CN117388031B - Pretreatment manipulator for sampling detection sample - Google Patents
Pretreatment manipulator for sampling detection sample Download PDFInfo
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- CN117388031B CN117388031B CN202311676950.1A CN202311676950A CN117388031B CN 117388031 B CN117388031 B CN 117388031B CN 202311676950 A CN202311676950 A CN 202311676950A CN 117388031 B CN117388031 B CN 117388031B
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- 238000005070 sampling Methods 0.000 title claims abstract description 251
- 238000001514 detection method Methods 0.000 title abstract description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 238000010438 heat treatment Methods 0.000 claims abstract description 25
- 239000002904 solvent Substances 0.000 claims abstract description 20
- 239000003814 drug Substances 0.000 claims abstract description 11
- 239000002245 particle Substances 0.000 claims abstract description 11
- 238000005485 electric heating Methods 0.000 claims abstract description 7
- 230000008859 change Effects 0.000 claims abstract description 5
- 238000012360 testing method Methods 0.000 claims description 32
- 238000004090 dissolution Methods 0.000 claims description 21
- 238000009434 installation Methods 0.000 claims description 19
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 238000007781 pre-processing Methods 0.000 claims description 5
- 239000007921 spray Substances 0.000 claims description 2
- 238000005507 spraying Methods 0.000 abstract description 3
- 238000005498 polishing Methods 0.000 description 19
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 238000002203 pretreatment Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/286—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q involving mechanical work, e.g. chopping, disintegrating, compacting, homogenising
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/44—Sample treatment involving radiation, e.g. heat
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
- G01N2001/085—Grabs
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/286—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q involving mechanical work, e.g. chopping, disintegrating, compacting, homogenising
- G01N2001/2866—Grinding or homogeneising
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Hydrology & Water Resources (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a pretreatment manipulator for sampling a detection sample, and relates to the technical field of manipulators for sampling. The pretreatment device realizes the grinding function of sample particles through the revolution of the grinding head on the grinding mechanism and the change of the rotation radius of the grinding head, and then realizes the dissolving of the sample by spraying the solvent on the sample through the dissolving water pump on the dissolving mechanism, thereby realizing the pretreatment function of the sample. The telescopic sampling device realizes the sucking function of food or medicine samples by stretching out the telescopic sampling tube on the sampling mechanism and sucking air of the sampling air sucking component, and realizes the preheating function of the samples by heating the electric heating resistance wire on the heating mechanism. The flexible clamping device realizes the flexible clamping function of the sample through the flexible deformation of the flexible deformation plate and the inward sliding of the two clamping linear motors.
Description
Technical Field
The invention relates to the technical field of sampling manipulators, in particular to a pretreatment manipulator for sampling a detection sample.
Background
With the development of the food and medicine industry, chemical components such as additives in the food and medicine are more and more complex, and the sampling pretreatment process before the detection of the food and medicine is more and more required; the traditional pretreatment method still needs to grind, heat and dissolve manually, is time-consuming and labor-consuming, and cannot achieve the detection of the grinding or dissolving degree required, meanwhile, in the sampling process, the traditional sampling tube and the subsequent pretreatment device are separately carried out, and in the transfer process after sampling, the pollution of the sample is inevitably caused; therefore, there is a need for a pretreatment manipulator for detecting a sample, which performs sampling and pretreatment simultaneously, while saving labor, thereby solving the problems that cannot be solved by the conventional sampling tube and pretreatment method.
The patent of publication No. CN115372069B provides a mechanical arm mechanism for detecting sample sampling, the device comprises a driving arm, a sampling cover and a sampling rod, the sampling rod is lifted by the spiral of a spiral sampler to intercept materials, so that the materials are prevented from being coagulated, and the sampling cover is used for realizing the grinding function of the materials by a grinding mechanism. The application thus prevents the sample from condensing in the hopper, while eliminating the manual grinding process, and improving the efficiency of the test. However, in the spiral sampler of the scheme, when larger material particles are encountered in the spiral rising process, the spiral sampler may be blocked in the spiral sampler, so that sampling failure is caused, and meanwhile, when the spiral sampler faces a liquid sample, the sampling effect is poor; the scheme can only carry out grinding pretreatment on the materials, and can not be realized when the materials need dissolution pretreatment and heating pretreatment; the scheme is when meetting super large diameter or need not the sample of preliminary treatment, can't directly clamp the sample, and when the sample that needs the atraumatic detection is faced simultaneously, the device's spiral sampler can't realize atraumatic sampling function.
Disclosure of Invention
The invention aims to provide a pretreatment manipulator for detecting sample sampling, which aims to solve the technical problems in the prior art, such as how to adapt to sampling of samples with different forms, how to realize automatic non-destructive clamping of large solid samples, how to meet pretreatment requirements of different samples, and the like.
Aiming at the technical problems, the invention adopts the following technical scheme: a pretreatment manipulator for detecting sample sampling comprises a telescopic sampling device, a pretreatment device, a telescopic mechanical arm and a flexible clamping device; the telescopic mechanical arm is fixedly provided with a pretreatment device, and the telescopic mechanical arm realizes the transverse and longitudinal telescopic extension functions through the extension of a mechanical arm transverse extension component and a second mechanical arm electric push rod; the pretreatment device is fixedly provided with a telescopic sampling device; the flexible clamping device is fixedly arranged on the telescopic sampling device, and realizes the flexible clamping function of the sample through the flexible deformation of the flexible deformation plate and the inward sliding of the two clamping linear motors; the pretreatment device also comprises a grinding mechanism and a dissolving mechanism; the grinding mechanism is fixedly arranged on the dissolving mechanism, the grinding mechanism realizes the grinding function of sample particles through revolution of the grinding head and change of the rotating radius of the grinding head, and the dissolving mechanism sprays a solvent onto a sample through a dissolving water pump to realize dissolving of the sample, so that the pretreatment function of the sample is realized; the telescopic sampling device also comprises a sampling mechanism and a heating mechanism; the heating mechanism is fixedly arranged on the sampling mechanism, the sampling mechanism realizes the sucking function of food or medicine samples through the extension of the telescopic sampling tube and the suction of the sampling suction assembly, and the heating mechanism realizes the preheating function of the samples through the electrifying and heating of the electric heating resistance wire.
Further, the sampling mechanism comprises a telescopic sampling tube, a sampling support shell, a first sampling elastic hose, a sampling air suction component, a second sampling elastic hose, a sampling gear, a one-way gate component and a sampling motor; the two ends of the first sampling elastic hose are respectively and fixedly arranged on the telescopic sampling tube and the sampling air suction assembly, and meanwhile, the first sampling elastic hose can be elastically telescopic; the sampling air suction component is fixedly arranged on the sampling support shell; two ends of the second sampling elastic hose are respectively fixedly arranged on the sampling air suction component and the unidirectional gate component; the unidirectional gate assembly is fixedly arranged on the sampling test tube; the sampling gear is hinged on the sampling motor; the sampling motor is fixedly arranged on the sampling support shell; the telescopic sampling tube also comprises a sampling tube body and a sampling rack; the sampling tube body is slidably arranged on the sampling support shell; the sampling rack is fixedly arranged on the sampling tube body, the sampling rack is further arranged on the sampling support shell in a sliding mode and used for driving the sampling tube body to slide up and down and limiting rotation of the sampling tube body, and meanwhile, the sampling rack and the sampling gear form a gear-rack pair.
Further, the heating mechanism comprises a water inlet, a sampling test tube, an annular power supply, a sample discharge port and an electric heating resistance wire; the sampling test tube is fixedly arranged on the sampling support shell, and the sampling test tube is also provided with a water inlet and a sample outlet; the annular power supply is fixedly arranged on the sampling test tube, and meanwhile, the annular power supply is also fixedly arranged on the sampling support shell; the electric thermal resistance wire is fixedly wound on the lower half part of the sampling test tube, and meanwhile, the electric thermal resistance wire is also connected with the anode and the cathode of the annular power supply through a lead.
Further, the sampling and sucking assembly comprises a sucking supporting plate, a sample temporary storage box, a sucking air pump, a gas filter screen, a first vent and a second vent; the two ends of the air suction supporting plate are respectively fixedly arranged on the sample temporary storage box and the sample supporting shell; the sample temporary storage box is provided with a first vent and a second vent; the first vent is fixedly connected with the first sampling elastic hose; the second vent is fixedly connected with a second sampling elastic hose; the gas filter screen is fixedly arranged on the sample temporary storage box, and the gas filter screen can only allow gas molecules to pass through; the air suction pump is fixedly arranged on the air filter screen.
Further, the one-way gate assembly comprises a gate motor, a gate supporting wall, a fixed gate, a gate connecting shaft and a movable gate; the gate motor is fixedly arranged on the gate supporting wall; the gate support wall is fixedly arranged on the second sampling elastic hose, and meanwhile, the gate support wall is also fixedly arranged on the sampling test tube; the fixed gate is fixedly arranged on the gate supporting wall; the gate connecting shaft is hinged on the gate motor; the movable gate is fixedly arranged on the gate connecting shaft.
Further, the grinding mechanism comprises a first grinding electric push rod, a grinding mounting disc, a grinding sliding block, a grinding motor, a grinding head, a second grinding electric push rod and a grinding rotary disc; the first grinding electric push rod is fixedly arranged on the grinding installation disc; the grinding installation disc is fixedly arranged on the sampling test tube, and meanwhile, the grinding installation disc is also fixedly arranged on the dissolution installation disc; the grinding slide block is slidably arranged on the grinding turntable, and meanwhile, the grinding slide block is also fixedly arranged on the second grinding electric push rod; the grinding motor is fixedly arranged on the first grinding electric push rod; the grinding turntable is hinged on the grinding motor; the second grinding electric push rod is fixedly arranged on the grinding turntable; the grinding head is fixedly arranged on the grinding slide block.
Further, the dissolving mechanism comprises a dissolving water pump, a solvent storage tank, a dissolving pipeline, a supporting connecting plate and a dissolving mounting plate; the solvent storage tank is fixedly arranged on the dissolution installation plate; the supporting connecting plate is fixedly arranged on the dissolution installation plate through bolts; the dissolving water pump is fixedly arranged on the solvent storage tank; two ends of the dissolving pipeline are respectively and fixedly arranged on the dissolving water pump and the water inlet; the dissolving installation plate is fixedly arranged on the sampling support shell, and meanwhile, the dissolving installation plate is fixedly connected with the grinding installation plate.
Further, the flexible clamping device comprises a clamping sliding seat, a clamping electric push rod, a magnetic shaft sliding rod, an anti-slip rubber pad, a flexible deformation plate and a clamping linear motor; the clamping slide seat is fixedly arranged on the sampling support shell through a bolt; the magnetic shaft sliding rod is fixedly arranged on the clamping sliding seat, and linearly arranged magnets are arranged inside the magnetic shaft sliding rod; the clamping linear motor is arranged on the clamping sliding seat and the magnetic shaft sliding rod in a sliding manner; the flexible deformation plate is fixedly arranged on the clamping linear motor; the anti-skid rubber pad is fixedly arranged on the flexible deformation plate, and wavy bulges are arranged on the anti-skid rubber pad; the two ends of the clamping electric push rod are respectively hinged on the flexible deformation plate and the clamping linear motor.
Further, the telescopic mechanical arm comprises a first mechanical arm electric push rod, a mechanical arm transverse telescopic component, a mechanical arm connecting seat, a first mechanical arm motor, a mechanical arm hinging seat, a second mechanical arm motor and a second mechanical arm electric push rod; the first mechanical arm electric push rod is fixedly arranged on the mechanical arm transverse telescopic assembly, and is fixedly connected with the support connecting plate; the mechanical arm transverse telescopic component is fixedly arranged on the mechanical arm connecting seat through bolts and nuts; the mechanical arm connecting seat is hinged to the first mechanical arm motor, and meanwhile, the mechanical arm connecting seat is also hinged to the mechanical arm hinging seat; the first mechanical arm motor is fixedly arranged on the mechanical arm hinging seat; the mechanical arm hinging seat is hinged on the second mechanical arm motor; the second mechanical arm motor is fixedly arranged on the second mechanical arm electric push rod.
Further, the mechanical arm transverse telescopic assembly comprises a first connecting sliding seat, three parallel synchronous electric push rods and a second connecting sliding seat; the first connecting sliding seat is slidably arranged on the second connecting sliding seat, and meanwhile, the first connecting sliding seat is fixedly connected with the first mechanical arm electric push rod; the second connecting sliding seat is fixedly connected with the mechanical arm connecting seat through bolts and nuts, and meanwhile, the sliding connection of the second connecting sliding seat and the first connecting sliding seat is used for bearing radial loads of the radial three-parallel synchronous electric push rods; the two ends of the three parallel synchronous electric push rods are respectively and fixedly arranged on the first connecting sliding seat and the second connecting sliding seat.
Compared with the prior art, the invention has the beneficial effects that: (1) The pretreatment device realizes the grinding function of sample particles through the revolution of the grinding head on the grinding mechanism and the change of the rotation radius of the grinding head, and then realizes the dissolving of the sample by spraying the solvent on the sample through the dissolving water pump on the dissolving mechanism, thereby realizing the pretreatment function of the sample. (2) The telescopic sampling device realizes the sucking function of food or medicine samples by stretching out the telescopic sampling tube on the sampling mechanism and sucking air of the sampling air sucking component, and realizes the preheating function of the samples by heating the electric heating resistance wire on the heating mechanism. (3) The flexible clamping device realizes the flexible clamping function of the sample through the flexible deformation of the flexible deformation plate and the inward sliding of the two clamping linear motors.
Drawings
Fig. 1 is a schematic diagram of a general assembly structure of an operating state according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of the telescopic sampling device according to the present invention.
Fig. 3 is a schematic structural diagram of a telescopic sampling device according to the present invention.
FIG. 4 is a schematic illustration of the structure of the parts of the telescopic sampling tube according to the present invention.
FIG. 5 is a schematic diagram of a sampling inhalation assembly according to the present invention.
Fig. 6 is a schematic structural view of the one-way gate assembly of the present invention.
Fig. 7 is a schematic structural diagram of a pretreatment device according to the present invention.
Fig. 8 is a schematic structural diagram of a pretreatment device according to the present invention.
Fig. 9 is a schematic structural view of a telescopic mechanical arm according to the present invention.
Fig. 10 is a schematic structural view of a transverse telescopic assembly of a mechanical arm according to the present invention.
FIG. 11 is a schematic view of a flexible gripping device according to the present invention.
In the figure: 1-a telescopic sampling device; 2-a pretreatment device; 3-a telescopic mechanical arm; 4-a flexible gripping device; 101-telescoping sampling tube; 102-sampling support shell; 103-a first sampling elastic hose; 104-a sampling inhalation assembly; 105-water inlet; 106-a second sampling elastic hose; 107-sampling gears; 108-a one-way gate assembly; 109-sampling motor; 110-sampling test tube; 111-a ring power supply; 112-sample discharge port; 113-electric heating resistance wire; 10101-sampling tube body; 10102-sample rack; 10401-a suction support plate; 10402—sample temporary storage box; 10403-an inhalation air pump; 10404-gas screen; 10405-a first vent; 10406-a second vent; 10801-gate motor; 10802-gate support wall; 10803-fixed gate; 10804-gate connecting shaft; 10805-a movable gate; 201-a dissolution water pump; 202-a solvent storage tank; 203-dissolving pipeline; 204-supporting the connection plate; 205-a first grinding electric pushrod; 206-dissolving the mounting plate; 207-grinding the mounting plate; 208-grinding the slide block; 209-grinding motor; 210-a grinding bit; 211-a second grinding electric pushrod; 212-grinding a turntable; 301-a first mechanical arm electric push rod; 302-a mechanical arm transverse telescopic assembly; 303-a mechanical arm connecting seat; 304-a first mechanical arm motor; 305-a mechanical arm hinging seat; 306-a second mechanical arm motor; 307-a second mechanical arm electric push rod; 30201 a first connecting carriage; 30202-three parallel synchronous electric pushrods; 30203 a second connecting carriage; 401-clamping a slide; 402-clamping an electric push rod; 403-magnetic axis slide bar; 404-an anti-slip rubber pad; 405-compliant deformation plate; 406-clamp a linear motor.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Fig. 1 to 11 are preferred embodiments of the present invention.
As shown in fig. 1, a preprocessing device 2 is fixedly installed on a telescopic mechanical arm 3, and the telescopic mechanical arm 3 realizes a transverse and longitudinal telescopic extension function through the extension of a mechanical arm transverse telescopic component 302 and a second mechanical arm electric push rod 307; the pretreatment device 2 is fixedly provided with a telescopic sampling device 1; the flexible clamping device 4 is fixedly arranged on the telescopic sampling device 1, and the flexible clamping device 4 realizes the flexible clamping function of a sample through the flexible deformation of the flexible deformation plate 405 and the inward sliding of the two clamping linear motors 406; the pretreatment device 2 also comprises a grinding mechanism and a dissolving mechanism; the grinding mechanism is fixedly arranged on the dissolving mechanism, the grinding mechanism realizes the grinding function of sample particles through revolution of the grinding head 210 and change of the rotating radius of the grinding head 210, and the dissolving mechanism realizes the dissolving of the sample by spraying the solvent on the sample through the dissolving water pump 201, so that the pretreatment function of the sample is realized; the telescopic sampling device 1 also comprises a sampling mechanism and a heating mechanism; the heating mechanism is fixedly arranged on the sampling mechanism, the sampling mechanism realizes the sucking function of food or medicine samples through the extension of the telescopic sampling tube 101 and the sucking of the sampling sucking component 104, and the heating mechanism realizes the preheating function of the samples through the electrifying and heating of the electric heating resistance wire 113.
As shown in fig. 2 and 3, in the telescopic sampling apparatus 1, a heating mechanism is fixedly installed on a sampling mechanism; in the sampling mechanism, two ends of a first sampling elastic hose 103 are respectively and fixedly arranged on a telescopic sampling tube 101 and a sampling suction component 104, and meanwhile, the first sampling elastic hose 103 can be elastically telescopic; the sampling suction assembly 104 is fixedly mounted on the sampling support housing 102; two ends of the second sampling elastic hose 106 are respectively and fixedly arranged on the sampling air suction component 104 and the unidirectional gate component 108; the one-way shutter assembly 108 is fixedly mounted on the sampling test tube 110; the sampling gear 107 is hinged on a sampling motor 109; the sampling motor 109 is fixedly installed on the sampling support housing 102; in the heating mechanism, a sampling test tube 110 is fixedly arranged on a sampling support shell 102, and a water inlet 105 and a sample outlet 112 are also arranged on the sampling test tube 110; the annular power supply 111 is fixedly arranged on the sampling test tube 110, and meanwhile, the annular power supply 111 is also fixedly arranged on the sampling support shell 102; the electric thermal resistance wire 113 is fixedly wound on the lower half part of the sampling test tube 110, and meanwhile, the electric thermal resistance wire 113 is also connected with the positive electrode and the negative electrode of the annular power supply 111 through wires.
As shown in fig. 4, in the telescopic sampling tube 101, a sampling tube body 10101 is slidably mounted on a sampling support housing 102; the sampling rack 10102 is fixedly arranged on the sampling tube body 10101, the sampling rack 10102 is also slidably arranged on the sampling support shell 102 and is used for driving the sampling tube body 10101 to slide up and down and limiting the rotation of the sampling tube body 10101, and meanwhile, the sampling rack 10102 and the sampling gear 107 form a gear-rack pair; .
As shown in fig. 5, in the sampling suction assembly 104, both ends of a suction support plate 10401 are fixedly installed on a sample temporary storage box 10402 and a sampling support case 102, respectively; a first vent 10405 and a second vent 10406 are arranged on the sample temporary storage box 10402; the first vent 10405 is fixedly connected with the first sampling elastic hose 103; the second vent 10406 is fixedly connected with the second sampling elastic hose 106; a gas filter 10404 is fixedly installed on the sample temporary storage box 10402, wherein the gas filter 10404 only allows gas molecules to pass through; the suction air pump 10403 is fixedly installed on the air filter 10404.
As shown in fig. 6, in the one-way shutter assembly 108, a shutter motor 10801 is fixedly installed on a shutter support wall 10802; gate support wall 10802 is fixedly mounted to second sampling flexible hose 106, while gate support wall 10802 is also fixedly mounted to sampling tube 110; the fixed shutter 10803 is fixedly installed on the shutter support wall 10802; the gate connecting shaft 10804 is hinged to the gate motor 10801; the movable shutter 10805 is fixedly mounted to the shutter connecting shaft 10804.
As shown in fig. 7 and 8, in the pretreatment device 2, a grinder mechanism is fixedly installed on a dissolution mechanism; in the grinding mechanism, a first grinding electric pushrod 205 is fixedly mounted on a grinding mounting plate 207; the grinding mounting plate 207 is fixedly mounted on the sampling test tube 110, while the grinding mounting plate 207 is also fixedly mounted on the dissolution mounting plate 206; the grinding slide block 208 is slidably mounted on the grinding turntable 212, and meanwhile, the grinding slide block 208 is fixedly mounted on the second grinding electric push rod 211; the grinding motor 209 is fixedly installed on the first grinding electric push rod 205; the grinding turntable 212 is hinged to the grinding motor 209; the second grinding electric pushrod 211 is fixedly installed on the grinding turntable 212; the grinding bit 210 is fixedly mounted on the grinding slide 208; in the dissolution mechanism, the solvent storage tank 202 is fixedly mounted on the dissolution mounting plate 206; the support connection plate 204 is fixedly mounted on the dissolution mounting plate 206 by bolts; the dissolution water pump 201 is fixedly installed on the solvent storage tank 202; two ends of the dissolving pipeline 203 are fixedly arranged on the dissolving water pump 201 and the water inlet 105 respectively; the dissolution mounting plate 206 is fixedly mounted on the sampling support housing 102, while the dissolution mounting plate 206 is also fixedly connected with the grinding mounting plate 207.
As shown in fig. 9, in the telescopic mechanical arm 3, a first mechanical arm electric push rod 301 is fixedly mounted on a mechanical arm transverse telescopic assembly 302, and meanwhile, the first mechanical arm electric push rod 301 is fixedly connected with a support connection plate 204; the mechanical arm transverse telescopic component 302 is fixedly arranged on the mechanical arm connecting seat 303 through bolts and nuts; the mechanical arm connecting seat 303 is hinged to the first mechanical arm motor 304, and meanwhile, the mechanical arm connecting seat 303 is also hinged to the mechanical arm hinging seat 305; the first mechanical arm motor 304 is fixedly installed on the mechanical arm hinge seat 305; the mechanical arm hinging seat 305 is hinged on the second mechanical arm motor 306; the second mechanical arm motor 306 is fixedly mounted on the second mechanical arm electric push rod 307.
As shown in fig. 10, in the mechanical arm transverse telescopic assembly 302, a first connecting sliding seat 30201 is slidably mounted on a second connecting sliding seat 30203, and meanwhile, the first connecting sliding seat 30201 is fixedly connected with a first mechanical arm electric push rod 301; the second connecting sliding seat 30203 is fixedly connected with the mechanical arm connecting seat 303 through a bolt and a nut, and meanwhile, the sliding connection of the second connecting sliding seat 30203 and the first connecting sliding seat 30201 is used for bearing radial load of the radial three-parallel synchronous electric push rod 30202; two ends of the three parallel synchronous electric push rods 30202 are respectively and fixedly arranged on the first connecting sliding seat 30201 and the second connecting sliding seat 30203.
As shown in fig. 11, in the flexible gripping device 4, a gripping slider 401 is fixedly mounted on a sampling support housing 102 by bolts; the magnetic shaft slide bar 403 is fixedly arranged on the clamping slide 401, and linearly arranged magnets are arranged inside the magnetic shaft slide bar 403; the clamping linear motor 406 is slidably mounted on the clamping slide 401 and the magnetic shaft slide bar 403; compliant deformation plate 405 is fixedly mounted on clamp linear motor 406; the anti-skid rubber pad 404 is fixedly arranged on the flexible deformation plate 405, and wavy protrusions are arranged on the anti-skid rubber pad 404; the two ends of the clamping electric push rod 402 are respectively hinged on the flexible deformation plate 405 and the clamping linear motor 406.
The working principle of the invention is as follows: fig. 1 shows a use mode and a corresponding scene of the invention, the posture control of the sample sampling process is determined by the telescopic sampling device 1, the preprocessing device 2 and the flexible clamping device 4, the posture of the preprocessing device 2 is determined by the telescopic sampling device 1, and the posture of the flexible clamping device 4 is determined by the telescopic sampling device 1, so that the telescopic sampling device 1 is the core of the sample sampling process.
Taking the first embodiment as an example, when sampling a food or medicine sample with smaller particles, the telescopic mechanical arm 3 rotates by longitudinal and transverse telescopic movement and the first mechanical arm motor 304 and the second mechanical arm motor 306, so that the telescopic sampling tube 101 of the telescopic sampling device 1 reaches the position right above the sample, the telescopic sampling tube 101 of the sampling mechanism stretches out, then the sampling suction assembly 104 sucks the sample into the sampling suction assembly 104, the sampling suction assembly 104 discharges the sample into the sampling test tube 110 of the heating mechanism, then the sample is ground by the pretreatment mechanism on the pretreatment device 2, or the solvent is sprayed out by the dissolving mechanism to dissolve the sample, and meanwhile, the heating mechanism preheats the sample, thereby realizing the full pretreatment of the sample, and then the first mechanical arm motor 304 on the telescopic mechanical arm 3 rotates, so that the sampling test tube 110 is tilted upside down, and the pretreated sample is discharged from the sample discharge port 112; when the food or medicine sample with oversized particles is sampled, the telescopic mechanical arm 3 drives the flexible clamping device 4 to move to the position right above the sample, then the first mechanical arm electric push rod 301 and the second mechanical arm electric push rod 307 extend forwards, drives the flexible clamping device 4 to descend, then the clamping electric push rod 402 contracts, drives the flexible deformation plate 405 to bend and deform, enables the flexible deformation plate 405 to open, then the two clamping linear motors 406 move inwards, and the clamping electric push rod 402 extends, so that the flexible non-damage clamping of the sample is realized.
Specifically, as shown in fig. 2, 3, 4, 5 and 6, when sampling a food or medicine sample with smaller particles, the sampling motor 109 on the sampling mechanism drives the sampling gear 107 to rotate, the sampling gear 107 drives the sampling rack 10102 to slide downwards, the sampling rack 10102 drives the sampling tube body 10101 to slide downwards upwards, after sliding downwards for a little distance, the air suction pump 10403 on the sampling air suction assembly 104 is started, the sample is adsorbed into the sample temporary storage box 10402 through the telescopic sampling tube 101, the first sampling elastic hose 103 and the first air vent 10405, at this time, the sample is adsorbed on the air filter 10404 due to suction force, at this time, the air suction pump 10403 is closed, the sample vertically drops due to gravity and reaches the position of the unidirectional gate assembly 108 through the second air vent 10406 and the second sampling elastic hose 106, the gate motor 10801 on the unidirectional gate assembly 108 drives the connecting shaft 10804 to rotate, the movable gate 10805 is driven to open by the connecting shaft 10804, the sample enters the sampling tube 110 of the heating mechanism from the outlet opening between the gate support wall 10802 and the fixed gate 10803, thereby realizing the sampling function of the sampling mechanism for the sample; when the sample needs to be preheated, the annular power supply 111 passes direct current through the electric heat resistance wire 113, so that the electric heat resistance wire 113 is electrified to generate heat, and the preheating function of the heating mechanism is realized; the water inlet 105 is used for the entry of solvent; the sample discharge port 112 is used for discharging the pretreated sample.
As shown in fig. 7 and 8, when a sample needs to be subjected to polishing pretreatment, a first polishing electric push rod 205 fixedly installed on a polishing installation plate 207 extends forwards to drive a polishing motor 209 and a polishing slide block 208 to extend forwards, the polishing slide block 208 drives a polishing head 210 to extend forwards so as to be in contact with the sample, then the polishing motor 209 drives a polishing turntable 212 to rotate, the polishing turntable 212 drives the polishing slide block 208 to rotate, the polishing slide block 208 drives the polishing head 210 to rotate, and meanwhile, a second polishing electric push rod 211 drives the polishing slide block 208 to slide forwards and backwards on the polishing turntable 212, so that the polishing head 210 performs spiral rotation on a horizontal plane, and a full polishing function of a polishing mechanism on the sample is realized; when a sample needs to be dissolved, a solvent storage tank 202 fixedly installed on a dissolution installation plate 206 is filled with the solvent to be used in advance, a dissolution water pump 201 is started, so that the solvent in the solvent storage tank 202 enters the sampling test tube 110 through a dissolution pipeline 203 and a water inlet 105, and a grinding head 210 continuously performs spiral rotation at the same time, so that the full dissolution function of a dissolution mechanism on the sample is realized; the support connection plate 204 is used for a fixed connection between the pretreatment device 2 and the telescopic mechanical arm 3.
As shown in fig. 9 and 10, the telescopic function of the telescopic mechanical arm 3 in the longitudinal direction is achieved by the second mechanical arm electric push rod 307 and the first mechanical arm electric push rod 301 being telescopic in the longitudinal direction; the second mechanical arm motor 306 drives the mechanical arm hinging seat 305 to rotate, and the rotation of the mechanical arm hinging seat 305 drives the telescopic sampling device 1, the preprocessing device 2 and the flexible clamping device 4 to revolve around the central shaft of the second mechanical arm motor 306 so as to realize the large-range transfer of the sample; the first mechanical arm motor 304 drives the mechanical arm connecting seat 303 to swing up and down, and the mechanical arm connecting seat 303 swings up and down to drive the sampling test tube 110 to incline, so that a pretreated sample in the sampling test tube 110 is poured out from the sample discharge port 112, and a sample discharge function is realized; three parallel synchronous electric push rods 30202 on the mechanical arm transverse telescopic assembly 302 are telescopic, and drive a first connecting sliding seat 30201 to slide on a second connecting sliding seat 30203, so that a transverse telescopic function is realized; the sliding connection of the second connection sliding seat 30203 of the first connection sliding seat 30201 is used for bearing the radial load of the three-parallel synchronous electric push rod 30202, so that the defect that the three-parallel synchronous electric push rod 30202 cannot bear the radial load is overcome.
As shown in fig. 11, before the sample with oversized particles is clamped, the two clamping linear motors 406 slide outwards to maximize the distance between the flexible deformation plates 405, and meanwhile, the clamping electric push rods 402 shrink to drive the flexible deformation plates 405 to deform outwards to bend, so that the opening distance between the two flexible deformation plates 405 is further increased, and the opening function before clamping is realized; when a sample with oversized particles is clamped, the clamping linear motor 406 slides inwards on the clamping slide seat 401 and the magnetic shaft slide rod 403 under the action of an electromagnetic field, and meanwhile the clamping electric push rod 402 extends forwards to drive the flexible deformation plates 405 to deform inwards and bend, so that the opening distance between the two flexible deformation plates 405 is reduced, the sample is wrapped and clamped through the flexible deformation of the flexible deformation plates 405, and the friction force is increased through wavy protrusions on the anti-skid rubber pad 404, so that the non-damage clamping function is realized.
The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the present invention without inventive labor, as those skilled in the art will recognize from the above-described concepts.
Claims (5)
1. Detect pretreatment mechanical arm for sample sampling, including flexible sampling device (1), preprocessing device (2), scalable arm (3), flexible clamp and get device (4), its characterized in that: the telescopic mechanical arm (3) is fixedly provided with a pretreatment device (2), and the telescopic mechanical arm (3) realizes the transverse and longitudinal telescopic extension functions through the extension of a mechanical arm transverse extension component (302) and a second mechanical arm electric push rod (307); a telescopic sampling device (1) is fixedly arranged on the pretreatment device (2); a flexible clamping device (4) is fixedly arranged on the telescopic sampling device (1), and the flexible clamping device (4) realizes a flexible clamping function on a sample through flexible deformation of a flexible deformation plate (405) and inward sliding of two clamping linear motors (406); the pretreatment device (2) also comprises a grinding mechanism and a dissolving mechanism; the grinding mechanism is fixedly arranged on the dissolving mechanism, the grinding mechanism realizes the grinding function of sample particles through revolution of the grinding head (210) and change of the rotating radius of the grinding head (210), and the dissolving mechanism sprays solvent on a sample through a dissolving water pump (201) to realize the dissolving of the sample, so that the pretreatment function of the sample is realized; the telescopic sampling device (1) further comprises a sampling mechanism and a heating mechanism; the heating mechanism is fixedly arranged on the sampling mechanism, the sampling mechanism realizes the sucking function of food or medicine samples through the extension of the telescopic sampling tube (101) and the sucking of the sampling sucking component (104), and the heating mechanism realizes the preheating function of the samples through the electrified heating of the electric heating resistance wire (113); the sampling mechanism further comprises a telescopic sampling tube (101), a sampling support shell (102), a first sampling elastic hose (103), a sampling suction assembly (104), a second sampling elastic hose (106), a sampling gear (107), a one-way gate assembly (108) and a sampling motor (109); two ends of a first sampling elastic hose (103) are respectively and fixedly arranged on the telescopic sampling tube (101) and the sampling air suction component (104), and meanwhile, the first sampling elastic hose (103) can be elastically telescopic; the sampling suction assembly (104) is fixedly arranged on the sampling support shell (102); two ends of a second sampling elastic hose (106) are respectively fixedly arranged on the sampling air suction component (104) and the one-way gate component (108); the unidirectional gate assembly (108) is fixedly arranged on the sampling test tube (110); the sampling gear (107) is hinged on the sampling motor (109); the sampling motor (109) is fixedly arranged on the sampling support shell (102); the telescopic sampling tube (101) also comprises a sampling tube body (10101) and a sampling rack (10102); the sampling tube body (10101) is slidably arranged on the sampling support shell (102); the sampling rack (10102) is fixedly arranged on the sampling tube body (10101), the sampling rack (10102) is also slidably arranged on the sampling support shell (102) and is used for driving the sampling tube body (10101) to slide up and down and limiting the rotation of the sampling tube body (10101), and meanwhile, the sampling rack (10102) and the sampling gear (107) form a gear-rack pair; the heating mechanism also comprises a water inlet (105), a sampling test tube (110), an annular power supply (111), a sample outlet (112) and an electrothermal resistance wire (113); the sampling test tube (110) is fixedly arranged on the sampling support shell (102), and meanwhile, the sampling test tube (110) is also provided with a water inlet (105) and a sample outlet (112); the annular power supply (111) is fixedly arranged on the sampling test tube (110), and meanwhile, the annular power supply (111) is also fixedly arranged on the sampling support shell (102); the electric thermal resistance wire (113) is fixedly wound on the lower half part of the sampling test tube (110), and meanwhile, the electric thermal resistance wire (113) is also connected with the anode and the cathode of the annular power supply (111) through a lead; the grinding mechanism further comprises a first grinding electric push rod (205), a grinding mounting disc (207), a grinding sliding block (208), a grinding motor (209), a grinding head (210), a second grinding electric push rod (211) and a grinding rotary disc (212); the first grinding electric push rod (205) is fixedly arranged on the grinding installation disc (207); the grinding installation plate (207) is fixedly installed on the sampling test tube (110), and meanwhile, the grinding installation plate (207) is also fixedly installed on the dissolution installation plate (206); the grinding slide block (208) is slidably arranged on the grinding turntable (212), and meanwhile, the grinding slide block (208) is fixedly arranged on the second grinding electric push rod (211); the grinding motor (209) is fixedly arranged on the first grinding electric push rod (205); the grinding turntable (212) is hinged on the grinding motor (209); the second grinding electric push rod (211) is fixedly arranged on the grinding turntable (212); the grinding head (210) is fixedly arranged on the grinding slide block (208); the dissolving mechanism also comprises a dissolving water pump (201), a solvent storage tank (202), a dissolving pipeline (203), a supporting connecting plate (204) and a dissolving mounting plate (206); the solvent storage tank (202) is fixedly arranged on the dissolution installation plate (206); the supporting connecting plate (204) is fixedly arranged on the dissolution mounting plate (206) through bolts; the dissolving water pump (201) is fixedly arranged on the solvent storage tank (202); two ends of the dissolving pipeline (203) are respectively and fixedly arranged on the dissolving water pump (201) and the water inlet (105); the dissolving installation plate (206) is fixedly arranged on the sampling support shell (102), and meanwhile, the dissolving installation plate (206) is fixedly connected with the grinding installation plate (207); the flexible clamping device (4) further comprises a clamping sliding seat (401), a clamping electric push rod (402), a magnetic shaft sliding rod (403), an anti-slip rubber pad (404), a flexible deformation plate (405) and a clamping linear motor (406); the clamping slide seat (401) is fixedly arranged on the sampling support shell (102) through bolts; the magnetic shaft slide bar (403) is fixedly arranged on the clamping slide seat (401), and linearly arranged magnets are arranged inside the magnetic shaft slide bar (403); the clamping linear motor (406) is slidably arranged on the clamping sliding seat (401) and the magnetic shaft sliding rod (403); the flexible deformation plate (405) is fixedly arranged on the clamping linear motor (406); the anti-skid rubber pad (404) is fixedly arranged on the flexible deformation plate (405), and wavy bulges are arranged on the anti-skid rubber pad (404); the two ends of the clamping electric push rod (402) are respectively hinged on the flexible deformation plate (405) and the clamping linear motor (406).
2. The pretreatment robot for sampling a test sample according to claim 1, wherein: the sampling and sucking assembly (104) comprises a sucking supporting plate (10401), a sample temporary storage box (10402), a sucking air pump (10403), a gas filter screen (10404), a first air vent (10405) and a second air vent (10406); two ends of the air suction supporting plate (10401) are respectively fixedly arranged on the sample temporary storage box (10402) and the sampling supporting shell (102); a first vent (10405) and a second vent (10406) are arranged on the sample temporary storage box (10402); the first vent (10405) is fixedly connected with the first sampling elastic hose (103); the second vent (10406) is fixedly connected with a second sampling elastic hose (106); the gas filter screen (10404) is fixedly arranged on the sample temporary storage box (10402), and the gas filter screen (10404) can only allow gas molecules to pass through; the air suction pump (10403) is fixedly arranged on the air filter screen (10404).
3. The pretreatment robot for detecting a sample as claimed in claim 2, wherein: the one-way gate assembly (108) comprises a gate motor (10801), a gate supporting wall (10802), a fixed gate (10803), a gate connecting shaft (10804) and a movable gate (10805); the gate motor (10801) is fixedly arranged on the gate supporting wall (10802); the gate support wall (10802) is fixedly arranged on the second sampling elastic hose (106), and the gate support wall (10802) is also fixedly arranged on the sampling test tube (110); the fixed gate (10803) is fixedly arranged on the gate supporting wall (10802); the gate connecting shaft (10804) is hinged to the gate motor (10801); the movable gate (10805) is fixedly arranged on the gate connecting shaft (10804).
4. A pretreatment robot for sampling a test sample as set forth in claim 3, wherein: the telescopic mechanical arm (3) comprises a first mechanical arm electric push rod (301), a mechanical arm transverse telescopic assembly (302), a mechanical arm connecting seat (303), a first mechanical arm motor (304), a mechanical arm hinging seat (305), a second mechanical arm motor (306) and a second mechanical arm electric push rod (307); the first mechanical arm electric push rod (301) is fixedly arranged on the mechanical arm transverse telescopic assembly (302), and meanwhile, the first mechanical arm electric push rod (301) is fixedly connected with the support connecting plate (204); the mechanical arm transverse telescopic assembly (302) is fixedly arranged on the mechanical arm connecting seat (303) through bolts and nuts; the mechanical arm connecting seat (303) is hinged to the first mechanical arm motor (304), and meanwhile, the mechanical arm connecting seat (303) is also hinged to the mechanical arm hinging seat (305); the first mechanical arm motor (304) is fixedly arranged on the mechanical arm hinge seat (305); the mechanical arm hinging seat (305) is hinged on the second mechanical arm motor (306); the second mechanical arm motor (306) is fixedly arranged on the second mechanical arm electric push rod (307).
5. The pretreatment robot for sampling a test sample as claimed in claim 4, wherein: the mechanical arm transverse telescopic assembly (302) comprises a first connecting sliding seat (30201), three parallel synchronous electric push rods (30202) and a second connecting sliding seat (30203); the first connecting sliding seat (30201) is slidably arranged on the second connecting sliding seat (30203), and meanwhile, the first connecting sliding seat (30201) is fixedly connected with the first mechanical arm electric push rod (301); the second connecting sliding seat (30203) is fixedly connected with the mechanical arm connecting seat (303) through bolts and nuts, and meanwhile, the sliding connection of the second connecting sliding seat (30203) and the first connecting sliding seat (30201) is used for bearing radial load of the radial three-parallel synchronous electric push rod (30202); two ends of the three parallel synchronous electric push rods (30202) are respectively fixedly arranged on the first connecting sliding seat (30201) and the second connecting sliding seat (30203).
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| CN202311676950.1A CN117388031B (en) | 2023-12-08 | 2023-12-08 | Pretreatment manipulator for sampling detection sample |
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