CN117890613A - Water quality detection equipment - Google Patents

Abstract

The application relates to the technical field of water quality detection, in particular to water quality detection equipment, which comprises a rack, and a mechanical arm device, a cover opening shaking device, a reagent injection and measurement device and a sample digestion device which are arranged on the rack. Compared with the traditional water quality detection equipment, the mechanical arm device can be matched to realize the functions of opening and closing the cover, adding the reagent and sampling detection; the cover opening and closing function and the sample shaking function are realized through the coordination of the cover opening and shaking device; reagent injection and sampling detection are realized through a reagent injection and measuring device; through mutually supporting each functional module and using for water quality testing equipment's structure is simplified, and the repeated step in the water quality testing process of significantly reduced, the integrated level is higher, effectively reduces equipment volume, and the realization cost is lower, is favorable to better popularization and application.

Description

Water quality detection equipment

Technical Field

The application relates to the technical field of water quality detection, in particular to water quality detection equipment.

Background

At present, the problem of water pollution is still serious, the purification treatment of polluted water is a difficult task, and in the sewage treatment process, the detection and analysis of water quality to determine pollutants or chemical substances in sewage are indispensable steps, such as the detection and analysis of total phosphorus content, total nitrogen content and the like in sewage. In general, a water quality detection process includes a plurality of processes such as water sampling, digestion reagent adding, sample mixing, sample digestion, detection reagent adding, and data analysis, and for this purpose, a water quality detection apparatus is generally provided with a plurality of devices, and each of the above steps is implemented by a device with a special function. For example, the cover opening and closing device is only used for realizing opening and closing of the test tube cover, the liquid dropping component is only used for realizing reagent addition, and as can be seen, each device of the traditional water quality detection equipment can only realize a single function, the equipment structure is complex, the equipment integration level is low, the equipment size is larger, and the realization cost is higher.

Disclosure of Invention

In order to overcome the problems in the related art, the application provides water quality detection equipment, which can assist a test tube cover to be clamped when the test tube cover is opened and closed by the same mechanical arm, and can realize reagent addition, so that the structure of the water quality detection equipment is simplified, the integration level is higher, the equipment volume is effectively reduced, the realization cost is lower, and better popularization and application are facilitated.

According to the embodiment of the application, the water quality detection equipment comprises a rack, a mechanical arm device, a cover opening shaking device, a reagent injection and measurement device and a sample digestion device, wherein the mechanical arm device, the cover opening shaking device, the reagent injection and measurement device and the sample digestion device are arranged on the rack; an operation platform is arranged on the rack, and a sample storage area, a sample digestion area and an operation area are arranged on the operation platform; the uncovering and shaking device comprises a clamping assembly, a rotating assembly and a shaking-up assembly; the clamping assembly is used for clamping the test tube cover; the rotating assembly and the shaking-up assembly are arranged in the working area, and the rotating assembly is used for holding the test tube body to rotate so as to loosen or screw up the test tube body and the test tube cover; the shaking-up assembly is used for driving the test tube body to swing so as to shake up and mix the reagent and the sample to be tested; the mechanical arm device comprises a translation component and a lifting component; the lifting assembly is arranged on the translation assembly, the clamping assembly is arranged on the lifting assembly, the lifting assembly drives the clamping assembly to ascend or descend, and the translation assembly drives the lifting assembly and the clamping assembly to transfer among the sample storage area, the sample digestion area and the operation area; the reagent injection and measurement device comprises a needle selection assembly and a plurality of reagent needles; the needle selecting assembly selects a plurality of reagent needles and drives the selected reagent needles to descend to preset positions so as to realize drip or sampling detection.

Compared with the traditional water quality detection equipment, the technical scheme of the embodiment of the application can realize the functions of opening and closing the cover, adding the reagent and sampling detection through the cooperation of the mechanical arm device; the cover opening and closing function and the sample shaking function are realized through the coordination of the cover opening and shaking device; reagent injection and sampling detection are realized through a reagent injection and measuring device; through mutually supporting each functional module and using for water quality testing equipment's structure is simplified, and the integrated level is higher, effectively reduces equipment volume, and the realization cost is lower, is favorable to better popularization and application.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

For a better understanding and implementation, the present application is described in detail below with reference to the drawings.

Drawings

FIG. 1 is a perspective view of a water quality testing apparatus provided by an embodiment of the present application;

FIG. 2 is a top view of a water quality testing apparatus according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a mechanical arm device according to an embodiment of the present application;

Fig. 4 is an installation schematic diagram of a mechanical arm device according to an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a lifting assembly and a needle selecting assembly according to an embodiment of the present application;

FIG. 6 is a schematic diagram illustrating the installation of a rotating assembly and a shaking-up assembly according to an embodiment of the present application;

FIG. 7 is a cross-sectional view of a rotating assembly and a shaking-up assembly provided by an embodiment of the present application;

FIG. 8 is an exploded view of a test tube body hugging unit provided by an embodiment of the present application;

FIG. 9 is a schematic diagram of the cooperation of an eccentric camshaft and a T-shaped drive shaft provided by an embodiment of the present application;

FIG. 10 is a schematic cross-sectional view of an eccentric camshaft and a T-drive shaft provided by an embodiment of the present application;

FIG. 11 is a schematic diagram illustrating the installation of a position sensor and a detecting member according to an embodiment of the present application;

FIG. 12 is a schematic view of a clamping assembly according to an embodiment of the present application;

FIG. 13 is a schematic view illustrating the guiding of a clamping assembly according to an embodiment of the present application;

fig. 14 is a first installation schematic diagram of a needle selecting block and a fixing block according to an embodiment of the present application;

FIG. 15 is a second mounting schematic view of a selector block and a retainer block in accordance with an embodiment of the present application;

FIG. 16 is a schematic structural view of a column according to an embodiment of the present application;

FIG. 17 is a schematic structural diagram of a needle selecting block according to an embodiment of the present application;

fig. 18 is a schematic structural diagram of a fixing block according to an embodiment of the present application;

fig. 19 is a schematic diagram of matching of a support base and a fixing block according to an embodiment of the present application.

Reference numerals:

1000. A water quality detection device; 100. a frame; 200. a mechanical arm device; 21. a translation assembly; 211. a mechanical arm base; 212. a second mechanical arm; 213. a third mechanical arm; 214. a first motor; 215. a first speed reducer; 2151. a first connecting shaft; 2152. a second connecting shaft; 216. a second motor; 217. a second speed reducer; 2171. a third connecting shaft; 2172. a fourth connecting shaft; 22. a lifting assembly; 221. a first mechanical arm; 222. a motor mounting plate; 223. a lifting motor; 2231. a screw rod; 224. a support base; 2241. a limiting piece; 300. the cover opening and liquid shaking device; 31. a clamping assembly; 311. the second steering engine; 312. a second drive plate; 313. a slide block; 314. a lock plate; 3141. a guide chute; 315. a second lock pin; 316. a claw; 32. a rotating assembly; 3211. a rotating electric machine; 3212. a worm; 3213. a worm wheel; 3214. a transmission shaft; 32141. a transmission rod; 3215. an eccentric cam shaft; 32151. an avoidance groove; 32152. a groove; 32153. transverse perforation; 32154. a first connection portion; 32155. a second connecting portion; 32156. a third connecting portion; 3216. a transmission sleeve; 3221. a transmission sleeve cover plate; 3222. reagent bottle guide plate; 3223. a lock pin guide plate; 32231. a locking pin hole; 3224. a first lock pin; 3225. a lock pin sleeve; 3226. a first damping ring; 3227. a second damping ring; 33. shaking up the assembly; 331. the first steering engine; 332. a driving shaft; 333. a first drive plate; 334. a driven shaft; 335. a bearing; 34. a first base; 35. a position sensor; 36. an induction member; 400. reagent injection and measurement device; 41. a needle selection assembly; 411. a column; 4111. a transverse chute; 4112. a vertical chute; 4113. a riser; 4114. a first mounting plate; 4115. a second mounting plate; 412. a needle selecting motor; 413. a needle selecting gear; 414. selecting a needle block; 4141. a sliding part; 4142. a rack mounting portion; 415. a rack; 416. a fixed block; 4161. a clamping part; 4162. defining a hole site; 4163. a clamping groove; 42. a drip assembly; 421. a reagent needle; 422. a drip tank; 500. a sample digestion device; 2000. and (5) a test tube.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The embodiment of the application discloses water quality detection equipment which is applied to water quality detection analysis of experiment or industrial detection, and particularly can be applied to water quality detection analysis in scenes such as environmental chemistry, analytical chemistry, environmental treatment, water pollution analysis and the like, wherein the water quality detection analysis comprises water quality total phosphorus analysis, water quality total nitrogen analysis and analysis of other mineral contents, and the steps of test tube switch cover, reagent injection at each stage, sample shaking and mixing and sampling detection are realized in an anthropomorphic automatic mode.

As shown in fig. 1 and 2, the water quality detecting apparatus 1000 includes: a rack 100, a mechanical arm device 200, a cover opening shaking device 300, a reagent injection and measurement device 400 and a sample digestion device 500 which are arranged on the rack 100. An operation platform is provided on the frame 100, and a sample storage area a, a sample digestion area B, and an operation area C are provided on the operation platform. Optionally, each functional module of each device of water quality testing equipment mutually supports and realizes water quality testing function, and the test tube needs to shift between each device, in order to shorten test tube transfer path and improve test tube transfer's convenience, each region on the operation platform needs reasonable planning. Specifically, the sample storage area a, the sample digestion area B, and the working area C may be arranged side by side. The mechanical arm device 200 is arranged above the operation platform, and is used for clamping a test tube and transferring among the sample storage area A, the sample digestion area B and the operation area C, and is also used for clamping a test tube cover to be matched with the rotating assembly to realize cap screwing when the test tube cover is opened and closed; the mechanical arm device is further used for transferring and descending the reagent needle to a preset position to realize dripping, and is further used for transferring and descending the sampling needle to the preset position to realize sampling, that is, the mechanical arm device in the embodiment can be matched with other functional components to realize multiple functions, and not only realize a test tube transferring function.

The uncapping and shaking device 300 is used for unscrewing or screwing the test tube cap at the time of reagent injection and at the stage of sampling measurement and the like, and for shaking up the in-vitro solution after reagent injection. The uncapping and shaking device 300 comprises a clamping assembly 31, a rotating assembly 32 and a shaking-up assembly 33; the clamping assembly 31 is used for clamping the test tube cover during the steps of opening and closing the cover, transferring the test tube and the like; the rotating assembly 32 and the shaking-up assembly 33 are arranged in the working area, and the rotating assembly 32 is used for holding the test tube body to rotate so as to loosen or screw the test tube body and the test tube cover; the shaking-up assembly 33 is used for driving the test tube body to swing so as to mix the reagent and the sample to be tested in a shaking-up manner. The test tube switch cover function and the shaking function are integrated on one device, so that the step of transferring test tubes after reagent is added after the switch cover is opened can be reduced, namely, after the test tubes are opened, reagent is added, the cover is screwed after the reagent is added, and the shaking function is directly carried out after the cover is screwed, so that the test tube transfer is not needed. Because the quantity of test tubes is more, if the test tubes are required to be transferred before and after each reagent addition and shaking, a large amount of time is wasted, and the water quality detection efficiency is reduced.

In this embodiment, the mechanical arm device 200 includes a translation component 21 and a lifting component 22; the lifting assembly 22 is disposed on the translation assembly 21, the clamping assembly 31 is disposed on the lifting assembly 22, the lifting assembly 22 drives the clamping assembly 31 to rise or fall, and the translation assembly 21 drives the lifting assembly 22 and the clamping assembly 31 to move between the sample storage area a, the sample digestion area B and the operation area C.

The reagent injection and measurement device 400 is used for injecting corresponding reagents into a test tube body containing a sample to be measured at each stage of water quality detection analysis, for example, injecting a digestion agent into the test tube at a sample digestion stage, injecting a chlorine removal agent into the test tube at a chlorine removal stage, and injecting a color-developing agent into the test tube at a color-developing stage. Meanwhile, the reagent injection and measurement device is also used for realizing sampling detection of the sample solution.

In this embodiment, the reagent injection and measurement device 400 includes a needle selection assembly 41 and a plurality of reagent needles 421, the reagent needles 421 may include drip needles and/or sampling needles, the number of the drip needles and the sampling needles is determined according to the water quality detection requirement, and the number of the reagent needles is not limited in this embodiment. The needle selection assembly 41 selects a plurality of reagent needles 421 and drives the selected reagent needles 421 down to a predetermined position to achieve drop or sample detection.

In order to realize automatic control of the water quality detection apparatus 1000, the water quality detection apparatus 1000 further includes a main control device (not shown), which may be disposed on the rack 100 or other operation platform. The main control device establishes communication connection with the mechanical arm device 200, the uncapping and shaking device 300, the reagent injection and measurement device and the sample digestion device so as to realize real-time interaction in the water quality detection and analysis process, for example, the mechanical arm device 200, the uncapping and shaking device 300, the reagent injection and measurement device 400 and the sample digestion device 500 can receive control signals sent by the main control device or feed back detection signals to the main control device. The communication connection mode between the main control device and other devices can be an infinite communication mode or a wired communication mode. In this embodiment, the form of the master control device is not limited, and the master control device may be a control board dedicated to implementing control of each stage of water quality detection and analysis, or may be other intelligent devices, for example, intelligent devices such as a general purpose computer, an intelligent tablet, a smart phone, a smart bracelet, and an industrial personal computer, or may be a cloud server or other virtual computers.

Compared with the conventional water quality detection equipment, the water quality detection equipment provided by the embodiment of the application can overcome the problem of single functions of the device and the components, and can realize the functions of opening and closing the cover, adding the reagent and sampling detection through the cooperation of the mechanical arm device; the cover opening and closing function and the sample shaking function are realized through the coordination of the cover opening and shaking device; reagent injection and sampling detection are realized through a reagent injection and measuring device. The water quality detection equipment of this embodiment is provided with the function module of limited quantity, and each function module can realize multiple functions and not single function, and each function module's mutually supporting is used and can be realized different functions in different stages for the water quality detection equipment accomplishes water quality detection's whole process with anthropomorphic automation mode, and equipment overall structure is simplified, and the integrated level is higher, and the function module is less, effectively reduces equipment volume, and the implementation cost is lower, is favorable to better popularization and application.

In the uncapping and shaking device, each functional component can overcome the problem of single function of the component, and specifically, the test tube body enclasping unit is arranged on the rotating unit and is driven to rotate by the transmission of the rotating unit so as to realize the function of opening and closing the cover; the outside of unit is held tightly at the test tube body sets up shakes even subassembly, shakes even subassembly and drives the test tube body and hold tight unit transmission and be connected, holds tight unit swing by the steering wheel drive test tube body of shaking even subassembly, and the simulation is artifical to shake in order to mix the sample solution in the test tube evenly. That is, the cover opening and liquid shaking device can realize two functions of a test tube cover opening and closing function and sample mixing through the same device, the test tube transferring times are greatly reduced in each step of the water quality detection process, the water quality detection efficiency is improved, the problem of single component function in conventional equipment is solved, the structure of the water quality detection equipment is simplified, the integration level is higher, the use quantity of functional components or functional units is reduced, the equipment volume is effectively reduced, the realization cost is lower, and better popularization and application are facilitated.

The following describes each device and components of the water quality detecting apparatus in detail.

As shown in fig. 3, the robotic arm apparatus 200 includes a translation assembly 21 and a lift assembly 22; the lifting component 22 is arranged on the translation component 21, the clamping component 31 is arranged on the lifting component 22, the lifting component 22 drives the clamping component 31 to ascend or descend, the translation component 21 drives the lifting component 22 and the clamping component 31 to translate within a preset range of a horizontal plane, and the lifting component can be specifically transferred among the sample storage area A, the sample digestion area B and the operation area C so as to cooperate to complete the functions of transferring test tubes, opening and closing the test tube, injecting reagents, sampling detection and the like.

The translation assembly 21 and the lifting assembly 22 are described in detail below with reference to the accompanying drawings.

As shown in fig. 3 and 4, the translation assembly 21 includes a robot arm base 211, a second robot arm 212, a third robot arm 213, a first motor 214, a first speed reducer 215, a second motor 216, and a second speed reducer 217; the mechanical arm base 211 is mounted on the main base of the device through a supporting frame, the first motor 214 is mounted on the mechanical arm base 211, the first speed reducer 215 is provided with a first connecting shaft 2151 and a second connecting shaft 2152, and the first connecting shaft 2151 and the second connecting shaft 2152 are not coaxial and are staggered with each other. The first connecting shaft 2151 of the first speed reducer 215 is coaxially connected to the output shaft of the first motor 214. The first end of the second mechanical arm 212 is mounted on the second connecting shaft 2152 of the first speed reducer 215 and is coaxially connected with the second connecting shaft 2152, and the first end of the second mechanical arm 212 is supported by the mechanical arm base 211. The first motor 214 drives the second mechanical arm 212 to rotate through the first speed reducer 215, and the rotation speed is regulated by the first speed reducer 215. The range in which the second robot arm 212 can rotate is determined by the length of the second robot arm 212.

The second speed reducer 217 has a third connecting shaft 2171 and a fourth connecting shaft 2172, and the third connecting shaft 2171 and the fourth connecting shaft 2172 are not coaxial and are disposed so as to be offset from each other. The first end of the third mechanical arm 213 is mounted on the second end of the second mechanical arm 212, and the second end of the second mechanical arm 212, the first end of the third mechanical arm 213, and the third connecting shaft 2171 of the second speed reducer 217 are coaxially mounted; the second motor 216 is mounted above the first end of the third mechanical arm 213, specifically mounted on the fourth connecting shaft 2172 of the second speed reducer 217, and coaxially connected to the fourth connecting shaft 2172 of the second speed reducer 217. The second motor 216 drives the third mechanical arm 213 to rotate through the second speed reducer 217, and the rotation speed is regulated by the second speed reducer 217; the range in which the third robot arm 213 can rotate is determined by the length of the third robot arm 213.

The second end of the third mechanical arm 213 is provided with the lifting assembly 22, and when the third mechanical arm 213 rotates in the horizontal direction, the lifting assembly 22 and the clamping assembly 31 on the lifting assembly 22 are driven to translate within a preset range.

In order to realize the support with larger strength, the mechanical arm base 211, the first mechanical arm 221 and the second mechanical arm 212 are plate-shaped and have oval shapes with larger areas, and are provided with corresponding mounting hole sites so as to be matched with each speed reducer and each motor for mounting, thereby enhancing the structural stability.

The second mechanical arm 212 and the third mechanical arm 213 can cooperate to complete the functions of test tube transfer, test tube switch cover, reagent injection, sampling detection and the like when being driven to rotate by a motor, and the mechanical arm base 211, the second mechanical arm 212 and the third mechanical arm 213 are hinged through a joint structure, so that the device can flexibly rotate, has a precise rotating angle, and can prevent operation errors in the water quality detection process.

The lifting assembly 22 is mounted on the second end of the third mechanical arm 213 of the translation assembly 21, and can be driven by the translation assembly 21 to translate within a preset range. As shown in fig. 5, the lift assembly 22 includes a first robot arm 221, a motor mounting plate 222, a lift motor 223, and a support base 224. The second end of the third mechanical arm 213 is provided with a plurality of mounting holes, such as a first mounting hole and a second mounting hole, where the first mechanical arm 221 is correspondingly mounted on the first mounting hole, and the upright 411 is correspondingly mounted on the second mounting hole.

The first mechanical arm 221 and the upright column 411 of the needle selecting assembly are installed on the third mechanical arm 213 of the translation assembly 21 side by side, the motor mounting plate 222 is installed on the top ends of the first mechanical arm 221 and the upright column and supported by the first mechanical arm 221 and the upright column, and two motor mounting positions are arranged on the motor mounting plate 222 side by side. The lift motor 223 is mounted on the motor mounting plate 222.

The supporting base 224 is fixed at the bottom end of the screw rod 2231 of the lifting motor 223, and can be driven by the screw rod 2231 to ascend or descend; the supporting base 224 is provided with a clamping assembly 31; the lifting motor 223 drives the screw rod 2231 to rotate, and the screw rod 2231 drives the supporting base 224 and the clamping assembly 31 to lift, so that the clamping test tube cover is matched to lift when the test tube cover is opened and closed.

In this embodiment, the uncapping and shaking apparatus 300 includes a clamping assembly 31, a rotating assembly 32, and a shaking assembly 33; the clamping assembly 31 is used for clamping the test tube cover when transferring the test tube or opening and closing the cover of the test tube; the rotating assembly 32 and the shaking-up assembly 33 are arranged in the working area, and the rotating assembly 32 is used for holding the test tube body to rotate so as to loosen or screw the test tube body and the test tube cover; the shaking-up assembly 33 is used for driving the test tube body to swing so as to mix the reagent and the sample to be tested in a shaking-up manner.

Specifically, as shown in fig. 6 and 7, the shake apparatus 300 includes a first base 34, and the rotating assembly 32 and the shaking assembly 33 are mounted on the first base 34. The rotating assembly 32 comprises a rotating unit and a test tube body enclasping unit, wherein the test tube body enclasping unit is positioned above the rotating unit and is used for placing and enclasping the test tube body; the rotating unit is in transmission connection with the test tube body enclasping unit and drives the test tube body enclasping unit to rotate; the shaking-up assembly 33 is in transmission connection with the test tube body holding unit and is used for driving the test tube body holding unit to swing and driving the test tube body to swing so as to shake and mix the reagent and the sample to be tested; the clamping assembly 31 is located above the test tube body holding unit and is used for clamping the test tube cover.

When the cover is opened and closed, the clamping assembly 31 clamps the test tube cover, the test tube body holding unit holds the test tube body, the rotating unit drives the test tube body holding unit to rotate, and the test tube body is driven to rotate relative to the test tube cover so as to loosen or screw the test tube body and the test tube cover; when shaking liquid, the test tube body hugs the unit and hugs the test tube body, and the shaking component drives the test tube body to hug the unit and swing, drives the test tube body to swing and shake evenly and mix reagent and sample to be measured to shake liquid device 300 through uncapping has realized test tube switch cover function and has shaken liquid function.

In an alternative embodiment, as seen in connection with fig. 6, 7, 8, the rotary unit comprises a rotary electric motor 3211, a worm 3212, a worm wheel 3213, a drive shaft 3214 and an eccentric cam shaft 3215; the test tube body hugging unit comprises a transmission sleeve 3216. The rotating electric machine 3211 is mounted on the outer side of the first base 34, and an output shaft thereof extends laterally toward the first base 34; the worm 3212 is sleeved on an output shaft of the rotating motor 3211 and is driven by the rotating motor 3211 to rotate; the worm wheel 3213 is mounted on the first base 34, and has a central through hole at the center thereof in a vertical direction, and the worm wheel 3213 is connected with the worm 3212 by gear engagement. The transmission shaft 3214 is mounted in a central through hole of the worm wheel 3213, and a mounting direction of the transmission shaft 3214 is perpendicular to an extending direction of an output shaft of the rotating electric machine 3211. The eccentric cam shaft 3215 is sleeved on the transmission shaft 3214 and is positioned above the worm wheel 3213; the transmission sleeve 3216 is installed at the upper end of the eccentric cam shaft 3215 and is connected with the eccentric cam shaft 3215 in a coaxial matching manner, the transmission sleeve 3216 is used for placing and holding the test tube body tightly, and the transmission sleeve 3216 can enable the test tube body to keep vertical upwards when being located at an initial position. The rotating motor 3211 rotates to drive the worm 3212 to rotate, the worm 3213 and the worm 3212 drive the worm wheel 3213 to rotate through gear transmission, the worm wheel 3213 drives the transmission shaft 3214 to rotate, so that an eccentric cam shaft 3215, a transmission sleeve 3216 and a test tube body on the transmission shaft 3214 are driven to rotate, and when the test tube body rotates, if the test tube cover is clamped by the clamping assembly 31, the test tube body rotates positively or reversely relative to the test tube cover, and the function of opening and closing the test tube cover is realized.

In an alternative embodiment, as shown in fig. 7 and 8, the test tube body hugging unit further comprises a transmission sleeve cover plate 3221, a reagent bottle guide plate 3222, a lock pin guide plate 3223, a plurality of first lock pins 3224 and a plurality of lock pin sleeves 3225; the driving sleeve cover plate 3221 is mounted on the upper end of the driving sleeve 3216, and a circular through hole is formed in the center of the driving sleeve cover plate 3221. As can be seen from the sectional view 7 of the rotating assembly 32, the reagent bottle guide plate 3222 is installed in the circular through hole of the transmission sleeve cover plate 3221, and the outer eave of the reagent bottle guide plate 3222 is abutted against the inner wall of the circular through hole of the transmission sleeve cover plate 3221, and the reagent bottle guide plate 3222, the transmission sleeve cover plate 3221 and the transmission sleeve 3216 are mutually matched to form a containing space. Reagent bottle deflector 3222 may be made of plastic, and serves as a guide when the test tube is placed into drive sleeve 3216, and does not cause wear to the outer walls of the test tube. The lock pin guide plate 3223 is installed in the accommodating space, the upper surface thereof is abutted against the reagent bottle guide plate 3222 and the transmission sleeve cover plate 3221, the lower surface thereof is abutted against the upper end of the eccentric cam shaft 3215, the inner wall thereof is abutted against the side wall step of the reagent bottle guide plate 3222, the outer wall thereof is abutted against the inner wall of the transmission sleeve 3216, and the lock pin guide plate 3223 is defined by the reagent bottle guide plate 3222, the transmission sleeve cover plate 3221, the transmission sleeve 3216 and the eccentric cam shaft 3215 in the horizontal direction.

As shown in fig. 8, the lock pin guide 3223 is provided with a plurality of lock pin holes 32231 in a radial direction thereof; each first locking pin 3224 is in one-to-one correspondence with a locking pin hole 32231. As can be seen from fig. 7, the top of the first lock pin 3224 is positioned in the lock pin hole 32231 to be limited, and the bottom of the first lock pin 3224 is clamped in the groove 32152 on the inner side of the eccentric cam shaft 3215 to be limited; the lock pin sleeve 3225 is sleeved on the first lock pin 3224; when the transmission sleeve 3216 is driven to rotate by the eccentric cam shaft 3215, the first lock pin 3224 and the lock pin sleeve 3225 move towards the center of the transmission sleeve 3216 to hold the test tube body or move away from the center of the transmission sleeve 3216 to release the test tube body under the guiding action of the lock pin guide plate 3223.

In an alternative embodiment, in order to cooperate with the shaking-up assembly 33 to implement the shaking-up function, the test tube transferring step between the test tube switch cover and shaking-up is omitted, and the connection between the eccentric cam shaft 3215 and the driving shaft 3214 is skillfully structured. As shown in fig. 9 and 10, the bottom end of the eccentric cam shaft 3215 is provided with a relief groove 32151. The transmission shaft 3214 is a T-shaped transmission shaft 3214, the top end of the T-shaped transmission shaft 3214 is a transmission rod 32141, the transmission rod 32141 is clamped in the avoidance groove 32151, and the transmission rod 32141 and the avoidance groove 32151 are movably mounted, namely, in a shaking-up stage, when the eccentric cam shaft 3215 swings along with the transmission sleeve 3216, the avoidance groove 32151 can move relatively away from or close to the transmission rod 32141.

As can be seen in fig. 6 and 7, the outer walls of the opposite sides of the driving sleeve 3216 are provided with a first mounting location and a second mounting location; the shaking-up assembly 33 comprises a first steering engine 331, a driving shaft 332, a first transmission plate 333, a driven shaft 334 and a bearing 335; the first steering engine 331 is mounted on the outer side of the first base 34, an output shaft of the first steering engine 331 is a driving shaft 332, and a first transmission disc 333 is mounted on the driving shaft 332; the first driving plate 333 is fixedly installed on the first installation position; one end of the driven shaft 334 is mounted on the second mounting position, and the other end of the driven shaft 334 is mounted on the first base 34 through a bearing 335; the first steering engine 331 rotates to drive the driving shaft 332 and the first driving disc 333 to swing, drives the driving sleeve 3216, the eccentric cam shaft 3215 and the test tube to swing, and the eccentric cam shaft 3215 swings along the installation direction of the driving rod 32141 and mutually avoids with the driving shaft 3214.

In an alternative embodiment, the mating of the drive sleeve 3216 and the eccentric camshaft 3215 may be accomplished in the following manner for added structural stability. As can be seen from fig. 10, the eccentric cam shaft 3215 includes a first connecting portion 32154, a second connecting portion 32155 and a third connecting portion 32156 which are coaxially connected up and down; the outer wall of the first connecting portion 32154 and the outer wall of the second connecting portion 32155 form steps with wide upper part and narrow lower part; the upper inner wall and the lower inner wall of the transmission sleeve 3216 form steps with wide upper part and narrow lower part, the outer wall of the first connecting part 32154 is abutted with the upper inner wall of the transmission sleeve 3216, and the outer wall of the second connecting part 32155 is abutted with the lower inner wall of the transmission sleeve 3216, so that the transmission sleeve 3216 and the eccentric cam shaft 3215 are stably installed, shaking is not easy to occur in the rotating process, and the running stability is improved.

In order to make the structure of the tube body holding unit more closely match. As shown in fig. 7, a first limit groove is formed in the circumferential side wall of the lock pin guide plate 3223, which is abutted against the transmission sleeve 3216; a first damping ring 3226 is arranged at the first limit groove; the inner side of the eccentric cam shaft 3215 is provided with a second limiting groove, and a second damping ring 3227 is arranged at the second limiting groove; the first damping ring 3226 and the second damping ring 3227 play a damping role and a fastening role when the transmission sleeve 3216 and the eccentric cam shaft 3215 drive the test tube body to rotate. The damping ring can be made of silica gel.

In an alternative embodiment, after the tube has been oscillated, the tube needs to return to its original position before oscillation, and therefore a corresponding functional assembly is required to detect whether the tube has been reset. Specifically, as shown in fig. 9, a sensing member 36 is further mounted to the lateral through hole 32153 at the lower end of the eccentric cam shaft 3215. As shown in fig. 11, the first base 34 is further provided with a position sensor 35, and a sensing area is provided on a side of the position sensor 35 facing the eccentric cam shaft 3215; the sensing piece 36 swings along with the eccentric cam shaft 3215, and when the eccentric cam shaft 3215 is vertically upwards, namely, the test tube body is vertically upwards, the sensing piece 36 is positioned in a sensing area so that the position sensor 35 can detect whether the eccentric cam shaft 3215 and the test tube are reset or not; if the eccentric cam shaft 3215 is not fully retracted, the position sensor 35 does not sense the sensing piece 36.

As shown in fig. 12 and 13, the clamping assembly 31 includes a second steering gear 311, a second driving disk 312, two sliding blocks 313, a locking plate 314, a second locking pin 315, and a plurality of claws 316. The second transmission disc 312 is arranged on the output shaft of the second steering engine 311, and the locking plate 314 is coaxially arranged with the second transmission disc 312; the lock plate 314 is provided with a guide chute 3141 extending gradually from the outer edge to the center thereof in the circumferential direction; one end of the second lock pin 315 is fixedly connected with the slider 313, and the other end is clamped in the guide chute 3141 and can move in the guide chute 3141; two sliders 313 are respectively located at the left side and the right side, each slider 313 is provided with a claw 316, and a plurality of claws 316 enclose to form a clamping space.

The second steering engine 311 rotates to drive the second transmission disc 312 to rotate, so as to drive the lock plate 314 to rotate, and when the guide chute 3141 on the lock plate 314 drives the second lock pin 315 to approach the center of the lock plate 314, the slide block 313 and the claw 316 on the slide block 313 are driven to clamp the test tube cover, so that the test tube cover can be matched. When the guide chute 3141 on the lock plate 314 drives the second lock pin 315 to move outwards away from the center of the lock plate 314, the slide block 313 and the claw 316 on the slide block 313 are driven to release the test tube cover.

As seen in fig. 1 and 5, reagent injection and measurement device 400 includes needle selection assembly 41 and a plurality of reagent needles 421; the needle selection assembly 41 selects a plurality of reagent needles 421 and drives the selected reagent needles 421 down to a predetermined position to achieve drop or sample detection. The plurality of reagent needles 421 may include drip and/or sampling needles, the number of drip and sampling needles being determined by the requirements of the water quality determination step.

In conventional water quality detection equipment, corresponding reagent needles are driven to ascend or descend by corresponding screw rods to realize liquid dripping or sampling, so that a plurality of screw rods are required to be matched, and the problems of larger equipment volume, higher hardware cost, poor maintainability and the like are caused. In other devices, the corresponding reagent needles are grabbed by the mechanical arm and then ascend or descend to realize dripping or sampling, and various reagents are needed to be added in the reagent adding stage, but the mechanical arm can only grab one reagent needle at a time, so that the use is not flexible and convenient. That is, the conventional water quality detection device does not have a needle selecting function, and is not flexible and convenient to use, and in order to solve the problem, the translation assembly of the embodiment is further provided with a needle selecting assembly, so that corresponding reagent needles can be selected in each reagent adding stage and the sampling stage, and can be controlled to descend into the test tube body for dropping or sampling.

In order to achieve the needle selecting function, as seen in fig. 5 and 14, the needle selecting assembly 41 includes a column 411, a needle selecting motor 412, a needle selecting gear 413, a needle selecting block 414, a rack 415, and a plurality of fixing blocks 416; the needle selection motor 412 is mounted on the motor mounting plate 222 with its motor output shaft mounted downward. The selector gear 413 is mounted to the lower end of the output shaft of the selector motor 412. As shown in fig. 14-16, in combination with a schematic structural view of the upright 411, a lateral chute 4111 is provided on a side wall of the upright 411 facing the upper end of the first mechanical arm 221; the upright 411 is also provided with a vertical chute 4112 along the vertical direction thereof; vertical runner 4112 is located the central line department of the vertical direction of stand 411, and vertical runner 4112 and horizontal runner 4111 UNICOM supply fixed block 416 to drive reagent needle 421 and move about and reciprocate.

Specifically, the upright 411 includes a riser 4113, a first mounting plate 4114, and a second mounting plate 4115; a vertical chute 4112 is formed in the middle of the vertical plate 4113 in the vertical direction, the first mounting plate 4114 and the second mounting plate 4115 are located at the top end of the vertical plate 4113, and a transverse chute 4111 is formed between the first mounting plate 4114 and the second mounting plate 4115; the top end of the first mounting plate 4114 is abutted to the needle selecting block 414 and supports the needle selecting block 414, the top end of the second mounting plate 4115 is abutted to the motor mounting plate 222 and supports the motor mounting plate 222, and the second mounting plate 4115 is further provided with a hollow hole which can accommodate the fixing block 416.

The needle selecting block 414 is arranged in the transverse chute 4111; the rack 415 is mounted on the selector block 414 and is meshed with the selector gear 413, the selector motor 412 rotates to drive the selector gear 413 to rotate, and the rack 415 is driven to move, so that the selector block 414 is driven to move left and right in the transverse chute 4111. Specifically, the needle selecting block 414 is provided with a sliding portion 4141 and a rack mounting portion 4142, the sliding portion 4141 is engaged in the lateral sliding groove 4111 of the upright 411 and can move left and right, and the rack 415 is mounted on the rack mounting portion 4142 and is fixed by a screw.

As shown in fig. 17, a plurality of detents are provided on the sliding portion 4141 of the needle selecting block 414, and the detents cannot be fully loaded for realizing needle selection, so the number of the fixing blocks 416 is smaller than the number of detents. As can be seen from fig. 14, the fixing blocks 416 can correspond to the clamping positions, and each fixing block 416 is mounted at a clamping position and is limited by the abutting of the clamping positions, and when the sliding portion 4141 of the needle selecting block 414 moves in the transverse sliding groove 4111, the fixing block 416 can be driven to move.

As shown in fig. 18, in combination with the structure of the fixing block 416, a clamping portion 4161 matching with the clamping position is provided on the fixing block 416, one end of the clamping portion 4161 is provided with a limiting hole 4162, and the other end is provided with a clamping groove 4163. The engaging portion 4161 is engaged with the engaging portion, defining a hole 4162 for passing through the reagent needle 421 and the infusion tube, and the engaging groove 4163 is engaged with the stopper 2241 on the support base 224.

When the needle selecting block 414 moves left and right in the horizontal chute 4111, the fixing block 416 and the reagent needle 421 on the fixing block 416 are driven to move left and right.

As shown in fig. 19, a limiting member 2241 is arranged on one side of the support base 224, which is close to the upright post; when the fixed block 416 moves to the vertical chute 4112, as seen in fig. 5, the screw rod 2231 of the lifting motor 223 drives the support base 224 to move up to the horizontal chute 4111, then the needle selecting motor 412 drives the needle selecting block 414 and the fixed block 416 to move to the vertical chute 4112, and the limiting member 2241 is clamped at the clamping groove of the fixed block 416, and then the screw rod 2231 of the lifting motor 223 drives the support base 224 to move down to pull the reagent needle 421 on the fixed block 416 and the fixed block 416 down to a preset position to realize dripping or sampling.

Further, if the support base 224 is driven to move up and down only by the screw rod 2231 of the lifting motor 223, shaking is easy to occur and unstable during the operation. Therefore, in order to enhance stability, a corresponding structural design is made in this embodiment. As shown in fig. 3 and 5, a vertical limit groove is formed in one side, close to the first mechanical arm 221, of the support base 224, a first vertical sliding block and a second vertical sliding block are arranged on the first mechanical arm 221, one side of the second vertical sliding block is slidably mounted with the first vertical sliding block, and the other side of the second vertical sliding block is clamped in the vertical limit groove of the support base 224; when the screw rod 2231 of the lifting motor 223 drives the supporting base 224 to move up and down, the first vertical sliding block and the second vertical sliding block can slide on the first mechanical arm 221, so that the limiting effect is achieved, and the structural stability is enhanced.

Further, as shown in fig. 5, in order to prevent the reagent on the reagent needle 421 from being contaminated by dripping, a drip groove 422 is further installed at the lower end of the upright post 411; the drip chamber 422 opens toward the reagent needle 421 on the fixed block 416.

In order to realize the cleaning of the reagent needle, a cleaning tank for cleaning the reagent needle is also arranged on the first base.

As shown in fig. 1, the sample digestion device is used for digesting a sample to be tested in a test tube into a sample capable of performing water quality total phosphorus detection or total nitrogen detection or other mineral detection. The sample digestion device comprises a test tube rack, a heat insulation block and a digestion component; the test tube rack is used for placing the area and clears up the test tube, and the thermal-insulated piece sets up in the periphery of test tube rack, clears up the subassembly and installs in the below of test tube rack for solution in the test tube on the test tube rack is cleared up in the heating.

The steps of the water quality detection analysis will be described in detail below.

The water quality detection analysis may include the steps of: s1: adding a digestion agent; s2: shaking uniformly for the first time; s3, high-temperature digestion; s4: cooling; s5: adding a chlorine removing agent; s6: shaking up for the second time; s7: standing; s8: adding a color developing agent; s9: and (5) light-splitting measurement.

In an alternative embodiment, the above steps may be specifically: the clamping component of the mechanical arm device clamps the test tube filled with the stock solution on the sample storage area A and moves to the operation area C, at this time, the clamping component clamps the test tube cover, and the rotating component drives the test tube body to rotate so that the test tube body and the test tube cover are loosened to realize uncovering. After the test tube cover is unscrewed, the clamping assembly is driven by the lifting motor to rise to a preset height, then the needle selecting assembly moves the corresponding fixed block to the transverse sliding groove, the lifting motor drives the supporting base to rise to the transverse sliding groove, the fixed block positioned at the transverse sliding groove and the reagent needle on the fixed block are lowered to a preset position, and meanwhile, the mechanical arm device translates to finely adjust the position so that the reagent needle can be aligned to the test tube body; then the dropping component injects the reagent into the test tube body. After the reagent is injected, the lifting component drives the fixed block to move up to the transverse chute and is hung on the transverse chute, and then the lifting component controls the clamping component to descend to be matched with the test tube body rotating unit to screw the test tube cover. After the test tube cover is screwed, the shaking component can directly drive the test tube body rotating unit to swing, so that the reagent in the test tube and the original sample solution are mixed in a shaking mode. After the shaking component shakes and mixes the reagent and the sample to be measured, the mechanical arm device clamps and transfers the test tube after the sample is mixed evenly to the sample digestion area B from the uncapping shaking device; and transferring each test tube to a sample digestion area B for high-temperature digestion according to the steps.

The sample digestion device digests a sample to be tested in the test tube into a sample capable of carrying out water quality detection, and the mechanical arm device clamps and moves the digested test tube from the sample digestion area B to the sample storage area A for cooling; after cooling, chlorine removal agents are required to be added in sequence, the clamping assembly of the mechanical arm device clamps the test tube again and moves to the operation area C to finish the cover opening of the test tube, then the mechanical arm device translates to finely adjust the position so that the reagent needle can be aligned to the test tube body, and then the reagent is injected into the test tube body again by the dripping assembly. After the reagent is injected, the lifting component drives the fixed block to move up to the transverse chute and is hung on the transverse chute, and then the lifting component controls the clamping component to descend to be matched with the test tube body rotating unit to screw the test tube cover. After the test tube cover is screwed, the shaking component can directly drive the test tube body rotating unit to swing, so that the reagent in the test tube and the original sample solution are mixed in a shaking mode. After the shaking component shakes and mixes the reagent and the sample to be detected, the needle selecting component selects the sampling needle, the sampling needle is pulled down to a preset position, the mechanical arm device translates to finely adjust the position, so that the reagent needle can be aligned with the test tube body, the sampling needle extends to the inside of the test tube body to absorb the sample for detection, the water quality detection data are obtained and then transmitted to the main control device for data analysis processing, and finally the total phosphorus analysis data or the total nitrogen analysis data or the analysis data of other substances are obtained. The digestion step is an optional step, and in some cases, the water quality detection may not include the digestion step, and then no digestion agent needs to be added.

The total phosphorus analyzing apparatus of the present embodiment has the following advantages over the prior art.

Compared with common water quality detection equipment, the technical scheme of the embodiment of the application can overcome the problem of single function of components, and the function of opening and closing the cover is realized by arranging the test tube body enclasping unit on the rotating unit and driving the test tube body enclasping unit to rotate by the transmission of the rotating unit; the outside of unit is held tightly at the test tube body sets up shakes even subassembly, shakes even subassembly and drives the test tube body and hold tight unit transmission and be connected, holds tight unit swing by the steering wheel drive test tube body of shaking even subassembly, and the simulation is artifical to shake in order to mix the sample solution in the test tube evenly. That is, the cover opening and liquid shaking device and the water quality detection equipment can realize the functions of opening and closing the cover of the test tube and uniformly mixing samples through the same device, so that the number of times of transferring the test tube in the water quality detection process is greatly reduced, and the water quality detection efficiency is improved; the problem of component function singleness in conventional water quality testing equipment is solved for water quality testing equipment's structure is simplified, and the integrated level is higher, has reduced the use quantity of functional component or functional unit, effectively reduces equipment volume, and the realization cost is lower, is favorable to better popularization and application.

Compared with the traditional water quality detection equipment, in the technical scheme of the embodiment of the application, the function of opening and closing the cover, the function of adding the reagent and the function of sampling and detecting can be realized through the cooperation of the mechanical arm device; the cover opening and closing function and the sample shaking function are realized through the coordination of the cover opening and shaking device; reagent injection and sampling detection are realized through a reagent injection and measuring device; through mutually supporting each functional module and using for water quality testing equipment's structure is simplified, and the integrated level is higher, effectively reduces equipment volume, and the realization cost is lower, is favorable to better popularization and application.

Note that the above is only a preferred embodiment of the present application and the technical principle applied. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the application, which is set forth in the following claims.

Claims (10)

1. The water quality detection equipment is characterized by comprising a rack, a mechanical arm device, a cover opening shaking device, a reagent injection and measurement device and a sample digestion device, wherein the mechanical arm device, the cover opening shaking device, the reagent injection and measurement device and the sample digestion device are arranged on the rack;

an operation platform is arranged on the rack, and a sample storage area, a sample digestion area and an operation area are arranged on the operation platform;

The uncovering and shaking device comprises a clamping assembly, a rotating assembly and a shaking-up assembly; the clamping assembly is used for clamping the test tube cover; the rotating assembly and the shaking-up assembly are arranged in the working area, and the rotating assembly is used for holding the test tube body to rotate so as to loosen or screw up the test tube body and the test tube cover; the shaking-up assembly is used for driving the test tube body to swing so as to shake up and mix the reagent and the sample to be tested;

the mechanical arm device comprises a translation component and a lifting component; the lifting assembly is arranged on the translation assembly, the clamping assembly is arranged on the lifting assembly, the lifting assembly drives the clamping assembly to ascend or descend, and the translation assembly drives the lifting assembly and the clamping assembly to transfer among the sample storage area, the sample digestion area and the operation area;

The reagent injection and measurement device comprises a needle selection assembly and a plurality of reagent needles; the needle selecting assembly selects a plurality of reagent needles and drives the selected reagent needles to descend to preset positions so as to realize drip or sampling detection.

2. The water quality testing apparatus of claim 1, wherein the lifting assembly comprises a first mechanical arm, a motor mounting plate, a lifting motor, and a support base; the needle selecting assembly comprises a vertical plate;

The first mechanical arm and the vertical plate are arranged on the translation assembly side by side, and the motor mounting plate is arranged at the top ends of the first mechanical arm and the vertical plate and is supported by the first mechanical arm and the vertical plate;

the lifting motor is arranged on the motor mounting plate, and the supporting base is fixed at the bottom end of a screw rod of the lifting motor; the clamping assembly is arranged on the supporting base;

The lifting motor drives the screw rod to rotate, and the screw rod drives the supporting base and the clamping assembly to lift.

3. The water quality testing apparatus of claim 2, wherein the needle selection assembly further comprises a needle selection motor, a needle selection gear, a needle selection block, a rack, and a plurality of fixed blocks;

The needle selecting motor is arranged on the motor mounting plate, and the needle selecting gear is arranged on an output shaft of the needle selecting motor; a lateral chute is arranged on the side wall of the vertical plate facing the upper end of the first mechanical arm; the vertical plate is further provided with a vertical chute along the vertical direction; the vertical chute is communicated with the transverse chute;

The needle selecting block is arranged in the transverse chute; the rack is arranged on the needle selecting block and meshed with the needle selecting gear, the needle selecting motor rotates to drive the needle selecting gear to rotate and drive the rack to move, so that the needle selecting block is driven to move left and right in the transverse sliding groove;

The needle selecting block is provided with a plurality of clamping positions; the number of the fixed blocks is smaller than the number of the clamping positions; the fixed blocks can correspond to the clamping positions, and each fixed block is arranged at each clamping position; one side of the fixing block is used for fixing the reagent needle, and the other side of the fixing block is provided with a clamping groove; when the needle selecting block moves left and right in the transverse sliding groove, the fixing block and the reagent needle on the fixing block are driven to move to the vertical sliding groove;

a limiting piece is arranged on one side, close to the vertical plate, of the supporting base; the lead screw of elevator motor drives support base moves up to horizontal spout department, and at this moment, select the needle motor drive select the needle piece to slide and drive the fixed block and remove to vertical spout department, and make the locating part card in the draw-in groove department of fixed block, then elevator motor's lead screw drives support base moves down, in order to with reagent needle drop-out or sample on fixed block and the fixed block reaches the preset position.

4. The water quality detecting apparatus according to claim 3, wherein a drip tank is further installed at a lower end of the vertical plate; the opening of the liquid dropping groove faces to the reagent needle on the fixed block.

5. The water quality detection device according to claim 3, wherein a vertical limit groove is formed in one side, close to the first mechanical arm, of the support base, a first vertical sliding block and a second vertical sliding block are arranged on the first mechanical arm, one side of the second vertical sliding block is slidably installed with the first vertical sliding block, and the other side of the second vertical sliding block is clamped in the vertical limit groove of the support base;

When the screw rod of the lifting motor drives the supporting base to move up and down, the first vertical sliding block and the second vertical sliding block can slide on the first mechanical arm.

6. The water quality testing apparatus of claim 2, wherein the translation assembly comprises a robotic arm base, a second robotic arm, a third robotic arm, a first motor, a first speed reducer, a second motor, and a second speed reducer;

the first motor is arranged on the mechanical arm base, and the first speed reducer is provided with a first connecting shaft and a second connecting shaft;

the first connecting shaft of the first speed reducer is coaxially connected with the output shaft of the first motor, and the first end of the second mechanical arm is mounted on the second connecting shaft of the first speed reducer and is coaxially connected with the second connecting shaft of the first speed reducer; the first motor drives the second mechanical arm to rotate through the first speed reducer, and the rotation speed is adjusted by the first speed reducer;

The second speed reducer is provided with a third connecting shaft and a fourth connecting shaft;

The first end of the third mechanical arm is arranged on the second end of the second mechanical arm, and the second end of the second mechanical arm, the first end of the third mechanical arm and the third connecting shaft of the second speed reducer are coaxially arranged; the second motor is arranged above the first end of the third mechanical arm, a fourth connecting shaft of the second speed reducer is connected with an output shaft of the second motor, the second motor drives the third mechanical arm to rotate through the second speed reducer, and the rotation speed is regulated by the second speed reducer;

the lifting assembly is arranged on the third mechanical arm, and the lifting assembly is driven to translate when the third mechanical arm rotates in the horizontal direction.

7. The water quality detection apparatus according to claim 1, wherein the rotating assembly comprises a rotating unit and a tube hugging unit, the tube hugging unit is located above the rotating unit, and the tube hugging unit is used for placing and hugging a tube; the rotating unit is in transmission connection with the test tube body enclasping unit and drives the test tube body enclasping unit to rotate;

The shaking-up assembly is in transmission connection with the test tube body holding unit and is used for driving the test tube body holding unit to swing and driving the test tube body to swing so as to shake and mix the reagent and the sample to be tested;

the clamping assembly is positioned above the test tube body holding unit and used for clamping the test tube cover;

When the cover is opened and closed, the clamping assembly clamps the test tube cover, the test tube body enclasping unit enclasps the test tube body, the rotating unit drives the test tube body enclasping unit to rotate, and drives the test tube body to rotate relative to the test tube cover so as to loosen or screw the test tube body and the test tube cover;

When shaking liquid, the test tube body hug unit hugs the test tube body tightly, shake even subassembly drive the test tube body hugs the unit swing tightly, drives the test tube body swing in order to shake even mixing with reagent and sample to be measured.

8. The water quality detecting apparatus according to claim 7, wherein the rotating unit includes a rotating motor, a worm wheel, a transmission shaft, and an eccentric cam shaft; the test tube body enclasping unit comprises a transmission sleeve;

the rotating motor is arranged on the outer side of the first base, and an output shaft of the rotating motor transversely extends towards the first base;

The worm is sleeved on the output shaft of the rotating motor and is driven by the rotating motor to rotate; the worm wheel is arranged on the first base, a central through hole is formed in the center of the worm wheel in the vertical direction, and the worm wheel is in meshed connection with the worm through a gear;

the transmission shaft is arranged in the central through hole of the worm wheel, and the installation direction of the transmission shaft is mutually perpendicular to the extension direction of the output shaft of the rotating motor;

the eccentric cam shaft is sleeved on the transmission shaft and is positioned above the worm wheel;

The transmission sleeve is arranged at the upper end of the eccentric cam shaft and is coaxially and cooperatively connected with the eccentric cam shaft, and the transmission sleeve is used for placing the test tube body and enabling the test tube body to vertically upwards;

the rotating motor rotates to drive the worm to rotate so as to drive the worm wheel to rotate, and the worm wheel drives the transmission shaft to rotate so as to drive the eccentric cam shaft, the transmission sleeve and the test tube on the transmission shaft to rotate.

9. The water quality detection apparatus according to claim 8, wherein a bottom end of the eccentric cam shaft is provided with a avoidance groove; the transmission shaft is a T-shaped transmission shaft, the top end of the T-shaped transmission shaft is a transmission rod, and the transmission rod is clamped in the avoidance groove;

The outer walls of the two opposite sides of the transmission sleeve are provided with a first installation position and a second installation position;

the shaking-up assembly comprises a first steering engine, a driving shaft, a first driving disc, a driven shaft and a bearing; the first steering engine is arranged on the outer side of the first base, an output shaft of the first steering engine is a driving shaft, and a first transmission disc is arranged on the driving shaft; the first transmission disc is fixedly arranged on the first installation position; one end of the driven shaft is arranged on the second installation position, and the other end of the driven shaft is arranged on the first base through a bearing;

The first steering engine rotates to drive the driving shaft and the first driving disc to swing, the driving sleeve, the eccentric cam shaft and the test tube are driven to swing, and the eccentric cam shaft swings along the installation direction of the driving rod and mutually avoids with the driving shaft.

10. The water quality testing apparatus of claim 1, wherein the clamping assembly comprises a second steering engine, a second drive disk, a slider, a lock plate, a second lock pin, and a plurality of jaws; the second transmission disc is arranged on an output shaft of the second steering engine, and the locking plate and the second transmission disc are coaxially arranged; a guide chute extending from the outer edge gradually to the center of the lock plate is arranged on the circumference of the lock plate; one end of the second lock pin is fixedly connected with the sliding block, and the other end of the second lock pin is clamped in the guide chute and can move in the guide chute; the sliding blocks are respectively positioned at the left side and the right side, each sliding block is provided with a claw, and a plurality of claws are enclosed to form a clamping space;

The second steering engine rotates to drive the second driving disc to rotate, the locking plate is driven to rotate, when the guide chute on the locking plate drives the second lock pin to approach the center of the locking plate, the sliding block and the clamping jaw on the sliding block are driven to clamp the test tube cover, and when the guide chute reagent injection and measuring device on the locking plate drives the second lock pin to move outwards away from the center of the locking plate, the sliding block and the clamping jaw on the sliding block are driven to loosen the test tube cover.