CN115616140A - Automatic titration analysis control system - Google Patents

Abstract

The invention discloses an automatic titration analysis control system which comprises a mechanical arm platform, a titrator platform, a workstation computer and a router, wherein the mechanical arm platform comprises a sample loading mechanical arm (1), a lifting tower (2), a rotating base (3), a beaker frame (4) and a first network route; the titrator platform comprises a feed liquid transmission unit (5), a burette (6), an electrode, a stirrer, a titration end point acquisition module and a second network route; the router, the workstation computer, the first network route and the second network route are communicated through the Ethernet. The system can realize automatic sample loading of batch samples, identify different types of samples and beakers, and has the advantages of high precision, strong expansibility, strong stability and the like.

Description

Automatic titration analysis control system

Technical Field

The invention relates to an automatic titration analysis control system, and belongs to the technical field of titration detection.

Background

Traditional titration equipment needs to place the titration sample on the titrator platform manually, and this kind of mode is only applicable to the less laboratory of sample quantity, and detects to the batch on the industrial production assembly line, uses the mode of artifical appearance of going up, has not only increased personnel's intensity of labour, has still dragged detection speed, has influenced the continuous efficient operation of production assembly line.

The traditional titration equipment expands performance, cannot be adjusted in time along with the requirements of a production line, and is difficult to adapt to the rapidly changing production requirements.

In addition, the traditional liquid feeding device is realized by adopting a multi-stage reduction gearbox, the structure has more transmission mechanisms, higher damping and difficult precision improvement, and can not adapt to higher precision requirements.

Therefore, it is necessary to design a high-precision automatic titration analysis control system to assist continuous sample loading titration detection.

Disclosure of Invention

In order to overcome the above problems, the present inventors have conducted intensive studies to design an automatic titration analysis control system, which includes a robot arm platform, a titrator platform, a workstation computer and a router,

the mechanical arm platform comprises a sample loading mechanical arm 1), a lifting tower 2), a rotating base 3, a beaker frame 4 and a first network route; the titrator platform comprises a feed liquid transmission unit 5, a burette 6, an electrode, a stirrer, a titration end point acquisition module and a second network route; the router, the workstation computer, the first network route and the second network route are communicated through the Ethernet.

In a preferred embodiment, the workstation computer establishes a first network, obtains IP addresses for a first network route and a second network route; the workstation computer establishes a second network and is communicated with the mechanical arm platform and the titrator platform through the second network; and the first network route establishes a third network, and the mechanical arm platform and the titrator platform are communicated through the third network.

In a preferred embodiment, the titration platform has one or more titration platform IP addresses, and when the number of the titration platforms is increased or decreased, the titration platform IP addresses are allocated through the first network, so that the system can be expanded rapidly.

In a preferred embodiment, the loading robot 1, the lifting tower 2, the rotating base 3, the beaker racks 4 and the first network route are communicated through CAN.

In a preferred embodiment, the beaker frame 4 comprises a base 41 and a tray 42 placed on the base 41, one or more beaker holes are provided on the tray 42, a permanent magnet 421 is provided on the bottom of the tray 42, and a linear magnetic detection sensor 411 is provided on the base 41, wherein the permanent magnet 421 corresponds to the position of the linear magnetic detection sensor.

In a preferred embodiment, the plurality of the beaker holders 4 are communicatively connected to a first network route through a six-core communication interface, and when connected, the device addresses are assigned to the beaker holders 4 by the first network route, so that the beaker holders 4 can be plug and play.

In a preferred embodiment, the feed drive unit 5, burette 6, beaker, electrode, stirrer, titration endpoint acquisition module and second network route are in communication via CAN.

In a preferred embodiment, the fluid feeding transmission unit 5 comprises a telescopic assembly 51, a main motor 52, a main screw 53, a subdivision motor 54, a subdivision screw 55, a driving gear 56 and a large nut 57, wherein the main screw 53 is connected with an output shaft of the main motor 52, and the bottom end of the telescopic assembly 51 is provided with a threaded hole which is sleeved on the subdivision screw 55; the subdivision lead screw 55 is fixedly connected with the top end of the large screw nut 57, a threaded hole is formed in the bottom end of the large screw nut 57, the large screw nut 57 is in threaded connection with the main lead screw 53, a gear corresponding to the driving gear 56 is arranged on the circumferential side face of the large screw nut 57, and the driving gear 56 is connected with an output shaft of the subdivision motor 54.

On the other hand, the invention also provides a connection method of the automatic titration analysis control system, which comprises platform connection and platform internal equipment connection, wherein the platform connection refers to the communication connection among the mechanical arm platform, the titrator platform and the workstation computer through Ethernet.

The platform internal equipment connection means that the mechanical arm platform and/or the titrator platform internal equipment are connected through CAN communication.

In a preferred embodiment, in the process of connecting the platforms, the workstation computer establishes a first network to obtain the IP addresses of the mechanical arm platform and the titrator platform; the workstation computer establishes a second network and is communicated with the mechanical arm platform and the titrator platform through the second network;

and the mechanical arm platform establishes a third network, and the mechanical arm platform and the titrator platform are communicated through the third network.

The invention has the advantages that:

(1) The automatic sample loading of batch samples can be realized, and different types of samples and beakers can be identified; (2) Different equipment components can be rapidly expanded, the detection capability of the system is expanded or reduced, and the flexibility is strong; (3) Liquid feeding precision is high, detection precision is high, and system stability is high.

Drawings

FIG. 1 is a schematic view showing an overall connection structure of an automatic titration analysis control system according to a preferred embodiment of the present invention; FIG. 2 is a schematic diagram showing the overall structure of a robot platform in an automatic titration analysis control system according to a preferred embodiment of the present invention; FIG. 3 is a schematic diagram of a robot arm structure of a robot arm platform in the automatic titration analysis control system according to a preferred embodiment of the present invention; FIG. 4 is a schematic diagram showing a robot platform gripper in an automatic titration analysis control system according to a preferred embodiment of the present invention; FIG. 5 is a schematic diagram showing a robot platform gripper in an automatic titration analysis control system according to a preferred embodiment of the present invention; FIG. 6 is a schematic diagram showing a structure of a rotary joint of a mechanical arm platform in an automatic titration analysis control system according to a preferred embodiment of the present invention; FIG. 7 is a schematic diagram of a robot platform lift tower in an automatic titration analysis control system according to a preferred embodiment of the present invention; FIG. 8 shows a schematic diagram of a robotic arm platform beaker holder configuration in an automatic titration analysis control system in accordance with a preferred embodiment of the present invention; FIG. 9 is a schematic diagram illustrating a gripping motor rotation feedback adjustment algorithm in a robotic arm platform loading method of an autotitration analysis control system in accordance with a preferred embodiment of the present invention; FIG. 10 is a graph showing the relationship between the number of moving steps of the driving motor and the pressure sensor; FIG. 11 is a schematic diagram of a compliance control method during transferring a beaker in a robotic arm platform loading method of an automated titrimetric analysis control system in accordance with a preferred embodiment of the present invention; FIG. 12 is a schematic diagram showing the change in the number of beaker racks in the titrator platform and robotic arm platform of the auto-titration analysis control system in accordance with a preferred embodiment of the present invention; FIG. 13 is a schematic diagram showing the change in the number of beaker racks in the titrator platform and robotic arm platform of the auto-titration analysis control system in accordance with a preferred embodiment of the present invention. FIG. 14 is a schematic diagram illustrating a process for obtaining addresses of newly added devices in the automatic titration analysis control system according to a preferred embodiment of the present invention; FIG. 15 is a schematic diagram showing the overall structure of a titrator platform of an automatic titration analysis control system according to a preferred embodiment of the present invention; FIG. 16 is a schematic diagram of a titrator platform feed transmission unit of an auto-titration analysis control system according to a preferred embodiment of the present invention; FIG. 17 shows a schematic diagram of a titrator platform feed transmission unit of an auto-titration analysis control system in accordance with a preferred embodiment of the present invention; FIG. 18 is a schematic diagram of a titrator platform feed transmission unit of an auto-titration analysis control system according to a preferred embodiment of the present invention; fig. 19 shows a schematic diagram of the S-curve.

The reference numbers illustrate:

1-a mechanical arm; 11-a gripper; 111-a headstock; 112-a grasping motor; 113-double thread lead screw; 114-sample jaw; 115-a position sensor; 116-a pressure sensor; 12-a rotating arm; 13-a fixed arm; 14-a rotary joint; 141-a drive motor; 142-a reduction gearbox; 143-angle sensor; 2-a lifting tower; 21-a tower base; 22-lead screw elevator; 23-a limit switch; 24-a linear displacement sensor; 3-rotating the base; 4-a beaker holder; 41-a base; 411-linear magnetic detection sensor; 42-a tray; 421-a permanent magnet; 422-beaker; 423-beaker identification module; 5-a fluid feed transmission unit; 6-burette; 51-a telescoping assembly; 52-the main motor; 53-main screw; 54-subdivision motor; 55-subdivision lead screw; 56-a drive gear; 57-big nut; 58-proximity switch; 59-limit switch; 61-a tube body; 62-Pump head.

Detailed Description

The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The invention provides an automatic titration analysis control system, which comprises a mechanical arm platform, a titrator platform, a workstation computer and a router,

the mechanical arm platform comprises a sampling mechanical arm 1, a lifting tower 2, a rotating base 3, a beaker frame 4 and a first network route;

the titrator platform comprises a feed liquid transmission unit 5, a burette 6, an electrode, a stirrer, a titration end point acquisition module and a second network route;

the router, workstation computer, first network route and second network route communicate via ethernet, as shown in fig. 1.

In the invention, the automatic titration analysis control system is mainly used for batch solution detection, needs higher automation capability and continuous detection capability and is commonly used for laboratory detection of a factory assembly line.

Under the environment, the workstation computer is far away from other equipment in a laboratory or needs to be remotely controlled, and in the invention, the reliability of remote transmission can be ensured by the Ethernet communication among the workstation computer, the first network route and the second network route.

Further, the ethernet communication may adopt wired network communication or wifi communication, which is not limited in the present invention.

In a preferred embodiment, the workstation computer establishes a first network, obtains IP addresses for a first network route and a second network route;

preferably, the first network is a UDP protocol network, and the first network may send the encapsulated IP packet without establishing a connection, thereby implementing IP address acquisition for the first network route and the second network route that are accessed.

The workstation computer establishes a second network and is communicated with the mechanical arm platform and the titrator platform through the second network;

the second network is a TCP protocol network, and after the IP addresses of the first network route and the second network route are obtained through the first network, the TCP protocol network is established, and reliable data communication is carried out through the TCP protocol network.

In a preferred embodiment, the first network route establishes a third network through which the robotic arm platform and the titrator platform communicate.

The third network is a TCP protocol network, and is established, so that after the workstation computer is offline, the mechanical arm platform and the titrator platform can still communicate to complete a titration experiment in a matching manner, major abnormity of the mechanical arm platform and the titrator platform caused by the fault of the workstation computer is avoided, and the stability and the anti-interference capability of the system are improved.

Furthermore, according to the invention, one or more titration platforms are provided, which can be temporarily increased or decreased according to actual needs, and when the number of the titration platforms is increased or decreased, IP addresses of the titration platforms are allocated through the first network, so that the system can be rapidly expanded.

According to the present invention, the beaker frame 4 comprises a base 41 and a tray 42 placed on the base 41, one or more beaker holes are provided on the tray 42,

a permanent magnet 421 is provided at the bottom of the tray 42, and a linear magnetic detection sensor 411 is provided on the base 41, the permanent magnet 421 corresponding to the position of the linear magnetic detection sensor.

According to the invention, in the mechanical arm platform, the sample loading mechanical arm 1 clamps and transports a sample beaker;

the lifting tower 2 is connected with the sample loading mechanical arm 1 and controls the lifting of the sample loading mechanical arm 1;

the rotating base 3 is positioned at the lower end of the lifting tower 2 and can drive the lifting tower 2 to rotate;

the sample beaker frame 4 holds a sample beaker to be tested, as shown in fig. 2.

In a preferred embodiment, the sampling mechanical arm 1, the lifting tower 2, the rotating base 3, the beaker frame 4 and the first network route are communicated through CAN, and because the equipment is close to each other, the communication reliability CAN be ensured by adopting a serial port protocol of CAN type.

Further, the loading robot arm 1 includes a gripper 11, a rotating arm 12, and a fixing arm 13, as shown in fig. 3.

One end of the rotating arm 12 is connected with the fixed arm 13 through a rotating joint 14, so that the rotating arm 12 can rotate relative to the fixed arm 13, and the grabber is installed at the other end of the rotating arm 12.

In the invention, three-degree-of-freedom joint motion is provided through the lifting tower 2, the rotating base 3 and the rotating joint 14, so that the grabber 11 can accurately grab the beaker in a larger range. Specifically, the lifting tower 2 is rotated by the rotation of the rotating base 3, and the rotating arm 12 can also rotate while the fixed arm 13 rotates or lifts along with the lifting tower 2, and the rotation of the fixed arm and the rotating arm can enable the grabber 11 to reach any position in the working area of the grabber.

Because the outer surface of the beaker is often soaked and stuck with a sample to be measured, the surface friction is low, and therefore, the grabber needs to have a large effective clamping contact area with the beaker when grabbing the beaker.

Furthermore, the beaker is generally made of glass or plastic, and has low mechanical strength, so that the beaker is easily damaged if the clamping force is high, and the beaker slides in the clamping process if the clamping force is low, which has a high requirement on the holding pressure of the gripper.

In the present invention, the gripper 11 includes a gripper head frame 111, a gripper motor 112, a double-threaded lead screw 113, and two sample jaws 114, as shown in fig. 4.

The grabbing headstock 111 is fixedly connected with the rotating arm 12, the grabbing motor 112 is fixed below the grabbing headstock 111, an output shaft of the grabbing motor 112 is connected with the double-threaded lead screw 113, and the two sample clamping jaws 114 are respectively and fixedly connected with two nuts on the double-threaded lead screw 113.

The double-thread screw is a screw with two threads with different screwing directions, the two threads are respectively provided with a nut, and when the screw rotates, the two nuts approach or separate, so that the clamping and loosening functions of the sample clamping jaw are realized.

Further, in accordance with the present invention, the grip motor 112 is a stepper motor to control the degree of gripping and release of the sample jaws.

The lower end of the sample clamping jaw 114 is plate-shaped or finger-shaped, preferably, the lower end of the sample clamping jaw 114 is provided with a pressure sensor 116, and the change of the strain force when the sample clamping jaw 114 is contacted with the beaker is detected by the pressure sensor 116, so as to determine the clamping force of the sample clamping jaw.

Preferably, a film pressure sensor is arranged at the contact position of the lower end of the sample clamping jaw 114 and the beaker, the pressure value of the mechanical jaw for grabbing the reagent cup is obtained through the film pressure sensor, and then the angle of the sample clamping jaw is adjusted all the time, so that the effect of constantly controlling the grabbing force of reagent cups with different diameters is realized.

Due to the arrangement of the pressure sensor, the sample clamping jaw 114 can adapt to beakers of different specifications, compared with the method that the clamping amount is controlled by simply controlling the mechanical size during clamping, the tolerance of the tension sensor on the size deformation of the beaker is high, and the method is particularly suitable for batch detection during industrial production.

In a preferred embodiment, a plurality of position sensors 115, preferably two end position sensors, are disposed on the gripping head frame 111, symmetrically disposed at two ends of the sample jaw 114 with the center line of the two sample jaws 114 as a symmetry axis, as shown in fig. 5, as a limit detection of the opened sample jaw 114,

further, when the two sample clamping jaws 114 cannot simultaneously start the end sensors after being opened, the center line of the sample clamping jaw 114 is changed, and an operator can be reminded to perform inspection and maintenance.

In a more preferred embodiment, the position sensor 115 further comprises a center position sensor disposed at the center of the double threaded screw 113 for detecting whether the sample jaw 114 returns to the center of the double threaded screw 113 when closed.

The rotary joint 14 includes a driving motor 141 and a reduction gear box 142, the driving motor 141 is mounted on the fixed arm 13, the reduction gear box 142 is fixedly connected to the rotary arm 12, an output shaft of the driving motor 141 is connected to the reduction gear box 142, and rotation of the rotary arm 12 relative to the fixed arm 13 is achieved by rotation of the driving motor 141, as shown in fig. 6.

Further, the driving motor 141 is a stepping motor, and the rotation amount of the rotating arm 12 relative to the fixed arm 13 is adjusted by adjusting the rotation amount of the stepping motor 141.

Further, the application of the reduction gear box 142 reduces the power requirement on the driving motor 141, and simultaneously reduces the influence of the throw-away rotation of the driving motor 141 on the rotation amount, thereby ensuring the rotation accuracy of the rotating arm 12.

More preferably, the driving motor 141 is a closed-loop stepping motor, such as a 57HSXX series, and a mechanical angle sensor is provided inside the closed-loop stepping motor, so that the number of stepping rotation steps can be counted, an output torque can be formed, flexible control can be performed during the transportation process, and the sample is prevented from overflowing from the beaker opening due to severe vibration.

Preferably, the rotary joint 14 further includes an angle sensor 143, the angle sensor 143 is coaxial with a rotation axis of the rotary arm 12 when rotating relative to the fixed arm 13, after the rotary arm rotates for multiple times, a rotation error may be accumulated, calibration of a rotation position can be achieved through the angle sensor 143, an error is reduced, rotation accuracy of the rotary arm 12 is further ensured, and a sufficient margin is left for repeated positioning accuracy.

The lifting tower 2 comprises a tower base 21 and a lead screw lifter 22, and the fixed arm 13 is lifted and lowered by the lead screw lifter 22, as shown in fig. 7.

The tower base 21 is used for supporting, the lead screw lifter 22 is installed on the tower base 21, and preferably, a limit switch 23 is arranged on the tower base 21 to detect or limit the lifting height of the fixing arm 13.

The limit switch 23 may be a travel switch, a limit switch, or any other structure or device capable of detecting travel, preferably an electro-optical switch.

In a more preferred embodiment, a linear displacement sensor 24 is further provided on the tower 21 along the direction of the lead screw elevator 22 to detect the height of the fixing arm 13 in real time.

The rotating base 3 is arranged at the bottom of the lifting tower 2 and drives the lifting tower 2 to rotate.

Preferably, an angle sensor is provided on the rotating base 3 to detect the rotation angle of the elevating tower 2.

The beaker frame 4 is used for storing beakers, is convenient for the sample loading mechanical arm 1 to clamp and store, and comprises a base 41 and a tray 42 arranged on the base 41, and is shown in fig. 8.

In the invention, the mechanical arm platform is used for detecting a large amount of samples, and the difficulty is that how to distinguish the types of the samples to be detected in the general process of different samples to be detected, so that a titrator can select a proper titration program according to the types of the samples to be detected.

In the invention, the beakers containing different types of samples to be detected are placed in different trays 42, and the types of the samples to be detected are distinguished by detecting the types or the numbers of the trays 42.

Specifically, one or more beaker holes are provided in the tray 42 for placing the beakers 422.

The inventor finds that different samples to be detected need different dosage in detection, so the dosage needs to be set according to the types of the samples to be detected

The tray 42 may have a plurality of holes, and the sizes of the beaker holes formed in different trays 42 may be different to accommodate beakers of different sizes.

According to a preferred embodiment of the present invention, different kinds of samples to be measured are placed in beakers of different specifications.

In the present invention, the type of sample to be tested in the beaker on the tray is determined by testing different trays 42.

Further, a permanent magnet 421 is provided at the bottom of the tray 42, a linear magnetic detecting sensor 411 is provided on the base 41, and the permanent magnet 421 corresponds to the position of the linear magnetic detecting sensor, so that the linear magnetic detecting sensor 411 can detect the magnetism of the permanent magnet 421, judge whether the tray 42 is placed on the base 41 by the detected magnetism, and judge the specification or number of the tray 42.

Preferably, the permanent magnet and the linear magnetic detection sensor have a plurality of, for example two, downward-facing magnetic poles of different permanent magnets may be different, so that the magnetic poles of different trays 42 detected by the linear magnetic detection sensor 411 are different, thereby distinguishing different trays, and further, 2 can be distinguished in this way ^N Seed tray Specification, N denotesThe number of permanent magnets.

For example, there are three types of trays, each type of tray has two permanent magnets, the downward magnetic poles of the two permanent magnets of the tray of the first type are both N, one of the downward magnetic poles of the two permanent magnets of the tray of the second type is S, and the other is N, and the downward magnetic poles of the two permanent magnets of the tray of the third type is both S.

In a preferred embodiment, the linear magnetic detecting sensor 411 is a hall sensor, and the hall sensor can detect the magnetic pole of the magnet and convert the magnetic pole into a voltage signal, for example, when the three trays are all placed on the base, the detection voltage of the two hall sensors is 0; when the tray with the first specification is placed on the base, the detection voltages of the two Hall sensors are negative voltages; when the tray with the second specification is placed on the base, the detection voltages of the two Hall sensors are respectively positive voltage and negative voltage; when the tray of the third specification is placed on the base, the detection voltages of the two Hall sensors are both negative voltages.

In a preferred embodiment, when there are a plurality of permanent magnets 421 at the bottom of the tray 42, one or more of the permanent magnets 421 may be replaced by a non-magnetic substance, and at this time, only the detection result of the linear magnetic detection sensor corresponding to the non-magnetic substance is 0, and the detection results of the linear magnetic detection sensors corresponding to the remaining permanent magnets are magnetic poles, and in cooperation with each other, the specification of the tray can still be identified, and the number capable of representing the type or number of the tray is expanded without increasing the number of permanent magnets, by which 3 can be distinguished ^N 1 pallet format, N represents the number of permanent magnets.

The inventor finds that in the process of assembly line detection, the tray is difficult to be accurately placed at the specified position of the base every time, and relative deviation often occurs, so that the repeatability of the position of the beaker on the tray is poor, and a large positioning error and influence are caused when the gripper 11 grips the beaker.

In a preferred embodiment, the relative position deviation of the tray and the base can be judged according to the detected magnetic value, so that correction parameters are provided for accurate positioning of the gripping position by the sample loading mechanical arm.

The position of tray on the base removes, can drive the removal in permanent magnet 421 magnetic field to arouse the numerical value change of linear magnetic detection sensor 411 on the base, the tray is in different positions, and different linear magnetic detection sensor 411 numerical relation is different on the base, can confirm the relative position deviation of tray and base through detecting different linear magnetic detection sensor 411 numerical relation on the base.

In a preferred embodiment, the relative positional deviation of the tray from the base is obtained by:

step one, calibrating deviation;

the deviation calibration is carried out before actual use, the tray is placed at different positions of the base, so that relative position deviation exists between the tray and the base, the numerical values of the linear magnetic detection sensors under the relative position deviation are obtained, the positional deviation and the numerical values of the linear magnetic detection sensors are recorded, and the process is repeated to obtain the detection numerical values of the linear magnetic detection sensors under different relative position deviations;

more preferably, the difference between the values detected by the plurality of linear magnetic detecting sensors at different relative positional deviations is obtained, and the relative positional deviation-magnetic induction sensor difference is recorded as a set of values.

Preferably, the obtained sets of values are tabulated or fitted to formulas, curves.

And step two, estimating deviation.

And in the using process, substituting the numerical values of the plurality of linear magnetic detection sensors into the table, the formula or the curve obtained in the step one to obtain the corresponding relative position deviation.

According to a preferred embodiment of the present invention, the upper surface of the base 41 has an area larger than that of the lower surface of the tray, so that a plurality of trays 42 can be placed on the base 41.

According to the invention, the sizes of the bottom surfaces of the trays with different specifications can be different so as to adapt to beakers with different specifications.

In a preferred embodiment, a mark is arranged on the beaker, and a beaker identification module 423 is arranged at the bottom or the side of the beaker hole to read the mark on the beaker, so that the existence state of the beaker can be monitored on line at each sample position, and the sample information can be fed back in real time.

Preferably, the identification is an RFID tag and the beaker identification module 423 is an RFID transceiver.

The automatic sample loading method of the mechanical arm platform comprises the following steps:

s1, obtaining the specification of a beaker;

s2, clamping the beaker to a titrator platform.

In step S1, a beaker containing a sample to be measured is placed in a tray having a beaker hole matching the beaker, and the tray is placed on a base.

Further, the specification of the beaker is acquired through the detection of the tray.

Specifically, the type of the permanent magnet at the bottom of the tray is detected through the linear magnetic detection sensor, so that the specification or the number of the tray is determined, the specification of the beaker on the tray is determined according to the specification or the number of the tray, and the type of the sample to be detected is determined.

Preferably, whether a beaker exists in the beaker hole on the tray or not is obtained through the beaker identification module, and if the beaker exists, the number of the beaker or the sample information in the beaker is obtained to inform the titrator platform.

In step S2, the distance between the two sample jaws when the gripper opens and grips is determined according to the specification or number of the beaker.

Furthermore, the position of the gripper during gripping is determined according to the type or the serial number of the tray, and the gripping and transferring of the beaker to the titrator platform are realized under the mutual matching of the upper mechanical arm 1, the lifting tower 2 and the rotating base 3.

The invention aims at the titration detection of batch samples, the transfer speed needs to be improved as much as possible when transferring sample beakers, and meanwhile, because the samples in the beakers possibly have the physicochemical properties of corrosivity, toxicity and the like, the sample sloshing amount in the beakers needs to be ensured to be small in the transfer process, and the samples are prevented from overflowing from the beakers.

In the invention, the process of clamping and transporting the beaker is flexibly controlled.

Specifically, the compliance control in the gripping process comprises the following substeps:

s21, the distance between the two sample clamping jaws of the grabber is shortened until the two sample clamping jaws touch the beaker;

s22, detecting the pressure of the contact position of the sample clamping jaws and the beaker, and adjusting the clamping distance between the two sample clamping jaws according to the detected pressure value.

In step S22, the detected value of the pressure is compared with the set value of the gripping pressure, and the rotation of the gripping motor 112 is adjusted to control, so as to achieve stable gripping of the beaker.

Furthermore, the set values of the clamping pressures of the beakers with different specifications are different, and the set values can be obtained by looking up a table according to the corresponding beaker specification obtained in the step S1.

In a preferred embodiment, the rotation of the grabbing motor 112 is adjusted by a feedback adjustment algorithm, as shown in fig. 9, the pressure setting value and the measured pressure value are subtracted to obtain a pressure error value, the rotation step number of the grabbing motor 112 is obtained by a PI adjustment algorithm, the pressure value is measured again after the grabbing motor 112 rotates to obtain a new pressure error value, and the above process is repeated until the pressure error value is less than ± 0.1N.

Preferably, the proportional coefficient kp in the PI regulation algorithm is 0.10-10.00, and the integral time constant ki is 10.0-100.0.

In the process of transferring the beaker, a driving motor in a rotary joint has a starting process and a stopping process, the output torque in the starting process can be gradually increased to a rated value from 0, the output torque in the stopping process is reduced to 0 from the rated value, and the step-out phenomenon is frequently generated in the change process of the output torque and is the main reason for causing the shaking of the beaker in the transferring process.

In the present invention, the starting process of the driving motor is taken as an example for explanation, and the stopping process of the driving motor is similar to the starting process, and is not described in detail.

The relationship between the number of moving steps (unit pulse: 10) of the driving motor and the pressure sensor during the starting process is shown in fig. 10, and it can be seen from the figure that the output process of the driving motor can be divided into a linear stage, a saturation stage and a stable stage.

Wherein, the rotation angle of the linear stage rotating arm 12 relative to the fixed arm 13 is 2 degrees to 2.5 degrees, the rotation angle of the saturated stage rotating arm 12 relative to the fixed arm 13 is 2.5 degrees to 3.5 degrees, and the stable stage is obtained after the saturated stage.

Further, in the linear phase, the relationship between the number of drive motor pulses and the rotational torque may be fitted to a step-torque curve.

Further, the inventor finds that the step-out phenomenon mainly occurs in a linear stage, and the compliance control in the process of transferring the beaker means that the linear stage of the output process of the driving motor is controlled, and the control comprises position closed-loop control, speed closed-loop control and moment flexible closed-loop control, as shown in fig. 11.

Specifically, the position closed-loop control means that in the starting process and the stopping process, the driving motor is not controlled in a conventional rotation step number mode in a linear stage, and the angular position PI is adjusted through the angular position detected by the rotary joint angle sensor, so that the rotation position of the driving motor is controlled.

Further, the target value of the position PI adjustment is a linear stage angle set value, preferably, the linear stage angle set value is 2 to 2.5 degrees; the feedback of the position PI regulation is the detection value of the angle sensor of the rotary joint, and the output value of the position PI regulation is the rotation angular velocity value of the rotary joint.

Preferably, the value of the proportionality coefficient in the position PI regulation is 0.01-10.00, and the value of the integral time constant is 10.00-100.00.

In the speed closed-loop control, the detection value of the rotary joint angle sensor is differentiated to obtain an angular speed measurement value, the angular speed measurement value is used as a feedback signal, the output value of position PI regulation is used as a target value, speed PID regulation is carried out, and a driving motor torque value is output.

Preferably, the proportional coefficient in the speed PID regulation is 0.01-100.00, and the integral time constant is 10.00-300.00.

In the moment flexible closed-loop control, the output value of speed PID regulation is taken as a target value, the linear predicted value of the output moment of the driving motor is taken as a feedback signal, moment PI regulation is carried out, and the quantity of stepping pulses of the driving motor and the level of direction control are output.

The linear predicted value of the output torque of the driving motor is obtained by substituting the pulse number of the driving motor into a step number-torque curve.

Preferably, the value of the proportional coefficient in the torque PI regulation is 0.01-1000.00, and the value of the integral time constant is 10.00-1000.00.

Under the three-stage series closed-loop control, the mechanical arm can be flexibly controlled, the beaker is guaranteed not to shake in the moving process, and the fluctuation of the liquid level of the sample in the beaker is not more than 1ml in the transferring process.

According to the present invention, a plurality of the beaker holders 4 can be provided, and a plurality of the beaker holders 4 are placed around the rotating base 3, such that the samples to be tested can be transported in batches, the utilization efficiency of the system is improved, and the transportation workload of the samples to be tested is reduced, as shown in fig. 12 and 13.

Preferably, the beaker 4 is communicatively connected to a first network route through a six-core communication interface, and when connected, the device address is assigned to the beaker 4 by the first network route, so that the beaker 4 can be plug and play.

In a preferred embodiment, the six-core communication interface is based on a CAN communication protocol and comprises two-core device power supply, two-core device communication, one-core address control bit and one-core emergency stop flag bit, as shown in table one.

Watch 1

Line number	Name definition	Description of the invention
			1	VCC	Power supply anode
2	IO_EN	Scram mark position
			3	IO_STA	Address control bit
4	CAN_L	CAN communication is low
			5	CAN_H	CAN communication height
6	GND	Negative pole of power supply

Specifically, during connection, the first network route is used as a master device, the newly accessed beaker frame 4 and other devices connected with the master device through the CAN communication are used as slave devices, the master device and the slave devices respectively take over the level control authority of the address control bit in different allocation periods, the process of address allocation is realized by combining high-low level conversion, and the guarantee is provided for the rapid online allocation of slave device addresses.

And further, after the address allocation is finished, the address control bit is converted into the on-line detection bit of the slave equipment, so that the on-line and off-line states of the equipment can be detected in real time, and the stability of the system is ensured.

Further, as shown in fig. 14, when a new slave device accesses the master device through the six-core communication interface, the address assignment logic of the slave device outputs a high level at the address control bit;

after detecting the high level, the master device judges that a new slave device is accessed, and sequentially sends the high level to the address control bits of all slave devices connected with the master device;

the slave equipment acquires address information according to the sequence of the detected high levels;

when all the slave devices obtain the address information, the address control bit of the master device does not output the level any more, the slave devices continuously output the high level at the address control bit, the master device detects the address control bits of all the slave devices,

if a new slave device is accessed, the above process is repeated, the slave device is allocated with the address again, and if the address control bit of the slave device has low level, the slave device is judged to be dropped.

More preferably, the loading mechanical arm 1, the lifting tower 2 and the rotating base 3 are also connected through a six-core communication interface, and the allocation mode of the device addresses during connection is the same as the above mode, which is not described in detail in the present invention.

In the titrator platform, the burette 6 is used for pumping the titration liquid and comprises a tube body 61 and a pump head 62 positioned in the tube body, as shown in fig. 15;

the feed transmission unit 5 pushes and pulls the pump head 62, thereby drawing the titrant into the tube 61 or injecting the titrant in the tube 61 into a beaker.

Preferably, a reversing mechanism is provided on the pump head 62 to draw wash and titration solutions, respectively.

In the present invention, the specific structure of the pump head 62 is not particularly limited, and those skilled in the art can freely design the pump head structure based on experience or with reference to the existing titrimetric analyzer.

The electrode is used for detecting the solution in the beaker, and the stirrer is used for stirring the liquid in the beaker.

And the titration end point acquisition module controls the motor rotation speed and the rotation steps of the feed liquid transmission unit 5 according to the detection quantity of the electrode.

With the improvement of production quality requirements and inspection standards, the titration accuracy of the existing titrimeter cannot meet the use requirements of high-precision projects, so that the titrimeter needs to be improved to greatly improve the detection accuracy.

Further, in order to improve the accuracy, the feeding transmission unit 5 has a titration speed of 0.75-0.1 second per 0.1 ml in the temperature titration process, and needs extremely high titration accuracy when approaching the titration end point.

The transmission unit is the power unit of control titration volume, and its promotion precision has directly related to the control of titration volume, and traditional titrator adopts the mode of motor cooperation reduction gear to realize transmission control more, however, under this kind of mode, the transmission subdivision can only reach 20000/1, can not satisfy the operation requirement yet.

In the present invention, the fluid-feeding transmission unit 5 includes a telescopic assembly 51, a main motor 52, a main screw 53, a divisional motor 54, a divisional lead screw 55, a drive gear 56, and a large nut 57, as shown in fig. 16 to 18.

The top end of the telescopic assembly 51 is connected with the pump head 62, and the bottom end of the telescopic assembly 51 is provided with a threaded hole which is sleeved on the subdivision lead screw 55;

one end of the subdivision screw 55 is fixedly connected with the top end of the large nut 57, the bottom end of the large nut is provided with a threaded hole, so that the large nut 57 can be sleeved on the main screw 53, and the circumferential side surface of the large nut 57 is provided with a gear corresponding to the driving gear 56, so that the driving gear 56 can drive or limit the rotation of the large nut 57;

the drive gear 56 is connected to the output shaft of the subdividing motor 54, preferably by means of a reduction gear or reducer.

The main screw 53 is connected to the output shaft of the main motor 52, preferably by means of a reduction gear or reducer.

Further, a clamping groove or other limiting mechanism is arranged on the telescopic assembly 51, so that the telescopic assembly 51 can only be vertically telescopic and cannot rotate.

In a preferred embodiment, limit switches 59 are provided at the upper and lower portions of the telescopic assembly 51.

Further, the thread directions of the main screw 53 and the sub-screw 55 are the same, and the lead of the main screw 53 is greater than that of the sub-screw 55.

Preferably, the lead of the sub-lead screw 55 is 4/5 of the lead of the main lead screw 53.

Further, the axis of the driving gear 56 is parallel to the axis of the sub-divided screw 55, and preferably, the tooth width of the driving gear 56 is larger than that of the circumferential gear of the large nut 57, so that the large nut 57 and the driving gear 56 can slide relatively in the axial direction.

According to the present invention, at the time of quick dispensing, the subdividing motor 54 is in an energized locked state, at which time the drive gear 56 does not rotate, and the large nut 57 is restricted by the drive gear 56 so that the large nut 57 cannot rotate;

further, the main motor 52 rotates to drive the main lead screw 53 to rotate, at this time, the large nut 57 is rotationally locked by the driving gear 56, the large nut 57 slides along the thread on the main lead screw 53 under the driving of the main lead screw 53, and then the subdivision motor 54 and the telescopic assembly 51 are driven to move up and down, so as to realize the rapid lifting of the pump head 62,

in a preferred real-time mode, the transmission ratio of the main screw 53 to the main motor 52 is 1:5, the lead of the main lead screw is 5mm, and under the transmission effect, 20000/1 subdivision of the liquid feed transmission unit can be realized by the main motor subdivided by 1/4 steps.

When the drip is in slow speed, the main motor 52 is in a power-on locking state, and the main lead screw 53 does not rotate;

further, the subdivision motor 54 rotates to drive the driving gear 56 to rotate, the large screw 57 rotates circumferentially under the rotation of the driving gear 56, and the large screw 57 slides along the thread on the main screw 53 to ascend or descend;

further, the subdivision screw 55 rotates with the large screw 57, so that the telescopic assembly 51 slides relatively along the subdivision screw 55 to perform a relative movement in the opposite direction of the large screw 57;

further, since the lead of the main lead screw 53 is larger than the lead of the sub-dividing motor 54, the large nut 57 is raised and lowered at a different speed from the raising and lowering speed of the telescopic assembly 51, and finally the actual raising and lowering amount of the telescopic assembly 51 is the difference between the raising and lowering amount of the large nut 57 and the raising and lowering amount of the telescopic assembly 51 with respect to the sub-dividing lead screw 55.

In a preferred real-time mode, the transmission ratio of the large nut 57 to the subdividing motor 54 is 1:5, the lead of the main lead screw is 5mm, and the lead of the subdivision lead screw is 4mm, and under the transmission effect, 100000/1 subdivision of the liquid feeding transmission unit can be realized by the subdivision motor with 1/4 step subdivision.

In a preferred embodiment, a proximity switch 58 is provided at the lower end of the large nut 57, and the initial position of the large nut 57 is reset by the proximity switch 58.

Specifically, the main motor 52 operates to lower the large nut 57 until the large nut 57 comes into contact with the proximity switch 58, at which time the position of the large nut 57 is the initial position.

The proximity switch 58 is arranged, so that the feeding transmission unit 5 can be reset mechanically, and the phenomenon that the telescopic assembly cannot return to the starting point due to the fact that the motor rotates due to loss is solved.

In a more preferred embodiment, the main motor 52 and the sub-dividing motor 54 are rotated simultaneously at the time of fast dispensing, and the elevating speed of the telescopic assembly 51 is the sum of the elevating speeds of the main motor 52 and the sub-dividing motor 54 which are controlled individually.

According to the invention, when the titration end point is approached, slow titration is adopted to ensure the titration accuracy, and when the titration end point is not approached, fast titration is adopted to save the titration time.

In the present invention, the specific value near the titration end point can be empirically set by one skilled in the art.

According to the liquid feed transmission unit provided by the invention, slow titration is realized through the matching of the main lead screw and the subdivision lead screw, and compared with a mode of only adopting the main lead screw and the speed reducer to control the telescopic unit, the control precision is improved, and the processing difficulty is reduced. The thread pitches of the main lead screw and the subdivision lead screw can be set to be large, the processing is easy, the processing precision can be guaranteed, the production cost is low, the main lead screw and the subdivision lead screw can be combined to replace the traditional small-pitch main lead screw, the processing precision is guaranteed, the product rigidity is improved, the axial stress is increased, and the service life of the product is prolonged.

The inventors found that the inner diameter of the burette tube 61 slightly changes during the titration, and the slight change in the inner diameter of the burette tube 61 is a cylinder, and the change in the inner diameter of the tube 61 is amplified to be twice the titration volume, which greatly affects the titration accuracy, and therefore the material and processing method of the tube 61 are important.

In the present invention, the pipe body 61 is processed using borosilicate 3.3 as a base material.

The conventional burette is made of soda-lime glass, borosilicate glass, polytetrafluoroethylene (F4), polytetrafluoroethylene-ethylene (F40), polytetrafluoroethylene-hexafluoropropylene (F46), polypropylene, and the like.

However, the linear expansion coefficients of polytetrafluoroethylene (F4), polytetrafluoroethylene-ethylene (F40), polytetrafluoroethylene-hexafluoropropylene (F46) and polypropylene are large, the temperature difference is usually about 30 ℃ in the actual titration process, the linear expansion caused by the temperature of the materials has large influence on the change of the inner diameter, the titration precision is reduced, the hardness of the materials is low, the deformation resistance is insufficient, and the titration precision is reduced due to easy abrasion after long-term use.

In the titration process, acid, alkali and organic solvent may be used, soda-lime glass and borosilicate glass have poor alkali resistance, and the inner diameter of the tube body is easy to change after multiple uses.

Further, in the present invention, the tube body 61 is also shaped in order to ensure the accuracy of the burette.

The shaping is carried out by the following steps:

step one, inserting a core rod into a burette to be shaped, and heating under a vacuum condition to ensure that the inner wall of the burette to be shaped is attached to the core rod;

the core rod is cylindrical, preferably made of high-temperature-resistant nickel-based high-temperature alloy, and more preferably made of GH4169 nickel-based high-temperature alloy.

The vacuum condition is preferably a vacuum degree of not more than 0.095MPa.

The temperature rise is preferably to 800-1000 ℃, more preferably 850-950 ℃, and the temperature rise speed is 30-50 ℃/min to ensure the stress of the material.

Step two, heat preservation and annealing;

preferably, the temperature is kept between 850 ℃ and 950 ℃ for more than 20 minutes.

After heat preservation, vacuum is released, and the temperature is gradually reduced to room temperature, preferably, the temperature reduction speed is 30-50 ℃/min.

And step three, withdrawing the core rod from the burette.

And cooling the core rod by utilizing the fact that the thermal expansion of the core rod is larger than that of the burette, so that the core rod is withdrawn from the burette.

Through the shaping process, the inner diameter of the burette can be changed by no more than 0.075 percent in the using process, so that the titration precision is ensured.

The titration endpoint acquisition module can acquire a titration equivalence point by adopting a second-order differential difference method during photometric titration, and the titration equivalence point is acquired by carrying out filtering smoothing on data acquired by the electrode and then carrying out third-order differentiation during temperature titration.

According to the invention, in the liquid feeding process, the pump head is driven by the motor to move, the liquid in the burette is dripped into the beaker, the starting rotating speed of the motor is too high, the starting rotating speed of the motor possibly exceeds the self starting pulse frequency, and because the static friction and the load resistance at the initial starting stage are far greater than the power provided by the motor, the step-out starting can occur under the condition, the final liquid feeding precision is influenced, and the random error exists in the liquid feeding system.

In the invention, the starting and stopping speeds of the main motor and the subdivision motor are controlled, so that the phenomenon that the motors are not normal is avoided.

Specifically, the titrator platform feed liquid control method comprises the following steps:

s1, determining the single liquid feeding amount to obtain the single pump head moving amount;

s2, dividing a fast titration stage and a slow titration stage according to the movement amount of the pump head to perform titration;

and S3, detecting by using an electrode, confirming the next liquid feeding amount, and repeating the process until the titration is finished.

In step S1, the single pump head movement amount is obtained in the same manner as a conventional titrimetric analyzer, and details are not described herein, and those skilled in the art can determine a specific manner according to experience.

In step S2, the pump head movement amount is fitted to an S-curve, which can be divided into an increasing region and a stable region, as shown in fig. 19, the increasing region of the S-curve is used as the fast titration stage, and the stable region of the S-curve is used as the slow titration stage.

Further, the specific division positions of the growth region and the stable region can be selected by those skilled in the art according to the actual situation, and are not particularly limited in the present invention.

Further preferably, the main motor and the subdivision motor are started to work in the fast titration stage, so that the liquid feeding speed is increased; and entering a slow titration stage, slowly stopping the main motor, and then slowly stopping the subdivision motor.

In a more preferred embodiment, in the fast titration phase, the main motor is started slowly, and after the main motor runs at a constant speed, the subdivision motor is started slowly.

In the invention, the main motor and the subdivision motor are respectively and independently and slowly started and stopped, thereby overcoming the control difficulties of unstable main screw speed, operation noise generation, possible mechanical clearance error generation and the like caused by the simultaneous variable-speed operation of the main motor and the subdivision motor.

In step S3, the next amount of liquid fed is determined from the titration amount by analyzing the electrode detection data to obtain the titration amount reaching the titration equivalence point.

Further, in the present invention, the method of how to determine the number of times of liquid feeding and the amount of liquid feeding per time according to the amount of drops reaching the equivalence point is not particularly limited, and those skilled in the art can set the number of times and the amount of liquid feeding per time as needed.

According to a preferred embodiment of the present invention, the feed transmission unit 5, the burette 6, the beaker, the electrodes, the stirrer, the titration end point acquisition module and the second network route are communicated via CAN.

Further preferably, the fluid feeding transmission unit 5, the burette 6, the beaker, the electrode, the stirrer, and the titration end point acquisition module are also connected through a six-core communication interface, and the allocation mode of the device address during connection is the same as the allocation mode of the first network route and the device address of the beaker frame, which is not described in detail in the present invention.

The invention also provides a connection method of the automatic titration analysis control system, which comprises platform connection and platform internal equipment connection.

The platform connection means that the mechanical arm platform, the titrator platform and the workstation computer are in communication connection through the Ethernet.

The platform internal equipment connection means that the mechanical arm platform and/or the titrator platform internal equipment are connected through CAN communication.

In the platform connection process, the workstation computer establishes a first network to obtain the IP addresses of the mechanical arm platform and the titrator platform;

the workstation computer establishes a second network and is communicated with the mechanical arm platform and the titrator platform through the second network;

and the mechanical arm platform establishes a third network, and the mechanical arm platform and the titrator platform communicate through the third network.

In the process of connecting the devices in the platform, the first network route or the second network route is used as a master device, other devices are used as slave devices, the master device and the slave devices respectively take over the level control authority of the address control bit in different distribution time periods, the process of address distribution is realized by combining the conversion of high and low levels, and the guarantee is provided for the rapid online distribution of slave device addresses.

Specifically, after a new slave device accesses a master device through a six-core communication interface, the new slave device outputs a high level at an address control bit;

after detecting the high level, the master device judges that a new slave device is accessed, and sequentially sends the high level to the address control bits of all slave devices connected with the master device;

the slave equipment obtains address information according to the sequence of the detected high levels;

when all the slave devices obtain the address information, the address control bit of the master device does not output the level any more, the slave devices continuously output the high level at the address control bit, the master device detects the address control bits of all the slave devices,

if a new slave device is accessed, the above process is repeated, the slave device is allocated with the address again, and if the address control bit of the slave device has low level, the slave device is judged to be dropped.

The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.

Claims (10)

1. An automatic titration analysis control system is characterized in that the system comprises a mechanical arm platform, a titrator platform, a workstation computer and a router,

the mechanical arm platform comprises a sample loading mechanical arm (1), a lifting tower (2), a rotating base (3), a beaker frame (4) and a first network route;

the titrator platform comprises a feed liquid transmission unit 5, a burette 6, an electrode, a stirrer, a titration end point acquisition module and a second network route;

the router, the workstation computer, the first network route and the second network route are communicated through the Ethernet.

2. The auto-titration analysis control system according to claim 1,

the workstation computer establishes a first network and acquires IP addresses of a first network route and a second network route;

the workstation computer establishes a second network and is communicated with the mechanical arm platform and the titrator platform through the second network;

and the first network route establishes a third network, and the mechanical arm platform and the titrator platform communicate through the third network.

3. The auto-titration analysis control system according to claim 1,

the titration platforms are provided with one or more than one, and when the number of the titration platforms is increased or decreased, the IP addresses of the titration platforms are distributed through the first network, so that the system can be rapidly expanded.

4. The auto-titration analysis control system according to claim 1,

the sample loading mechanical arm (1), the lifting tower (2), the rotating base (3), the beaker frame (4) and the first network route are communicated through the CAN.

5. The automatic titration analysis control system according to claim 1,

the beaker frame (4) comprises a base (41) and a tray (42) arranged on the base (41), one or more beaker holes are arranged on the tray (42),

the bottom of the tray (42) is provided with a permanent magnet (421), the base (41) is provided with a linear magnetic detection sensor (411), and the position of the permanent magnet (421) corresponds to that of the linear magnetic detection sensor.

6. The auto-titration analysis control system according to claim 1,

the plurality of the beaker holders 4 are in communication connection with a first network route through a six-core communication interface, and when the plurality of the beaker holders are connected, the first network route allocates an equipment address for the beaker holders 4, so that the beaker holders 4 can be used in a plug-and-play manner.

7. The auto-titration analysis control system according to claim 1,

the feed liquid transmission unit (5), the burette (6), the beaker, the electrode, the stirrer, the titration end point acquisition module and the second network route are communicated through the CAN.

8. The auto-titration analysis control system according to claim 1,

the liquid feeding transmission unit (5) comprises a telescopic component (51), a main motor (52), a main screw rod (53), a subdivision motor (54), a subdivision screw rod (55), a driving gear (56) and a large screw nut (57),

the main screw (53) is connected with the output shaft of the main motor (52),

the bottom end of the telescopic assembly (51) is provided with a threaded hole which is sleeved on the subdivision screw rod (55);

the subdivision screw rod (55) is fixedly connected with the top end of a large screw nut (57), the bottom end of the large screw nut (57) is provided with a threaded hole, the large screw nut (57) is in threaded connection with the main screw rod (53), the circumferential side surface of the large screw nut (57) is provided with a gear corresponding to the driving gear (56),

the driving gear (56) is connected with an output shaft of the subdivision motor (54).

9. A connection method of an automatic titration analysis control system comprises a platform connection and a platform internal equipment connection,

the platform connection means that the mechanical arm platform, the titrator platform and the workstation computer are in communication connection through Ethernet;

the platform internal equipment connection means that the mechanical arm platform and/or the titrator platform internal equipment are connected through CAN communication.

10. The automatic titration analysis control system connection method according to claim 9,

in the platform connection process, the workstation computer establishes a first network to obtain the IP addresses of the mechanical arm platform and the titrator platform;

the workstation computer establishes a second network and is communicated with the mechanical arm platform and the titrator platform through the second network;

and the mechanical arm platform establishes a third network, and the mechanical arm platform and the titrator platform communicate through the third network.

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