CN117589549B - Tritium automatic extraction and preparation device and method based on composite high-precision detection technology - Google Patents
Tritium automatic extraction and preparation device and method based on composite high-precision detection technology Download PDFInfo
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- CN117589549B CN117589549B CN202410078432.8A CN202410078432A CN117589549B CN 117589549 B CN117589549 B CN 117589549B CN 202410078432 A CN202410078432 A CN 202410078432A CN 117589549 B CN117589549 B CN 117589549B
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- 238000001514 detection method Methods 0.000 title claims abstract description 54
- YZCKVEUIGOORGS-NJFSPNSNSA-N Tritium Chemical compound [3H] YZCKVEUIGOORGS-NJFSPNSNSA-N 0.000 title claims abstract description 29
- 229910052722 tritium Inorganic materials 0.000 title claims abstract description 29
- 238000002360 preparation method Methods 0.000 title claims abstract description 26
- 238000000605 extraction Methods 0.000 title claims abstract description 21
- 238000005516 engineering process Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims description 29
- 239000002131 composite material Substances 0.000 title claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 46
- 239000007788 liquid Substances 0.000 claims description 90
- 230000007246 mechanism Effects 0.000 claims description 86
- 238000001704 evaporation Methods 0.000 claims description 42
- 238000003860 storage Methods 0.000 claims description 42
- 230000008020 evaporation Effects 0.000 claims description 31
- 238000002347 injection Methods 0.000 claims description 26
- 239000007924 injection Substances 0.000 claims description 26
- 238000012544 monitoring process Methods 0.000 claims description 21
- 238000005303 weighing Methods 0.000 claims description 20
- 238000005070 sampling Methods 0.000 claims description 19
- 238000004140 cleaning Methods 0.000 claims description 15
- 239000000243 solution Substances 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 9
- 238000001816 cooling Methods 0.000 claims description 8
- 239000000110 cooling liquid Substances 0.000 claims description 8
- 239000003814 drug Substances 0.000 claims description 8
- 238000010992 reflux Methods 0.000 claims description 8
- 239000002699 waste material Substances 0.000 claims description 7
- 238000005485 electric heating Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 239000002994 raw material Substances 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 4
- 229940079593 drug Drugs 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000012530 fluid Substances 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000009833 condensation Methods 0.000 description 2
- 230000005494 condensation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 238000004821 distillation Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000000941 radioactive substance Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/42—Low-temperature sample treatment, e.g. cryofixation
-
- 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
- G01N1/38—Diluting, dispersing or mixing samples
-
- 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
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T7/00—Details of radiation-measuring instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T7/00—Details of radiation-measuring instruments
- G01T7/02—Collecting means for receiving or storing samples to be investigated and possibly directly transporting the samples to the measuring arrangement; particularly for investigating radioactive fluids
Abstract
The invention discloses a tritium automatic extraction preparation device and a tritium automatic extraction preparation method based on a combined type high-precision detection technology. The invention can automatically prepare and inject sample water, automatically take and transport the sample bottle, disassemble and assemble the sample bottle cap, automatically detect whether the sample bottle cap is screwed up or not and accurately installed, shake the solution in the sample bottle uniformly, weigh and automatically arrange and store the detected sample bottle in order, has high automation degree, does not need manual operation, and simultaneously detects whether the bottle cap is screwed up or not and whether the bottle cap is accurately installed or not, and controls to disassemble, assemble and detect again if the bottle cap is inclined, until the bottle cap is accurately and tightly installed on the sample bottle, thereby avoiding leakage.
Description
Technical Field
The invention relates to tritium preparation and automatic detection and storage, in particular to a tritium automatic extraction preparation device and method based on a compound high-precision detection technology.
Background
Tritium is a radioactive substance with a half-life of 12.6 years. The tritium in the air eventually forms mostly tritium water-steam which enters the water cycle with normal water, thus exposing the human to radiation. In the environment protection work, monitoring the content of tritium in water and air is widely regarded internationally, and in the existing tritium monitoring method, an indirect measurement method is obviously superior to other methods, and the principle is that an air tritium water sample is prepared by a condensation air method, the water sample is brought back to a laboratory, tritium sample purification is carried out by an artificial distillation concentration method, then the water sample and scintillation liquid are quantified to sample bottles according to a certain proportion, and finally the sample bottles are put into an instrument one by one for analysis.
The existing detecting instrument is characterized in that the collected rainwater is required to be prepared into sample water through manpower when the existing detecting instrument detects each time, then the sample water and the scintillation liquid are injected into the sample bottle after the sample bottle is taken out manually, then the sample bottle is evenly mixed and weighed, the sample bottle is placed into the detecting instrument to be detected after the sample bottle is finished, the sample bottle is taken out to be stored after the detection is finished, the efficiency is low, the work before each detection needs to be manually operated, the personnel is in a monitoring room for a long time to be radiated for a long time, the physical health of operators is affected, therefore, an automatic device for operating the sample bottle is required to be provided, so that the operators only need to fill the empty sample bottle regularly and take away the stored sample bottle, the sample bottle is required to be disassembled when the sample bottle is processed, the sample water and the scintillation liquid are injected after the bottle cap is disassembled, then the bottle cap is installed on the sample bottle, the bottle cap is often required to be unscrewed, or the bottle cap is obliquely installed on the sample bottle due to position deviation, and sealing problem of the sample bottle cap is caused when the bottle cap is screwed, and leakage is easy to occur. Therefore, a tritium automatic extraction preparation device and method based on a combined type high-precision detection technology are provided.
Disclosure of Invention
The invention aims to solve the problems and provides a tritium automatic extraction and preparation device and method based on a composite high-precision detection technology.
In order to achieve the aim, the invention provides the tritium automatic extraction and preparation device based on the combined type high-precision detection technology, which comprises a pretreatment device for pretreatment of sample water, a control system, a rack and a joint robot arranged on the rack, wherein a bottle cap detacher is arranged on the joint robot, and a clamping device for clamping a sample bottle is connected to the bottle cap detacher; the device is characterized by also comprising a clamping mechanism arranged on the frame and a monitoring mechanism arranged on the clamping mechanism for monitoring the bottle cap state of the sample bottle;
the clamping mechanism comprises a base frame connected to the frame, a swivel seat movably connected to the base frame, an elastic piece arranged on the swivel seat and the base frame and used for limiting and resetting the position of the swivel seat, a clamping actuator connected to the swivel seat and used for executing clamping action, and a clamping jaw arranged on the clamping actuator;
the monitoring mechanism comprises a proximity switch which is connected to the base frame and used for detecting the rotating state of the swivel base to detect the screwing state of the bottle cap;
The pretreatment device comprises a pretreatment machine box arranged on a rack, a liquid storage tank arranged in the pretreatment machine box, an evaporation chamber connected with the liquid storage tank through a pipeline, and an injection pump connected with the evaporation chamber and used for quantitatively injecting medicines into the evaporation chamber.
Further preferably, the sample bottle further comprises a laser sensor arranged on the clamping device for detecting the skew state of the bottle cap on the sample bottle.
Further preferably, the device also comprises a sample bottle bracket arranged on the frame and a bottle cap feeding mechanism for automatically feeding the bottle caps; the bottle cap feeding mechanism comprises a U-shaped framework connected to the frame, a driver arranged on the U-shaped framework, a screw rod movably arranged on the U-shaped framework and connected with the driver, a nut seat arranged on the screw rod, and a bottle cap pushing piece connected with the nut seat; the U-shaped framework is also provided with a charging barrel, one end of the bottle cap pushing piece extends into the charging barrel and is used for driving the bottle cap to move up and down in the charging barrel, the U-shaped framework is also provided with a second inductor for inducing whether the bottle cap is in place, and the second inductor is located at one side of the discharging end of the charging barrel.
Further preferably, the device further comprises a shaking mechanism arranged on the frame and used for shaking the sample bottles evenly and a weighing device used for weighing the sample bottles.
Further preferably, the shaking mechanism comprises a vibrating shaking instrument arranged on the frame; the device also comprises a shaking guide frame connected to the frame, a driving shaft with one end movably mounted on the shaking guide frame, a motor with the other end penetrating through the shaking guide frame, a guide rod arranged on the shaking guide frame, a reciprocating seat slidably mounted on the guide rod, and a reset spring mounted on the guide rod and used for driving the reciprocating seat to reset; the reciprocating motion seat is provided with a guide post matched with the guide chute, the guide post moves in the guide chute, and the guide chute is divided into a driving section and a resetting section.
Further preferably, the shaking mechanism comprises a shaking motor connected to the frame and a second clamping device arranged on the shaking motor.
Further preferably, the device further comprises a storage mechanism arranged on the rack and used for storing the measured sample bottles; the storage mechanism comprises a slideway type box body which is arranged on the rack and can be pulled out, a throwing opening is arranged on the rack and is communicated with the slideway type box body, a baffle plate which forms a slideway in the slideway type box body is arranged on the rack, and a pusher which is arranged at one end of the slideway type box body and is used for pushing the sample bottle into the slideway type box body is arranged on the rack.
Further preferably, the inlet end, the tail end and the middle section of the slideway are provided with inductors for sensing the sample bottle; a plurality of elastic sheets for supporting, protecting and limiting the position of the sample bottle are also arranged in the slide way; the slide still be provided with sample bottle state adjustment mechanism in, sample bottle state adjustment mechanism contain one end through hinge movable mounting on the adjusting part of slide formula box, install the driver that is used for driving the adjusting part and adjust sample bottle state in slide formula box bottom.
Further preferably, the device further comprises a condensing chamber connected with the evaporating chamber through a pipeline, a liquid collecting chamber connected with the condensing chamber through a pipeline, and a cleaning tank connected with the evaporating chamber and the liquid storage tank through a pipeline and used for cleaning the evaporating chamber and the liquid storage tank; the injection pump is connected with a medicine storage barrel; an electric heating coil is wound on the outer side of the evaporation chamber, and a plurality of inlets and drain outlets are arranged on the evaporation chamber; a spiral cooling pipe connected with a pipeline for improving the cooling effect is arranged in the condensing chamber, and a cooling liquid inlet and a cooling liquid outlet are also arranged on the condensing chamber; the liquid collecting chamber is also connected with a metering pump through a pipeline, the metering pump is connected with a reflux valve and a sample injection valve through a pipeline, the reflux valve is communicated with the evaporation chamber through a pipeline, and the sample injection valve is connected with a sample water sample injection head through a pipeline;
The pretreatment machine box is internally provided with a scintillation liquid raw material barrel which is connected with a pump through a pipeline, and the pump is connected with a scintillation liquid sample injection head through a pipeline; the frame is also provided with a plurality of positioning ports for placing a sample water sampling head and a scintillation liquid sampling head;
the liquid storage tank is connected with a pump through a pipeline, and the cleaning tank is also communicated with the pump through a pipeline;
the evaporation chamber is provided with a liquid level monitoring tube for detecting the liquid level in the evaporation chamber, and a liquid level sensor is arranged on the liquid level monitoring tube; the pretreatment machine box is also internally provided with a waste liquid barrel which is communicated with the liquid storage tank, the liquid collecting chamber and the cleaning tank through pipelines.
The control method of the tritium automatic extraction preparation device based on the combined type high-precision detection technology is characterized by comprising the following steps of:
a. firstly, working parameters of a joint robot, a clamping mechanism, a shaking mechanism, a weighing device and a storage mechanism are set; setting a standard deviation value in a control system when the bottle cap is twisted or not;
b. the control system controls the joint robot to move to the clamping mechanism and then take points on the clamping device, the laser sensor is used for measuring the distance after taking the points, then a plurality of points are taken in the same mode and are used for measuring the distance, measured data are sent to the control system and then are compared through calculation to obtain a difference value, and the difference value at the moment is an inclination deviation value existing in the clamping mechanism and is used as a compensation value when whether a follow-up bottle cap is screwed or not to be detected;
c. The control system controls the joint robot to drive the clamping device to clamp the sample bottle from the sample bottle support, and then controls the clamping actuator to drive the clamping jaw to clamp the sample bottle after the sample bottle is placed on the clamping mechanism;
d. after the clamping executor clamps the sample bottle, the joint robot sequentially grabs the sample water sampling head and the scintillation liquid sampling head to inject quantitative sample water and scintillation liquid into the sample bottle or the control system controls the bottle cap dismounting device to act to drive the clamping device to rotate, the bottle cap of the sample bottle is driven to rotate when the clamping device rotates, and the joint robot sequentially grabs the sample water sampling head and the scintillation liquid sampling head to inject quantitative sample water and scintillation liquid into the sample bottle after the bottle cap is unscrewed from the sample bottle;
e. after injection, the joint robot clamps the bottle cap and moves the bottle cap to the sample bottle, then the bottle cap remover is controlled to start, the bottle cap remover drives the clamp and the bottle cap to rotate reversely, the bottle cap is arranged on the sample bottle when rotating, when the bottle cap screwing process is carried out, the bottle cap remover drives the bottle cap to rotate when the rotating force of the bottle cap is larger than the pulling force of the elastic piece, the whole swivel base is driven to rotate, after the swivel base rotates and contacts with the proximity switch arranged on the base frame, the proximity switch sends a signal to the control system, and the control system controls the bottle cap remover to stop acting, so that the bottle cap is judged to be screwed at the moment;
f. Then the joint robot releases the bottle cap and moves upwards for a set distance, then the laser sensor is used for taking points on the bottle cap and measuring distance, one point is moved after finishing the distance measurement, a plurality of points are taken on the bottle cap in the same way and measured distance is measured, then measured data are sent to the control system, and the control system compares the measured data difference values; the measured data difference value is combined with the compensation value to obtain an accurate data difference value;
g. if the measured accurate data difference value is within the set standard difference value, the bottle cap is accurately arranged on the sample bottle; if the measured data difference exceeds the standard difference, the bottle cap is installed askew, and the bottle cap needs to be installed again;
h. the control system controls the joint robot to unscrew the bottle cap and then reinstall the bottle cap, and then multipoint distance measurement and comparison are carried out again after the bottle cap is installed until the bottle cap is accurately installed on the sample bottle;
i. if the detection is wrong again, temporarily judging that the secondary bottle cap is in a problem, re-grabbing a bottle cap from an automatic bottle cap feeding mechanism after the bottle cap is unscrewed for re-installation, entering the next working procedure after the bottle cap is installed, if the detection is failed, judging that the sample bottle is in a problem at the moment, placing the sample bottle on an empty sample bottle support after the sample bottle is grabbed by an articulated robot, and then grabbing the sample bottle at the next working position for operation; if the problem of unqualified detection still occurs, the control system controls the whole equipment to stop and sends a signal to an operator to inform the operator that the equipment fails and the equipment needs to be checked and maintained on site;
j. After the detection is qualified, the control system grabs the sample bottle, then places the sample bottle on the shaking mechanism, and then shakes the solution in the sample bottle through the shaking mechanism;
k. after shaking, the joint robot grabs the sample bottle and then places the sample bottle on a weighing device for weighing, after weighing, the joint robot grabs the sample bottle and then sends the sample bottle to a detection mechanism for detection, and after detection, the joint robot drops the sample bottle into a slideway type box body through a drop port;
when the sensor at the inlet of the slideway in the slideway type box body senses the sample bottle, a signal is sent to the control system, the control system controls the pusher to start, the pusher drives the pushing block to move forwards, and the sample bottle at the outlet is moved forwards by one station along the slideway;
m, under the stacking of a plurality of sample bottles, after sensing the sample bottles by an inductor arranged at the middle section of a slideway, sending a signal to a control system, informing the control system of the stacking quantity of the sample bottles in the slideway type box body and the remaining stacking quantity, at the moment, after receiving the signal sent by the inductor at the middle section, the control system knows the quantity of the sample bottles stored in the slideway type box body at the moment, comparing the quantity of the sample bottles with the pushing times of a pusher, if the pushing times are consistent, indicating that the sample bottles do not topple, and carrying out the operation of the next procedure;
n, if the sample bottles are inconsistent, the phenomenon of toppling occurs, the control system controls the driver to start, the driver drives the adjusting piece to overturn, the righting work is carried out on the sample bottle at the forefront end during the overturning, and the normal work is continued after the righting;
a sensor arranged at the tail end of the slideway senses the sample bottle and then sends a signal to the control system to inform the control system that the sample bottle in the slideway type box body is full, and the sample bottle cannot be put in later; and meanwhile, the control system sends a signal to an operator to inform the operator that the sample bottle in the slideway type box body needs to be processed.
The invention has the beneficial effects that: through the setting of this device, automatic preparation and the injection of sample water carry out, automatic take of sample bottle, transport, the dismouting of sample bottle lid, whether screw up and install accurately and carry out automated inspection when installing the sample bottle lid, shake even to the solution in the sample bottle, weigh and automatic carry out automatic orderly range storage to the sample bottle that accomplishes the detection, degree of automation is high, need not manual control, simultaneously whether screw up the bottle lid and whether the bottle lid installation is accurate through, whether there is the slope to detect, if there is the state of slope then control again dismouting and detection, until the bottle lid is accurate and the installation of screwing up on the sample bottle, avoid taking place the problem of leakage.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the clamping mechanism in the present invention;
FIG. 3 is a schematic view of a part of the structure of the manipulator according to the present invention;
FIG. 4 is a schematic view of a portion of the storage mechanism of the present invention;
FIG. 5 is a schematic view of the structure of the storage mechanism according to the present invention;
FIG. 6 is a schematic view of a partial cross-sectional structure of a spring plate according to the present invention;
FIG. 7 is a schematic cross-sectional view of the centering mechanism of the present invention;
FIG. 8 is a schematic view of another embodiment of a shaking mechanism according to the present invention;
FIG. 9 is a schematic structural view of a bottle cap feeding mechanism in the invention;
FIG. 10 is a schematic view of another view angle structure of the feeding mechanism of the bottle cap according to the present invention;
FIG. 11 is a schematic partial structure of another embodiment of a shaking apparatus according to the present invention;
FIG. 12 is a schematic partial structure of another embodiment of a shaking apparatus according to the present invention;
FIG. 13 is a schematic view showing the structure of a sample water pretreatment apparatus according to the present invention;
FIG. 14 is a schematic view showing a partial structure of a sample water pretreatment apparatus according to the present invention;
FIG. 15 is a schematic view showing a cross-sectional structure of a condensing chamber according to the present invention;
fig. 16 is a schematic diagram of a control flow in the present invention.
Legend description: 1. a frame; 11. a sample bottle holder; 2. a joint robot; 21. a bottle cap disassembling and assembling device; 22. a clamp; 3. a clamping mechanism; 31. a base frame; 32. rotating base; 33. an elastic member; 34. a clamping actuator; 35. a clamping jaw; 4. a proximity switch; 41. a laser sensor; 5. a bottle cap feeding mechanism; 51. a U-shaped framework; 52. a driver; 53. a screw rod; 54. a nut seat; 55. a bottle cap pushing member; 56. a second sensor; 57. a charging barrel; 6. a weighing device; 7. a vibrating shaking-up instrument; 72. Shaking up the guide frame; 73. a drive shaft; 74. a motor; 75. a guide rod; 76. a reciprocating motion seat; 77. a return spring; 78. a guide chute; 79. a guide post; 710. a drive section; 711. a reset section; 712. shaking up the motor; 713. a second clamping device; 8. a storage mechanism; 81. a slideway type box body; 82. a delivery port; 83. a baffle; 84. a pusher; 86. an inductor; 87. a spring plate; 89. an adjusting member; 810. adjusting the driver; 9. a pretreatment device; 91. a pre-processor chassis; 92. a liquid storage tank; 93. an evaporation chamber; 94. a syringe pump; 95. a condensing chamber; 96. a liquid collection chamber; 97. a cleaning tank; 98. an electric heating coil; 99. an inlet; 910. a sewage outlet; 911. a spiral cooling tube; 912. a cooling liquid inlet; 913. a cooling liquid outlet; 914. a conductivity sensor; 915. a metering pump; 916. a return valve; 917. a sample injection valve; 918. a sample water injection head; 919. a scintillation liquid raw material barrel; 920. a scintillation liquid sample injection head; 921. a liquid level monitoring tube; 922. a medicine storage barrel; 923. a waste liquid barrel; 924. a liquid level sensor.
Detailed Description
The tritium automatic extraction and preparation device and method based on the combined high-precision detection technology are further described below with reference to the accompanying drawings.
It should be noted that all directional indications such as up, down, left, right, front, and rear … … in the embodiments of the present invention are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture such as that shown in the drawings, and if the specific posture is changed, the directional indication is changed accordingly.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are used in a broad sense, and may be either fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1-16, the tritium automatic extraction and preparation device based on the combined type high-precision detection technology comprises a control system, a rack 1 and an articulated robot 2 arranged on the rack 1, wherein a bottle cap detacher 21 is arranged on the articulated robot 2, and a clamping device 22 for clamping a sample bottle is connected to the bottle cap detacher 21; the device is characterized by further comprising a clamping mechanism 3 arranged on the frame 1 and a monitoring mechanism arranged on the clamping mechanism 3 for monitoring the state of the bottle cap of the sample bottle, wherein the clamping mechanism 3 comprises a base frame 31 connected on the frame 1, a swivel seat 32 movably connected on the base frame 31, an elastic piece 33 arranged on the swivel seat 32 and the base frame 31 and used for limiting and resetting the position of the swivel seat 32, a clamping actuator 34 connected on the swivel seat 32 and used for executing clamping action, and a clamping jaw 35 arranged on the clamping actuator 34, and the monitoring mechanism comprises a proximity switch 4 connected on the base frame 31 and used for detecting the rotating state of the swivel seat 32 to detect the screwing state of the bottle cap; the pretreatment device 9 is used for pretreating the sample water, and the pretreatment device 9 comprises a pretreatment machine box 91 arranged on the frame 1, a liquid storage tank 92 arranged in the pretreatment machine box 91, an evaporation chamber 93 connected with the liquid storage tank 92 through a pipeline, and a syringe pump 94 connected with the evaporation chamber 93 and used for quantitatively injecting medicines into the evaporation chamber 93;
Through the arrangement of the device, the preparation and injection of sample water are automatically carried out, the sample bottle is automatically taken, transported, the sample bottle cap is automatically disassembled and assembled, whether the sample bottle cap is screwed up or not and whether the sample bottle cap is accurately and automatically detected during installation, solutions in the sample bottle are uniformly shaken and weighed, and the sample bottle after detection is automatically and orderly arranged and stored, so that the automation degree is high, manual control is not needed, meanwhile, whether the bottle cap is screwed up or not and whether the bottle cap is accurately installed or not is detected, and whether the bottle cap is inclined or not is detected, if the bottle cap is inclined, the disassembly, assembly and the detection are controlled again until the bottle cap is accurately and tightly installed on the sample bottle, and the problem of leakage is avoided;
through the arrangement of the swivel base 32, the elastic piece 33 connecting the swivel base 32 and the base frame 31 and the proximity switch 4, the position of the swivel base 32 is limited by pulling the swivel base 32 to two sides through the elastic pieces 33 on two sides, when the rotating force applied to a sample bottle when the bottle cap is screwed is smaller than the pulling force of the elastic piece 33, the swivel base 32 cannot rotate, when the force applied to the sample bottle when the bottle cap is screwed is larger than the pulling force of the elastic piece 33 due to screwing in the rotating process, the swivel base 32 overcomes the pulling force of the elastic piece 33 to rotate, once the swivel base 32 contacts with the proximity switch 4 during rotation, the proximity switch 4 sends a signal to a control system, and the control system judges that the bottle cap is screwed at the moment and controls the bottle cap remover to stop acting; the elastic piece can adopt tension springs, springs and the like.
In one embodiment, the sample bottle further comprises a laser sensor 41 provided on the gripper 22 for detecting whether the sample bottle cap is accurately mounted on the sample bottle;
firstly, the joint robot 2 drives the laser sensor 41 to take points on the clamp 22, the laser sensor 41 is used for ranging after taking the points, then a plurality of points are taken in the same way and are used for ranging, the measured data are sent to the control system and are compared through calculation to obtain a difference value, and the difference value at the moment is an inclination deviation value of the clamp mechanism and is used as a compensation value when whether a follow-up bottle cap is screwed or not to be detected;
after the bottle cap is screwed up, taking a point on the bottle cap through a laser sensor 41 arranged on the clamp 22 and measuring the distance, moving after finishing the distance measurement of one point, taking a plurality of points on the bottle cap in the same way and measuring the distance, transmitting the measured data to a control system, comparing the measured data by the control system to obtain a difference value, compensating the obtained difference value by combining a compensation value to obtain a final accurate difference value, comparing the accurate difference value with a set standard difference value, judging whether the bottle cap is screwed up or not, if the difference value exceeds the standard difference value, indicating that the bottle cap is inclined, reinstalling, controlling the joint robot 2 to unscrew the bottle cap, screwing up again in the screwing up process, detecting whether screwing up is performed again or not until the detected difference value is within the standard difference value, and judging that the bottle cap is accurately screwed up and mounted on a sample bottle;
If the same bottle cap and the same sample bottle are twisted and distorted continuously twice in the detection process, the bottle cap or the sample bottle is determined to have the problem of non-adaptation; at the moment, after replacing one bottle cap, carrying out installation detection again, if the bottle cap is detected to be qualified, carrying out the next process, if the bottle cap is still detected to be unqualified, judging that the sample bottle has a problem, taking the sample bottle from the clamping mechanism 3 by the joint robot 2, placing the sample bottle on the empty sample bottle bracket 11 for temporary storage, and then taking a new sample bottle again for operation; if the problem still exists after the detection, the control system controls the whole equipment to stop and sends a signal to an operator to inform the operator that the operator needs to go to the site to check the problem and maintain the equipment;
in one embodiment, the device also comprises a sample bottle bracket 11 arranged on the rack 1 and a bottle cap feeding mechanism 5 for automatically feeding the bottle caps; the bottle cap feeding mechanism 5 comprises a U-shaped framework 51 connected to the frame 1, a driver 52 arranged on the U-shaped framework 51, a screw rod 53 movably arranged on the U-shaped framework 51 and connected with the driver 52, a nut seat 54 arranged on the screw rod 53, and a bottle cap pushing piece 55 connected with the nut seat 54; the U-shaped framework 51 is also provided with a charging barrel 57, one end of a bottle cap pushing piece 55 extends into the charging barrel 57 and is used for driving the bottle cap to move up and down in the charging barrel 57, the U-shaped framework 51 is also provided with a second inductor 56 for sensing whether the bottle cap is in place, and the second inductor 56 is positioned at one side of the discharging end of the charging barrel 57;
The sample bottle support 11 is used for stacking a plurality of empty sample bottles and sample bottles with problems in subsequent screwing detection, and an operator only needs to place the sample bottles on the sample bottle support 11 and take the sample bottles with problems out at regular intervals;
when the bottle cap feeding mechanism 5 is used for feeding, the driver 52 drives the screw rod 53 to rotate, the screw rod 53 drives the nut seat 54 to rotate, the nut seat 54 drives the bottle cap pushing piece 55 arranged on the nut seat 54 to act, when the second sensor 56 arranged on the top of the U-shaped framework 51 and used for detecting the bottle cap senses the bottle cap, a signal is sent to the control system, the control system controls the driver 52 to stop acting, meanwhile, a signal that the bottle cap is in place is obtained, and when the bottle cap needs to be taken, the joint robot 2 can be directly controlled to grasp the bottle cap.
In one embodiment, the device also comprises a shaking mechanism arranged on the frame 1 and used for shaking up the sample bottles and a weighing device 6 used for weighing the sample bottles; through shaking the setting of mechanism for shake scintillation liquid and sample water in the sample bottle even, the sample bottle that sets up that is used for through the weighing machine weighs.
In one embodiment, the shaking-up mechanism comprises a vibrating shaking-up instrument 7 arranged on the frame 1; the device also comprises a shaking guide frame 72 connected to the frame 1, a driving shaft 73 with one end movably mounted on the shaking guide frame 72, a motor 74 with the other end of the driving shaft 73 penetrating through the shaking guide frame 72, a guide rod 75 arranged on the shaking guide frame 72, a reciprocating seat 76 slidably mounted on the guide rod 75, and a return spring 77 mounted on the guide rod 75 and used for driving the reciprocating seat 76 to return; a guiding chute 78 is arranged on the periphery of the driving shaft 73, a guide post 79 matched with the guiding chute 78 is arranged on the reciprocating seat 76, the guide post 79 moves in the guiding chute 78, and the guiding chute 78 is divided into a driving section 710 and a resetting section 711;
When the solution in the sample bottle is uniformly shaken, the sample bottle can be directly driven to vibrate by the vibration type shaking instrument 7 so as to uniformly shake the solution in the sample bottle;
the vibration type shaking instrument 7 can drive the sample bottle to vibrate and simultaneously drive the driving shaft 73 to rotate through the motor 74, the driving shaft 73 forms thrust to the guide pillar 79 through the guide chute 78 in the rotating process so that the guide pillar 79 moves along the guide chute 78, when the vibration type shaking instrument is positioned at the driving section 710, the reciprocating seat 76 and the vibration type shaking instrument 7 move forwards, and when the vibration type shaking instrument is positioned at the resetting section 711, the reciprocating seat 76 and the vibration type shaking instrument 7 are driven to move backwards through the elastic force of the reset spring 77, so that the vibration type shaking instrument 7 is driven to reciprocate forwards and backwards in the continuous rotating process of the motor 74, and the solution in the sample bottle can be uniformly shaking by matching with the vibration of the vibration type shaking instrument 7.
In one embodiment, the shaking mechanism comprises a shaking motor 712 connected to the frame 1 and a second clamping device 713 arranged on the shaking motor 712;
in the embodiment, after the sample bottle is clamped by the two clamping devices 713, the sample bottle is driven to shake back and forth by the shaking motor 712 to shake uniformly; the shaking-up motor 712 may be a rotary cylinder or a motor; the second clamping device 713 may employ a clamping cylinder.
In one embodiment, the device further comprises a storage mechanism 8 arranged on the rack 1 and used for storing the sample bottles after measurement; the storage mechanism 8 comprises a slide way type box body 81 which is arranged on the machine frame 1 and can be pulled out, a throwing opening 82 is arranged on the machine frame 1, the throwing opening 82 is communicated with the slide way type box body 81, a baffle 83 which is arranged in the slide way type box body 81 and forms a slide way is arranged in the slide way box body 81, and a pusher 84 which is arranged on the machine frame 1 and is positioned at one end of the slide way type box body 81 and used for pushing a sample bottle into the slide way box body 81;
the inlet end, the tail end and the middle section of the slideway are provided with sensors 86 for sensing the sample bottles; a plurality of elastic sheets 87 for supporting, protecting and limiting the position of the sample bottle are also arranged in the slide way; the slide way is internally provided with a sample bottle state adjusting mechanism, and the sample bottle state adjusting mechanism comprises an adjusting piece 89, an adjusting driver 810 and a control unit, wherein one end of the adjusting piece 89 is movably arranged on the slide way box body 81 through a hinge, and the adjusting driver 810 is arranged at the bottom of the slide way box body 81 and used for driving the adjusting piece 89 to adjust the state of the sample bottle;
through the arrangement of the elastic sheet 87, a concave table which is adapted to the elastic sheet 87 is arranged at the bottom of the sample bottle, when the sample bottle is arranged in the slideway, the elastic sheet 87 is clamped at the concave table through the elastic force of the elastic sheet 87 to limit the position of the sample bottle, when the sample bottle is pushed, the sample bottle contacts with the elastic sheet 87 and applies extrusion force to the elastic sheet 87 to drive the elastic sheet 87 to shrink downwards until the elastic sheet 87 is clamped at the concave table through the reset force of the elastic sheet 87 after the sample bottle moves forwards by one station after no extrusion force is applied; because the front-end sample bottle does not have the front-end sample bottle for blocking, the front-end sample bottle is easy to topple due to resistance and other reasons on the bottom in the forward pushing process, the sample bottle topples only on the front-end sample bottle, and the subsequent sample bottles have the front-end sample bottle as the blocking, so that the front-end sample bottle cannot topple easily;
In operation, when the sensor 86 at the inlet end senses a sample bottle and then sends a signal to the control system, the control system controls the pusher 84 to start, the pusher 84 pushes the sample bottle to move forward one station along the slideway, and pushes the sample bottles arranged in the slideway to move forward one station; when the sensor 86 at the middle section senses the sample bottles, a signal is sent to a control system, at the moment, the control system knows the number of the sample bottles stored in the slideway type box body after receiving the signal sent by the sensor 86 at the middle section, then compares the number with the pushing frequency of the pusher 84, if the number of the sample bottles is consistent, the phenomenon that the sample bottles fall does not occur, if the number of the sample bottles do not consistent, the phenomenon that the sample bottles fall occurs is indicated, the control system controls the adjustment driver 810 to start, the adjustment driver 810 drives the adjustment piece 89 to overturn, the righting work is carried out on the sample bottle at the forefront end during the overturning, and the normal work is continued after the righting;
when the sensor 86 arranged at the tail end senses the sample bottle and then sends a signal to the control system, the control system is informed that the sample bottle in the slideway type box body is full at the moment, the sample bottle can not be put into the slideway type box body any more, and meanwhile, the control system sends a signal to an operator, and the operator is informed that the sample bottle is full at the moment and needs to be extracted.
In one embodiment, the evaporator further comprises a condensing chamber 95 connected with the evaporating chamber 93 through a pipeline, a liquid collecting chamber 96 connected with the condensing chamber 95 through a pipeline, and a cleaning tank 97 connected with the evaporating chamber 93 and the liquid storage tank 92 through a pipeline for cleaning the evaporating chamber 93 and the liquid storage tank 92; the syringe pump 94 is connected with a medicine storage barrel 922; an electric heating coil 98 is wound and installed outside the evaporation chamber 93, and a plurality of inlets 99 and drain outlets 910 are arranged on the evaporation chamber 93; a spiral cooling pipe 911 connected with a pipeline for improving the cooling effect is arranged in the condensing chamber 95, and a cooling liquid inlet 912 and a cooling liquid outlet 913 are also arranged on the condensing chamber 95; the liquid collecting chamber 96 is provided with a conductivity sensor 914 for detecting sample water, the liquid collecting chamber 96 is also connected with a metering pump 915 through a pipeline, the metering pump 915 is connected with a reflux valve 916 and a sample injection valve 917 through a pipeline, the reflux valve 916 is communicated with the evaporation chamber 93 through a pipeline, and the sample injection valve 917 is connected with a sample water sample injection head 918 through a pipeline;
through the arrangement of the conductivity sensor 914, after the preparation of the sample water is finished, the conductivity of the sample water is detected through the conductivity sensor 914, if the detection is failed, a reflux valve 916 is opened, the solution in the liquid collecting chamber 96 is pumped back into the evaporating chamber 93 through a metering pump 915 to be prepared again, if the solution is qualified, a sample injection valve 917 is opened, and the sample bottle is quantitatively injected into the sample bottle through a sample bottle sample injection head through the metering pump 915;
The pretreatment case 91 is also provided with a scintillation fluid raw material barrel 919, the scintillation fluid raw material barrel 919 is connected with a pump through a pipeline, and the pump is connected with a scintillation fluid sample injection head 920 through a pipeline; the frame 1 is also provided with a plurality of positioning ports for placing a sample water sampling head 918 and a scintillation liquid sampling head 920;
the liquid storage tank 92 is connected with a pump through a pipeline, and the cleaning tank 97 is also communicated with the pump through a pipeline; setting a regular cleaning time, pumping water in the cleaning tank 97 into the liquid storage tank 92, the condensation chamber 95 and the evaporation chamber 93 by a pump for flushing, and discharging the flushed water into the waste liquid barrel 923 by a pipeline;
the evaporation chamber 93 is provided with a liquid level monitoring tube 921 for detecting the liquid level in the evaporation chamber 93, and a liquid level sensor 924 is arranged on the liquid level monitoring tube 921; a waste liquid barrel 923 is further arranged in the pretreatment case 91, and the waste liquid barrel 923 is communicated with the liquid storage tank 92, the liquid collecting chamber 96 and the cleaning tank 97 through pipelines;
by the arrangement of the external liquid level monitoring tube 921, the liquid level sensor 924 is prevented from being damaged due to the fact that the liquid level sensor 924 is arranged on the evaporation chamber 93 and is subjected to the high temperature of the electric heating coil 98; the liquid level in the evaporating chamber 93 is detected by the arrangement of the liquid level sensor 924, so that the phenomenon of empty burning is avoided;
Sample water pretreatment: rainwater collected by the collecting device is stored in the liquid storage tank 92, the preparation time is set to be 24 hours, the pump is started after the rainwater is stored in the liquid storage tank 92 for 24 hours, the rainwater in the liquid storage tank 92 is pumped into the evaporation chamber 93, quantitative medicines are injected into the evaporation chamber 93 through the injection pump 94, then the electric heating coil 98 is controlled to heat the evaporation chamber 93, steam generated after the solution in the evaporation chamber 93 is heated enters the spiral cooling pipe 911 of the condensing chamber 95 through a pipeline, the steam exchanges heat with cooling water in the condensing chamber 95 to be cooled, the cooled sample water flows into the liquid collecting chamber 96 to be stored, the conductance sensor 914 monitors the sample water in the liquid collecting chamber 96 in real time, and the corresponding reflux valve 916 or the sampling valve 917 is opened according to the monitoring result.
The invention works as follows:
firstly, working parameters of the joint robot 2, the clamping mechanism 3, the shaking mechanism, the weighing device 6 and the storage mechanism 8 are set; setting a standard deviation value in a control system when the bottle cap is twisted or not;
the control system controls the joint robot 2 to move to the clamping mechanism and then take points on the clamping device 22, the laser sensor 41 is used for ranging the points after taking the points, then a plurality of points are taken in the same way and the distance is measured, the measured data are sent to the control system and then are compared by calculation to obtain a difference value, and the difference value at the moment is the inclination deviation value of the clamping mechanism 3 and is used as a compensation value when whether a follow-up bottle cap is screwed up or not;
The control system controls the joint robot 2 to drive the clamping device 22 to clamp the sample bottle from the sample bottle support 11, then the sample bottle is placed on the clamping mechanism 3, and then the clamping actuator 34 is controlled to drive the clamping jaw 35 to clamp the sample bottle;
after the clamping executor 34 clamps the sample bottle, the joint robot 2 sequentially grabs the sample water sampling head 918 and the scintillation liquid sampling head 920 to inject quantitative sample water and scintillation liquid into the sample bottle or the control system controls the bottle cap remover 21 to act so as to drive the clamping device 22 to rotate, the clamping device 22 drives the bottle cap of the sample bottle to rotate when rotating, and the joint robot 2 sequentially grabs the sample water sampling head 918 and the scintillation liquid sampling head 920 to inject quantitative sample water and scintillation liquid into the sample bottle after the bottle cap is unscrewed from the sample bottle;
after injection, the joint robot 2 clamps the bottle cap and moves the bottle cap to the sample bottle, then the bottle cap remover 21 is controlled to start, the bottle cap remover 21 drives the clamp 22 and the bottle cap to rotate reversely, the bottle cap is arranged on the sample bottle when rotating, when the bottle cap remover 21 drives the bottle cap to rotate in the screwing process of the bottle cap, the whole swivel base 32 is driven to rotate when the force of the bottle cap remover 21 driving the bottle cap to rotate is larger than the tensile force of the elastic piece 33, the swivel base 32 contacts with the proximity switch 4 arranged on the base frame 31 when rotating, the proximity switch 4 sends a signal to a control system, and the control system controls the bottle cap remover 21 to stop acting, and the bottle cap is judged to be screwed at the moment;
Then the joint robot 2 releases the bottle cap and moves upwards for a set distance, then takes points on the bottle cap and measures distance through the laser sensor 41, one point moves after finishing the distance measurement, a plurality of points are taken on the bottle cap in the same way and measured data are sent to the control system after the distance measurement, and the control system compares the measured data difference values; the measured data difference value is combined with the compensation value to obtain an accurate data difference value;
if the measured accurate data difference value is within the set standard difference value, the bottle cap is accurately arranged on the sample bottle; if the measured data difference exceeds the standard difference, the bottle cap is installed askew, and the bottle cap needs to be installed again;
the control system controls the joint robot 2 to unscrew the bottle cap and then reinstall the bottle cap, and then multipoint distance measurement and comparison are carried out again after the bottle cap is installed until the bottle cap is accurately installed on the sample bottle;
if the detection is wrong again, the bottle cap is temporarily judged to have a problem, after the bottle cap is unscrewed, a bottle cap is grabbed again from the bottle cap automatic feeding mechanism for reinstallation, after the bottle cap is installed, the next procedure is carried out after the detection is passed, if the detection is not qualified, the problem of the sample bottle is judged at the moment, the joint robot 2 grabs the sample bottle and then places the sample bottle on the empty sample bottle support 11, and then grabs the sample bottle at the next station for operation; if the problem of unqualified detection still occurs, the control system controls the whole equipment to stop and sends a signal to an operator to inform the operator that the equipment fails and the equipment needs to be checked and maintained on site;
After the detection is qualified, the control system grabs the sample bottle, then places the sample bottle on the shaking mechanism, and then shakes the solution in the sample bottle through the shaking mechanism;
after shaking, the joint robot 2 grabs the sample bottles and then places the sample bottles on the weighing device 6 for weighing, after weighing, the joint robot 2 grabs the sample bottles and then sends the sample bottles to the detection mechanism for detection, and after detection, the joint robot 2 drops the sample bottles into the slideway type box 81 through the dropping opening 82;
when the sensor 86 at the inlet of the slide way box 81 senses the sample bottle and then sends a signal to the control system, the control system controls the pusher 84 to start, and the pusher 84 moves the sample bottle at the outlet forward by one station along the slide way;
under the stacking of a plurality of sample bottles, when a sensor 86 arranged at the middle section of a slide way senses the sample bottles, a signal is sent to a control system to inform the control system of the stacking quantity of the sample bottles in the slide way type box body 81 and the remaining stacking quantity, at the moment, the control system knows the quantity of the sample bottles stored in the slide way type box body 81 after receiving the signal sent by the sensor 86 at the middle section, then the quantity is compared with the pushing times of a pusher 84, if the pushing times are consistent, the phenomenon that the sample bottles do not topple is indicated, and the operation of the next procedure is carried out;
If the sample bottles are inconsistent, the sample bottles are toppled, the control system controls the adjusting driver 810 to start, the adjusting driver 810 drives the adjusting part 89 to turn over, the sample bottles at the forefront end are righted during turning over, and normal work is continued after righting;
the sensor 86 arranged at the tail end of the slideway senses the sample bottle and then sends a signal to the control system to inform the control system that the sample bottle in the slideway type box 81 is full, and the sample bottle cannot be put in later; at the same time, the control system sends a signal to the operator informing the operator that the sample bottles in the slide type box 81 need to be processed.
The scope of protection of the present invention is not limited to the above embodiments and variations thereof. Conventional modifications and substitutions by those skilled in the art based on the content of the present embodiment fall within the protection scope of the present invention.
Claims (10)
1. The control method of the tritium automatic extraction preparation device based on the composite high-precision detection technology is characterized by comprising the following steps of:
a. firstly, working parameters of a joint robot, a clamping mechanism, a shaking mechanism, a weighing device and a storage mechanism are set; setting a standard deviation value in a control system when the bottle cap is twisted or not;
b. The control system controls the joint robot to move to the clamping mechanism and then take points on the clamping device, the laser sensor is used for measuring the distance after taking the points, then a plurality of points are taken in the same mode and are used for measuring the distance, measured data are sent to the control system and then are compared through calculation to obtain a difference value, and the difference value at the moment is an inclination deviation value existing in the clamping mechanism and is used as a compensation value when whether a follow-up bottle cap is screwed or not to be detected;
c. the control system controls the joint robot to drive the clamping device to clamp the sample bottle from the sample bottle support, and then controls the clamping actuator to drive the clamping jaw to clamp the sample bottle after the sample bottle is placed on the clamping mechanism;
d. after the clamping executor clamps the sample bottle, the joint robot sequentially grabs the sample water sampling head and the scintillation liquid sampling head to inject quantitative sample water and scintillation liquid into the sample bottle or the control system controls the bottle cap dismounting device to act to drive the clamping device to rotate, the bottle cap of the sample bottle is driven to rotate when the clamping device rotates, and the joint robot sequentially grabs the sample water sampling head and the scintillation liquid sampling head to inject quantitative sample water and scintillation liquid into the sample bottle after the bottle cap is unscrewed from the sample bottle;
e. after injection, the joint robot clamps the bottle cap and moves the bottle cap to the sample bottle, then the bottle cap remover is controlled to start, the bottle cap remover drives the clamp and the bottle cap to rotate reversely, the bottle cap is arranged on the sample bottle when rotating, when the bottle cap screwing process is carried out, the bottle cap remover drives the bottle cap to rotate when the rotating force of the bottle cap is larger than the pulling force of the elastic piece, the whole swivel base is driven to rotate, after the swivel base rotates and contacts with the proximity switch arranged on the base frame, the proximity switch sends a signal to the control system, and the control system controls the bottle cap remover to stop acting, so that the bottle cap is judged to be screwed at the moment;
f. Then the joint robot releases the bottle cap and moves upwards for a set distance, then the laser sensor is used for taking points on the bottle cap and measuring distance, one point is moved after finishing the distance measurement, a plurality of points are taken on the bottle cap in the same way and measured distance is measured, then measured data are sent to the control system, and the control system compares the measured data difference values; the measured data difference value is combined with the compensation value to obtain an accurate data difference value;
g. if the measured accurate data difference value is within the set standard difference value, the bottle cap is accurately arranged on the sample bottle; if the measured data difference exceeds the standard difference, the bottle cap is installed askew, and the bottle cap needs to be installed again;
h. the control system controls the joint robot to unscrew the bottle cap and then reinstall the bottle cap, and then multipoint distance measurement and comparison are carried out again after the bottle cap is installed until the bottle cap is accurately installed on the sample bottle;
i. if the detection is wrong again, temporarily judging that the secondary bottle cap is in a problem, re-grabbing a bottle cap from an automatic bottle cap feeding mechanism after the bottle cap is unscrewed for re-installation, entering the next working procedure after the bottle cap is installed, if the detection is failed, judging that the sample bottle is in a problem at the moment, placing the sample bottle on an empty stacker after grabbing the sample bottle by an articulated robot, and grabbing the sample bottle at the next working position for operation; if the problem of unqualified detection still occurs, the control system controls the whole equipment to stop and sends a signal to an operator to inform the operator that the equipment fails and the equipment needs to be checked and maintained on site;
j. After the detection is qualified, the control system grabs the sample bottle, then places the sample bottle on the shaking mechanism, and then shakes the solution in the sample bottle through the shaking mechanism;
k. after shaking, the joint robot grabs the sample bottle and then places the sample bottle on a weighing device for weighing, after weighing, the joint robot grabs the sample bottle and then sends the sample bottle to a detection mechanism for detection, and after detection, the joint robot drops the sample bottle into a slideway type box body through a drop port;
when the sensor at the inlet of the slideway in the slideway type box body senses the sample bottle, a signal is sent to the control system, the control system controls the pusher to start, the pusher drives the pushing block to move forwards, and the sample bottle at the outlet is moved forwards by one station along the slideway;
m, under the stacking of a plurality of sample bottles, after sensing the sample bottles by an inductor arranged at the middle section of a slideway, sending a signal to a control system, informing the control system of the stacking quantity of the sample bottles in the slideway type box body and the remaining stacking quantity, at the moment, after receiving the signal sent by the inductor at the middle section, the control system knows the quantity of the sample bottles stored in the slideway type box body at the moment, comparing the quantity of the sample bottles with the pushing times of a pusher, if the pushing times are consistent, indicating that the sample bottles do not topple, and carrying out the operation of the next procedure;
n, if the sample bottles are inconsistent, the phenomenon of toppling occurs, the control system controls the driver to start, the driver drives the adjusting piece to overturn, the righting work is carried out on the sample bottle at the forefront end during the overturning, and the normal work is continued after the righting;
a sensor arranged at the tail end of the slideway senses the sample bottle and then sends a signal to the control system to inform the control system that the sample bottle in the slideway type box body is full, and the sample bottle cannot be put in later; and meanwhile, the control system sends a signal to an operator to inform the operator that the sample bottle in the slideway type box body needs to be processed.
2. The tritium automatic extraction and preparation device for realizing the composite high-precision detection technology of the control method in claim 1, which is characterized in that: the device comprises a pretreatment device (9) for pretreating sample water, a control system, a rack (1) and a joint robot (2) arranged on the rack (1), wherein a bottle cap remover (21) is arranged on the joint robot (2), and a clamping device (22) for clamping a sample bottle is connected to the bottle cap remover (21); the device also comprises a clamping mechanism (3) arranged on the frame (1) and a monitoring mechanism arranged on the clamping mechanism (3) for monitoring the bottle cap state of the sample bottle;
The clamping mechanism (3) comprises a base frame (31) connected to the frame (1), a swivel seat (32) movably connected to the base frame (31), an elastic piece (33) arranged on the swivel seat (32) and the base frame (31) and used for limiting and resetting the position of the swivel seat (32), a clamping actuator (34) connected to the swivel seat (32) and used for executing clamping action, and a clamping jaw (35) arranged on the clamping actuator (34),
the monitoring mechanism comprises a proximity switch (4) which is connected to the base frame (31) and used for detecting the rotating state of the swivel base (32) to detect the screwing state of the bottle cap;
the pretreatment device (9) comprises a pretreatment machine box (91) arranged on the frame (1), a liquid storage tank (92) arranged in the pretreatment machine box (91), an evaporation chamber (93) connected with the liquid storage tank (92) through a pipeline, and a syringe pump (94) connected with the evaporation chamber (93) and used for quantitatively injecting medicines into the evaporation chamber (93).
3. The automatic tritium extraction and preparation device of the combined type high-precision detection technology according to claim 2, which is characterized in that: the device also comprises a laser sensor (41) arranged on the clamping device (22) and used for detecting the skew state of the bottle cap on the sample bottle.
4. The automatic tritium extraction and preparation device of the combined type high-precision detection technology according to claim 2, which is characterized in that: the bottle cap feeding mechanism (5) is arranged on the rack (1) and used for automatically feeding the bottle caps; the bottle cap feeding mechanism (5) comprises a U-shaped framework (51) connected to the frame (1), a driver (52) arranged on the U-shaped framework (51), a screw rod (53) movably arranged on the U-shaped framework (51) and connected with the driver (52), a nut seat (54) arranged on the screw rod (53), and a bottle cap pushing piece (55) connected with the nut seat (54); the bottle cap pushing device is characterized in that a charging barrel (57) is further arranged on the U-shaped framework (51), one end of the bottle cap pushing piece (55) extends into the charging barrel (57) and is used for driving the bottle cap to move up and down in the charging barrel (57), a second inductor (56) for sensing whether the bottle cap is in place or not is further arranged on the U-shaped framework (51), and the second inductor (56) is located on one side of the discharging end of the charging barrel (57).
5. The automatic tritium extraction and preparation device of the combined type high-precision detection technology according to claim 2, which is characterized in that: the device also comprises a shaking mechanism which is arranged on the frame (1) and used for shaking the sample bottle evenly and a weighing device (6) which is used for weighing the sample bottle.
6. The automatic tritium extraction and preparation device of the combined type high-precision detection technology according to claim 5, which is characterized in that: the shaking mechanism comprises a vibrating shaking instrument (7) arranged on the frame (1); the device also comprises a shaking guide frame (72) connected to the frame (1), a driving shaft (73) with one end movably mounted on the shaking guide frame (72), a motor (74) with the other end of the driving shaft (73) penetrating through the shaking guide frame (72), a guide rod (75) arranged on the shaking guide frame (72), a reciprocating seat (76) slidably mounted on the guide rod (75) and a reset spring (77) mounted on the guide rod (75) and used for driving the reciprocating seat (76) to reset; the reciprocating motion seat (76) is provided with a guide chute (78) on one circle of the driving shaft (73), a guide pillar (79) matched with the guide chute (78) is arranged on the reciprocating motion seat (76), the guide pillar (79) moves in the guide chute (78), and the guide chute (78) is divided into a driving section (710) and a resetting section (711).
7. The automatic tritium extraction and preparation device of the combined type high-precision detection technology according to claim 5, which is characterized in that: the shaking mechanism comprises a shaking motor (712) connected to the frame (1) and a second clamping device (713) arranged on the shaking motor (712).
8. The automatic tritium extraction and preparation device of the combined type high-precision detection technology according to claim 2, which is characterized in that: the device also comprises a storage mechanism (8) which is arranged on the frame (1) and used for storing the measured sample bottle; the storage mechanism (8) comprises a slideway type box body (81) which is arranged on the frame (1) and can be pulled out, a throwing opening (82) is formed in the frame (1), the throwing opening (82) is communicated with the slideway type box body (81), a baffle (83) which forms a slideway in the slideway type box body (81) is arranged on the frame (1), and a pusher (84) which is arranged at one end of the slideway type box body (81) and is used for pushing a sample bottle into the slideway type box body (81) is arranged on the frame (1).
9. The automatic tritium extraction and preparation device of the combined type high-precision detection technology according to claim 8, which is characterized in that: the inlet end, the tail end and the middle section of the slideway are provided with inductors (86) for sensing the sample bottle; a plurality of elastic sheets (87) for supporting, protecting and limiting the position of the sample bottle are also arranged in the slide way; the slide in still be provided with sample bottle state adjustment mechanism, sample bottle state adjustment mechanism contain one end through hinge movable mounting on slide box (81) adjusting part (89), install in slide box (81) bottom and be used for driving adjusting part (89) and adjust sample bottle state's adjustment driver (810).
10. The automatic tritium extraction and preparation device of the combined type high-precision detection technology according to claim 2, which is characterized in that: the device also comprises a condensing chamber (95) connected with the evaporating chamber (93) through a pipeline, a liquid collecting chamber (96) connected with the condensing chamber (95) through a pipeline, and a cleaning tank (97) connected with the evaporating chamber (93) and the liquid storage tank (92) through a pipeline and used for cleaning the evaporating chamber (93) and the liquid storage tank (92); the injection pump (94) is connected with a medicine storage barrel (922); an electric heating coil (98) is wound on the outer side of the evaporation chamber (93), and a plurality of inlets (99) and drain outlets (910) are arranged on the evaporation chamber (93); a spiral cooling pipe (911) connected with a pipeline for improving the cooling effect is arranged in the condensing chamber (95), and a cooling liquid inlet (912) and a cooling liquid outlet (913) are also arranged on the condensing chamber (95); the liquid collecting chamber (96) is provided with a conductivity sensor (914) for detecting sample water, the liquid collecting chamber (96) is also connected with a metering pump (915) through a pipeline, the metering pump (915) is connected with a reflux valve (916) and a sample injection valve (917) through a pipeline, the reflux valve (916) is communicated with the evaporation chamber (93) through a pipeline, and the sample injection valve (917) is connected with a sample water sample injection head (918) through a pipeline;
A scintillation liquid raw material barrel (919) is further arranged in the pretreatment case (91), the scintillation liquid raw material barrel (919) is connected with a pump through a pipeline, and the pump is connected with a scintillation liquid sample injection head (920) through a pipeline; the frame (1) is also provided with a plurality of positioning ports for placing a sample water sampling head (918) and a scintillation liquid sampling head (920);
the liquid storage tank (92) is connected with a pump through a pipeline, and the cleaning tank (97) is also communicated with the pump through a pipeline;
the evaporation chamber (93) is provided with a liquid level monitoring tube (921) for detecting the liquid level in the evaporation chamber (93), and a liquid level sensor (924) is arranged on the liquid level monitoring tube (921); the pretreatment machine box (91) is also internally provided with a waste liquid barrel (923), and the waste liquid barrel (923) is communicated with the liquid storage tank (92), the liquid collecting chamber (96) and the cleaning tank (97) through pipelines.
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