprises a positioning tube for vertically placing the digestion colorimetric tube, a bottle body clamp which is driven by the bottle body clamping executing mechanism to selectively clamp the bottle body of the digestion colorimetric tube in the positioning tube, and a rotating executing mechanism which drives the positioning tube and the bottle body clamp to rotate around the axis of the digestion colorimetric tube in the positioning tube;
the bottle cap execution assembly comprises a cover body swinging mechanism and a cover body overturning mechanism; the cover body swinging mechanism is used for enabling the cover body turnover mechanism to intermittently swing between a first limit position and a second limit position around a vertical axis; the cover body overturning mechanism comprises a bottle cap clamp which is driven by the cover body clamping actuating mechanism to selectively clamp and resolve the cap of the colorimetric tube in the positioning tube when the cover body overturning mechanism is positioned at a first limit position, and an overturning actuating mechanism which drives the bottle cap clamp to rotate around a horizontal shaft in a clearance mode when the cover body overturning mechanism is positioned at a second limit position;
the cap breaking actuating mechanism is provided with an ejector pin with a downward pointed end and a cap breaking swinging actuating mechanism which drives the ejector pin to swing right above the positioning tube when the bottle body rotating mechanism descends;
the manipulator execution assembly comprises a translation table which is driven by a transverse moving mechanism and a longitudinal moving mechanism to move among a water sample test tube station, a digestion colorimetric tube station, a bottle body execution assembly, a heating execution assembly and a light splitting detection assembly; the translation table is provided with a first manipulator, a second manipulator and two manipulator lifting mechanisms which respectively drive the first manipulator and the second manipulator to move up and down relative to the translation table; the second manipulator is used for clamping the digestion colorimetric tubes on the digestion colorimetric tube stations and placing the digestion colorimetric tubes into the positioning tube or the test tube groove, and clamping the digestion colorimetric tube racks on the digestion colorimetric tube stations and placing the digestion colorimetric tube racks on the positioning frame; the first manipulator is used for stirring the liquid sample, sucking the liquid sample and adding the liquid sample into the digestion colorimetric tube in the positioning tube;
and the controller is in control connection with the bottle lifting mechanism, the bottle clamping actuating mechanism, the rotating actuating mechanism, the cover body swinging mechanism, the cover body clamping actuating mechanism, the overturning actuating mechanism, the cover breaking swinging actuating mechanism, the heating actuating assembly, the light splitting detection assembly, the first mechanical arm, the second mechanical arm, the mechanical arm lifting mechanism, the transverse moving mechanism and the longitudinal moving mechanism.
2. An automatic water sample detector according to claim 1, characterized in that: the heating execution assembly comprises a positioning frame for placing and positioning the digestion colorimetric tube frame and an electric heating block for heating the digestion colorimetric tube in the positioning frame; the positioning frame can be arranged in a rotating mode and can swing around a horizontal axis under the driving of a positioning frame swing executing mechanism; the electric heating block is arranged below the positioning frame and driven by a heating block lifting mechanism to intermittently lift.
3. An automatic water sample detector according to claim 2, characterized in that: the heating execution assembly also comprises a cabin body with an opening at the top and a top cover capable of selectively sealing the opening at the top of the cabin body; the positioning frame is arranged in the cabin body, and two ends of the positioning frame are respectively provided with a shaft supported by a bearing on the side wall of the cabin body; two opposite side walls of the cabin body are also provided with holes, the hole is provided with a cabin door which can lift along with the lifting of the electric heating block, and the hole of at least one of the two side walls is provided with a fan; the controller is connected with the heating block lifting mechanism, the fan and the positioning frame swinging executing mechanism in a control mode; the top cover is supported by a slide rail arranged at the top of the cabin body and is driven by a slide actuating mechanism to rotate along the slide rail, so that an opening at the top of the cabin body can be selectively closed; the sliding actuating mechanism comprises a top cover driving motor and a top cover transmission belt wound between a pair of driving wheels and a pair of driven wheels; the top cover driving motor is fixedly arranged on the outer side of the cabin body; the driving wheel is arranged on an output shaft of the top cover driving motor, and the driven wheel is rotatably arranged at a driven wheel seat on the cabin body, so that the top cover transmission belt is horizontally arranged along the length direction of the slide rail; a rack is fixedly arranged at the bottom of the top cover along the length direction of the slide rail, and the driven wheel is coaxially fixed with a gear meshed with the rack; the positioning frame swinging executing mechanism comprises a positioning frame driving motor and a reduction gear set, and an output shaft of the positioning frame driving motor is connected with the reduction gear set and drives the heating frame to swing; a heat insulation layer is arranged at the joint of the shaft of the heating frame and the reduction gear set; the electric heating block is provided with a plurality of through holes and a temperature sensor, and heating rods penetrate through the through holes; the heating block lifting mechanism comprises a heating block driving motor, a speed reducer, a lead screw and a nut; the speed reducer is connected with an output shaft of the heating block driving motor and a lead screw, and the nut is sleeved on the lead screw and fixed with the electric heating block.
4. An automatic water sample detector according to claim 1, characterized in that: the light splitting detection assembly comprises a test tube groove for placing the digestion colorimetric tube, a light source emitter is arranged on one side of the test tube groove, and a light source receiver is arranged on the opposite side of the test tube groove; the test tube groove comprises a tubular fixed support, and windows are arranged on two sides of the fixed support, so that light from the light source emitter enters the light source receiver through the test tube groove; the upper end and the lower end of the fixed support are respectively provided with an upper bracket and a lower bracket in a rotatable manner through bearings, the upper bracket is positioned at the upper part of the lower bracket, and the upper bracket and the lower bracket are coaxial; the lower bracket is provided with a groove which can just contain the bottom of the tube to be tested; the upper bracket is annular, and is provided with a clamping piece for clamping the digestion colorimetric tube; in addition, the light splitting detection device also comprises a digestion colorimetric tube rotation driving mechanism for driving the upper bracket and the lower bracket to synchronously rotate.
5. An automatic water sample detector according to claim 4, characterized in that: the clamping piece comprises at least three spring pieces which are rotationally symmetrical and arranged on the upper support, one end of each spring piece is fixed with the top end of the upper support, and the other end of each spring piece is obliquely arranged towards the inside of the upper support and suspended, so that a to-be-tested pipe inserted into the upper support is clamped; clear up colour comparison tube rotary driving mechanism including clearing up the rotatory biax motor of colour comparison tube, it all installs the action wheel on two output shafts of colour comparison tube rotatory biax motor to clear up, be equipped with the follower on upper bracket and the lower carriage, two belts one-to-one convolute between a pair of action wheel and the follow driving wheel and tensioning.
6. An automatic water sample detector according to claim 1, characterized in that: the bottle body clamp and the bottle cap clamp respectively comprise a hand grip support, a left hand grip, a right hand grip and a connecting rod mechanism, wherein the left hand grip and the right hand grip are symmetrically hinged on the hand grip support, and the connecting rod mechanism drives the left hand grip and the right hand grip to release or close; the connecting rod mechanism is connected with a sliding block and moves along with the movement of the sliding block; the bottle body clamping actuating mechanism comprises a bottle body clamping driving motor, and a nut on a screw rod connected with the bottle body clamping driving motor is fixedly connected with a sliding block of the bottle body clamp, so that the sliding block of the bottle body clamp is driven to slide in a corresponding guide rail; two windows are symmetrically formed in the side wall of the positioning pipe, and the left hand grip and the right hand grip of the bottle body clamp are arranged at the windows; the cover body clamping executing mechanism comprises a cover body clamping driving motor, and a nut on a lead screw connected with the cover body clamping driving motor is fixedly connected with a sliding block of the bottle cap clamp, so that the sliding block of the bottle cap clamp is driven to slide in a corresponding guide rail.
7. An automatic water sample detector according to claim 6, characterized in that: the cover body swinging mechanism comprises a cover body rotating table, a cover body swinging driving motor, a bottom plate, a first vertical plate and a second vertical plate, wherein the cover body swinging driving motor is rotatably arranged, the first vertical plate and the second vertical plate are arranged on the bottom plate, the cover body swinging driving motor drives the cover body rotating table to rotate around the central shaft of the cover body rotating table through a group of gear transmission mechanisms, and the bottom plate is fixedly arranged on the rotating table; the turnover actuating mechanism comprises a rotating structural part and a turnover driving mechanism for driving the rotating structural part, the bottle cap clamp and the cap body clamping actuating mechanism are installed in the rotating structural part, and the left and right grippers of the bottle cap clamp are symmetrical to the axis of the rotating structural part.
8. An automatic water sample detector according to claim 7, characterized in that: round holes are respectively formed in the first vertical plate and the second vertical plate, bearings are mounted on the round holes, the two bearings are coaxially arranged, and inner rings are sleeved on the rotating structural member; a cover body overturning driven wheel is arranged on the part of the rotating structural member between the first vertical plate and the second vertical plate, the overturning driving mechanism comprises a cover body overturning driving motor, a cover body overturning driving wheel is arranged on an output shaft of the cover body overturning driving motor, and a cover body overturning belt is wound between the cover body overturning driving wheel and the cover body overturning driven wheel and is tensioned; the rotating structural part is provided with a central through hole along the rotating axis of the rotating structural part, and the central through hole forms a guide rail of the upper sliding block of the bottle cap clamp.
9. An automatic water sample detector according to claim 1, characterized in that: the bottle body lifting mechanism comprises a plurality of guide pillars, connecting rods, a rotary table and a rotary table driving mechanism for driving the rotary table to rotate on a vertical plane, wherein the guide pillars, the connecting rods and the rotary table are vertically arranged; the bottle body rotating mechanism is movably arranged on the guide pillar, one end of the connecting rod is hinged with the outer edge of the rotary table, and the other end of the connecting rod is hinged with the bottle body rotating mechanism; the rotary actuating mechanism comprises a lifting plate, a bottle body rotating platform and a bottle body rotary driving motor, the lifting plate is movably arranged on the guide pillar, and the connecting rod is hinged with the lifting plate; the bottle body rotating platform can be rotatably arranged on the lifting plate, and the bottle body rotating driving motor drives the bottle body rotating platform to rotate through a belt transmission structure; the axis of the bottle body rotating platform is vertically arranged, and the positioning pipe is fixedly arranged on the central axis of the bottle body rotating platform; the rotary table driving mechanism comprises a bottle body lifting driving motor, and the bottle body lifting driving motor drives the rotary table to rotate through belt transmission.
10. An automatic water sample detector according to claim 1, characterized in that:
the longitudinal moving mechanism comprises a longitudinal moving belt, a longitudinal moving driving motor, a longitudinal moving platform, an end panel and a longitudinal moving guide rail connected between the longitudinal moving platform and the end panel, the longitudinal moving belt is wound between a pair of longitudinal moving belt wheels, the diameters of the pair of belt wheels are the same, one belt wheel is arranged on an output shaft of the longitudinal moving driving motor, and the other longitudinal moving belt wheel is rotatably arranged on a driven wheel seat to enable the longitudinal moving belt to be horizontally and longitudinally arranged; the translation table is movably arranged on the guide pillar and is fixed with one side of the longitudinal moving belt, so that the translation table can slide along the longitudinal moving guide rail under the driving of the longitudinal moving belt;
the transverse moving mechanism comprises a transverse moving belt, a transverse moving driving motor, a first transverse moving guide rail and a second transverse moving guide rail; the first transverse moving guide rail and the second transverse moving guide rail are parallel to each other and are perpendicular to the longitudinal moving guide rail; the longitudinal moving platform is fixed on the sliding block of the first transverse moving guide rail, and the end panel can be movably arranged on the second transverse moving guide rail; the transverse belt is wound between a pair of transverse belt wheels, the diameters of the transverse belt wheels are the same, one transverse belt wheel is arranged on an output shaft of the transverse driving motor, and the other transverse belt wheel is rotatably arranged on a transverse driven wheel seat, so that the transverse belt is horizontally and transversely arranged; the longitudinal moving mechanism is fixed with one side of the transverse moving belt, and therefore the longitudinal moving mechanism can slide along the first transverse moving guide rail and the second transverse moving guide rail under the driving of the transverse moving belt;
the two manipulator lifting mechanisms respectively comprise a manipulator lifting motor and a group of guide pillars and racks, and the two ends of each guide pillar and the corresponding rack are respectively fixed into a whole through a connecting seat; the translation table is provided with four through holes which are vertically arranged, and the guide pillar and the rack are respectively sleeved in one through hole and can move up and down along the through holes; the manipulator lifting motor is arranged on the longitudinal moving platform, and an output shaft of the manipulator lifting motor is connected with a spline shaft arranged along the length direction of the longitudinal moving guide rail; two ends of the spline shaft are respectively supported by the longitudinal moving platform and the bearings on the end face plate; the two spline shafts are in meshed transmission with the two racks in a direct or indirect mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010940506.6A CN112014320B (en) | 2020-09-09 | 2020-09-09 | Automatic water sample detector |
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|---|---|---|---|
| CN202010940506.6A CN112014320B (en) | 2020-09-09 | 2020-09-09 | Automatic water sample detector |
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| CN112014320B CN112014320B (en) | 2023-12-01 |
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| CN202010940506.6A Active CN112014320B (en) | 2020-09-09 | 2020-09-09 | Automatic water sample detector |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114136728A (en) * | 2021-11-22 | 2022-03-04 | 杭州谱育科技发展有限公司 | Device and method for conditioning a solution in a closed container |
| CN116106113A (en) * | 2022-12-14 | 2023-05-12 | 武汉新烽光电股份有限公司 | Digestion mechanism of water quality detector |
| CN117007827A (en) * | 2023-08-30 | 2023-11-07 | 立子科技(广州)有限公司 | Water quality detection system |
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| CN116106113A (en) * | 2022-12-14 | 2023-05-12 | 武汉新烽光电股份有限公司 | Digestion mechanism of water quality detector |
| CN116106113B (en) * | 2022-12-14 | 2023-10-20 | 武汉新烽光电股份有限公司 | Digestion mechanism of water quality detector |
| CN117007827A (en) * | 2023-08-30 | 2023-11-07 | 立子科技(广州)有限公司 | Water quality detection system |
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| CN112014320B (en) | 2023-12-01 |
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