CN212568489U - Remove and snatch mechanism and water quality testing equipment - Google Patents
Remove and snatch mechanism and water quality testing equipment Download PDFInfo
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- CN212568489U CN212568489U CN202021330722.0U CN202021330722U CN212568489U CN 212568489 U CN212568489 U CN 212568489U CN 202021330722 U CN202021330722 U CN 202021330722U CN 212568489 U CN212568489 U CN 212568489U
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Abstract
The application discloses remove and snatch mechanism and water quality testing equipment, wherein, remove and snatch the mechanism and include: a mobile unit; a mounting bracket mounted on the moving unit; the first lifting element is arranged on the mounting frame and comprises a first driving piece capable of lifting; a first gripping element fixed relative to the first drive member, the first gripping element for gripping an item; the second lifting element is arranged on the mounting frame and comprises a second driving piece capable of lifting; a syringe assembly mounted on the mounting frame, the syringe assembly capable of withdrawing and releasing a liquid. First elevating element and second elevating element have been installed to this application mount, and first elevating element can control first clamping element and go up and down, and second elevating element can control syringe subassembly and go up and down, only needs a mobile unit just can realize snatching the operation of article and extraction sample, and whole structure is compacter.
Description
Technical Field
The utility model relates to a water quality testing field, concretely relates to remove and snatch mechanism and water quality testing equipment.
Background
Municipal sewage plants and other places need the laboratory technician to detect sewage business turn over water sample every day, for example carry out the detection of indexes such as COD, BOD, total nitrogen, total phosphorus, and the mode cost through artifical the detection is higher, and because the error and the uncertainty of manual operation are more moreover, the accuracy of testing result is not good.
In order to solve the above problems, an automated apparatus may be used to assist detection, a mobile gripping mechanism is an important component of the automated apparatus, the mobile gripping mechanism generally includes two sets of mobile units, one set of mobile units is used for gripping a test tube or a cuvette, the other set of mobile units is used for extracting a sample, and the two sets of mobile units are designed to cause the structure of the mobile gripping mechanism to be not compact enough.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the above problem, the removal is snatched mechanism and water quality testing equipment has been proposed.
The utility model adopts the following technical scheme:
a mobile gripping mechanism comprising:
a mobile unit;
a mounting bracket mounted on the moving unit;
the first lifting element is arranged on the mounting frame and comprises a first driving piece capable of lifting;
a first gripping element fixed relative to the first drive member, the first gripping element for gripping an item;
the second lifting element is arranged on the mounting frame and comprises a second driving piece capable of lifting;
a syringe assembly mounted on the mounting frame, the syringe assembly capable of withdrawing and releasing a liquid.
The first lifting element and the second lifting element are arranged on the mounting frame, the first lifting element can control the first clamping element to lift, the second lifting element can control the injector assembly to lift, the operation of grabbing articles and extracting samples can be achieved only by one moving unit, and the whole structure is more compact.
In practice, the syringe assembly may be an existing power syringe. The injector component comprises a needle cylinder, a needle head connected with the lower end of the needle cylinder, a piston arranged in the needle cylinder in a sliding way and an electric mechanism for driving the piston to move in a reciprocating way.
In one embodiment of the present invention, the mounting frame includes two mounting portions perpendicular to each other, and the first lifting element and the second lifting element are respectively mounted on the two mounting portions.
The design of mutually perpendicular's installation department, first elevating component and second elevating component of easy to assemble.
In one embodiment of the present invention, a gravity sensor is installed on the first driving member, and the upper end of the first clamping element is fixed to the gravity sensor.
The gravity sensor can feed back force signals, so that the equipment runs more reliably. First clamping element all has corresponding weight data when getting article such as test tube, cell at every turn to feed back the controller, can judge whether to press from both sides and get the success. If a large error occurs in the weight after gripping, or a large force is suddenly transmitted from the gravity sensor during normal operation (for example, the first gripping member collides with an object), the controller can judge that an abnormality occurs.
In one embodiment of the present invention, the device further comprises a controller and an alarm unit, wherein the controller is electrically connected to the gravity sensor and the alarm unit.
In one embodiment of the present invention, the moving unit is a robot.
In one embodiment of the present invention, the moving unit includes a first linear module, a second linear module and a third linear module, the second linear module is installed on the moving part of the first linear module, the third linear module is installed on the moving part of the second linear module, the first linear module is used to drive the second linear module to move along the X-axis direction, the second linear module is used to drive the third linear module to move along the Y-axis direction, the moving part of the third linear module can move along the Z-axis direction, the Z-axis direction is a vertical direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other two by two; the mounting bracket is fixed with the moving part of the third linear module.
In practical application, the linear module can be a ball screw pair, a rack and a gear and other existing structures.
In one embodiment of the present invention, the first lifting element and the second lifting element are both telescopic cylinders.
In one embodiment of the present invention, the first clamping element is a clamping jaw cylinder.
The application also discloses a water quality testing equipment, includes the above removal snatch the mechanism.
The utility model has the advantages that: the first lifting element and the second lifting element are arranged on the mounting frame, the first lifting element can control the first clamping element to lift, the second lifting element can control the injector assembly to lift, the operation of grabbing articles and extracting samples can be achieved only by one moving unit, and the whole structure is more compact.
Description of the drawings:
FIG. 1 is a schematic view of a water quality measuring apparatus according to example 1;
FIG. 2 is a schematic view of a water quality detecting device after the structure of a hidden part is hidden;
FIG. 3 is a schematic structural view of the mobile gripping mechanism;
FIG. 4 is a schematic view of another angle of the moving gripper mechanism;
FIG. 5 is a schematic view of the test tube self-clamping sheath of example 1;
FIG. 6 is a sectional view of the self-clamping sheath of the test tube of example 1;
FIG. 7 is an exploded view of the self-clamping sheath of the test tube of example 1;
FIG. 8 is a schematic view of a shake-up mechanism;
FIG. 9 is a schematic view of a mechanism for inverting waste liquid;
FIG. 10 is a schematic view of a waste pouring mechanism with a drainage funnel;
FIG. 11 is a schematic view of a switch cover mechanism;
FIG. 12 is a schematic view of the internal structure of a water quality detecting section;
FIG. 13 is a schematic view of a dosing mechanism;
FIG. 14 is a schematic view of a purge tank;
FIG. 15 is a schematic view of a cuvette clamping member;
FIG. 16 is a schematic view of the cuvette after it has been gripped by the cuvette gripping member;
FIG. 17 is a schematic view of a shaking heating mechanism of example 2;
FIG. 18 is a schematic view of the test tube self-clamping sheath of example 2;
FIG. 19 is an exploded view of the cuvette assembly according to example 3;
FIG. 20 is a sectional view of the test tube assembly of example 3.
The figures are numbered:
1. a frame; 2. a storage rack; 3. moving the grabbing mechanism; 4. a lid opening and closing mechanism; 5. a dosing mechanism; 6. a shaking-up mechanism; 7. a digestion instrument; 8. a detector; 9. a mobile unit; 10. a grasping assembly; 11. a mounting frame; 12. a first lifting element; 14. a first clamping element; 16. a movable rod; 17. mounting blocks; 18. an L-shaped plate; 19. a first guide rail; 20. a vertical portion; 21. a horizontal portion; 22. a first linear module; 23. a second linear module; 24. a third linear module; 25. a second lifting element; 26. a second driving member; 27. a syringe assembly; 28. an installation part; 29. a servo motor; 30. a clamping cylinder; 31. a support; 32. an inductive proximity sensor; 33. a medicament bottle; 34. a medicine discharging frame; 35. mounting holes; 36. a peristaltic pump; 37. a dressing change drive assembly; 38. a driving wheel; 39. a driven wheel; 40. a transmission belt; 41. a moving block; 42. switching the motors; 43. a first rotating member; 44. a second rotating element; 45. the test tube self-clamping sleeve; 46. a test tube body; 47. a body; 48. clamping the elastic sheet; 49. an arc-shaped portion; 50. an inner sleeve body; 51. an outer casing; 52. a through hole; 53. a limiting part; 54. a limiting groove; 55. a limiting step; 56. a waste liquid pouring mechanism; 57. rotating the liquid pouring element; 58. a second clamping element; 59. a draining rack; 60. a drain hole; 61. a switching element; 62. a waste liquid tank; 63. a liquid discharge funnel; 64. a rotation conversion bit element; 65. a cuvette clamping element; 66. a cuvette; 67. a cleaning tank; 68. a cleaning tank; 69. cleaning the spray head; 70. a heating element; 71. a test tube cover; 72. an insertion portion; 73. an outer race section; 74. an annular groove; 75. a first tapered guide surface; 76. a second tapered guide surface; 77. a clamping portion; 78. a track.
The specific implementation mode is as follows:
the present invention will be described in detail with reference to the accompanying drawings.
Example 1
As shown in fig. 1 to 13, a water quality detection device, which can automatically detect water quality, comprises a frame 1, wherein the frame 1 is provided with a water inlet;
a storage rack 2 for holding test tubes and cuvettes 66;
the movable grabbing mechanism 3 is used for grabbing articles and extracting samples;
an opening and closing cover mechanism 4 for opening or closing the test tube cover 71 of the test tube;
the medicine adding mechanism 5 is used for adding medicines into the test tube body 46;
a shaking mechanism 6 for fully mixing the sample and the medicament;
the digestion instrument 7 is used for heating and digesting the evenly shaken liquid;
and the detector 8 is used for detecting the liquid in the color dish 66.
As shown in fig. 2, 3 and 4, in the present embodiment, the moving gripper mechanism 3 includes:
a mobile unit 9;
a mounting frame 11 mounted on the moving unit 9;
the first lifting element 12 is installed on the mounting frame 11, and the first lifting element 12 comprises a first driving piece capable of lifting;
a first gripping element 14 fixed relative to the first drive member, the first gripping element 14 for gripping an item;
a second lifting member 25 mounted on the mounting frame 11, the second lifting member 25 including a second driving member 26 capable of lifting;
and a syringe assembly 27 mounted on the mounting frame 11, the syringe assembly 27 being capable of withdrawing and releasing liquid.
The mounting frame 11 is provided with a first lifting element 12 and a second lifting element 25, the first lifting element 12 can control the first clamping element 14 to lift, the second lifting element 25 can control the syringe assembly 27 to lift, and only one moving unit 9 is needed to realize the operation of grabbing articles and extracting samples, so that the whole structure is more compact.
In practice, the syringe assembly 27 may be an existing power syringe. Syringe assembly 27 includes a barrel, a needle attached to the lower end of the barrel, a piston slidably disposed within the barrel, and a motor mechanism for driving the piston in a reciprocating motion.
In the present embodiment, the mounting frame 11 includes two mounting portions 28 perpendicular to each other, and the first lifting member 12 and the second lifting member 25 are respectively mounted on the two mounting portions 28. The design of the mutually perpendicular mounting portions 28 facilitates the mounting of the first lifting member 12 and the second lifting member 25.
In this embodiment, a gravity sensor (not shown) is mounted on the first driving member, and the upper end of the first clamping element 14 is fixed to the gravity sensor. During actual application, the movable grabbing mechanism 3 further comprises a controller and an alarm unit, and the controller is electrically connected with the gravity sensor and the alarm unit. The alarm unit may include a horn, an alarm lamp, and the like.
The gravity sensor can feed back force signals, so that the equipment runs more reliably. The first clamping member 14 has corresponding weight data each time it grips an article such as a test tube, cuvette 66, etc., and feeds back to the controller to be able to determine whether the gripping was successful. If a large error occurs in the weight after the gripping, or a large force is suddenly transmitted from the gravity sensor during the normal operation (for example, the first clamping element 14 collides with an object), the controller can judge that an abnormality occurs and control the alarm unit to operate.
In actual use, the moving unit 9 is a robot. In this embodiment, the moving unit 9 includes a first linear module 22, a second linear module 23, and a third linear module 24, the second linear module 23 is installed on a moving part of the first linear module 22, the third linear module 24 is installed on a moving part of the second linear module 23, the first linear module 22 is used to drive the second linear module 23 to move along the X-axis direction, the second linear module 23 is used to drive the third linear module 24 to move along the Y-axis direction, the moving part of the third linear module 24 can move along the Z-axis direction, the Z-axis direction is a vertical direction, and the X-axis direction, the Y-axis direction, and the Z-axis direction are mutually perpendicular; the mounting frame 11 is fixed with the movable member of the third linear module 24.
In practical application, the linear module can be a ball screw pair, a rack and a gear and other existing structures.
In the present embodiment, the first lifting member 12 and the second lifting member 25 are both telescopic cylinders.
In the present embodiment, the first clamping element 14 is a jaw cylinder. The clamping jaw cylinder is also called a pneumatic finger, a pneumatic clamping jaw or a pneumatic clamping finger.
In practice, the first driving member may be a movable rod 16, the movable rod 16 has a mounting block 17 at an end thereof, and the gravity sensor is mounted on the mounting block 17. In this embodiment, the side wall of the first lifting member 12 has a first guide rail 19, the first driving member includes a movable rod 16 and an L-shaped plate 18, a vertical portion 20 of the L-shaped plate 18 is slidably fitted with the first guide rail 19, a horizontal portion 21 of the L-shaped plate 18 is fixed to the movable rod 16, and the gravity sensor is mounted on the horizontal portion 21. Through the cooperation of the first guide rail 19 and the vertical part 20, when the movable rod 16 moves, the L-shaped plate 18 can be reliably driven to move, and the movement structure is safe and reliable.
In this embodiment, the mounting frame 11, the first lifting element 12, the gravity sensor and the first clamping element 14 can form a gripping assembly 10 for gripping an article.
As shown in fig. 6, the test tube of the present embodiment includes a test tube body 47 and a test tube cover 71, and the test tube body 47 is screwed to the test tube cover 71. As shown in fig. 11 and 12, in the present embodiment, the opening and closing cover mechanism 4 includes:
a mobile unit 9;
the grabbing component 10 is arranged on the moving unit 9 and can clamp the articles and drive the articles to move up and down;
a servo motor 29;
and a clamping cylinder 30 mounted on the rotating shaft of the servo motor 29 for clamping the test tube body 46.
The lid opening and closing mechanism 4 can automatically open the test tube lid 71 or tighten the test tube lid 71. When the test tube cover needs to be opened, the clamping cylinder 30 clamps the test tube body 46, the grabbing assembly 10 clamps the test tube cover 71, the servo motor 29 rotates, and meanwhile the grabbing assembly 10 drives the test tube cover 71 to move upwards; when the test tube cover 71 needs to be screwed tightly, the clamping cylinder 30 clamps the test tube body 46, the grabbing assembly 10 clamps the test tube cover 71, the servo motor 29 rotates reversely, and meanwhile the grabbing assembly 10 drives the test tube cover 71 to move downwards.
In the present embodiment, the moving gripper mechanism 3 and the opening and closing cover mechanism 4 share the moving unit 9 and the gripper assembly 10.
In practical use, preferably, in order to avoid the problems that the test tube is damaged when the force is large and the test tube cannot be tightened when the force is small, the servo motor 29 works in a torque control mode, the motor outputs constant rotating force, and when the test tube cover 71 is tightened, the torque is larger than the output force of the motor, and the motor stops moving.
As shown in fig. 11, in the present embodiment, the servo motor 29 includes a bracket 31, an inductive proximity sensor 32 is mounted on the bracket 31, and the inductive proximity sensor 32 is aligned with the clamping cylinder 30 for detecting the position of the clamping jaw of the clamping cylinder 30.
In actual use, the air pipe of the clamp cylinder 30 is provided with a pressure regulating valve. The pressure can be adjusted to be smaller through the pressure adjusting valve, so that the action of opening or closing the cover is realized in a matched manner.
As shown in fig. 2, 12 and 13, in the present embodiment, the medicine adding mechanism 5 includes:
a multiple medicine bottle 33;
a medicine outlet frame 34 having a plurality of mounting holes 35 arranged at intervals;
a medicine tube (not shown in the figure), the outlet end of which is connected with the mounting hole 35, and the inlet end of which is connected with the medicine bottle 33;
a plurality of peristaltic pumps 36 mounted on the respective drug tubes;
and the medicine changing driving assembly 37 is used for driving the medicine discharging rack 34 to move or rotate.
Through setting up output medicament that peristaltic pump 36 can be accurate reliable, can drive out the activity of medicine frame 34 through drive assembly 37 that changes dressings to can switch different medicaments as required and drip into test tube body 46.
The peristaltic pump 36 is installed on the corresponding medicine tube, which means that a certain position in the middle of the medicine tube is disconnected, and two ends of the disconnected position are respectively connected with two liquid passing holes of the peristaltic pump 36.
In actual use, the outlet end of the cartridge has an injection nozzle which is fixed to the mounting hole 35.
As shown in fig. 13, in the present embodiment, the medicine changing driving assembly 37 is configured to drive the medicine discharging rack 34 to move linearly, the medicine changing driving assembly 37 includes a driving wheel 38, a driven wheel 39, a transmission belt 40, a moving block 41, and a switching motor 42, the transmission belt 40 is wound around the driving wheel 38 and the driven wheel 39, the switching motor 42 is configured to drive the driving wheel 38 to rotate, and the medicine discharging rack 34 is mounted on the moving block 41.
As shown in fig. 12, in the present embodiment, the dressing change driving assembly 37 further includes a track 78, and the moving block 41 is slidably disposed on the track 78. The provision of the track 78 enables the moving block 41 to reliably and stably move.
During the actual use, add medicine mechanism 5 and can also include the baffle drive element of baffle and drive baffle translation, and baffle drive element can be components such as cylinder, and after adding medicine, baffle drive element drive baffle removes to the below of going out medicine frame 34, prevents that the medicament from dropping down, pollution equipment.
As shown in fig. 8, in the present embodiment, the shaking mechanism 6 includes:
a first rotating member 43;
a second rotating member 44 fixed to the rotating shaft of the first rotating member 43, the rotating shaft axis of the second rotating member 44 being perpendicular to the rotating shaft axis of the first rotating member 43;
and a test tube clamp fixed to the rotational shaft of the second rotating member 44 for automatically clamping the test tube body 46.
Through first rotating element 43 and second rotating element 44, can drive test tube clamping piece at a plurality of dimensions motion, can realize better even operation of shaking.
In actual use, the first rotating element 43 is a rotating cylinder or a motor; the second rotating member 44 is a rotary cylinder or a motor.
In the present embodiment, the rotation axis of the first rotating element 43 is horizontally disposed.
In practice, the first rotating element 43 may perform a reciprocating swinging motion, and the second rotating element 44 may rotate in one direction or rotate in a reciprocating manner.
As shown in fig. 5, 6 and 7, in this embodiment, the test tube clamping member is a test tube self-clamping sleeve 45, the test tube self-clamping sleeve 45 includes a body 47 for inserting the test tube body 46, a clamping elastic sheet 48 is installed in the body 47, and the clamping elastic sheet 48 includes an arc portion 49 protruding to one side of the axis of the body 47.
When test tube body 46 inserted body 47, can compress arc portion 49, the arc portion 49 after being extrusion deformation can apply the effort to test tube body 46's lateral wall to can prevent that test tube body 46 from breaking away from body 47, the test tube of this application can realize from the clamping function to test tube body 46 from pressing from both sides tight cover 45.
As shown in fig. 6 and 7, in the embodiment, the body 47 includes an inner sleeve 50 and an outer sleeve 51, the inner sleeve 50 has a through hole 52, the clamping spring 48 further includes a limiting portion 53, the limiting portion 53 is disposed at least one end of the arc portion 49, the outer sleeve 51 is sleeved on the inner sleeve 50 and fixed with the inner sleeve 50, the limiting portion 53 of the clamping spring 48 is located between the inner sleeve 50 and the outer sleeve 51, and the arc portion 49 of the clamping spring 48 passes through the through hole 52. The design of the inner and outer sleeves 50, 51 makes it easier to mount the clamping spring 48.
In the present embodiment, the through hole 52 is a strip-shaped hole, and the length direction of the through hole 52 is parallel to the axial direction of the inner sleeve 50.
As shown in fig. 7, in the present embodiment, the outer sidewall of the inner housing 50 further has a limiting groove 54 at two sides of the through hole 52, and two ends of the clamping spring 48 are respectively disposed in the corresponding limiting grooves 54. The two ends of the clamping spring plate 48 are respectively arranged in the corresponding limiting grooves 54, which means that the limiting parts 53 are matched with the limiting grooves 54, and the design not only facilitates the installation of the clamping spring plate 48, but also can reliably limit the clamping spring plate 48.
In actual use, the inner sleeve 50 and the outer sleeve 51 are welded, screwed, snapped or connected by fasteners.
As shown in fig. 6 and 7, in the present embodiment, the lower portion of the inner sheath 50 has a limit step 55, and the lower end of the outer sheath 51 abuts against the limit step 55.
As shown in fig. 5 and 7, in the present embodiment, there are a plurality of clamping resilient pieces 48, which are uniformly arranged around the axis of the body 47.
As shown in fig. 12, the water quality detecting apparatus further includes a waste liquid pouring mechanism 56. As shown in fig. 9 and 10, the waste liquid pouring mechanism 56 includes:
the rotating pouring element 57;
a second gripping member 58 mounted on the rotation shaft of the rotary pouring member 57 for gripping the container;
a drain rack 59 having a plurality of drain holes 60, each drain hole 60 being used for connecting a different drain pipe (not shown in the drawings);
and the switching element 61 is used for driving the drainage rack 59 to move or rotate, so that one of the drainage holes 60 receives the waste liquid.
The second clamping element 58 is used for clamping the container with the waste liquid, the container can be inclined by rotating the liquid pouring element 57, the waste liquid can fall into the liquid discharging holes 60 on the liquid discharging rack 59, the position of each liquid discharging hole 60 can be adjusted by the switching element 61, so that different liquid discharging holes 60 receive the waste liquid, and the separated discharge or separated recovery can be realized according to different waste liquids.
The container of the present application refers to a tube body 46, a cuvette 66, and the like for containing a liquid.
In practical application, the rotating liquid pouring element 57 is a rotating cylinder or a motor, and a rotating shaft of the rotating liquid pouring element 57 is horizontally arranged.
In this embodiment, the second clamping element 58 is a jaw cylinder.
In practical use, the switching element 61 is a rotary cylinder or a motor, and the switching element 61 is used for driving the drainage rack 59 to rotate.
In the present embodiment, the switching element 61 is a telescopic cylinder or an electric push rod, and the switching element 61 is used for driving the drainage rack 59 to move.
As shown in fig. 2 and 12, in the present embodiment, the waste liquid pouring mechanism 56 further includes a waste liquid tank 62, and one end of the liquid discharge pipe away from the liquid discharge rack 59 is communicated with the corresponding waste liquid tank 62.
In actual use, the waste liquid pouring mechanism 56 may further include a PH sensor and a sensor expansion member for driving the PH sensor to move up and down. The PH sensor can detect the acid-base degree of the waste liquid, so that the liquid discharge hole 60 to which the liquid is discharged is determined, and the acid liquid and the alkali liquid can be discharged or recovered respectively.
In the present embodiment, there are 2 drain holes 60.
As shown in fig. 10, in order to prevent the waste liquid from splashing out, the waste liquid pouring mechanism 56 further includes a liquid discharging funnel 63, the liquid discharging hole 60 is located below the liquid discharging funnel 63, and the waste liquid passes through the liquid discharging funnel 63 and then falls into the corresponding liquid discharging hole 60.
In this embodiment, the water quality detecting apparatus further includes a cuvette washing mechanism, as shown in fig. 14, 15 and 16, the cuvette washing mechanism includes:
a rotary shift element 64;
the cuvette 66 clamping element 65 is arranged on the rotating shaft of the rotary conversion position element 64 and used for clamping the cuvette 66, and when the cuvette 66 is clamped by the cuvette 66 clamping element 65, the upper end and the lower end of the cuvette 66 are exposed out of the cuvette 66 clamping element 65;
a cleaning tank 67 having a plurality of cleaning tanks 68, the cuvette 66 being placed upside down in the cleaning tanks 68;
and a cleaning spray head 69 installed at the bottom of the cleaning bath 68 for spraying a cleaning liquid toward the cuvette 66.
Through the cooperation of rotating bit component 64 and cell 66 clamping component 65, can press from both sides tight cell 66 and make the cell 66 switching-over, make the open end of cell 66 down to make things convenient for outside structure of grabbing to snatch cell 66 to the washing tank 68 of cleaning box 67 in, then spray the contrast cell 66 of washing liquid through washing shower nozzle 69 and wash.
The cleaning liquid of the present application may be water or the like that can be used to clean the cuvette 66.
In the present embodiment, the rotary position-changing element 64 is a rotary cylinder or a motor, and the rotating shaft of the rotary position-changing element 64 is disposed horizontally.
In this embodiment, the bottom of the cleaning tank 67 has a liquid outlet (not shown).
In practical use, preferably, the cuvette washing mechanism further includes a cover plate rotatably installed at the open end of the washing tank 67 and a cover plate driving member for driving the cover plate to be turned over. The cover plate is arranged to effectively prevent the cleaning liquid from being sputtered out.
In practice, preferably, the cuvette cleaning mechanism further includes an air drying nozzle located at the bottom of the cleaning tank 68. After the cleaning is completed, the color dish 66 can be dried by the air drying nozzle.
The water quality testing equipment of this embodiment can divide into the detection step and uncap, take water sample, close little steps such as lid, mixing, clear up, add reagent, washing, color comparison, and operating personnel can detect the difference of index according to oneself, and the complete detection step of arbitrary sequencing combination to reach actual detection's purpose.
Example 2 (FIGS. 17 to 18)
This example is different from example 1 in that the digestion apparatus 7 is eliminated, and the heating element 70 is added to the shaking-up mechanism 6 of example 1 to form a shaking-up heating mechanism. As shown in fig. 17 and 18, the shaking heating mechanism includes:
a first rotating member 43;
a second rotating member 44 fixed to the rotating shaft of the first rotating member 43, the rotating shaft axis of the second rotating member 44 being perpendicular to the rotating shaft axis of the first rotating member 43;
the test tube self-clamping sleeve 45 is fixed with the rotating shaft of the second rotating element 44 and is used for automatically clamping the test tube body 46, and a heating element 70 is arranged on the test tube self-clamping sleeve 45.
Through first rotating element 43 and second rotating element 44, can drive the test tube from the clamping sleeve 45 at a plurality of dimension motion, can realize better shake even operation. And after shaking is completed, the heating operation can be directly performed by the heating element 70 without removing the test tube body 46.
In practice, the heating element 70 is a heating wire or a heating plate.
In this embodiment, the test tube self-clamping sheath 45 includes a body 47 for inserting the test tube body 46, a clamping spring 48 is mounted on the upper portion of the body 47, a heating element 70 is mounted on the lower portion of the body 47, and the clamping spring 48 includes an arc portion 49 protruding toward one side of the axis of the body 47. When test tube body 46 inserted body 47, can compress arc portion 49, the arc portion 49 after being extrusion deformation can apply the effort to test tube body 46's lateral wall to can prevent that test tube body 46 from breaking away from body 47, the test tube of this application can realize from the clamping function to test tube body 46 from pressing from both sides tight cover 45.
In this embodiment, the body 47 includes an inner sleeve 50 and an outer sleeve 51, the inner sleeve 50 has a through hole 52, the clamping spring 48 further includes a limiting portion 53, the limiting portion 53 is disposed at least at one end of the arc portion 49, the outer sleeve 51 is sleeved on the inner sleeve 50 and fixed with the inner sleeve 50, the limiting portion 53 of the clamping spring 48 is located between the inner sleeve 50 and the outer sleeve 51, and the arc portion 49 of the clamping spring 48 passes through the through hole 52; the heating element 70 is a heating plate which is sleeved on the lower part of the inner sleeve 50 and is positioned between the outer sleeve 51 and the inner sleeve 50. The design of the inner and outer jackets 50, 51 facilitates the mounting of the clamping spring 48 and the heating element 70.
In the present embodiment, the through hole 52 is a strip-shaped hole, and the length direction of the through hole 52 is parallel to the axial direction of the inner sleeve 50; the inner sleeve body 50 and the outer sleeve body 51 are welded, clamped or connected through a fastener; the first rotating element 43 is a rotating cylinder or a motor; the second rotating member 44 is a rotary cylinder or a motor.
In the present embodiment, the rotation axis of the first rotating element 43 is horizontally disposed.
Example 2
The present embodiment differs from embodiment 1 or 2 in that the test tube and the cap opening and closing mechanism 4, as shown in fig. 19 and 20, the test tube assembly of the present embodiment includes a test tube body 46 and a test tube cap 71, the test tube cap 71 is fitted over the test tube body 46, the test tube cap 71 includes an inner insertion portion 72 and an outer sleeve portion 73 coaxially disposed, an annular groove 74 is formed between the inner insertion portion 72 and the outer sleeve portion 73, and the annular groove 74 is used for being clamped at the open end of the test tube body 46; the inner insert part 72 is a cylindrical structure, and the end part of the inner insert part 72 is provided with a first conical guide surface 75; the test tube cover 71 is made of flexible material, the inner insertion portion 72 of the test tube cover 71 is in sealing fit with the inner side wall of the test tube body 46, and the outer sleeve portion 73 of the test tube cover 71 is in sealing fit with the outer side wall of the test tube body 46.
The test tube subassembly of this application can realize double containment, and interpolation portion 72 is sealed with the inside wall of test tube body 46 promptly, and outer sleeve portion 73 is sealed with the lateral wall of test tube body 46, can carry out the guide orientation through first toper spigot surface 75 moreover, makes things convenient for test tube lid 71 reliably to embolia on the test tube body 46.
As shown in fig. 19 and 20, in the present embodiment, the end portion of the inner side wall of the outer race portion 73 has a second tapered guide surface 76.
As shown in fig. 19 and 20, in the present embodiment, the end of the inner insertion portion 72 is located outside the outer race portion 73. After setting up like this, when cup jointing, first toper spigot surface 75 can cooperate with test tube body 46 earlier, when test tube lid 71 and test tube body 46 are not aligned, can carry out the automatic guiding location.
As shown in fig. 19 and 20, in the present embodiment, the end of the test tube cover 71 facing away from the insertion portion 72 has a holding portion 77. The provision of the gripping portion 77 facilitates gripping of the test tube cover 71 by other components.
The switch cover mechanism 4 of this embodiment does not need the servo motor 29 and the clamping cylinder 30 integrated in embodiment 1 or embodiment 2, and the switch cover mechanism 4 of this embodiment only needs one clamping cylinder 30 for clamping the test tube body 46. The test tube cover 71 can be driven to move by the moving unit 9 and the grabbing assembly 10, so that the test tube cover 71 is separated from the test tube body 47 or seals the test tube body 47.
The above only is the preferred embodiment of the present invention, not therefore the limit the patent protection scope of the present invention, all applications the equivalent structure transformation made by the contents of the specification and the drawings of the present invention is directly or indirectly applied to other related technical fields, and all the same principles are included in the protection scope of the present invention.
Claims (9)
1. A mobile gripping mechanism, comprising:
a mobile unit;
a mounting bracket mounted on the moving unit;
the first lifting element is arranged on the mounting frame and comprises a first driving piece capable of lifting;
a first gripping element fixed relative to the first drive member, the first gripping element for gripping an item;
the second lifting element is arranged on the mounting frame and comprises a second driving piece capable of lifting;
a syringe assembly mounted on the mounting frame, the syringe assembly capable of withdrawing and releasing a liquid.
2. The mobile gripper mechanism of claim 1, wherein the mounting frame includes two mounting portions perpendicular to each other, the first lifting member and the second lifting member being mounted to the two mounting portions, respectively.
3. The mobile gripper mechanism of claim 1, wherein a gravity sensor is mounted on the first actuator, and an upper end of the first clamping member is secured to the gravity sensor.
4. The mobile gripper mechanism of claim 3 further comprising a controller and an alarm unit, the controller being electrically connected to the gravity sensor and the alarm unit.
5. The mobile gripper mechanism of claim 1, wherein the mobile unit is a robot.
6. The mobile gripper mechanism of claim 1, wherein the mobile unit comprises a first linear module, a second linear module, and a third linear module, the second linear module is mounted on a movable member of the first linear module, the third linear module is mounted on a movable member of the second linear module, the first linear module is configured to drive the second linear module to move along an X-axis direction, the second linear module is configured to drive the third linear module to move along a Y-axis direction, the movable member of the third linear module is capable of moving along a Z-axis direction, the Z-axis direction is a vertical direction, and the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other two by two; the mounting bracket is fixed with the moving part of the third linear module.
7. The mobile gripper mechanism of claim 1, wherein the first lifting member and the second lifting member are each a telescopic cylinder.
8. The mobile gripper mechanism of claim 1, wherein the first gripping element is a gripper cylinder.
9. A water quality detecting apparatus comprising the moving gripper according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021330722.0U CN212568489U (en) | 2020-07-08 | 2020-07-08 | Remove and snatch mechanism and water quality testing equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021330722.0U CN212568489U (en) | 2020-07-08 | 2020-07-08 | Remove and snatch mechanism and water quality testing equipment |
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| CN212568489U true CN212568489U (en) | 2021-02-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114814138A (en) * | 2022-04-21 | 2022-07-29 | 哈尔滨跃渊环保智能装备有限责任公司 | Shaking-up cover opening device and water quality detection equipment |
-
2020
- 2020-07-08 CN CN202021330722.0U patent/CN212568489U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114814138A (en) * | 2022-04-21 | 2022-07-29 | 哈尔滨跃渊环保智能装备有限责任公司 | Shaking-up cover opening device and water quality detection equipment |
| CN114814138B (en) * | 2022-04-21 | 2024-04-26 | 哈尔滨跃渊环保智能装备有限责任公司 | Shaking cover opening device and water quality detection equipment |
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