Manipulator system applied to screening of lipase-inhibiting active components in lotus leaves

Abstract

The invention discloses a manipulator system applied to screening of lipase activity inhibiting components in lotus leaves, and relates to the technical field of intelligent manipulators. The clamping manipulator is mounted on the base and is used for clamping the chromatographic column; the multi-purpose manipulator is positioned on the side of the clamping manipulator and is used for packing and sampling the chromatographic column; a controller; the camera is electrically connected to the controller and at least can shoot and output the vertical chromatographic column at a main view angle or a side view angle; the clamping manipulator is provided with at least one clamping jaw capable of rotating in a vertical plane, the multipurpose manipulator comprises a second movable arm, a rotating disc installed at the free end of the second movable arm, a material taking device installed on the rotating disc and a second rotation driving unit used for driving the rotating disc to rotate, and the material taking device is provided with a plurality of independent material taking pipes. The multiple material taking pipes are distributed around the center of the rotating disc. The method has the effect of improving the screening convenience and efficiency of the lipase activity inhibiting components in the lotus leaves.

Description

Technical Field

[0001] This application relates to the field of intelligent robotic arm technology, and in particular to a robotic arm system for screening components that inhibit lipase activity in lotus leaves. Background Technology

[0002] With the continuous improvement of living standards, more and more people are becoming obese. Obesity can easily lead to a series of diseases such as fatty liver, coronary heart disease, hypertension and diabetes.

[0003] Currently, in addition to exercise and diet control, medication can be used to treat obesity. However, many traditional weight-loss drugs have significant side effects. Traditional Chinese medicine has a long history of using various plant-based remedies to regulate the body and enhance weight-loss effects, such as various teas. Therefore, relevant organizations and individuals have begun to further research these remedies using existing technology to clarify the components that may have beneficial effects on weight loss. Preliminary experiments have shown that lotus leaves contain components that inhibit lipase activity, and further experiments and related drug production require their extraction.

[0004] Existing methods for extracting lipase-inhibiting components can be performed using silica gel column chromatography. However, the entire process, from column packing to sample addition and separation, relies heavily on manual labor, requiring a large workforce and constant monitoring, which prevents other tasks from being performed and results in relatively low efficiency. Therefore, a new technical solution is proposed. Summary of the Invention

[0005] To improve the convenience and efficiency of screening components that inhibit lipase activity in lotus leaves, this application provides a robotic arm system for screening components that inhibit lipase activity in lotus leaves.

[0006] This application provides a robotic arm system for screening components that inhibit lipase activity in lotus leaves, employing the following technical solution: A robotic arm system for screening components that inhibit lipase activity in lotus leaves, comprising: The base, which is the foundation; A gripping robot arm, which is mounted on a base and used to grip the chromatographic column; Multi-purpose robotic arms are located to the side of the gripper and are used for column packing and sampling in chromatography. The controller is electrically connected to the gripper and the multi-purpose robot. A camera, electrically connected to the controller, capable of capturing and outputting images of a vertical chromatographic column from either a main view or a side view. The gripping robot has at least one gripper that can rotate in a vertical plane. The multi-purpose robot includes a second movable arm, a rotary disk mounted on the free end of the second movable arm, a feeder mounted on the rotary disk, and a second rotary drive unit for driving the rotary disk to rotate. The feeder has multiple independent feed tubes, which are distributed around the center of the rotary disk.

[0007] Optionally, the second rotary drive unit includes a positioning ring, a drive gear, a coordinating gear, and a first servo motor. The positioning ring is fitted around the rotating disk and supports the rotating disk. The rotating disk has a toothed structure around its outer circumference. The drive gear and the coordinating gear are distributed between the positioning ring and the rotating disk and mesh with the toothed structure outside the rotating disk. The positioning ring and the first servo motor are mounted on the second movable arm. The output shaft of the second servo motor is linked to the drive gear. The rotating disk has an adjustment hole at its center and multiple radially elongated holes around the adjustment hole. The radially elongated holes are located in the radial extension direction of the adjustment hole, and a linkage block is provided inside the adjustment hole. The feeder also includes a slider and a pneumatic piston unit. Each radially elongated hole slides along its length and is connected to a slider and a pneumatic piston unit. The slider is fixed to the piston rod of the pneumatic piston unit. The piston rods of each pneumatic piston unit are respectively hinged to a linkage block through an intermediate movable block. A feed tube is fixed to the lower part of each slider. The feed tube and the inner cavity of the pneumatic piston unit are connected to a gas pipe, and a solenoid valve is installed on the gas pipe. The solenoid valve is electrically connected to the controller.

[0008] Optionally, the controller is electrically connected to a reuse air pump, and the air inlet and outlet ports of the reuse air pump are respectively connected to T-pipe one and T-pipe two; The pneumatic piston unit is connected to the third three-way pipe. The other two ends of the third three-way pipe are respectively equipped with solenoid valves, one of which is connected to a reverse circulation pipe and the other is connected to one end of the first three-way pipe. The third end of the three-way pipe is equipped with a bypass gas supply control valve and is connected to the atmosphere; The other two ports of the three-way pipe are connected to the reverse circulation pipe and the outlet control valve and connected to the atmosphere, respectively; the bypass gas supply control valve and the outlet control valve are electrically connected to the controller.

[0009] Optionally, the feeding tubes are arranged vertically, and the multiple feeding tubes are divided into at least two groups, one group being type A tubes and the other group being type B tubes. The lower end of the type A tube has a material hole and a piston block is vertically slidably connected inside. The gas pipe is connected to the upper cavity of the piston block in the type A tube. The upper part of the type B tube has a section that extends outward to form an expansion cavity. The gas pipe is connected to the upper inner cavity of the expansion cavity of the type B tube, and a filter is provided at the connection port.

[0010] Optionally, a gas pressure detection unit is provided at a section of the gas pipeline near the feed pipe, and the gas pressure detection unit is electrically connected to the controller.

[0011] Optionally, the controller is configured as follows: Record the pre-planned compatible materials for any one of the feed tubes; If the material is in a solid state, the material specification parameters and density parameters are retrieved from the preset database, and the minimum unit reference weight of the material is calculated. The database is searched based on the minimum unit reference weight of the material to obtain the pre-recorded matching suction force and matching suction power, and then suction control is executed.

[0012] Optionally, the feed pipe is also connected to a pressure relief pipe, and a flow control valve is installed on the pressure relief pipe. The flow control valve is electrically connected to the controller.

[0013] Optionally, the controller is electrically connected to a linear conveyor, the linear conveyor having a transverse conveying direction and at least one conveying section for placing containers.

[0014] In summary, this application includes the following beneficial technical effects: First, a shelf can be placed on the base to temporarily store the chromatographic column, allowing the gripping robot to move and clamp the column, then move it vertically to the designated working position; or, the chromatographic column can be placed in the gripper of the gripping robot, the gripper can tighten to hold it, and the gripping robot can move to the designated working position; Second, the multi-purpose robot can be moved to the sample and material rack placed on or near the base, controlling the rotary table to rotate and the feeder to operate, sequentially taking each material and sample according to the preset chromatographic column filling, sample addition, and separation process, and adding them one by one to the chromatographic column, thereby assisting staff in screening for lipase-inhibiting active components in a relatively efficient and intelligent manner, freeing up human resources. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this application; Figure 2 This is a schematic diagram of the control structure of this application; Figure 3 This is a structural schematic diagram of the rotating disk area of ​​this application; Figure 4 This is a schematic diagram of the airflow direction of the reused air pump section of this application; Figure 5 This application is Figure 3 A partial structural diagram.

[0016] Explanation of reference numerals in the attached diagram: 1. Base; 2. Clamping robot; 21. Gripper; 3. Multi-purpose robot; 31. Movable arm two; 32. Rotary disk; 321. Linkage block; 331. Material handling tube; 332. Slider; 333. Pneumatic piston unit; 334. Solenoid valve; 335. Reusable air pump; 336. Reverse circulation pipe; 337. Bypass air supply control valve; 338. Air outlet control valve; 34. Rotary drive unit two; 341. Positioning ring; 342. Drive gear; 343. Coordinating gear; 344. Servo motor; 4. Controller; 5. Camera; 6. Gas pressure detection unit; 7. Flow control valve; 8. Linear conveyor. Detailed Implementation

[0017] The following is in conjunction with the appendix Figures 1-5 This application will be described in further detail.

[0018] This application discloses a robotic arm system for screening components that inhibit lipase activity in lotus leaves.

[0019] Reference Figure 1 and Figure 2 The robotic arm system for screening lipase-inhibiting components in lotus leaves includes a base 1, a gripping robotic arm 2, a multi-purpose robotic arm 3, a controller 4, and a camera 5. In this embodiment, if the base 1 is used in a laboratory, it can be a plate structure, which can be miniaturized and placed on a laboratory table or similar location after being combined with other structures. If it is used in a factory or similar location, the base 1 can be a frame structure or a platform structure. The gripping robotic arm 2 and the multi-purpose robotic arm 3 can both be mounted on the base 1 to facilitate the movement and handling of this application.

[0020] The gripping robot 2 can be an existing multi-axis robotic arm with grippers 21. The grippers 21 are required to be able to rotate in the vertical plane. For example, after gripping the vertical chromatographic column, the grippers 21 can rotate 180° vertically to change the up and down position, which facilitates automated rinsing, etc. This will be described in another embodiment. The grippers 21 can not only rotate 180°, but preferably can rotate at least within 0-180°, and most preferably can rotate within 360°.

[0021] If the gripper 21 of the selected gripping robot 2 does not have the ability to rotate, it can be improved by: the gripper 21 is rotatably connected to the free end of the multi-axis robot arm, and a motor is installed at the free end. The output shaft of the motor is fixed to the rotating shaft of the gripper 21 through the output shaft of the reduction gearbox.

[0022] Reference Figure 3 and Figure 5The multi-purpose robotic arm 3 includes a second movable arm 31, a rotary disk 32, a feeder, and a second rotary drive unit 34. The second movable arm 31 also adopts a multi-axis robotic arm to meet the needs of multi-directional movement. The rotary disk 32 is installed at the free end of the second movable arm 31. The feeder is installed on the rotary disk 32 and has multiple independent feed tubes 331, which are distributed around the center of the rotary disk 32. The second rotary drive unit 34 is installed on the second movable arm 31 and is used to drive the rotary disk 32 to rotate.

[0023] Multiple cameras 5 can be installed on the gripping robot 2 or the multi-purpose robot 3, or they can be installed on the base 1 through a support structure. The shooting range of the cameras 5 covers the activity area of ​​the two robots. It is especially important to note that they need to be able to capture video / images of the vertical chromatographic column from the main view or side view angle.

[0024] The controller 4 includes an MCU controller and a computer connected to the MCU controller. The MCU controller is electrically connected to the gripping robot 2 and the multi-purpose robot 3. The computer is directly connected to the camera 5 or connected through the MCU controller.

[0025] Based on the above, staff can configure controller 4 to assist in the semi-automatic or automatic screening of lipase-inhibiting components in lotus leaves, as described in this application. Example: First, place a shelf on the base 1 to temporarily store the chromatographic column, move the gripping robot 2 to grip the chromatographic column and move it vertically to the designated working position; or, place the chromatographic column in the gripper 21 of the gripping robot 2, tighten the gripper 21 and move the gripping robot 2 to the designated working position. Secondly, the multi-purpose robotic arm 3 is moved to the sample and material rack placed on or near the base 1, and the rotary disk 32 is controlled to rotate and the feeder is operated. According to the preset chromatographic column filling, sample addition and separation process, each material and sample is picked up in sequence and added to the chromatographic column one by one, so as to assist the staff to screen the lipase-inhibiting active components in a relatively efficient and intelligent manner, freeing up human resources.

[0026] It is understandable that during the above process, camera 5 can be used to collect information on changes in the chromatographic column so that controller 4 can perform image recognition analysis to determine the progress of the process and determine when to add which materials or samples. Examples of materials and samples include fine sand, silica gel, and lotus leaf extract.

[0027] Reference Figure 3 and Figure 5 In one embodiment of this application, the rotary drive unit 34 includes a positioning ring 341, a drive gear 342, a coordinating gear 343, and a servo motor 344.

[0028] The positioning ring 341 is fitted around the rotating disk 32 and its concave shape forms an inner step that supports the rotating disk 32. The positioning ring 341 is fixed to the free end of the movable arm 31 by a connecting rod or other structure. The rotating disk 32 has a toothed structure around its outer circumference. The driving gear 342 and the coordinating gear 343 are located between the positioning ring 341 and the rotating disk 32 and mesh with the toothed structure outside the rotating disk 32.

[0029] The aforementioned coordinating gear 343 can be two, evenly distributed around the rotating disk 32 along with the driving gear 342, to make the force on the rotating disk 32 more balanced; the coordinating gear 343 is rotatably connected to the positioning ring 341 via a rotating shaft, and the servo motor 344 is fixed to the base plate or other structures on the movable arm 31. The output shaft of the servo motor 344 is coaxially fixed to the driving gear 342, and the servo motor 344 is electrically connected to the controller 4, thereby enabling: The controller 4 records the function of each feeding tube 331 and its corresponding number, as well as the rotation amount of the rotary disk 32. When a certain feeding is required, the controller determines the number of the matching feeding tube 331, determines the rotation amount of the rotary disk 32 based on the number, and then controls the servo motor 344 to work accordingly.

[0030] Reference Figure 4 and Figure 5 Furthermore, an adjustment hole is provided at the center of the rotating disk 32, and multiple radial elongated holes are provided around the adjustment hole. The radial elongated holes are located in the radial extension direction of the adjustment hole, and a linkage block 321 is placed inside the adjustment hole.

[0031] The feeder also includes a slider 332 and a pneumatic piston unit 333. A slider 332 is slidably connected to each radially elongated hole along the length direction and a pneumatic piston unit 333 is installed thereon. The slider 332 is fixed to the piston rod of the pneumatic piston unit 333. Example of pneumatic piston unit 333: similar to a syringe.

[0032] The piston rods of each pneumatic piston unit 333 are hinged to the linkage block 321 via intermediate movable blocks, with the hinged rotating surface parallel to the rotating disk 32. Both ends of the intermediate movable block are hinged structures, and if necessary, they can be telescopic structures that can extend and retract along the length direction, for example, with a spring in the middle. A material pick-up pipe 331 is fixed to the lower part of each slider 332. The material pick-up pipe 331 and the inner cavity of the pneumatic piston unit 333 are connected to a gas pipe, and a solenoid valve 334 is installed on the gas pipe. The solenoid valve 334 is electrically connected to the controller 4.

[0033] Based on the above settings, air extraction and delivery equipment is configured for this application, such as a fan or air pump; Example: When the pneumatic piston unit 333 is evacuated, the slider 332 slides outward, and the solenoid valve 334 is connected to the main pipe of the air pump A through the pipe; when a certain material picking pipe 331 is needed to pick up material, the air pump A and the corresponding solenoid valve 334 are opened, and the pneumatic piston unit 333 evacuates air to pull the slider 332 outward through the piston structure. At this time, one picking tube 331 moves outward, while the other picking tubes 331 will begin to move inward due to the linkage of the linkage block 321 to each pneumatic piston unit 333. This makes the position of the currently needed picking tube 331 relatively prominent, so as to facilitate picking up and feeding materials. For the structure and usage of the picking tube 331, please see the following text.

[0034] When the aforementioned material pick-up pipe 331 needs to be retracted, the air pump A reverses; more preferably, the pneumatic piston unit 333 is connected to a three-way pipe, and the other two ends of the three-way pipe are respectively equipped with solenoid valves 334, one solenoid valve 334 is connected to the air inlet end of air pump A, and the other solenoid valve 334 is connected to the air outlet end of air pump B.

[0035] While the above-described method of pumping air using the pneumatic piston unit 333 is feasible, it requires two sets of air pumps and a longer gas pipeline. Therefore, this application prefers the following: A reused air pump 335 is installed, and the air inlet and outlet ports of the reused air pump 335 are connected to T-pipe 1 and T-pipe 2, respectively. The pneumatic piston unit 333 is connected to the three-way pipe 3. The other two ends of the three-way pipe 3 are respectively equipped with solenoid valves 334, one of which is connected to the reverse circulation pipe 336, and the other is connected to one end of the three-way pipe 1. The third end of the three-way pipe 1 is equipped with a bypass air supply control valve 337 and is connected to the atmosphere. The other two ports of the three-way pipe 2 are connected to the reverse circulation pipe 336 and the other is equipped with an exhaust control valve 338 and is connected to the atmosphere. The above-mentioned reuse air pump 335, bypass air supply control valve 337, and exhaust control valve 338 are electrically connected to the controller 4.

[0036] Based on the above, when it is necessary to evacuate the pneumatic piston unit 333, simply close the solenoid valve 334 and bypass air supply control valve 337 of one of the reverse circulation pipes 336, and open the other solenoid valve 334 and air outlet control valve 338. When air needs to be supplied to the pneumatic piston unit 333, simply open the bypass air supply control valve 337, close the solenoid valve 334 of one of the reverse circulation pipes 336, close the bypass air supply control valve 337, and close the other solenoid valve 334 and the air outlet control valve 338.

[0037] As can be seen from the above, this application only requires one air pump to realize the air pumping of the pneumatic piston unit 333, which can reduce the amount of air pumps and pipes used, making the structure more streamlined.

[0038] It is understandable that the aforementioned feed pipe 331 can be connected to the reuse air pump 335 and the pipeline without a bypass air supply control valve 337 via an independent gas pipeline; alternatively, a separate air pump can be configured for independent operation.

[0039] In one embodiment of this application, the material picking tube 331 is vertically arranged and its upper end is closed and fixed to the bottom of the slider 332 with a base; in order to better pick up various materials, the multiple material picking tubes 331 are divided into two groups, one group is a type A tube and the other group is a type B tube.

[0040] Among them, the lower diameter of the Class A tube is smaller than that of the upper diameter. Part of it can be funnel-shaped, and part of it can be a thin tube structure. In any case, there is a material hole at the bottom and a piston block is vertically slidable inside to draw out liquids such as eluents by the upward movement of the piston block. The gas pipe mentioned above is connected to the upper cavity of the piston block in the Class A tube.

[0041] Type B pipes have an outward-extending section at the top forming an expansion cavity, for example, a laterally extended, flattened oval structure. A gas pipe connects to the upper inner cavity of this expansion cavity, and a filter is installed at the connection port. Examples of filter plates include thin sheets of metal, glass, or plastic with numerous small pores, coaxial with the connection port and fixed to its outer edge using adhesive or other methods. Type B pipes can extract solid powders and particles via suction. In this case, the expansion cavity can accommodate more material, and if the cavity height is sufficient, it can reduce the amount of material drawn onto the filter, thus reducing the likelihood of blockage.

[0042] In one embodiment of this application, a gas pressure detection unit 6, such as a gas pressure sensor, is installed on a section of each gas pipeline near the feed pipe 331. The gas pressure detection unit 6 is electrically connected to the controller 4 and its detection part is inserted into the gas pipeline to detect the gas pressure.

[0043] Based on the above configuration, the controller 4 can determine the operating status of the feeder based on the feedback signal from the gas pressure detection unit 6, thus forming a closed-loop control mechanism and improving control safety. Furthermore, it allows for more detailed functional settings on the controller 4. Specifically: Controller 4 records the pre-planned compatible material for any one of the feeding tubes 331; If the material is in a solid state, the system searches the preset database to obtain the material specification parameters (particle size) and density parameters, and calculates the minimum unit reference weight of the material; for example, the weight of a single particle. The database is searched based on the minimum unit reference weight of the material. The database pre-stores the relationship data between the minimum unit reference weight of the material recommended by the staff, the suction power, and the air pump level / power. Then, the pre-recorded matching suction power and matching suction power are obtained, and the suction control is executed.

[0044] It is understandable that for non-fluid materials such as granules, the suction required to make them float varies depending on the particle size and density. The above settings allow the power of the air pump to better meet the needs, reducing energy consumption on the one hand, and further reducing the chance of filter clogging and suction failure on the other.

[0045] In another embodiment of this application, the above-mentioned feed pipe 331 is also connected to a pressure relief pipe. It can be understood that the pressure relief pipe is located above the piston block or above the filter plate; a flow control valve 7 is installed on the pressure relief pipe, and the flow control valve 7 is electrically connected to the controller 4.

[0046] Based on the above settings, during the sample addition and separation process, the controller 4 can be set to increase or decrease the flow rate allowed by the flow control valve 7 according to the current process stage, so as to more accurately assist the staff in completing the material addition and avoid the need for the staff to manually intervene in the control through the interactive panel (such as a touch screen).

[0047] In one embodiment of this application, the application also includes a linear conveyor 8, such as a linear belt conveyor, which can be installed on the base 1 and the belt can be used to place containers so that they can automatically flow through from under the chromatographic column, realizing the automation of bottling, receiving materials, waste liquid, etc., thereby further improving the ease of use; the linear conveyor 8 is electrically connected to the controller 4.

[0048] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A mechanical hand system applied to the screening of components inhibiting lipase activity in lotus leaves, characterized by, The utility model relates to a kind of chromatographic column automatic loading and unloading device, including: Base (1) is foundation; Clamping manipulator (2) is installed in base (1) and is used to clamp chromatographic column; Multi-purpose manipulator (3) is located in the side of clamping manipulator (2) and is used for chromatographic column loading and sampling; Controller (4) is electrically connected to clamping manipulator (2) and multi-purpose manipulator (3); Camera (5) is electrically connected to controller (4) and can at least with main view angle or side view angle to vertical chromatographic column photograph and output; Wherein, the clamping manipulator (2) at least has one jaw (21) that can rotate in vertical plane, the multi-purpose manipulator (3) includes movable arm two (31), rotating disc (32) installed at the free end of movable arm two (31), material taking device installed at rotating disc (32) and rotating drive unit two (34) for driving rotating disc (32) to rotate, the material taking device has multiple independent material taking pipes (331), multiple material taking pipes (331) are distributed around the center of rotating disc (32).

2. The mechanical hand system for screening the component for inhibiting lipase activity in lotus leaf according to claim 1, characterized in that: The rotating drive unit two (34) includes positioning ring (341), driving gear (342), coordination gear (343) and servo motor (344) one, the positioning ring (341) is sleeved on rotating disc (32) and holds rotating disc (32), the rotating disc (32) is provided with tooth structure around the circumference of outer wall, the driving gear (342), coordination gear (343) are distributed between positioning ring (341) and rotating disc (32) and are engaged with the tooth structure outside rotating disc (32), the positioning ring (341) and servo motor (344) one are installed in movable arm two (31), the output shaft of servo motor (344) two is linked with driving gear (342); The center of rotating disc (32) is provided with adjusting hole and is provided with multiple radial long holes around adjusting hole, radial long hole is located in the radial extension direction of adjusting hole, the adjusting hole is provided with linkage block (321); The material taking device further includes sliding block (332) and pneumatic piston unit (333), each radial long hole is slidably connected with one sliding block (332) along the length direction and is installed with one pneumatic piston unit (333), the sliding block (332) is fixed to the piston rod of pneumatic piston unit (333), the piston rod of each pneumatic piston unit (333) is respectively hinged to linkage block (321) through intermediate movable block, the lower part of each sliding block (332) is fixed with one material taking pipe (331), the inner cavities of material taking pipe (331) and pneumatic piston unit (333) are all communicated with gas pipeline, and electromagnetic valve (334) is installed on gas pipeline, the electromagnetic valve (334) is electrically connected to controller (4).

3. The mechanical hand system for screening the component for inhibiting lipase activity in lotus leaf according to claim 2, characterized in that: The controller (4) is electrically connected with multiplexing air pump (335), the gas inlet port, gas outlet port of multiplexing air pump (335) are communicated with three-way pipe one, three-way pipe two respectively; The pneumatic piston unit (333) is communicated with three-way pipe three, the other two pipe ends of three-way pipe three are respectively installed electromagnetic valve (334) and one is communicated with reverse circulation pipe (336), one is communicated in one pipe end of three-way pipe one; The third pipe end of the tee pipe one is provided with a bypass gas supply control valve (337) and is communicated with the atmosphere; The other two ports of the tee pipe two are communicated with the reverse circulation pipe (336) and the other is provided with a gas outlet control valve (338) and is communicated with the atmosphere; the bypass gas supply control valve (337) and the gas outlet control valve (338) are respectively electrically connected to the controller (4).

4. The robot system for screening the components for inhibiting lipase activity in lotus leaves according to claim 2, characterized in that: The material taking pipe (331) is vertically arranged, a plurality of the material taking pipes (331) are divided into at least two groups, one group is A type pipe and the other is B type pipe, the lower end of the A type pipe is provided with a material hole and a piston block is slidably arranged inside, the gas pipeline is communicated with the cavity above the piston block in the A type pipe; the upper part of the B type pipe is outwardly expanded to form an expansion cavity, the gas pipeline is communicated with the inner cavity of the expansion cavity of the B type pipe and the communicating port is provided with a filter piece.

5. The robot system for screening the components for inhibiting lipase activity in lotus leaves according to claim 4, characterized in that: The gas pressure detection unit (6) is arranged on the section of the gas pipeline close to the material taking pipe (331), and the gas pressure detection unit (6) is electrically connected to the controller (4).

6. The robot system for screening the components for inhibiting lipase activity in lotus leaves according to claim 5, wherein, The controller (4) is configured to: record the pre-planned adaptive material of any one material taking pipe (331); if the state of the material is solid, the material specification parameters and density parameters are obtained by searching the preset database, and the minimum unit reference weight of the material is calculated; the matching suction force and the matching suction power are obtained by searching the database according to the minimum unit reference weight of the material, and the suction control is executed.

7. The robot system for screening the components for inhibiting lipase activity in lotus leaves according to claim 5, wherein: The material taking pipe (331) is also communicated with a pressure relief pipeline, the flow control valve (7) is arranged on the pressure relief pipeline, and the flow control valve (7) is electrically connected to the controller (4).

8. The robot system for screening the components for inhibiting lipase activity in lotus leaves according to claim 7, characterized in that: The controller (4) is electrically connected with a linear conveyor (8), and the conveying direction of the linear conveyor (8) is transverse and at least one conveying part is used for placing a container.

Images