A liquid-liquid extraction robotic system

Abstract

The utility model discloses a liquid-liquid extraction robot system belongs to the technical field of robot, solved the existing liquid-liquid extraction, staff safety cannot guarantee, the problem of low extraction operation efficiency. Including first mechanical arm, second mechanical arm, centrifuge, oscillator and workstation, first mechanical arm and second mechanical arm install in the workstation middle position, centrifuge and oscillator are installed in the both sides of first mechanical arm and second mechanical arm, and first mechanical arm free end is equipped with rotary jaw, and the free end of second mechanical arm is equipped with dexterous hand, and dexterous hand and rotary jaw moving range reach centrifuge and oscillator. The utility model designs the robot of replacing artificial to complete liquid-liquid extraction work in the closed environment of radioactivity, makes it can execute sampling, extraction, separation and multiple complex operation steps, thereby reduces the demand of artificial intervention in the extraction process, significantly reduces the radiation dose of experimental personnel, has very strong popularization.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a liquid-liquid extraction robot system. Background Technology

[0002] In the field of nuclear chemistry today, liquid-liquid extraction is a widely used sample processing technique, especially in the nuclear industry and radiochemistry laboratories. This technique is often used to separate target elements from complex radioactive solutions by utilizing the difference in solubility of substances in two immiscible solvents.

[0003] Currently, this extraction process is mostly performed manually. Workers are exposed to radioactive environments, and the solvents contain highly toxic and volatile organic solvents such as benzene and chloroform, inevitably posing certain health risks and compromising their safety. Furthermore, the extraction process is extremely reliant on manual labor, time-consuming and labor-intensive. Traditional methods require multiple manual operations after liquid mixing, necessitating manual shaking and phase separation. Steps such as manual shaking, manual venting, and interface observation rely on experience and are prone to errors. Moreover, the throughput is low, failing to meet the demands of high-throughput detection. Manual operation also exposes traditional liquid-liquid extraction to sample contamination, resulting in low work efficiency. Utility Model Content

[0004] This invention provides a liquid-liquid extraction robot system to solve the problems of insufficient worker safety and low extraction efficiency in existing liquid-liquid extraction processes.

[0005] The technical solution of this utility model is: a liquid-liquid extraction robot system, including a first robotic arm, a second robotic arm, a centrifuge, a shaker, and a worktable. The first robotic arm and the second robotic arm are installed in the middle of the worktable. The centrifuge and the shaker are installed on both sides of the first robotic arm and the second robotic arm. The free end of the first robotic arm is provided with a rotating gripper, and the free end of the second robotic arm is provided with a dexterous hand. The dexterous hand and the rotating gripper can move to the centrifuge and the shaker.

[0006] As a further improvement of this utility model, the worktable is also provided with a fixed gripper and multiple extraction tube holders, which are installed between the first robotic arm and the second robotic arm.

[0007] As a further improvement of this utility model, the first and second robotic arms are equipped with a control module. The control module, centrifuge and oscillator are connected to the host computer. The control module is responsible for programming and controlling each module of the robot, allocating and scheduling tasks, processing the status signals fed back by each module, and communicating with the host computer.

[0008] The beneficial effects of this utility model are:

[0009] 1. This utility model uses a first robotic arm and a second robotic arm to form a desktop fixed double robotic arm layout on the worktable. The dexterous hand and rotating gripper work together to complete the extraction process, ensuring that the equipment can complete the liquid-liquid extraction task efficiently and accurately in a limited space, and reducing manual intervention in the liquid-liquid extraction process.

[0010] 2. This utility model also completes the transfer of extraction tubes during liquid-liquid extraction by cooperating with the fixed clamp and the extraction tube rack. By cooperating with the fixed clamp, the dexterous hand and the rotating clamp, operations such as opening and closing the cap, picking up the test tube, and pipetting can be realized, so as to efficiently complete the sample processing.

[0011] 3. Through the collaborative work of the host computer and the control module, precise control and real-time monitoring of each module of the system are achieved. The host computer completes task allocation and scheduling, monitors the system's operation data in real time through the wireless network, and displays it on the host computer's customized interface, enabling operators to keep track of the robot's status at any time. The control module controls and operates the dexterous hand, rotary gripper, centrifuge, oscillator, and fixed gripper.

[0012] This invention features a simple structure and stable operation. By replacing manual labor in a radioactive, enclosed environment with a robot, it enables the robot to perform multiple complex operations such as sampling, extraction, and separation. This reduces the need for manual intervention during the extraction process and significantly lowers the radiation dose received by laboratory personnel, making it highly applicable. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model.

[0014] In the diagram: 1. First robotic arm; 2. Centrifuge; 3. Dexterous hand; 4. Second robotic arm; 5. Fixed gripper; 6. Extraction tube rack; 7. Reagent bottle; 8. Rotating gripper; 9. Shaker; 10. Worktable. Detailed Implementation

[0015] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0016] like Figure 1 As shown, a liquid-liquid extraction robot system is characterized by comprising a first robotic arm 1, a second robotic arm 4, a centrifuge 2, an oscillator 9, and a worktable 10. The first robotic arm 1 and the second robotic arm 4 are installed in the middle of the worktable 10, and the centrifuge 2 and the oscillator 9 are installed on both sides of the first robotic arm 1 and the second robotic arm 4. The free end of the first robotic arm 1 is provided with a rotating gripper 8, and the free end of the second robotic arm 4 is provided with a dexterous hand 3. The dexterous hand 3 and the rotating gripper 8 can move to the centrifuge 2 and the oscillator 9.

[0017] The worktable 10 is also equipped with a fixed gripper 5 and multiple extraction tube holders 6, which are installed between the first robotic arm 1 and the second robotic arm 4.

[0018] The first robotic arm 1 and the second robotic arm 4 are equipped with a control module. The control module, centrifuge 2 and oscillator 9 are connected to the host computer. The control module is responsible for programming and controlling each module of the robot, allocating and scheduling tasks, processing the status signals fed back by each module, and communicating with the host computer. The host computer can directly control the control module, centrifuge 2 and oscillator 9.

[0019] In use, staff members place the extraction tubes containing the extraction solution onto the extraction tube rack 6. The host computer controls the first robotic arm 1, which drives the rotating gripper 8 to pick up the extraction tube and place it onto the fixed gripper 5. The fixed gripper 5 is then tightened. The rotating gripper 8 clamps the extraction tube cap and removes it by rotation. Then, the second robotic arm 4 is moved. The dexterous hand 3 contains a liquid extractor that draws the extraction solution from the reagent bottle 7 and adds it to the extraction tube. The rotating gripper 8 is rotated to tighten the extraction tube cap. The first robotic arm 1 then moves the rotating gripper 8 to transfer the extraction tube from the fixed gripper 5 to the shaker 9. The shaker 9 shakes the solution according to the parameters and procedures set by the host computer. After shaking, the first robotic arm 1 moves the rotating gripper 8 to transfer the extraction tube from the shaker 9 to the centrifuge 2, where the solution is centrifuged. The first robotic arm 1 drives the rotating gripper 8 to transfer the extraction tube from the centrifuge 2 to the fixed gripper 5. The rotating gripper 8 is controlled to rotate and open the cap. Then, the second robotic arm 4 drives the dexterous hand 3 to pipette and draw the solution from the extraction tube into the sample bottle. The extracted solution is then tested.

Claims

1. A liquid-liquid extraction robotic system, characterized in that: The system includes a first robotic arm (1), a second robotic arm (4), a centrifuge (2), a shaker (9), and a workbench (10). The first robotic arm (1) and the second robotic arm (4) are installed in the middle of the workbench (10). The centrifuge (2) and the shaker (9) are installed on both sides of the first robotic arm (1) and the second robotic arm (4). The free end of the first robotic arm (1) is provided with a rotating gripper (8), and the free end of the second robotic arm (4) is provided with a dexterous hand (3). The dexterous hand (3) and the rotating gripper (8) can move to the centrifuge (2) and the shaker (9).

2. The liquid-liquid extraction robotic system according to claim 1, characterized in that: The worktable (10) is also equipped with a fixed gripper (5) and multiple extraction tube holders (6), which are installed between the first robotic arm (1) and the second robotic arm (4).

3. A liquid-liquid extraction robotic system according to claim 1 or 2, characterized in that: The first robotic arm (1) and the second robotic arm (4) are equipped with a control module, and the control module, centrifuge (2) and oscillator (9) are connected to the host computer.

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