Full-automatic pretreatment system and method for soil sample

Abstract

The invention provides a full-automatic pretreatment system and method for a soil sample, and belongs to the field of soil sample treatment.The system comprises a weighing device, a digestion device, a transfer device and a constant volume device with a workbench, the constant volume device comprises a first mechanical arm used for grabbing and cap screwing, a second mechanical arm used for pipetting, an annular conveying unit provided with a plurality of pipe supports, a pipe clamping unit and a liquid level calibration unit, and the pipe supports are provided with containing grooves matched with digestion pipes and colorimetric pipes respectively. The first manipulator is set to grab and screw caps of the digestion tube and the colorimetric tube from a first position of the annular conveying unit, and the second manipulator is set to transfer liquid from a second position of the annular conveying unit. The full-process automatic operation from weighing to final volume fixing and subpackaging of the soil samples is achieved, the working efficiency of the system is remarkably improved, and especially the treatment efficiency of a large batch of soil samples is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of soil sample processing, and particularly to a fully automatic pretreatment system and method for soil samples. Background Art

[0002] The pretreatment of soil samples is a key link in fields such as environmental monitoring, agricultural analysis, and geological research. The process usually includes multiple steps such as sample weighing, digestion, solution transfer, volume fixing, and sub-packaging. Traditional pretreatment methods highly rely on manual operations. For example, a pipette is used to manually transfer liquids one by one, the liquid level for volume fixing is judged by the naked eye, and the covers of digestion tubes and colorimetric tubes are repeatedly opened and closed. Such operations are not only inefficient but also prone to introducing errors due to the technical differences of operators. Especially when dealing with a large number of samples, the time consumption increases significantly. In addition, the strong acids, high-temperature environment, and volatile harmful substances used in the digestion process may pose a threat to the health of operators, and the frequent manual intervention further exacerbates this safety risk.

[0003] In recent years, automation technology has gradually been applied to the pretreatment process in laboratories, but existing automated systems still have many limitations. For example, some systems can only automate a single link (such as weighing or digestion), and there is a lack of efficient connection between each processing module, and manual transfer of sample containers is still required; in the volume fixing link, most devices rely on metering pumps with fixed volumes, which are difficult to adapt to the flexible volume fixing requirements of different experimental requirements, and the liquid level detection accuracy is insufficient; in addition, the automation degree of the transfer and rinsing process of the solution after digestion is low, and the sub-packaging efficiency is limited, resulting in poor coherence of the overall process. Especially for the treatment of complex matrices in soil samples, there are still technical blanks in existing systems in terms of avoiding cross-contamination, ensuring solution uniformity (such as shaking operations), and multi-container collaborative management (such as alternating operations of digestion tubes and colorimetric tubes). In addition, when performing large-scale pretreatment of soil samples, conventional processing procedures can only process the next soil sample after completing the full-process treatment of a single soil sample, resulting in low overall sample processing efficiency and being unfavorable for the efficient treatment of a large number of soil samples.

[0004] In view of this, the existing technology needs to be further improved and enhanced. Summary of the Invention

[0005] In view of the above problems, the embodiments of the present invention provide a fully automatic pretreatment system and method for soil samples. On the one hand, through the setting of an annular conveying unit and a transfer device, the collaborative work between each processing module such as a weighing device, a digestion device, and a volume fixing device is realized, greatly reducing the waiting time for connection between each process; on the other hand, by optimizing the processing procedure for a large number of soil samples, the system can perform cyclic and continuous processing on batch soil samples, significantly improving the processing efficiency of the system.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a fully automatic pretreatment system for soil samples, comprising: A weighing device; A digestion device; A transfer device; A constant volume device having a workbench, including a first manipulator for grasping and screwing caps, a second manipulator for pipetting, an annular conveying unit provided with a plurality of tube holders, a tube clamping unit, and a liquid level calibration unit. Among them, the tube holder is provided with placement slots respectively matching the digestion tube and the colorimetric tube. The first manipulator is set to grasp and screw caps on the digestion tube and the colorimetric tube from a first position of the annular conveying unit, and the second manipulator is set to perform pipetting from a second position of the annular conveying unit.

[0007] Further, the liquid level calibration unit includes: A constant volume liquid adding assembly, having a rotary seat provided on the workbench, a vertical plate connected to the rotary seat, a first vertical guide rail provided on the vertical plate, and a constant volume liquid adding plate moving up and down along the first vertical guide rail. The constant volume liquid adding plate is provided with positioning holes adapted to the colorimetric tube; A constant volume detection assembly, having a fixed seat opposite to the position of the rotary seat, a second vertical guide rail provided on the side of the fixed seat, and a detection member moving up and down along the second vertical guide rail; A constant volume clamping assembly, having a mounting seat located between the rotary seat and the fixed seat, a first clamping jaw and a second clamping jaw provided on the side of the mounting seat, and the first clamping jaw and the second clamping jaw move towards each other to form a clamping position; Moreover, the first manipulator can grasp the colorimetric tube at the first position of the annular conveying unit to the constant volume liquid adding plate, and the second manipulator can perform pipetting on the colorimetric tube in the constant volume liquid adding plate rotated to the clamping position.

[0008] Further, the fully automatic pretreatment system further includes a shaking unit located in front of the liquid level calibration unit, and the shaking unit includes: A base located on the workbench; A turntable provided on the side of the base; A swinging bracket connected to the turntable, having a pair of clamping claws located between the top plate and the bottom plate of the swinging bracket, and the top plate and the bottom plate can move towards each other to enclose the colorimetric tube grasped by the first manipulator from the constant volume liquid adding plate to the swinging bracket and clamped by the pair of clamping claws.

[0009] Further, the fully automatic pretreatment system further includes a first tube rack, a second tube rack, a third tube rack, a fourth tube rack, and a volumetric flask respectively provided on the surface of the workbench. The first tube rack is used to accommodate colorimetric tubes, the second tube rack is used to accommodate digestion tubes, the third tube rack is used to accommodate pipette tips, and the fourth tube rack is used to accommodate dispensing tubes; The working stroke of the first manipulator includes the stroke of moving between the first pipe rack and the first position of the annular conveying unit, the stroke of moving between the second pipe rack and the first position of the annular conveying unit, the stroke of moving between the first position of the annular conveying unit and the liquid level calibration unit, the stroke of moving between the liquid level calibration unit and the shaking unit, and the stroke of moving between the first position of the annular conveying unit and the shaking unit; The working stroke of the second manipulator includes the stroke of moving between the colorimetric tube and the digestion tube at the second position of the annular conveying unit, the stroke of moving between the second position of the annular conveying unit and the liquid level calibration unit, the stroke of moving between the second position of the annular conveying unit and the third pipe rack, and the stroke of moving between the second position of the annular conveying unit and the fourth pipe rack.

[0010] Furthermore, a plurality of bottle holders are provided on the annular conveying unit, and the bottle holders are provided with accommodation grooves matching the volumetric flasks; The fully automatic pretreatment system further includes a liquid injection device. The liquid injection device has a liquid injection bracket located above the annular conveying unit and a peristaltic pump arranged on the liquid injection bracket, and the peristaltic pump is used to inject a solvent into the volumetric flask that is driven by the annular conveying unit to move below it.

[0011] Furthermore, the fully automatic pretreatment system further includes a manipulator bracket located above the workbench and a horizontal linear module arranged at the top of the manipulator bracket along the X-axis direction; The first manipulator includes: A first linear module, connected to the horizontal linear module along the Y-axis direction; A second linear module, connected to the first linear module along the Z-axis direction; A grasping component, rotationally connected to the second linear module, to respectively move along the X-axis, Y-axis and Z-axis to grasp and screw the caps of the colorimetric tubes and digestion tubes; The second manipulator includes: A third linear module, connected to the horizontal linear module along the Y-axis direction; A fourth linear module, connected to the third linear module along the Z-axis direction; A pipetting head, connected to the fourth linear module, to respectively move along the X-axis, Y-axis and Z-axis for pipetting.

[0012] Furthermore, the annular conveying unit includes an annular guide rail and a driving component. The driving component has a driving motor, a sprocket arranged on the output shaft of the driving motor, and a chain matched with the sprocket; Wherein, a plurality of pipe holders are respectively slidably matched with the annular guide rail and connected to the chain, and any one of the pipe holders has a Z-shaped structure and is provided with at least two placement grooves respectively for accommodating the digestion tubes and colorimetric tubes.

[0013] Second aspect, the present invention also provides a fully automatic pretreatment method for soil samples, which is applied to the above-mentioned fully automatic pretreatment system and includes the following steps: Weigh the soil powder added to the digestion tube; After weighing, the transfer device transports the digestion tubes containing the soil powder in batches to the digestion device for digestion treatment; After the digestion treatment is completed, the transfer device transfers the digestion tubes in batches to the workbench; The annular conveying unit sequentially transports a plurality of tube supports to the first position, and the first manipulator sequentially grabs the digestion tubes and places them in the placement slots of the tube supports at the first position; The annular conveying unit sequentially transports the tube supports with colorimetric tubes and digestion tubes to the second position, and the second manipulator transfers the liquid in the digestion tube to the colorimetric tube at the second position; The second manipulator rinses the digestion tubes at the second position with a solvent in sequence; The annular conveying unit sequentially transports the tube supports with the rinsed digestion tubes to the first position. After the first manipulator removes the digestion tubes at the first position, shakes them, and then puts them back into the placement slots of the tube supports at the first position; The annular conveying unit sequentially transports the tube supports with colorimetric tubes and digestion tubes to the second position, and the second manipulator transfers the rinsing solution in the digestion tube to the colorimetric tube at the second position; The annular conveying unit sequentially transports the tube supports with the colorimetric tubes containing the rinsing solution to the first position. The first manipulator grabs the colorimetric tubes to the liquid level calibration unit at the first position, and the second manipulator adds a solvent to the colorimetric tubes for volume fixation. After the volume fixation is completed, the first manipulator grabs the colorimetric tubes to the first position; The annular conveying unit sequentially transports the tube supports with the colorimetric tubes after volume fixation to the second position, and the second manipulator sub-packages the solution in the colorimetric tubes.

[0014] Further, after the volume fixation is completed, the fully automatic pretreatment method further includes: The first manipulator grabs the colorimetric tubes to the shaking unit. After shaking is completed, the colorimetric tubes are grabbed and placed back into the placement slots of the tube supports at the first position of the annular conveying unit.

[0015] Third aspect, the present invention provides a fully automatic pretreatment method for soil samples, which is applied to the above-mentioned fully automatic pretreatment system. The fully automatic pretreatment method includes the following steps: Weigh the soil powder added to the digestion tube; After weighing, the transfer device transports the digestion tubes containing the soil powder in batches to the digestion device for digestion treatment; After the digestion treatment is completed, the transfer device transfers the digestion tubes in batches to the workbench; The annular conveying unit sequentially transports multiple pipe supports to the first position, and the first manipulator sequentially grabs the digestion tubes and places them in the placement slots of the pipe supports at the first position; The annular conveying unit sequentially transports the pipe supports with colorimetric tubes and digestion tubes to the second position, and the second manipulator transfers the liquid in the digestion tubes to the colorimetric tubes at the second position; The second manipulator rinses the digestion tubes at the second position with a solvent in sequence; The annular conveying unit sequentially transports the pipe supports carrying the rinsed digestion tubes to the first position. After the first manipulator removes the digestion tubes at the first position, shakes them, and then puts them back into the placement slots of the pipe supports at the first position; The annular conveying unit sequentially transports the pipe supports with colorimetric tubes and digestion tubes to the second position, and the second manipulator transfers the rinsing solution in the digestion tubes to the colorimetric tubes at the second position; The annular conveying unit sequentially transports the pipe supports carrying the colorimetric tubes with the rinsing solution to the first position, and the first manipulator grabs the colorimetric tubes at the first position and moves them to the liquid level calibration unit; The annular conveying unit transports the bottle support carrying the volumetric flask to under the peristaltic pump. The peristaltic pump injects a reagent into the volumetric flask. The second manipulator extracts the reagent in the volumetric flask and transports it into the colorimetric tube in the liquid level calibration unit for volume calibration. After the volume calibration is completed, the first manipulator grabs the colorimetric tube and moves it to the first position; The annular conveying unit sequentially transports the pipe supports carrying the colorimetric tubes after volume calibration to the second position, and the second manipulator divides and fills the solution in the colorimetric tubes.

[0016] Due to the adoption of the above technical solution, the technical effects achieved by the present invention are: On the one hand, the present invention provides a fully automatic pretreatment system for soil samples. Firstly, by integrating a weighing device, a digestion device, a transfer device, and a volume-fixing device, the full-process automatic operation of soil samples from weighing to final volume-fixing and sub-packaging is realized, greatly reducing manual intervention and significantly improving the working efficiency of the system, especially the processing efficiency for a large number of soil samples. Secondly, the devices in the system work together in coordination and can precisely complete each process according to a preset program, avoiding problems such as inaccurate weighing, incomplete digestion, inaccurate pipetting, and low volume-fixing accuracy that may occur in manual operations, thereby improving the accuracy and reliability of sample pretreatment. Thirdly, the cooperative design of the circular conveying unit and the first and second manipulators can ensure seamless connection of the automatic transfer, capping, and pipetting operations of digestion tubes and colorimetric tubes, reducing the waiting time in sample processing, realizing the cyclic and continuous processing of soil samples, greatly shortening the time of sample pretreatment, and improving the overall efficiency of soil sample processing. Moreover, the systematic operation process enables each sample to be processed according to the same program, ensuring the standardization of operations, facilitating the control of soil sample quality and the verification of the repeatability of processing results. In addition, when batch sub-packaging soil samples, since the sub-packaging process is concentrated in a certain period of time, the influence of temperature change on soil samples can be greatly reduced, especially the influence of temperature change on the volume of sample solution can be avoided, thereby further improving the accuracy of soil sample preparation and facilitating the subsequent precise analysis of soil samples.

[0017] On the other hand, the present invention provides a fully automatic pretreatment method for soil samples. This fully automatic pretreatment method realizes the efficient, accurate, and reliable processing of soil sample pretreatment through the automatic operations of steps such as weighing, digestion, transfer, pipetting, volume-fixing, and sub-packaging of soil samples, reducing the errors and labor intensity of manual operations. Moreover, by reasonably arranging the sequence of each operation step, the entire pretreatment process becomes smoother, reducing the waiting time between different links of the sample and improving the operating efficiency of the system. In addition, through the systematic automatic control of this method, the overall efficiency of soil samples can be improved to meet the pretreatment requirements of large-scale samples.

[0018] On yet another hand, the present invention further provides a fully automatic pretreatment method for soil samples. Compared with the above method, this method injects reagents into a volumetric flask through a peristaltic pump, and the second manipulator extracts the reagents for volume-fixing. This not only further expands the functions of the system, enabling it to meet more complex pretreatment requirements, but also can stably ensure that when volume-fixing, the second manipulator can continuously inject solvents into the colorimetric tube to achieve the continuous processing of batch soil samples.

[0019] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to understand the technical means of the embodiment of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other objects, features and advantages of the embodiment of the present invention more obvious and understandable, the specific embodiments of the present invention are hereinafter specifically exemplified. Brief Description of the Drawings

[0020] The drawings are only used to illustrate the embodiments and are not considered as a limitation to the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings: Figure 1 is a top view of a full-automatic pre-treatment system provided by the present invention; Figure 2 is a structural schematic diagram of a full-automatic pre-treatment system provided by the present invention; Figure 3 is a structural schematic diagram of a constant volume device provided by the present invention; Figure 4 is a structural schematic diagram of an annular conveying unit provided by the present invention; Figure 5 is a structural schematic diagram of a pipe clamping unit provided by the present invention; Figure 6 is a structural schematic diagram of a liquid level calibration unit provided by the present invention; Figure 7 is a structural schematic diagram of a shaking unit provided by the present invention; Figure 8 is a structural schematic diagram of another shaking unit provided by the present invention; Figure 9 is a structural schematic diagram of a workbench provided by the present invention.

[0021] Reference Numerals: 100 weighing device; 200 digestion device; 300 transfer device; 400 Constant volume device, 410 Workbench, 420 First manipulator, 421 First linear module, 422 Second linear module, 423 Gripping component, 430 Second manipulator, 431 Third linear module, 432 Fourth linear module, 433 Pipetting head, 440 Ring conveyor unit, 441 Tube holder, 4411 Digestion tube, 4412 Colorimetric tube, 442 Bottle holder, 443 Ring rail, 444 Driving component, 450 Tube clamping unit, 460 Liquid level calibration unit, 461 Constant volume liquid adding component, 4611 Rotary seat, 4612 Vertical plate, 4613 First vertical guide rail, 4614 Constant volume liquid adding plate, 462 Constant volume detection component, 4621 Fixed seat, 4622 Second vertical guide rail, 4623 Detection piece, 463 Constant volume clamping component, 4631 Mounting seat, 4632 First jaw, 4633 Second jaw, 470 Shaking unit, 471 Base, 472 Turntable, 473 Swing bracket, 4731 Top plate, 4732 Bottom plate, 4733 Claw, 481 First tube rack, 482 Second tube rack, 483 Third tube rack, 484 Fourth tube rack, 485 Volumetric flask, 490 Manipulator bracket, 491 Horizontal linear module; 500 Liquid injection device, 510 Liquid injection bracket, 520 Peristaltic pump. Detailed implementation manners

[0022] Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0023] Referring to Figures 1 - 5 As shown, the present invention provides a fully automatic pretreatment system for soil samples, including a weighing device 100, a digestion device 200, a transfer device 300, and a constant volume device 400 having a workbench 410. The constant volume device 400 includes a first manipulator 420 for gripping and screwing caps, a second manipulator 430 for pipetting, a ring conveyor unit 440 provided with a plurality of tube holders 441, a tube clamping unit 450, and a liquid level calibration unit 460. Among them, the tube holder 441 is provided with placement slots (not marked in the figure) respectively matching the digestion tube 4411 and the colorimetric tube 4412. The first manipulator 420 is configured to grip and screw caps on the digestion tube 4411 and the colorimetric tube 4412 from a first position of the ring conveyor unit 440, and the second manipulator 430 is configured to perform pipetting from a second position of the ring conveyor unit 440.

[0024] Generally, the pretreatment steps of soil samples mainly include drying, grinding, sieving, weighing, digestion, volume fixing, sub-packaging, etc. In the above pretreatment steps, not only the transportation of soil samples is involved, but also the preparation, transfer and precise volume fixing of sample solutions. Among them, volume fixing refers to adjusting the digested soil sample solution to a fixed volume for subsequent analysis and detection. Whether the volume fixing of the sample solution is accurate directly affects the accuracy of subsequent sample analysis and detection, and plays a crucial role in the accuracy of experimental results. Therefore, the fully automatic pretreatment system provided by the present invention can, on the one hand, automate various pretreatment processes of soil samples by integrating a weighing device 100, a digestion device 200, a transportation device 300 and a volume fixing device 400, and on the other hand, can greatly improve the accuracy and efficiency in the process of fixing the volume of soil samples.

[0025] It can be understood that the weighing device 100 is mainly used to weigh the soil powder after drying, grinding and sieving. Although the present invention does not elaborate in detail on its specific structure. However, for the consideration of automation and standardization of the pretreatment process, optionally, the weighing device 100 may include a plurality of discharge devices for loading soil powder, a weighing manipulator for grasping the discharge device, a weighing balance with a digestion tube 4411 placed on it, and a screwing manipulator for screwing and extruding the soil powder in the discharge device into the digestion tube 4411.

[0026] Moreover, in one example, the weighing process of the soil powder can be as follows: the weighing manipulator grabs the discharge device loaded with soil powder to the screwing manipulator, and after completing the grasping action of the discharge device, grabs the digestion tube 4411 to the weighing balance; the screwing manipulator moves above the weighing balance and rotates and squeezes the soil powder in the discharge device into the digestion tube 4411; after all the soil powder in the discharge device enters the digestion tube 4411, the weighing balance weighs its weight.

[0027] The digestion device 200 is mainly used to digest soil samples. The so-called digestion refers to the process of converting organic matter, inorganic matter or other insoluble substances in soil samples into soluble ionic or molecular forms through chemical or physical methods, mainly including acid digestion method, alkali fusion method, microwave digestion method, constant temperature water bath digestion method, etc. When specifically digesting soil samples, according to different detection requirements and different types of soil samples, users can flexibly select appropriate digestion methods and corresponding digestion equipment. For example, in one example, the digestion device 200 provided by the present invention may include a fume hood and a graphite digestion furnace disposed in the fume hood. The fume hood can collect and ventilate the volatile substances generated during the digestion process, and the graphite digestion furnace can inject a digestion solution (such as nitric acid, hydrochloric acid, sulfuric acid, etc.) into the digestion tube 4411 carrying the soil powder and perform heat treatment.

[0028] The transfer device 300 is mainly used to realize the transfer and transportation of soil samples between various devices in the fully automatic pretreatment system. In the present invention, the transfer device 300 is mainly arranged between the weighing device 100 and the digestion device 200, and between the digestion device 200 and the volume fixing device 400. Optionally, in one example, the transfer device 300 may include a transfer track and a transfer manipulator cooperating with the transfer track. Among them, the transfer manipulator can not only move along the transfer track, but also grasp or support the container or bracket containing the soil sample.

[0029] In addition, since the structure of the annular conveying unit 440 in the volume fixing device 400 is annular, a plurality of tube supports 441 arranged thereon can sequentially circulate along the annular contour of the conveyor belt. And during the cyclic movement of the tube support 441, the first manipulator 420 and the second manipulator 430 can respectively perform related grasping, capping and pipetting operations from the first position and the second position of the annular conveying unit 440 set in advance. It can be understood that during the entire volume fixing process, the first manipulator 420 always acts first. Therefore, compared with the second position, the first position of the annular conveying unit 440 is located upstream of the running direction of the annular conveying unit 440 and is closer to the digestion device 200.

[0030] The tube clamping unit 450 is mainly used to clamp the digestion tube 4411, so that the first manipulator 420 can perform capping operations on the digestion tube 4411 when it is in a clamped state; the liquid level calibration unit 460 is mainly used to fix the volume of the solution in the colorimetric tube 4412. The specific structures of the tube clamping unit 450 and the liquid level calibration unit 460 will be described in the following content of the present invention. For some devices or components in the present invention whose specific structures are not elaborated in detail, those skilled in the art can reasonably configure them based on existing equipment or structures, and will not be elaborated one by one here.

[0031] The fully automatic pretreatment system provided by the present invention, firstly, realizes the fully automated operation of the whole process from weighing to final volume fixation and sub-packaging of soil samples by integrating a weighing device 100, a digestion device 200, a transfer device 300 and a volume fixation device 400, greatly reducing manual intervention and significantly improving the working efficiency of the system, especially for the processing efficiency of a large number of soil samples; secondly, the devices in the system work in coordination with each other, and can accurately complete each process according to a preset program, avoiding problems such as inaccurate weighing, incomplete digestion, inaccurate pipetting, and low volume fixation accuracy that may occur in manual operations, thereby improving the accuracy and reliability of sample pretreatment; thirdly, the cooperative design of the annular conveying unit and the first and second manipulators can ensure the seamless connection of the automatic transfer, capping and pipetting operations of the digestion tube 4411 and the colorimetric tube 4412, reduce the waiting time in sample processing, realize the recycling and continuous processing of soil samples, greatly shorten the time of sample pretreatment, and improve the overall efficiency of soil sample processing; and, the systematic operation process enables each sample to be processed according to the same program, ensuring the standardization of operations, facilitating the quality control of soil samples and the verification of the repeatability of processing results. In addition, when batch sub-packaging soil samples, since the sub-packaging process is concentrated in a certain period of time, the influence of temperature change on soil samples can be greatly reduced, especially the influence of temperature change on the volume of sample solution can be avoided, thereby further improving the accuracy of soil sample preparation, which is beneficial to the accurate analysis of soil samples in the follow-up.

[0032] In some embodiments, referring to Figure 6As shown in the figure, the liquid level calibration unit 460 includes a constant volume liquid adding component 461, a constant volume detection component 462, and a constant volume clamping component 463. Among them, the constant volume liquid adding component 461 has a rotary seat 4611 arranged on the workbench 410, a vertical plate 4612 connected to the rotary seat 4611, a first vertical guide rail 4613 arranged on the vertical plate 4612, and a constant volume liquid adding plate 4614 that moves up and down along the first vertical guide rail 4613. The constant volume liquid adding plate 4614 is provided with a positioning hole (not marked in the figure) adapted to the colorimetric tube 4412; the constant volume detection component 462 has a fixed seat 4621 opposite to the position of the rotary seat 4611, a second vertical guide rail 4622 arranged on the side of the fixed seat 4621, and a detection piece 4623 that moves up and down along the second vertical guide rail 4622; the constant volume clamping component 463 has a mounting seat 4631 located between the rotary seat 4611 and the fixed seat 4621, a first jaw 4632 and a second jaw 4633 arranged on the side of the mounting seat 4631, and the first jaw 4632 and the second jaw 4633 move towards each other to form a clamping position; moreover, the first manipulator 420 can grasp the colorimetric tube 4412 at the first position of the annular conveying unit 440 to the constant volume liquid adding plate 4614, and the second manipulator 430 can perform pipetting on the colorimetric tube 4412 in the constant volume liquid adding plate 4614 rotated to the clamping position.

[0033] Combined with the specific structure of the above liquid level calibration unit 460, the specific process of constant volume can be as follows: First of all, the first manipulator 420 grasps the colorimetric tube 4412 that needs to be calibrated into the positioning hole of the constant volume liquid adding plate 4614 for positioning. Moreover, the constant volume liquid adding plate 4614 can move up and down along the first vertical guide rail 4613 and rotate under the drive of the rotary seat 4611, so as to realize the precise adjustment of the constant volume position of the constant volume liquid adding plate 4614. It should be noted that although the constant volume liquid adding plate 4614 can limit the initial position of the colorimetric tube 4412, the limiting effect is relatively unstable. Therefore, in the present invention, the liquid level calibration unit 460 also further improves the clamping effect on the colorimetric tube 4412 by setting the constant volume clamping component 463. That is, secondly, after the colorimetric tube 4412 is initially positioned by the constant volume liquid adding plate 4614, the first jaw 4632 and the second jaw 4633 in the constant volume clamping component 463 move towards each other to realize the clamping and limiting of the top of the colorimetric tube 4412.

[0034] Finally, after the limiting of the colorimetric tube 4412 is completed, the present invention also detects the liquid level height in the colorimetric tube 4412 in real time through the setting of the constant volume detection component 462. Specifically, when the second manipulator 430 transfers liquid into the colorimetric tube 4412, the detection member 4623 realizes the liquid level detection of the colorimetric tube 4412 by moving up and down along the second vertical guide rail 4622. Optionally, the detection member 4623 can be a alignment sensor, an infrared sensor, a laser sensor, etc. It should be particularly noted here that when the detection member 4623 adopts an alignment sensor, since the alignment sensor mainly performs liquid level detection through the emission and reception of light beams, in order to ensure that the light beam can pass through the colorimetric tube 4412 without obstruction, the material of the colorimetric tube 4412 should preferably be a light-transmitting material, such as glass, quartz, polypropylene, etc.; at the same time, in view of the high-temperature digestion treatment of soil samples in the pretreatment process, the colorimetric tube 4412 should also take into account special requirements such as high temperature resistance and corrosion resistance when selecting materials.

[0035] With the liquid level calibration unit 460 configured with the above structure, on the one hand, it can ensure the fixed position of the colorimetric tube 4412 during the liquid level calibration process, eliminating the liquid level fluctuation error caused by shaking; on the other hand, the detection member 4623 that moves up and down can monitor the liquid level height in the colorimetric tube 4412 in real time, cooperate with the second manipulator 430 to dynamically adjust the solvent injection volume, and achieve millimeter-level precision control of the liquid level; on the other hand, the separate design of the constant volume liquid adding component 461, the constant volume detection component 462 and the constant volume clamping component 463 allows the liquid adding, detection and clamping functions to operate independently and cooperate with each other, shortening the time-consuming of the constant volume link and improving the overall processing efficiency.

[0036] In some embodiments, referring to Figure 7 and Figure 8 as shown, the fully automatic pretreatment system further includes a shaking unit 470 located on the front side of the liquid level calibration unit 460, and the shaking unit 470 includes a base 471 located on the workbench 410, a turntable 472 arranged on the side of the base 471, and a swinging bracket 473 connected to the turntable 472. The swinging bracket 473 has a pair of clamping claws 4733 located between the top plate 4731 and the bottom plate 4732 of the swinging bracket 473, and the top plate 4731 and the bottom plate 4732 can move towards each other to enclose the colorimetric tube 4412 grabbed by the first manipulator 420 from the constant volume liquid adding plate 4614 and clamped by the pair of clamping claws 4733.

[0037] The setting of the shaking unit 470 can perform a shaking operation on the volumetric flask 4412 after volume determination to ensure that the solution in the volumetric flask 4412 is fully and evenly mixed, which is crucial for subsequent analysis and detection and can improve the accuracy of the analysis results. Moreover, automated shaking can ensure that the shaking force and time are consistent each time, avoiding the problem of uneven shaking caused by human factors and improving the consistency of sample processing.

[0038] Regarding the specific working process of the shaking unit 470, the following description can be referred to: When the first manipulator 420 grabs the volumetric flask 4412 after volume determination to the shaking unit 470, especially when it is grabbed onto the bottom plate 4732 of the swinging bracket 473, first, a pair of clamping claws 4733 in the swinging bracket 473 move towards each other to clamp the tube body part of the volumetric flask 4412; second, the top plate 4731 and the bottom plate 4732 move towards each other until the bottle stopper provided on the top plate 4731 seals the opening of the volumetric flask 4412, which means that the clamping of the volumetric flask 4412 is in place; finally, the swinging bracket 473 rotates under the drive of the turntable 472 to complete the shaking operation of the volumetric flask 4412.

[0039] In some embodiments, referring to Figure 9 As shown, the fully automatic pretreatment system further includes a first tube rack 481, a second tube rack 482, a third tube rack 483, a fourth tube rack 484 and a volumetric flask 485 respectively arranged on the surface of the workbench 410. The first tube rack 481 is used to accommodate the volumetric flask 4412, the second tube rack 482 is used to accommodate the digestion tube 4411, the third tube rack 483 is used to accommodate the pipette tip 433, and the fourth tube rack 484 is used to accommodate the dispensing tube.

[0040] Among them, the working stroke of the first manipulator 420 includes the stroke of moving between the first tube rack 481 and the first position of the annular conveying unit 440, the stroke of moving between the second tube rack 482 and the first position of the annular conveying unit 440, the stroke of moving between the first position of the annular conveying unit 440 and the liquid level calibration unit 460, the stroke of moving between the liquid level calibration unit 460 and the shaking unit 470, and the stroke of moving between the first position of the annular conveying unit 440 and the shaking unit 470; the working stroke of the second manipulator 430 includes the stroke of moving between the volumetric flask 4412 at the second position of the annular conveying unit 440 and the digestion tube 4411, the stroke of moving between the second position of the annular conveying unit 440 and the liquid level calibration unit 460, the stroke of moving between the second position of the annular conveying unit 440 and the third tube rack 483, and the stroke of moving between the second position of the annular conveying unit 440 and the fourth tube rack 484.

[0041] It can be understood that the number of the first pipette rack 481, the second pipette rack 482, the third pipette rack 483 and the volumetric flask 485 in the present invention can be one or multiple. The placement positions of different pipette racks on the workbench 410 can be configured according to user requirements or in combination with the specific positions of the processing units of the volume-fixing device 400. The present application has no limitation in this regard. In one example, the first pipette rack 481 can be one and is located between the first position and the second position of the annular conveying unit 440; the second pipette rack 482 can be one and is located at a position on the workbench 410 close to the digestion device 200; the third pipette rack 483 can be two, and the specifications of the pipette tips 433 accommodated in the two third pipette racks 483 are different. One third pipette rack 483 can be located near the second position, and the other third pipette rack 483 can be located near the liquid level calibration unit 460; the fourth pipette rack 484 can be one and is located near the shaking unit 470; the volumetric flasks 485 can be multiple, and can be respectively arranged on multiple bottle holders 442 of the annular conveying unit 440, or can be arranged at any position that can be covered by the second manipulator 430 on the workbench 410.

[0042] Here, through the limitation of the positions of the pipette racks and containers such as the volumetric flasks 485 on the workbench 410, as well as the limitation of the working strokes of the first manipulator 420 and the second manipulator 430. On the one hand, a reasonable plan for the storage positions of samples and reagents is realized, making the working process of the whole system smoother and improving the space utilization rate; on the other hand, the determination of the working strokes enables the manipulator to efficiently complete operations such as sample grasping, transfer, and pipetting, reducing the ineffective movement of the manipulator and improving the working efficiency. In addition, this layout makes the whole system more compact and integrated, facilitating operation and maintenance.

[0043] In some embodiments, continue to refer to Figure 3 and Figure 4 As shown, a plurality of bottle holders 442 are further provided on the annular conveying unit 440. The bottle holders 442 are provided with accommodation grooves (not marked in the figure) matching the volumetric flasks 485; the fully automatic pretreatment system further includes a liquid injection device 500. The liquid injection device 500 has a liquid injection support 510 located above the annular conveying unit 440 and a peristaltic pump 520 arranged on the liquid injection support 510, and the peristaltic pump 520 is used to inject a solvent into the volumetric flask 485 that moves to its lower part driven by the annular conveying unit 440.

[0044] Correspondingly, when a plurality of volumetric flasks 485 are placed on the annular conveying unit 440, both the liquid injection support 510 and the peristaltic pump 520 can be multiple, and the multiple liquid injection supports 510 and the multiple peristaltic pumps 520 respectively match the multiple volumetric flasks 485.

[0045] The addition of the liquid injection device 500 automates the process of adding the solvent, reducing manual operation, saving the time for manually adding the solvent, improving work efficiency, and further enhancing the automation level of the system. Moreover, automated liquid injection can ensure that the volume of each injection is consistent, avoiding inaccurate injection caused by human factors and improving the accuracy of sample processing. In addition, while the liquid injection device 500 injects the solvent into the volumetric flask 485, other units (such as volume fixing and shaking) can operate synchronously, and the solvent injection is seamlessly connected to the subsequent sub-packaging steps, reducing the operation of manually replacing the bottle body and facilitating the improvement of the overall throughput of the system.

[0046] In some embodiments, with continued reference to Figure 3 as shown, the fully automatic pretreatment system further includes a robotic arm support 490 located above the workbench 410 and a horizontal linear module 491 disposed at the top of the robotic arm support 490 along the X-axis direction.

[0047] Further, the first robotic arm 420 includes a first linear module 421, a second linear module 422, and a grasping component 423. The first linear module 421 is connected to the horizontal linear module 491 along the Y-axis direction. The second linear module 422 is connected to the first linear module 421 along the Z-axis direction. The grasping component 423 is rotatably connected to the second linear module 422 to respectively move along the X-axis, Y-axis, and Z-axis to grasp and screw the caps of the colorimetric tubes 4412 and digestion tubes 4411. The second robotic arm 430 includes a third linear module 431, a fourth linear module 432, and a pipetting head 433. The third linear module 431 is connected to the horizontal linear module 491 along the Y-axis direction. The fourth linear module 432 is connected to the third linear module 431 along the Z-axis direction. The pipetting head 433 is connected to the fourth linear module 432 to respectively move along the X-axis, Y-axis, and Z-axis for pipetting.

[0048] Through the design of the multi-axis linear module, the first robotic arm 420 and the second robotic arm 430 can accurately move along the X, Y, and Z-axis directions, realizing precise operations such as grasping, screwing the caps, and pipetting of the colorimetric tubes 4412 and digestion tubes 4411, improving the flexibility, accuracy, and reliability of the operations. Moreover, the first robotic arm 420 and the second robotic arm 430 share the horizontal linear module 491, avoiding motion interference between them through time-sharing multiplexing, and realizing efficient cooperation of the two robotic arms in a limited space. In addition, the design of the linear module makes the structure of the robotic arm more modular, facilitating maintenance and upgrade, and reducing the maintenance cost of the system.

[0049] In some embodiments, with continued reference to Figure 4As shown, the annular conveying unit 440 includes an annular guide rail 443 and a driving assembly 444. The driving assembly 444 has a driving motor, a sprocket arranged on the output shaft of the driving motor, and a chain matched with the sprocket. Among them, a plurality of pipe supports 441 are respectively slidably matched with the annular guide rail 443, connected to the chain, and any pipe support 441 has a Z-shaped structure and is provided with at least two placement grooves for accommodating digestion tubes 4411 and colorimetric tubes 4412 respectively.

[0050] First, the driving design of the annular guide rail 443 and the chain can ensure that the pipe support 441 moves cyclically along a fixed path, avoiding problems such as slipping or deviation of traditional conveyor belts and improving the conveying reliability. Second, the double-placement groove design of the Z-shaped pipe support 441 allows a single pipe support 441 to carry both digestion tubes 4411 and colorimetric tubes 4412 at the same time, doubling the amount of samples conveyed per unit time and significantly improving the processing efficiency. In addition, the number of pipe supports 441 can be increased or decreased according to needs, flexibly expanding the system processing capacity to adapt to different scales of experimental requirements.

[0051] It can be understood that the driving structure of the annular conveying unit 440 can adopt, in addition to the way of driving and matching with a chain and a sprocket, the driving and matching of a gear and a rack, the driving and matching of a belt and a pulley, the driving and matching of a gear and a belt, etc. The present application does not make specific limitations on this.

[0052] In addition, the present invention also provides a fully automatic pretreatment method for soil samples, which is applied to the above-mentioned fully automatic pretreatment system. The method specifically includes the following steps: S101. Weigh the soil powder added to the digestion tube.

[0053] S102. After weighing, the transfer device transports the digestion tubes loaded with soil powder in batches to the digestion device for digestion treatment.

[0054] S103. After the digestion treatment is completed, the transfer device transfers the digestion tubes in batches to the workbench.

[0055] S104. The annular conveying unit transports multiple pipe supports to the first position in turn, and the first manipulator grabs the digestion tubes to the placement grooves of the pipe supports at the first position in turn.

[0056] S105. The annular conveying unit transports the pipe supports with colorimetric tubes and digestion tubes to the second position in turn, and the second manipulator transfers the liquid in the digestion tubes to the colorimetric tubes at the second position.

[0057] S106. The second manipulator rinses the digestion tubes at the second position with a solvent in turn.

[0058] S107. The annular conveying unit sequentially transports the tube trays carrying the rinsed digestion tubes to the first position. After the first manipulator removes the digestion tubes at the first position, shakes them, and then places them back into the placement slots of the tube trays at the first position.

[0059] S108. The annular conveying unit sequentially transports the tube trays with colorimetric tubes and digestion tubes to the second position. The second manipulator transfers the rinsing solution in the digestion tubes to the colorimetric tubes at the second position.

[0060] S109. The annular conveying unit sequentially transports the tube trays carrying the colorimetric tubes with rinsing solution to the first position. The first manipulator grabs the colorimetric tubes to the liquid level calibration unit at the first position. The second manipulator adds solvent to the colorimetric tubes for volume calibration. After the volume calibration is completed, the first manipulator grabs the colorimetric tubes to the first position.

[0061] S110. The annular conveying unit sequentially transports the tube trays carrying the colorimetric tubes after volume calibration to the second position. The second manipulator divides and fills the solution in the colorimetric tubes.

[0062] Since the above method is mainly applied to the aforementioned fully automatic pretreatment system, the specific steps and related descriptions of the method have been presented in the foregoing content, and will not be elaborated here. However, regarding the rinsing process in steps S106 and S108, its main purpose is, when transferring the digestion solution in the digestion tubes to the colorimetric tubes, on the one hand, to ensure the cleanliness of the digestion tubes after emptying for subsequent recycling; on the other hand, to ensure that the residual digestion solution or insoluble substances on the inner wall of the digestion tubes can be transferred to the colorimetric tubes along with the rinsing process, thereby greatly reducing the volume calibration error of the sample solution.

[0063] This fully automatic pretreatment method realizes the efficient, accurate, and reliable treatment of soil sample pretreatment through the automated operations of steps such as weighing, digestion, transfer, pipetting, volume calibration, and division and filling of soil samples, reducing the errors and labor intensity of manual operations. Moreover, by reasonably arranging the sequence of each operation step, the entire pretreatment process is made smoother, reducing the waiting time of samples between different links and improving the operating efficiency of the system. In addition, through the automated control of the system, this method can improve the overall efficiency of soil samples to meet the pretreatment requirements of large-scale samples.

[0064] In some embodiments, in step S109, after the volume calibration is completed, the fully automatic pretreatment method further includes: S1091. The first manipulator grabs the colorimetric tubes to the shaking unit. After shaking is completed, the colorimetric tubes are then grabbed back to the placement slots of the tube trays at the first position of the annular conveying unit.

[0065] After the constant volume is completed, a shaking operation is performed, which can make the solution in the colorimetric tube more uniform and further improve the accuracy and reliability of the detection results.

[0066] In addition, the present invention also provides a fully automatic pretreatment method for soil samples, which is applied to the above-mentioned fully automatic pretreatment system. The fully automatic pretreatment method includes the following steps: S201. Weigh the soil powder added to the digestion tube.

[0067] S202. After the weighing is completed, the transfer device transports the digestion tubes containing the soil powder in batches to the digestion device for digestion treatment.

[0068] S203. After the digestion treatment is completed, the transfer device transfers the digestion tubes in batches to the workbench.

[0069] S204. The annular conveying unit sequentially transports a plurality of tube supports to the first position, and the first manipulator sequentially grabs the digestion tubes and places them in the placement slots of the tube supports at the first position.

[0070] S205. The annular conveying unit sequentially transports the tube supports with colorimetric tubes and digestion tubes to the second position, and the second manipulator transfers the liquid in the digestion tube to the colorimetric tube at the second position.

[0071] S206. The second manipulator rinses the digestion tubes at the second position with a solvent in sequence.

[0072] S207. The annular conveying unit sequentially transports the tube supports with the rinsed digestion tubes to the first position. The first manipulator removes the digestion tubes at the first position, shakes them, and then puts them back into the placement slots of the tube supports at the first position.

[0073] S208. The annular conveying unit sequentially transports the tube supports with colorimetric tubes and digestion tubes to the second position, and the second manipulator transfers the rinsing solution in the digestion tube to the colorimetric tube at the second position.

[0074] S209. The annular conveying unit sequentially transports the tube supports with the colorimetric tubes containing the rinsing solution to the first position, and the first manipulator grabs the colorimetric tubes at the first position and sends them to the liquid level calibration unit.

[0075] S210. The annular conveying unit transports the bottle support with the volumetric flask to below the peristaltic pump. The peristaltic pump injects a reagent into the volumetric flask. The second manipulator extracts the reagent in the volumetric flask and transports it into the colorimetric tube in the liquid level calibration unit for constant volume. After the constant volume is completed, the first manipulator grabs the colorimetric tube and moves it to the first position.

[0076] S211. The annular conveying unit sequentially transports the tube supports with the colorimetric tubes after constant volume to the second position, and the second manipulator divides and fills the solution in the colorimetric tubes.

[0077] Compared with the above methods, this method injects reagents into a volumetric flask through a peristaltic pump, and a second manipulator extracts the reagents for volume determination. This not only further expands the functions of the system, enabling it to meet more complex pretreatment requirements, but also can stably ensure that when determining the volume, the second manipulator can continuously inject solvent into the colorimetric tube to achieve continuous processing of a batch of soil samples.

[0078] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. Similarly, in order to streamline the present invention and help understand one or more of the various aspects of the invention, in the above description of the exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Among them, the claims following the specific implementation manners are hereby expressly incorporated into the specific implementation manners, where each claim itself is a separate embodiment of the present invention.

[0079] It should be noted that the above embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices can be embodied by the same hardware item. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specifically stated, should not be construed as limiting the execution order.

Claims

1. An automatic pretreatment system for soil samples, characterized in that, Comprising: A weighing device; A digestion device; A transfer device; A constant volume device with a workbench, including a first manipulator for grasping and screwing caps, a second manipulator for pipetting, an annular conveying unit provided with a plurality of tube holders, a tube clamping unit, and a liquid level calibration unit. Wherein, the tube holder is provided with placement grooves respectively matching the digestion tube and the colorimetric tube. The first manipulator is set to grasp and screw caps on the digestion tube and the colorimetric tube from a first position of the annular conveying unit. The second manipulator is set to perform pipetting from a second position of the annular conveying unit.

2. The full-automatic pre-treatment system according to claim 1, wherein The liquid level calibration unit includes: A constant volume liquid adding assembly, having a rotary seat provided on the workbench, a vertical plate connected to the rotary seat, a first vertical guide rail provided on the vertical plate, and a constant volume liquid adding plate moving up and down along the first vertical guide rail. The constant volume liquid adding plate is provided with a positioning hole adapted to the colorimetric tube. A constant volume detection assembly, having a fixed seat opposite to the position of the rotary seat, a second vertical guide rail provided on the side of the fixed seat, and a detection piece moving up and down along the second vertical guide rail. A constant volume clamping assembly, having a mounting seat located between the rotary seat and the fixed seat, a first jaw and a second jaw provided on the side of the mounting seat. The first jaw and the second jaw move towards each other to form a clamping position. And, the first manipulator can grasp the colorimetric tube at the first position of the annular conveying unit to the constant volume liquid adding plate, and the second manipulator can perform pipetting on the colorimetric tube in the constant volume liquid adding plate rotated to the clamping position.

3. The full-automatic pretreatment system according to claim 2, wherein It further includes a shaking unit located in front of the liquid level calibration unit, and the shaking unit includes: A base located on the workbench; A turntable provided on the side of the base; A swinging bracket connected to the turntable, having a pair of claws located between the top plate and the bottom plate of the swinging bracket. The top plate and the bottom plate can move towards each other to enclose the colorimetric tube grasped by the first manipulator from the constant volume liquid adding plate to the swinging bracket and clamped by the pair of claws.

4. The full-automatic pretreatment system according to claim 3, characterized in that It further includes a first tube rack, a second tube rack, a third tube rack, a fourth tube rack, and a volumetric flask respectively provided on the surface of the workbench. The first tube rack is used to accommodate colorimetric tubes, the second tube rack is used to accommodate digestion tubes, the third tube rack is used to accommodate pipette tips, and the fourth tube rack is used to accommodate dispensing tubes. The working stroke of the first manipulator includes the stroke of moving between the first tube rack and the first position of the annular conveying unit, the stroke of moving between the second tube rack and the first position of the annular conveying unit, the stroke of moving between the first position of the annular conveying unit and the liquid level calibration unit, the stroke of moving between the liquid level calibration unit and the shaking unit, and the stroke of moving between the first position of the annular conveying unit and the shaking unit. The working stroke of the second manipulator includes the stroke of moving between the colorimetric tube and the digestion tube at the second position of the annular conveying unit, the stroke of moving between the second position of the annular conveying unit and the liquid level calibration unit, the stroke of moving between the second position of the annular conveying unit and the third tube rack, and the stroke of moving between the second position of the annular conveying unit and the fourth tube rack.

5. The full-automatic pretreatment system according to claim 4, wherein A plurality of bottle holders are further provided on the annular conveying unit, and the bottle holders are provided with accommodation grooves matching the volumetric flasks. The full-automatic pretreatment system further includes a liquid injection device, the liquid injection device has a liquid injection bracket located above the annular conveying unit and a peristaltic pump arranged on the liquid injection bracket, and the peristaltic pump is used to inject a solvent into the volumetric flask that is moved to its lower part by the drive of the annular conveying unit.

6. The full-automatic pre-treatment system according to claim 1, characterized in that The full-automatic pretreatment system further includes a manipulator bracket located above the workbench and a horizontal linear module arranged at the top of the manipulator bracket along the X-axis direction. The first manipulator includes: A first linear module connected to the horizontal linear module along the Y-axis direction; A second linear module connected to the first linear module along the Z-axis direction; A grasping component rotatably connected to the second linear module to respectively move along the X-axis, Y-axis and Z-axis to grasp and screw the caps of the colorimetric tubes and digestion tubes. The second manipulator includes: A third linear module connected to the horizontal linear module along the Y-axis direction; A fourth linear module connected to the third linear module along the Z-axis direction; A pipetting head connected to the fourth linear module to respectively move along the X-axis, Y-axis and Z-axis for pipetting.

7. The full-automatic pretreatment system according to claim 1, wherein The annular conveying unit includes an annular guide rail and a driving component, and the driving component has a driving motor, a sprocket arranged on the output shaft of the driving motor and a chain matched with the sprocket; Wherein, a plurality of tube holders are respectively in sliding fit with the annular guide rail and are connected to the chain, and any one of the tube holders has a Z-shaped structure and is provided with at least two placement grooves respectively for accommodating the digestion tubes and the colorimetric tubes.

8. An automatic pretreatment method for soil samples, characterized in that, When applied to the full-automatic pretreatment system according to any one of claims 1-7, the following steps are included: Weigh the soil powder added to the digestion tube; After weighing, the transfer device transports the digestion tubes loaded with the soil powder in batches to the digestion device for digestion treatment; After the digestion treatment is completed, the transfer device transfers the digestion tubes in batches to the workbench; The annular conveying unit sequentially transports a plurality of tube holders to the first position, and the first manipulator sequentially grabs the digestion tubes into the placement grooves of the tube holders at the first position; The annular conveying unit sequentially transports the tube holders with the colorimetric tubes and the digestion tubes to the second position, and the second manipulator transfers the liquid in the digestion tubes to the colorimetric tubes at the second position; The second manipulator rinses the digestion tubes at the second position with the solvent in turn; The annular conveying unit sequentially transports the tube holders with the rinsed digestion tubes to the first position, and the first manipulator removes the digestion tubes at the first position, shakes them, and then puts them back into the placement grooves of the tube holders at the first position. The annular conveying unit sequentially transports the tube holders with colorimetric tubes and digestion tubes to the second position, and the second manipulator transfers the rinsing solution in the digestion tube to the colorimetric tube at the second position; The annular conveying unit sequentially transports the tube holders with colorimetric tubes containing the rinsing solution to the first position. The first manipulator grabs the colorimetric tube to the liquid level calibration unit at the first position, and the second manipulator adds solvent to the colorimetric tube for volume determination. After the volume determination is completed, the first manipulator grabs the colorimetric tube to the first position; The annular conveying unit sequentially transports the tube holders with the colorimetric tubes after volume determination to the second position, and the second manipulator divides and fills the solution in the colorimetric tube.

9. The full-automatic pre-treatment method according to claim 8, characterized in that, After the volume determination is completed, the method further includes: The first manipulator grabs the colorimetric tube to the shaking unit. After shaking is completed, the colorimetric tube is then grabbed and placed in the placement slot of the tube holder at the first position of the annular conveying unit.

10. A fully automatic pretreatment method for soil samples, characterized in that, Applied to the fully automatic pretreatment system as described in claim 5, the method includes the following steps: Weigh the soil powder added to the digestion tube; After weighing is completed, the transfer device batch-transports the digestion tubes with the soil powder to the digestion device for digestion treatment; After the digestion treatment is completed, the transfer device batch-transfers the digestion tubes to the workbench; The annular conveying unit sequentially transports multiple tube holders to the first position, and the first manipulator sequentially grabs the digestion tubes and places them in the placement slots of the tube holders at the first position; The annular conveying unit sequentially transports the tube holders with colorimetric tubes and digestion tubes to the second position, and the second manipulator transfers the liquid in the digestion tube to the colorimetric tube at the second position; The second manipulator rinses the digestion tubes at the second position with solvent in sequence; The annular conveying unit sequentially transports the tube holders with the rinsed digestion tubes to the first position. The first manipulator removes the digestion tube at the first position, shakes it, and then puts it back into the placement slot of the tube holder at the first position; The annular conveying unit sequentially transports the tube holders with colorimetric tubes and digestion tubes to the second position, and the second manipulator transfers the rinsing solution in the digestion tube to the colorimetric tube at the second position; The annular conveying unit sequentially transports the tube holders with colorimetric tubes containing the rinsing solution to the first position, and the first manipulator grabs the colorimetric tube to the liquid level calibration unit at the first position; The annular conveying unit transports the bottle holder with the volumetric flask to under the peristaltic pump. The peristaltic pump injects reagent into the volumetric flask. The second manipulator extracts the reagent in the volumetric flask and transports it into the colorimetric tube in the liquid level calibration unit for volume determination. After the volume determination is completed, the first manipulator grabs the colorimetric tube to the first position; The annular conveying unit sequentially transports the tube holders with the colorimetric tubes after volume determination to the second position, and the second manipulator divides and fills the solution in the colorimetric tube.

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