An automatic titration analysis control system

Abstract

The invention discloses an automatic titration analysis control system, which comprises a mechanical arm platform, a titrator platform, a workstation computer and a router, wherein the mechanical arm platform comprises a sample loading mechanical arm (1), a lifting tower (2), a rotating base (3), a beaker rack (4) and a first network route; the titrator platform comprises a liquid feeding transmission unit (5), a burette (6), an electrode, a stirrer, a titration end point acquisition module and a second network route; the router, the workstation computer, the first network route and the second network route communicate with each other via Ethernet. The system can realize automatic loading of batch samples and identify different types of samples and beakers, and has many advantages such as high precision, strong expansibility and strong stability.

Description

Technical Field

[0001] The invention relates to an automatic titration analysis control system, belonging to the technical field of titration detection. Background Art

[0002] Traditional titration equipment requires the titration sample to be manually placed on the titrator platform. This method is only suitable for laboratories with a small number of samples. For batch testing on industrial production lines, the use of manual sampling not only increases the labor intensity of personnel, but also slows down the detection speed and affects the continuous and efficient operation of the production line.

[0003] Traditional titration equipment has limited expansion performance and cannot be adjusted in time with the requirements of the production line, making it difficult to adapt to rapidly changing production needs.

[0004] In addition, traditional liquid feeding devices are mostly implemented using multi-stage reduction gearboxes. This type of structure has many transmission mechanisms, high damping, and difficulty in improving accuracy, and can no longer meet higher precision requirements.

[0005] Therefore, it is necessary to design a high-precision automatic titration analysis control system to assist in continuous sample loading and titration detection. Summary of the invention

[0006] In order to overcome the above problems, the inventors conducted in-depth research and designed an automatic titration analysis control system, which includes a robotic arm platform, a titrator platform, a workstation computer and a router.

[0007] The robotic arm platform includes a loading robotic arm 1), a lifting tower 2), a rotating base 3, a beaker rack 4 and a first network router; the titrator platform includes a liquid feeding transmission unit 5, a burette 6, an electrode, a stirrer, a titration endpoint acquisition module and a second network router; the router, the workstation computer, the first network router and the second network router communicate through Ethernet.

[0008] In a preferred embodiment, the workstation computer establishes a first network and obtains the IP addresses of the first network route and the second network route; the workstation computer establishes a second network, and the workstation computer communicates with the robotic arm platform and the titrator platform through the second network; the first network route establishes a third network, and the robotic arm platform and the titrator platform communicate through the third network.

[0009] In a preferred embodiment, the titration platform has one or more, and when the number of the titration platforms is increased or decreased, the IP addresses of the titration platforms are allocated through the first network, so that the system can be rapidly expanded.

[0010] In a preferred embodiment, the sample loading robot arm 1, the lifting tower 2, the rotating base 3, the beaker rack 4 and the first network router communicate with each other via CAN.

[0011] In a preferred embodiment, the beaker rack 4 includes a base 41 and a tray 42 placed on the base 41, one or more beaker holes are arranged on the tray 42, a permanent magnet 421 is arranged at the bottom of the tray 42, and a linear magnetic detection sensor 411 is arranged on the base 41, and the permanent magnet 421 corresponds to the position of the linear magnetic detection sensor.

[0012] In a preferred embodiment, the beaker rack 4 has multiple beaker racks 4, which are communicatively connected to the first network router via a six-core communication interface. When connected, the first network router assigns a device address to the beaker rack 4, so that the beaker rack 4 can be plug-and-play.

[0013] In a preferred embodiment, the liquid feeding transmission unit 5, the burette 6, the beaker, the electrode, the stirrer, the titration endpoint acquisition module and the second network router communicate with each other via CAN.

[0014] In a preferred embodiment, the liquid feeding transmission unit 5 includes a telescopic assembly 51, a main motor 52, a main screw 53, a subdividing motor 54, a subdividing screw 55, a driving gear 56 and a large nut 57. The main screw 53 is connected to the output shaft of the main motor 52. The bottom end of the telescopic assembly 51 has a threaded hole, which is sleeved on the subdividing screw 55; the subdividing screw 55 is fixedly connected to the top of the large nut 57, and the bottom end of the large nut 57 has a threaded hole. The large nut 57 is threadedly connected to the main screw 53, and a gear corresponding to the driving gear 56 is arranged on the circumferential side of the large nut 57, and the driving gear 56 is connected to the output shaft of the subdividing motor 54.

[0015] On the other hand, the present invention also provides an automatic titration analysis control system connection method, including platform connection and platform internal device connection, wherein the platform connection refers to the connection between the robotic arm platform, the titrator platform and the workstation computer via Ethernet communication.

[0016] The platform internal device connection refers to the connection of the internal devices of the robotic arm platform and / or the titrator platform through CAN communication.

[0017] In a preferred embodiment, during the platform connection process, the workstation computer establishes a first network to obtain the IP addresses of the robotic arm platform and the titrator platform; the workstation computer establishes a second network, and the workstation computer communicates with the robotic arm platform and the titrator platform through the second network;

[0018] The robotic arm platform establishes a third network, and the robotic arm platform and the titrator platform communicate via the third network.

[0019] The beneficial effects of the present invention include:

[0020] (1) It can realize automatic batch loading of samples and identify different types of samples and beakers; (2) It can quickly expand different equipment components and expand or reduce the detection capabilities of the system with strong flexibility; (3) It has high liquid feeding accuracy, high detection accuracy and high system stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram showing the overall connection structure of an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Figure 2 A schematic diagram showing the overall structure of a robotic arm platform in an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Figure 3 A schematic diagram of the structure of a mechanical arm of a mechanical arm platform in an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Figure 4 A schematic diagram of the structure of a mechanical arm platform grabber in an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Figure 5 A schematic diagram of the structure of a mechanical arm platform grabber in an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Figure 6 A schematic diagram of the structure of the rotating joint of the robot arm platform in the automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Figure 7 A schematic diagram of the structure of a mechanical arm platform lifting tower in an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Figure 8 A schematic diagram of the structure of a beaker rack on a robotic arm platform in an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Fig. 9 A schematic diagram of a feedback regulation algorithm for the rotation of a grabbing motor in a sampling method on a robotic arm platform of an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Fig.10 The relationship between the number of steps of the driving motor and the pressure sensor is shown in the figure; Fig.11 A schematic diagram showing a compliant control method during the beaker transfer process in a sampling method on a robotic arm platform of an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Fig.12 A schematic diagram showing the change in the number of beaker racks in a titrator platform and a robotic arm platform of an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Fig.13 A schematic diagram showing the change in the number of beaker racks in a titrator platform and a robotic arm platform of an automatic titration analysis control system according to a preferred embodiment of the present invention is shown. Fig.14 A schematic diagram of a process flow of acquiring an address for a newly added device in an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Fig.15A schematic diagram of the overall structure of a titrator platform of an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Fig.16 A schematic structural diagram of a liquid feeding transmission unit of a titrator platform of an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Fig.17 A schematic structural diagram of a liquid feeding transmission unit of a titrator platform of an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Fig.18 A schematic structural diagram of a liquid feeding transmission unit of a titrator platform of an automatic titration analysis control system according to a preferred embodiment of the present invention is shown; Fig.19 A schematic diagram of an S-curve is shown.

[0022] Description of Figure Numbers:

[0023] 1-Robotic arm; 11-Grabber; 111-Grabbing head frame; 112-Grabbing motor; 113-Double threaded screw; 114-Sample gripper; 115-Position sensor; 116-Pressure sensor; 12-Rotating arm; 13-Fixed arm; 14-Rotary joint; 141-Drive motor; 142-Reduction gearbox; 143-Angle sensor; 2-Lifting tower; 21-Tower base; 22-Screw lift; 23-Limit switch; 24-Linear displacement sensor ;3-rotating base;4-beaker rack;41-base;411-linear magnetic detection sensor;42-tray;421-permanent magnet;422-beaker;423-beaker identification module;5-liquid feeding transmission unit;6-burette;51-telescopic assembly;52-main motor;53-main screw;54-subdivision motor;55-subdivision screw;56-driving gear;57-large nut;58-proximity switch;59-limit switch;61-tube body;62-pump head. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below through the accompanying drawings and embodiments. Through these descriptions, the characteristics and advantages of the present invention will become more clear and distinct.

[0025] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise noted.

[0026] The present invention provides an automatic titration analysis control system, which includes a mechanical arm platform, a titrator platform, a workstation computer and a router.

[0027] The robotic arm platform comprises a loading robotic arm 1, a lifting tower 2, a rotating base 3, a beaker rack 4 and a first network router;

[0028] The titrator platform includes a liquid feeding transmission unit 5, a burette 6, an electrode, a stirrer, a titration endpoint acquisition module and a second network router;

[0029] The router, the workstation computer, the first network routing and the second network routing communicate via Ethernet. Figure 1 shown.

[0030] In the present invention, the automatic titration analysis control system is mainly used for batch solution detection, which requires high automation capability and continuous detection capability, and is often used for laboratory detection of factory assembly lines.

[0031] In this environment, the workstation computer is far away from other laboratory equipment or needs to be remotely controlled. In the present invention, the Ethernet communication between the workstation computer, the first network router and the second network router can ensure the reliability of long-distance transmission.

[0032] Furthermore, the Ethernet communication may adopt wired network communication or wifi communication, which is not particularly limited in the present invention.

[0033] In a preferred embodiment, the workstation computer establishes a first network, and obtains IP addresses of the first network route and the second network route;

[0034] Preferably, the first network is a UDP protocol network, which can send encapsulated IP data packets without establishing a connection, thereby achieving the acquisition of the IP addresses of the accessed first network route and the second network route.

[0035] The workstation computer establishes a second network, and the workstation computer communicates with the mechanical arm platform and the titrator platform through the second network;

[0036] The second network is a TCP protocol network. After obtaining the IP addresses of the first network route and the second network route through the first network, a TCP protocol network is established, and reliable data communication is performed through the TCP protocol network.

[0037] In a preferred embodiment, the first network routing establishes a third network, and the robotic arm platform and the titrator platform communicate through the third network.

[0038] The third network is a TCP protocol network. The establishment of the third network enables the robotic arm platform and the titrator platform to still communicate and cooperate to complete the titration experiment after the workstation computer is offline, thereby avoiding major abnormalities of the robotic arm platform and the titrator platform caused by a failure of the workstation computer, and improving the stability and anti-interference ability of the system.

[0039] Further, according to the present invention, the titration platform has one or more, which can be temporarily increased or decreased according to actual needs. When the number of titration platforms is increased or decreased, the IP addresses of the titration platforms are allocated through the first network, so that the system can be rapidly expanded.

[0040] According to the present invention, the beaker rack 4 comprises a base 41 and a tray 42 placed on the base 41, and one or more beaker holes are provided on the tray 42.

[0041] A permanent magnet 421 is disposed at the bottom of the tray 42 , and a linear magnetic detection sensor 411 is disposed on the base 41 . The permanent magnet 421 corresponds to the position of the linear magnetic detection sensor.

[0042] According to the present invention, in the robotic arm platform, the sample loading robotic arm 1 clamps and transports the sample beaker;

[0043] The lifting tower 2 is connected to the sample loading robot arm 1 to control the lifting and lowering of the sample loading robot arm 1;

[0044] The rotating base 3 is located at the lower end of the lifting tower 2 and can drive the lifting tower 2 to rotate;

[0045] The sample beaker rack 4 holds the sample beaker to be tested. Figure 2 shown.

[0046] In a preferred embodiment, the loading robot 1, the lifting tower 2, the rotating base 3, the beaker rack 4 and the first network router communicate via CAN. Since the distances between the above devices are relatively short, the communication reliability can be ensured by adopting a CAN-type serial port protocol.

[0047] Furthermore, the loading robot 1 comprises a gripper 11, a rotating arm 12 and a fixed arm 13, as shown in FIG. Figure 3 shown.

[0048] One end of the rotating arm 12 is connected to the fixed arm 13 via a rotating joint 14 , so that the rotating arm 12 can rotate relative to the fixed arm 13 , and the gripper is installed at the other end of the rotating arm 12 .

[0049] In the present invention, three degrees of freedom of joint motion are provided by the lifting tower 2, the rotating base 3, and the rotating joint 14, so that the grabber 11 can accurately grab the beaker in a large range. Specifically, the lifting tower 2 is driven to rotate by the rotating base 3, and the fixed arm 13 rotates or rises with the lifting tower 2, and the rotating arm 12 can also rotate. The rotation of the two may enable the grabber 11 to reach any position within its working area.

[0050] Since the outer surface of the beaker is often soaked with the sample to be tested, resulting in low surface friction, it is necessary to make the gripper have a larger effective clamping contact area with the beaker when gripping the beaker.

[0051] Furthermore, the beaker is generally made of glass or plastic, which has low mechanical strength. If the clamping force is large, the beaker is easily damaged. If the clamping force is small, the beaker may slide during the clamping process. This places greater requirements on the gripping pressure of the gripper.

[0052] In the present invention, the gripper 11 comprises a gripping head frame 111, a gripping motor 112, a double-threaded lead screw 113 and two sample gripping jaws 114. Figure 4 shown.

[0053] The grabbing head frame 111 is fixedly connected to the rotating arm 12 , the grabbing motor 112 is fixed below the grabbing head frame 111 , the output shaft of the grabbing motor 112 is connected to the double-threaded lead screw 113 , and the two sample clamps 114 are fixedly connected to the two nuts on the double-threaded lead screw 113 .

[0054] A double-threaded lead screw is a lead screw with two sections of threads with different rotation directions. A nut is provided on each of the two sections of threads. When the lead screw rotates, the two nuts approach or separate, thereby realizing the clamping and loosening functions of the sample clamp.

[0055] Further, according to the present invention, the gripping motor 112 is a stepping motor to control the degree of clamping and loosening of the sample clamping jaws.

[0056] The lower end of the sample clamp 114 is plate-shaped or finger-shaped. Preferably, a pressure sensor 116 is provided at the lower end of the sample clamp 114 to detect the change of strain force when the sample clamp 114 contacts the beaker through the pressure sensor 116 to determine the size of the clamping force of the sample clamp.

[0057] Preferably, a thin film pressure sensor is provided at the position where the lower end of the sample clamp 114 contacts the beaker, through which the pressure value of the mechanical clamp grasping the reagent cup is obtained, and then the angle of the sample clamp is always adjusted to achieve the effect of constant control of the grasping force for reagent cups of different diameters.

[0058] The setting of the pressure sensor also enables the sample clamp 114 to adapt to beakers of different specifications. Compared with simply controlling the clamping amount by controlling the mechanical dimensions during clamping, the use of a tension sensor has a higher tolerance for beaker size deformation, which is particularly suitable for batch testing during industrial production. Due to the repeated use of beakers, especially plastic beakers, beakers are very easy to deform.

[0059] In a preferred embodiment, a plurality of position sensors 115 are further provided on the gripping head frame 111, preferably including two end position sensors, which are symmetrically arranged at both ends of the sample clamping jaws 114 with the center lines of the two sample clamping jaws 114 as symmetry axes, such as Figure 5 As shown, as a limit detection of the sample clamping jaw 114 when it is opened,

[0060] Furthermore, when the two sample clamping jaws 114 cannot trigger the end sensors at the same time after opening, it means that the center line of the sample clamping jaws 114 has changed, which can remind the operator to perform inspection and maintenance.

[0061] In a more preferred embodiment, the position sensor 115 further includes a center position sensor, which is disposed at the center of the double-threaded lead screw 113 and is used to detect whether the sample clamping jaws 114 return to the center of the double-threaded lead screw 113 when closing.

[0062] The rotary joint 14 includes a driving motor 141 and a reduction gear box 142. The driving motor 141 is mounted on the fixed arm 13. The reduction gear box 142 is fixedly connected to the rotary arm 12. The output shaft of the driving motor 141 is connected to the reduction gear box 142. The rotation of the driving motor 141 realizes the rotation of the rotary arm 12 relative to the fixed arm 13. Figure 6 shown.

[0063] Furthermore, the driving motor 141 is a stepping motor, and the rotation amount of the rotating arm 12 relative to the fixed arm 13 is adjusted by adjusting the rotation amount of the stepping motor 141 .

[0064] Furthermore, the use of the reduction gearbox 142 reduces the power requirement for the drive motor 141 , and at the same time reduces the influence of the lost rotation of the drive motor 141 on the rotation amount, thereby ensuring the rotation accuracy of the rotating arm 12 .

[0065] More preferably, the drive motor 141 is a closed-loop stepper motor, such as the 57HSXX series, which has a mechanical angle sensor inside, which can count the number of step-outs in the stepping rotation, and then form an output torque, which is convenient for flexible control during transportation and prevents the sample from overflowing from the beaker mouth due to severe vibration.

[0066] Preferably, the rotating joint 14 also includes an angle sensor 143, and the angle sensor 143 is coaxial with the rotation axis of the rotating arm 12 when it rotates relative to the fixed arm 13. When the rotating arm rotates multiple times, rotation errors may accumulate. The rotation position can be calibrated through the angle sensor 143 to reduce the error, further ensure the rotation accuracy of the rotating arm 12, and leave enough margin for repeated positioning accuracy.

[0067] The lifting tower 2 includes a tower base 21 and a screw lift 22, and the screw lift 22 is used to lift and lower the fixed arm 13. Figure 7 shown.

[0068] The tower base 21 plays a supporting role, and the lead screw lift 22 is installed on the tower base 21 . Preferably, a limit switch 23 is provided on the tower base 21 to detect or limit the lifting height of the fixed arm 13 .

[0069] The limit switch 23 can be a travel switch, a limit switch, or any other structure or device capable of detecting travel, preferably a photoelectric switch.

[0070] In a more preferred embodiment, a linear displacement sensor 24 is further provided on the tower base 21 along the screw direction of the screw lift 22 to detect the height of the fixed arm 13 in real time.

[0071] The rotating base 3 is disposed at the bottom of the lifting tower 2 to drive the lifting tower 2 to rotate.

[0072] Preferably, an angle sensor is provided on the rotating base 3 to detect the rotation angle of the lifting tower 2 .

[0073] The beaker rack 4 is used to store beakers, which is convenient for the loading robot arm 1 to pick up and store them, and includes a base 41 and a tray 42 placed on the base 41. Figure 8 shown.

[0074] In the present invention, the robotic arm platform is used for large-scale sample testing. Usually, when faced with different samples to be tested, how to distinguish the types of samples to be tested so that the titrator can select a suitable titration program according to the types of samples to be tested is the difficulty of the present invention.

[0075] In the present invention, beakers containing different types of samples to be tested are placed in different trays 42 , and the types of samples to be tested are distinguished by detecting the types or numbers of the trays 42 .

[0076] Specifically, one or more beaker holes are provided on the tray 42 for placing the beaker 422 .

[0077] The inventors found that different samples to be tested require different amounts during testing, so it is necessary to set the amount according to the type of sample to be tested.

[0078] There may be a plurality of trays 42 , and the specifications of the beaker holes arranged on different trays 42 may be different so as to place beakers of different specifications.

[0079] According to a preferred embodiment of the present invention, different types of samples to be tested are placed in beakers of different specifications.

[0080] In the present invention, different trays 42 are tested to determine the types of samples to be tested in the beakers on the trays.

[0081] Furthermore, a permanent magnet 421 is arranged at the bottom of the tray 42, and a linear magnetic detection sensor 411 is arranged on the base 41. The permanent magnet 421 corresponds to the position of the linear magnetic detection sensor, so that the linear magnetic detection sensor 411 can detect the magnetism of the permanent magnet 421, and judge whether the tray 42 is placed on the base 41 and judge the specification or number of the tray 42 through the detected magnetism.

[0082] Preferably, there are multiple permanent magnets and linear magnetic detection sensors, for example, two, and the magnetic poles of different permanent magnets facing downwards may be different, so that different trays 42 are detected by the linear magnetic detection sensor 411 with different magnetic poles, thereby distinguishing different trays. Further, in this way, the two trays can be distinguished. N There are three types of tray specifications, N represents the number of permanent magnets.

[0083] For example, there are three specifications of trays, each specification of trays has two permanent magnets. The first specification of trays has two permanent magnets with poles facing downwards of N, the second specification of trays has two permanent magnets with one pole facing downwards of S and one pole facing downwards of N, and the third specification of trays has two permanent magnets with poles facing downwards of S.

[0084] In a preferred embodiment, the linear magnetic detection sensor 411 is a Hall sensor, which can detect the magnetic poles of a magnet and convert the magnetic poles into voltage signals. For example, for the above-mentioned three specifications of trays, when the three specifications of trays are placed on the base, the detection voltage of the two Hall sensors is 0; when the first specification of the tray is placed on the base, the detection voltages of the two Hall sensors are both negative voltages; when the second specification of the tray is placed on the base, the detection voltages of the two Hall sensors are positive voltage and negative voltage respectively; when the third specification of the tray is placed on the base, the detection voltages of the two Hall sensors are both negative voltages.

[0085] In a preferred embodiment, when there are multiple permanent magnets 421 at the bottom of the tray 42, one or more of the permanent magnets 421 can be replaced by a non-magnetic material. At this time, the linear magnetic detection sensor corresponding to the non-magnetic material has a detection result of 0, and the linear magnetic detection sensor detection results corresponding to the other permanent magnets are magnetic poles. Under the cooperation with each other, the specifications of the tray can still be identified, and the number of tray types or numbers that can be represented is expanded without increasing the number of permanent magnets. In this way, 3 N -1 tray specification, N represents the number of permanent magnets.

[0086] The inventors found that in the assembly line inspection, it is difficult to place the tray accurately at the specified position of the base every time, and relative deviations often occur, resulting in poor repeatability of the position of the beaker on the tray, resulting in large positioning errors when the gripper 11 grabs the beaker, affecting.

[0087] In a preferred embodiment, the relative position deviation between the tray and the base can also be determined based on the detected magnetic value, thereby providing correction parameters for the accurate positioning of the grabbing position by the loading robot arm.

[0088] The movement of the tray on the base will drive the movement of the magnetic field of the permanent magnet 421, thereby causing the value of the linear magnetic detection sensor 411 on the base to change. When the tray is in different positions, the numerical relationship between different linear magnetic detection sensors 411 on the base is different. By detecting the numerical relationship between different linear magnetic detection sensors 411 on the base, the relative position deviation between the tray and the base can be determined.

[0089] In a preferred embodiment, the relative position deviation between the tray and the base is obtained by the following steps:

[0090] Step 1: Deviation calibration;

[0091] The deviation calibration is performed before actual use, by placing the tray at different positions of the base so that there is a relative position deviation between the tray and the base, obtaining the values ​​of multiple linear magnetic detection sensors under the relative position deviation, recording the position deviation and the values ​​of multiple linear magnetic detection sensors, repeating the above process, and obtaining the detection values ​​of the linear magnetic detection sensors under different relative position deviations;

[0092] More preferably, the difference between the detection values ​​of multiple linear magnetic detection sensors under different relative position deviations is obtained, and the relative position deviation-magnetic induction sensor difference is recorded as a group of values.

[0093] Preferably, the obtained multiple sets of values ​​are tabulated or fitted into a formula or curve.

[0094] Step 2: Deviation estimation.

[0095] During use, the corresponding relative position deviation can be obtained by substituting the values ​​of the multiple linear magnetic detection sensors into the table, formula or curve obtained in step 1.

[0096] According to a preferred embodiment of the present invention, the area of ​​the upper surface of the base 41 is larger than the area of ​​the lower surface of the tray, so that a plurality of trays 42 can be placed on the base 41 .

[0097] According to the present invention, the bottom dimensions of trays of different specifications may be different to accommodate beakers of different specifications.

[0098] In a preferred embodiment, a mark is provided on the beaker, and a beaker identification module 423 is also provided at the bottom or side of the beaker hole to read the mark on the beaker, so that each sample position can monitor the existence status of the beaker online and feedback the sample information in real time.

[0099] Preferably, the identifier is an RFID tag, and the beaker identification module 423 is an RFID transceiver.

[0100] The automatic sample loading method of the robotic arm platform according to the present invention comprises the following steps:

[0101] S1. Get the beaker specifications;

[0102] S2. Clamp the beaker onto the titrator platform.

[0103] In step S1, a beaker containing a sample to be tested is placed in a tray having a beaker hole matching the beaker, and the tray is placed on a base.

[0104] Furthermore, the specifications of the beaker are obtained by detecting the tray.

[0105] Specifically, the type of the permanent magnet at the bottom of the tray is detected by a linear magnetic detection sensor, thereby determining the specification or number of the tray, and then determining the specification of the beaker on the tray according to the specification or number of the tray, thereby determining the type of the sample to be tested.

[0106] Preferably, the beaker identification module is used to determine whether there is a beaker in the beaker hole on the tray. If there is a beaker, the beaker number or sample information in the beaker is obtained to notify the titrator platform.

[0107] In step S2, the distance between the two sample clamping jaws when the gripper is opened and clamped is determined according to the specification or number of the beaker.

[0108] Furthermore, according to the type or number of the tray, the position of the gripper is determined, and with the cooperation of the loading robot 1, the lifting tower 2, and the rotating base 3, the beaker is gripped and transferred to the titrator platform.

[0109] The present invention is aimed at the titration detection of batch samples. When transporting the sample beaker, the transport speed needs to be increased as much as possible. At the same time, since the sample in the beaker may have corrosive, toxic and other physical and chemical properties, during the transport process, it is also necessary to ensure that the sample shakes less in the beaker to avoid overflowing from the beaker mouth.

[0110] In the present invention, compliant control is adopted in the process of gripping and transporting the beaker.

[0111] Specifically, the compliant control during the gripping process includes the following sub-steps:

[0112] S21, the distance between the two sample grippers of the gripper shrinks until they touch the beaker;

[0113] S22, detecting the pressure at the contact position between the sample clamping jaws and the beaker, and adjusting the clamping distance between the two sample clamping jaws according to the detected pressure value.

[0114] In step S22, the detected pressure value is compared with the clamping pressure setting value, and the rotation of the gripping motor 112 is adjusted to control the beaker to achieve stable gripping.

[0115] Furthermore, the clamping pressure setting values ​​for beakers of different specifications are different, and can be obtained by looking up the table corresponding to the beaker specifications obtained in step S1.

[0116] In a preferred embodiment, the rotation of the grabbing motor 112 is adjusted by a feedback adjustment algorithm, such as Fig. 9 As shown, the pressure setting value is subtracted from the measured pressure value to obtain the pressure error value, and the number of rotation steps of the grabbing motor 112 is obtained through the PI adjustment algorithm. After the grabbing motor 112 rotates, the pressure value is measured again to obtain a new pressure error value, and the above process is repeated until the pressure error value is less than ±0.1N.

[0117] Preferably, the proportional coefficient kp in the PI adjustment algorithm is 0.10-10.00, and the integral time constant ki is 10.0-100.0.

[0118] During the beaker transfer process, the drive motor in the rotary joint has a start and stop process. During the start process, the output torque will gradually increase from 0 to the rated value, and during the stop process, the output torque will decrease from the rated value to 0. During the output torque change process, loss of step often occurs. The loss of step is the main reason for the shaking of the beaker during the transfer process.

[0119] In the present invention, the starting process of the driving motor is taken as an example for explanation, and the stopping process of the driving motor is similar to the starting process, and will not be described in detail.

[0120] During the startup process, the relationship between the number of steps the drive motor moves (unit pulse: 10) and the pressure sensor is as follows: Fig.10 As shown in the figure, it can be seen that the output process of the driving motor can be divided into a linear stage, a saturation stage and a stable stage.

[0121] In the linear stage, the rotating arm 12 rotates at an angle of 2° to 2.5° relative to the fixed arm 13 , and in the saturation stage, the rotating arm 12 rotates at an angle of 2.5° to 3.5° relative to the fixed arm 13 . The saturation stage is followed by the stable stage.

[0122] Furthermore, in the linear stage, the relationship between the number of pulses of the driving motor and the rotational torque can be fitted into a step-torque curve.

[0123] Furthermore, the inventors found that the step-out phenomenon mainly occurs in the linear stage. The flexible control in the process of transferring the beaker refers to controlling the linear stage of the output process of the drive motor. The control includes position closed-loop control, speed closed-loop control and torque flexible closed-loop control, such as Fig.11 shown.

[0124] Specifically, the position closed-loop control means that during the startup and stop processes, the linear stage does not control the drive motor according to the conventional rotation step method, but performs angle position PI adjustment through the angle position detected by the rotation joint angle sensor, thereby controlling the rotation position of the drive motor.

[0125] Furthermore, the target value of the position PI regulation is the linear stage angle setting value, preferably, the linear stage angle setting value is 2°~2.5°; the feedback of the position PI regulation is the detection value of the rotary joint angle sensor, and the output value of the position PI regulation is the rotational angular velocity value of the rotary joint.

[0126] Preferably, the value of the proportional coefficient in the position PI regulation is 0.01-10.00, and the value of the integral time constant is 10.00-100.00.

[0127] In the speed closed-loop control, the detection value of the rotating joint angle sensor is differentiated to obtain the angular velocity measurement value, the angular velocity measurement value is used as the feedback signal, the output value of the position PI adjustment is used as the target value, the speed PID adjustment is performed, and the driving motor torque value is output.

[0128] Preferably, the value of the proportional coefficient in the speed PID regulation is 0.01-100.00, and the value of the integral time constant is 10.00-300.00.

[0129] In the torque flexible closed-loop control, the output value of the speed PID regulation is used as the target value, and the linear prediction value of the output torque of the drive motor is used as the feedback signal to perform torque PI regulation and output the number of step pulses of the drive motor and the level of direction control.

[0130] The linear prediction value of the output torque of the driving motor is obtained by substituting the number of driving motor pulses into the step-torque curve.

[0131] Preferably, the proportional coefficient in the torque PI regulation is 0.01 to 1000.00, and the integral time constant is 10.00 to 1000.00.

[0132] Under the above three-stage series closed-loop control, the rotation of the robot arm can be smoothly controlled to ensure that the beaker will not shake during movement. During the transportation process, the sample liquid level fluctuation in the beaker does not exceed 1 ml.

[0133] According to the present invention, the beaker rack 4 can have multiple beaker racks 4, and the multiple beaker racks 4 are placed around the rotating base 3, so that the samples to be tested can be transported in batches, which improves the utilization efficiency of the system and reduces the transportation workload of the samples to be tested. Fig.12 , 13 shown.

[0134] Preferably, the beaker rack 4 is communicatively connected to the first network router via a six-core communication interface. During the connection, the first network router allocates a device address to the beaker rack 4, so that the beaker rack 4 can be plug-and-play.

[0135] In a preferred embodiment, the six-core communication interface is based on the CAN communication protocol, including two cores for device power supply, two cores for device communication, one core for address control bit and one core for emergency stop mark bit, as shown in Table 1.

[0136] Table 1

[0137] Line number Name Definition illustrate 1 VCC Positive power supply 2 IO_EN Emergency stop mark 3 IO_STA Address control bits 4 CAN_L CAN communication low 5 CAN_H CAN communication high 6 GND Negative pole of power supply

[0138] Specifically, when connected, the first network router acts as the master device, and the newly connected beaker rack 4 and other devices connected to the master device through CAN communication act as slave devices. The master device and the slave device take over the level control authority of the address control bit in different allocation time periods respectively, and the address allocation process is realized by combining the conversion of high and low levels, thereby providing guarantee for the rapid online allocation of the slave device address.

[0139] Further, after the address allocation is completed, the address control bit is converted into an online detection bit from the device, which can detect the online and offline status of the device in real time to ensure the stability of the system.

[0140] Furthermore, the address assignment logic of the slave device is as follows Fig.14 As shown, when a new slave device is connected to the master device through the six-core communication interface, the newly connected slave device outputs a high level at the address control bit;

[0141] After the master device detects the high level, it determines that a new slave device is connected, and sends a high level to the address control bits of all slave devices connected to the master device in sequence;

[0142] The slave device obtains the address information according to the order of the high levels detected;

[0143] When all slave devices obtain address information, the address control bit of the master device no longer outputs a level, and the slave device continues to output a high level at the address control bit. The master device detects the address control bits of all slave devices.

[0144] If a new slave device is connected, the above process is repeated to assign addresses to the slave devices again. If the address control bit of a slave device is at a low level, it is determined that the slave device is offline.

[0145] More preferably, the loading robot 1, the lifting tower 2, and the rotating base 3 are also connected via a six-core communication interface, and the device address allocation method during connection is the same as the above method, which will not be repeated in the present invention.

[0146] In the titrator platform, the burette 6 is used to pump the titration liquid, and includes a tube body 61 and a pump head 62 located in the tube body. Fig.15 As shown;

[0147] The liquid feeding transmission unit 5 pushes and pulls the pump head 62 to extract the titration liquid into the tube body 61 or inject the titration liquid in the tube body 61 into the beaker.

[0148] Preferably, a reversing mechanism is provided on the pump head 62 to pump the washing liquid and the titration liquid separately.

[0149] In the present invention, the specific structure of the pump head 62 is not particularly limited, and those skilled in the art can freely design it based on experience or with reference to the pump head structure of an existing titration analyzer.

[0150] The electrode is used for detecting the solution in the beaker, and the stirrer is used for stirring the liquid in the beaker.

[0151] The titration endpoint acquisition module controls the motor rotation speed and the number of rotation steps of the liquid feeding transmission unit 5 according to the detection amount of the electrode.

[0152] With the improvement of production quality requirements and inspection standards, the titration accuracy of existing titration analyzers can no longer meet the use requirements of high-precision projects. Therefore, it is necessary to improve the titration analyzer to greatly improve the detection accuracy.

[0153] Furthermore, in order to improve the accuracy, during the temperature titration process, the titration speed of the liquid feeding transmission unit 5 is 0.75 to 0.1 seconds per 0.1 ml, and when approaching the titration endpoint, extremely high titration accuracy is required.

[0154] The transmission unit is the power mechanism that controls the titration amount. Its driving accuracy is directly related to the control of the titration amount. Traditional titrators mostly use a motor with a reducer to achieve transmission control. However, in this way, the transmission subdivision can only reach 20000 / 1, which can no longer meet the use requirements.

[0155] In the present invention, the liquid feeding transmission unit 5 includes a telescopic assembly 51, a main motor 52, a main screw 53, a subdividing motor 54, a subdividing screw 55, a driving gear 56 and a large screw nut 57. Figures 16 to 18 shown.

[0156] The top end of the telescopic component 51 is connected to the pump head 62, and the bottom end of the telescopic component 51 has a threaded hole, which is sleeved on the subdividing screw 55;

[0157] One end of the subdivided lead screw 55 is fixedly connected to the top of the large nut 57. The bottom end of the large nut has a threaded hole, so that the large nut 57 can be sleeved on the main lead screw 53. A gear corresponding to the driving gear 56 is provided on the circumferential side of the large nut 57, so that the driving gear 56 can drive or limit the rotation of the large nut 57.

[0158] The driving gear 56 is connected to the output shaft of the subdividing motor 54, preferably through a reduction gear or a reducer.

[0159] The main lead screw 53 is connected to the output shaft of the main motor 52, preferably through a reduction gear or a reducer.

[0160] Furthermore, a slot or other limiting mechanism is provided on the telescopic component 51, so that the telescopic component 51 can only be telescoped up and down but cannot be rotated.

[0161] In a preferred embodiment, limit switches 59 are provided at the upper and lower parts of the telescopic assembly 51 .

[0162] Furthermore, the main lead screw 53 and the subdivided lead screw 55 have the same thread rotation direction, and the lead of the main lead screw 53 is greater than the lead of the subdivided lead screw 55 .

[0163] Preferably, the lead of the subdivision screw 55 is 4 / 5 of the lead of the main screw 53 .

[0164] Furthermore, the axis of the driving gear 56 is parallel to the axis of the subdividing screw 55. Preferably, the tooth width of the driving gear 56 is greater than the tooth width of the circumferential gear of the large nut 57, so that the large nut 57 and the driving gear 56 can slide relative to each other in the axial direction.

[0165] According to the present invention, during rapid titration, the subdividing motor 54 is in a powered-on locked state, at which time the driving gear 56 does not rotate, and the large screw nut 57 is restricted by the driving gear 56, so that the large screw nut 57 cannot rotate;

[0166] Furthermore, the main motor 52 rotates, driving the main lead screw 53 to rotate. At this time, the large screw nut 57 is locked by the driving gear 56. The large screw nut 57 slides along the thread on the main lead screw 53 under the drive of the main lead screw 53, thereby driving the subdividing motor 54 and the telescopic assembly 51 to move up and down, thereby realizing the rapid lifting and lowering of the pump head 62.

[0167] In a preferred real-time mode, the transmission ratio of the main screw 53 and the main motor 52 is 1:5, and the lead of the main screw is 5 mm. Under this transmission effect, the main motor with 1 / 4 step subdivision can achieve 20000 / 1 subdivision of the liquid feeding transmission unit.

[0168] During slow titration, the main motor 52 is in a powered-on locked state, and the main lead screw 53 does not rotate;

[0169] Furthermore, the subdividing motor 54 rotates, driving the driving gear 56 to rotate, and the large screw nut 57 rotates circumferentially under the rotation of the driving gear 56, and the large screw nut 57 slides up or down along the thread on the main screw 53;

[0170] Furthermore, the subdivided lead screw 55 rotates with the large lead screw 57, so that the telescopic assembly 51 slides relatively along the subdivided lead screw 55, and performs relative movement in the opposite direction to the large lead screw 57;

[0171] Furthermore, since the lead of the main screw 53 is greater than the lead of the subdivision motor 54, the lifting and lowering speeds of the large nut 57 and the telescopic assembly 51 are different. Finally, the actual lifting amount of the telescopic assembly 51 is the difference between the lifting amount of the large nut 57 and the lifting amount of the telescopic assembly 51 relative to the subdivision screw 55.

[0172] In a preferred real-time mode, the transmission ratio of the large nut 57 and the subdivision motor 54 is 1:5, the lead of the main screw is 5 mm, and the lead of the subdivision screw is 4 mm. Under this transmission effect, a subdivision motor with 1 / 4 step subdivision can achieve 100000 / 1 subdivision of the liquid feeding transmission unit.

[0173] In a preferred embodiment, a proximity switch 58 is provided at the lower end of the large screw nut 57 , and the initial position of the large screw nut 57 is reset by the proximity switch 58 .

[0174] Specifically, the main motor 52 works to make the large screw nut 57 descend until the large screw nut 57 contacts the proximity switch 58. At this time, the position of the large screw nut 57 is the initial position.

[0175] The setting of the proximity switch 58 enables the liquid feeding transmission unit 5 to be mechanically reset, thereby solving the problem that the telescopic component cannot return to the starting point due to motor loss of rotation.

[0176] In a more preferred embodiment, during rapid titration, the main motor 52 and the subdividing motor 54 rotate simultaneously, and the lifting speed of the telescopic component 51 is the sum of the lifting speeds of the main motor 52 and the subdividing motor 54 individually controlled.

[0177] According to the present invention, when approaching the titration endpoint, slow titration is adopted to ensure the titration accuracy, and when not approaching the titration endpoint, fast titration is adopted to save the titration time.

[0178] In the present invention, those skilled in the art can set a specific numerical value close to the titration endpoint based on experience.

[0179] The liquid feeding transmission unit provided by the present invention realizes slow titration through the cooperation of the main screw and the subdivided screw, which improves the control accuracy and reduces the processing difficulty compared to the method of only using the main screw and the reducer to control the telescopic unit. The thread pitch of the main screw and the subdivided screw can be set larger, which is not only easy to process, but also can ensure the processing accuracy, and the production cost is low. The main screw and the subdivided screw can replace the traditional small pitch main screw after being combined, which ensures the processing accuracy, improves the product rigidity, increases the axial force, and prolongs the product life.

[0180] The inventors found that during the titration process, the inner diameter of the burette body 61 will change slightly. Since the burette body 61 is a cylinder, the slight change in the inner diameter of the body 61 will be magnified into a change of twice the titration volume, greatly affecting the titration accuracy. Therefore, the material and processing method of the body 61 are crucial.

[0181] In the present invention, the tube body 61 is processed using high borosilicate 3.3 as a base material.

[0182] Traditional burettes are made of soda-lime glass, borosilicate glass, polytetrafluoroethylene (F4), polytetrafluoroethylene-ethylene (F40), polytetrafluoroethylene-hexafluoropropylene (F46), polypropylene, etc.

[0183] However, the linear expansion coefficients of polytetrafluoroethylene (F4), polytetrafluoroethylene-ethylene (F40), polytetrafluoroethylene-hexafluoropropylene (F46), and polypropylene are relatively large. In the actual titration process, the temperature difference is usually around 30°C. The linear expansion caused by the temperature of the above materials has a significant impact on the change in the inner diameter, reducing the accuracy of the titration. In addition, the hardness of the above materials is relatively low, and the compressive deformation resistance is insufficient. After long-term use, they are easily worn, resulting in a decrease in titration accuracy.

[0184] During the titration process, acids, alkalis, and organic solvents may be used. Soda-lime glass and borosilicate glass have poor alkali resistance and the inner diameter of the tube is prone to change after repeated use.

[0185] Furthermore, in the present invention, in order to ensure the accuracy of the burette, the tube body 61 is also shaped.

[0186] The shaping is performed by the following steps:

[0187] Step 1: insert the core rod into the burette to be shaped, and heat it under vacuum conditions so that the inner wall of the burette to be shaped fits the core rod;

[0188] The core rod is cylindrical and is preferably made of a high-temperature resistant nickel-based high-temperature alloy, more preferably GH4169 nickel-based high-temperature alloy.

[0189] The vacuum condition preferably has a vacuum degree not greater than 0.095 MPa.

[0190] The temperature is preferably raised to 800-1000° C., more preferably 850-950° C., with a heating rate of 30-50° C. / min to ensure the stress of the material.

[0191] Step 2: heat preservation annealing;

[0192] Preferably, the temperature is kept between 850 and 950° C. for more than 20 minutes.

[0193] After heat preservation, the vacuum is released and the temperature is gradually lowered to room temperature. Preferably, the cooling rate is 30 to 50° C. / min.

[0194] Step 3: Remove the mandrel from the burette.

[0195] Taking advantage of the fact that the core rod has greater thermal expansion than the burette, the core rod is cooled so that it can be withdrawn from the burette.

[0196] Through the above shaping process, the inner diameter of the burette can be changed by no more than 0.075% during use, thereby ensuring the accuracy of titration.

[0197] The titration endpoint acquisition module can obtain the titration equivalence point by using the second-order differential difference method during photometric titration, and obtain the titration equivalence point by using the third-order differential after filtering and smoothing the data collected by the electrode during temperature titration.

[0198] According to the present invention, during the liquid feeding process, the liquid in the burette is dripped into the beaker by relying on the movement of the pump head driven by the motor. The starting speed of the motor is too fast, and its starting speed may exceed its own starting pulse frequency. Since the static friction and load resistance in the initial stage of starting are much greater than the power provided by the motor, out-of-step starting will occur in this case, affecting the final liquid feeding accuracy and causing random errors in the liquid feeding system.

[0199] In the present invention, the starting and stopping speeds of the main motor and the subdividing motor are controlled to prevent the motor from being out of order.

[0200] Specifically, the titrator platform liquid feeding control method comprises the following steps:

[0201] S1, determine the single liquid feeding amount and obtain the single pump head movement amount;

[0202] S2, titrating by dividing the displacement of the pump head into a fast titration phase and a slow titration phase;

[0203] S3: Check the electrode and confirm the next liquid feeding amount. Repeat the above process until the titration is completed.

[0204] In step S1, the method for obtaining the single pump head movement amount is the same as that of a conventional titration analyzer, which is not described in detail in the present invention, and those skilled in the art can determine the specific method based on experience.

[0205] In step S2, the pump head movement is fitted into an S curve, which can be divided into a growth area and a stable area, such as Fig.19 As shown, the growth area of ​​the S curve is regarded as the fast titration stage, and the stable area of ​​the S curve is regarded as the slow titration stage.

[0206] Furthermore, the specific division positions of the growth zone and the stable zone can be selected by those skilled in the art according to actual conditions and are not particularly limited in the present invention.

[0207] Further preferably, in the fast titration stage, both the main motor and the subdividing motor are started to work to increase the liquid feeding speed; in the slow titration stage, the main motor is first slowly stopped, and then the subdividing motor is slowly stopped.

[0208] In a more preferred embodiment, during the rapid titration stage, the main motor is first started slowly, and then the subdivision motor is started slowly after the main motor runs at a uniform speed.

[0209] In the present invention, the main motor and the subdivision motor are independently started and stopped slowly, thereby overcoming the control difficulties such as unstable main screw speed, operating noise and possible mechanical clearance error caused by the simultaneous speed change operation of the main motor and the subdivision motor.

[0210] In step S3, the electrode detection data is analyzed to obtain the titration amount reaching the titration equivalence point, and the next liquid feeding amount is determined according to the titration amount.

[0211] Furthermore, in the present invention, there is no particular limitation on how to determine the number of liquid feedings and the amount of liquid feeding each time according to the titration amount reaching the equivalence point, and those skilled in the art can make settings according to needs.

[0212] According to a preferred embodiment of the present invention, the liquid feeding transmission unit 5, the burette 6, the beaker, the electrode, the stirrer, the titration endpoint acquisition module and the second network router communicate with each other via CAN.

[0213] Further preferably, the liquid feeding transmission unit 5, burette 6, beaker, electrode, stirrer, and titration endpoint acquisition module are also connected through a six-core communication interface. The device address allocation method during connection is the same as the device address allocation method of the first network routing and the beaker rack, which is not repeated in the present invention.

[0214] The present invention also provides an automatic titration analysis control system connection method, including platform connection and platform internal equipment connection.

[0215] The platform connection refers to the connection between the robot arm platform, the titrator platform and the workstation computer via Ethernet communication.

[0216] The platform internal device connection refers to the connection of the internal devices of the robotic arm platform and / or the titrator platform through CAN communication.

[0217] During the platform connection process, the workstation computer establishes a first network and obtains the IP addresses of the robotic arm platform and the titrator platform;

[0218] The workstation computer establishes a second network, and the workstation computer communicates with the mechanical arm platform and the titrator platform through the second network;

[0219] The robotic arm platform establishes a third network, and the robotic arm platform and the titrator platform communicate via the third network.

[0220] During the connection of devices within the platform, the first network router or the second network router acts as the master device, and the other devices act as slave devices. The master device and the slave device take over the level control authority of the address control bit in different allocation periods respectively, and the address allocation process is realized by combining the conversion of high and low levels, providing guarantee for the rapid online allocation of slave device addresses.

[0221] Specifically, when a new slave device is connected to the master device through the six-core communication interface, the newly connected slave device outputs a high level at the address control bit;

[0222] After the master device detects the high level, it determines that a new slave device is connected, and sends a high level to the address control bits of all slave devices connected to the master device in sequence;

[0223] The slave device obtains the address information according to the order of the high levels detected;

[0224] When all slave devices obtain address information, the address control bit of the master device no longer outputs a level, and the slave device continues to output a high level at the address control bit. The master device detects the address control bits of all slave devices.

[0225] If a new slave device is connected, the above process is repeated to assign addresses to the slave devices again. If the address control bit of a slave device is at a low level, it is determined that the slave device is offline.

[0226] The present invention has been described above in conjunction with preferred embodiments, but these embodiments are only exemplary and serve only as an illustration. On this basis, the present invention may be subjected to a variety of substitutions and improvements, all of which fall within the scope of protection of the present invention.

Claims

1. An automatic titration analysis control system, characterized in that: The system includes a robotic arm platform, a titrator platform, a workstation computer and a router. The robotic arm platform comprises a loading robotic arm (1), a lifting tower (2), a rotating base (3), a beaker rack (4) and a first network router; The titrator platform comprises a liquid feeding transmission unit (5), a burette (6), an electrode, a stirrer, a titration endpoint acquisition module and a second network router; The router, the workstation computer, the first network route and the second network route communicate via Ethernet. The liquid feeding transmission unit (5) comprises a telescopic assembly (51), a main motor (52), a main lead screw (53), a subdividing motor (54), a subdividing lead screw (55), a driving gear (56) and a large nut (57). The main lead screw (53) is connected to the output shaft of the main motor (52). The bottom end of the telescopic assembly (51) has a threaded hole, which is sleeved on the subdivided lead screw (55); The subdivided lead screw (55) is fixedly connected to the top of the large lead screw (57), the bottom of the large lead screw (57) has a threaded hole, the large lead screw (57) is threadedly connected to the main lead screw (53), and a gear corresponding to the driving gear (56) is arranged on the circumferential side of the large lead screw (57). The driving gear (56) is connected to the output shaft of the subdividing motor (54).

2. The automatic titration analysis control system according to claim 1, characterized in that: The workstation computer establishes a first network and obtains IP addresses of the first network route and the second network route; The workstation computer establishes a second network, and the workstation computer communicates with the mechanical arm platform and the titrator platform through the second network; The first network routing establishes a third network, and the robotic arm platform and the titrator platform communicate through the third network.

3. The automatic titration analysis control system according to claim 2, characterized in that: The titrator platform has one or more platforms. When the number of the titrator platforms is increased or decreased, the IP addresses of the titrator platforms are allocated through the first network, so that the system can be rapidly expanded.

4. The automatic titration analysis control system according to claim 1, characterized in that: The sample loading mechanical arm (1), the lifting tower (2), the rotating base (3), the beaker rack (4) and the first network router communicate with each other via CAN.

5. The automatic titration analysis control system according to claim 1, characterized in that: The beaker stand (4) comprises a base (41) and a tray (42) placed on the base (41), and one or more beaker holes are provided on the tray (42). A permanent magnet (421) is arranged at the bottom of the tray (42), and a linear magnetic detection sensor (411) is arranged on the base (41), wherein the positions of the permanent magnet (421) and the linear magnetic detection sensor correspond to each other.

6. The automatic titration analysis control system according to claim 1, characterized in that: The beaker rack (4) has a plurality of beaker racks (4) which are communicatively connected to the first network router via a six-core communication interface. When connected, the first network router allocates a device address to the beaker rack (4), so that the beaker rack (4) can be plug-and-play.

7. The automatic titration analysis control system according to claim 1, characterized in that: The liquid feeding transmission unit (5), the burette (6), the beaker, the electrode, the stirrer, the titration endpoint acquisition module and the second network router communicate with each other via CAN.

8. A connection method for an automatic titration analysis control system according to any one of claims 1 to 7, comprising platform connection and platform internal device connection, The platform connection refers to the connection between the robot platform, the titrator platform and the workstation computer via Ethernet communication; The platform internal device connection refers to the connection of the internal devices of the robotic arm platform and / or the titrator platform through CAN communication.

9. The connection method of the automatic titration analysis control system according to claim 8, characterized in that: During the platform connection process, the workstation computer establishes a first network and obtains the IP addresses of the robotic arm platform and the titrator platform; The workstation computer establishes a second network, and the workstation computer communicates with the mechanical arm platform and the titrator platform through the second network; The robotic arm platform establishes a third network, and the robotic arm platform and the titrator platform communicate via the third network.

Images