Water quality automatic analysis device and method based on spatial three-dimensional motion

Abstract

The application discloses a kind of water quality automatic analysis equipment and method based on space three-dimensional motion, it determines water quality parameter using colorimetric method, is moved between sample rack, digestion colorimetric tube rack, executing device, digestion device and colorimetric device by three-dimensional moving device driving rotary jaw, syringe pump, liquid adding device and liquid adding head, realizes the process of full-automatic movement digestion colorimetric tube, take down screw seal cover, sampling, dosing agent, close cover action to improve sample liquid detection efficiency, save time, reduce artificial cost, realize operation standardization, eliminate random error of manual operation, simultaneously combine multi-angle rotary colorimetric, and the light that passes through from the digestion colorimetric tube different positions is obtained by rotary jaw and colorimetric device cooperation rotary digestion colorimetric tube multi-angle rotary colorimetric, provide enough sample for subsequent data processing, then eliminate the interference of various internal and external factors, reduce colorimetric error, improve the accuracy of colorimetric result.

Description

Technical Field

[0001] This invention relates to the field of water quality analysis technology, and in particular to an automatic water quality analysis device and method based on three-dimensional spatial motion. Background Technology

[0002] Traditional laboratory chemical experiments require manual steps such as sampling, adding reagents, removing screw caps, closing the caps, and heating. These steps are cumbersome and inefficient, and the labor costs are also high. Human operation will more or less introduce errors, affecting the accuracy of water quality analysis results.

[0003] To reduce labor costs, minimize errors, and improve detection accuracy, automated water quality analysis equipment can be used for water quality testing. For example, Chinese invention patent CN113267595A discloses an energy-saving, fully automated chemical oxygen demand (COD) analyzer. This analyzer uses a metering pump for precise liquid addition, a robotic arm to move the sample, a temperature controller for precise temperature control, and optical colorimetry to determine the titration endpoint. This achieves full automation of COD sample analysis, essentially replacing manual operation. Compared to manual analysis, it offers lower detection limits, higher accuracy and precision, and lower overall power consumption. The aforementioned analyzer uses an automatic colorimetric titration device for titration analysis. It automatically determines the titration endpoint based on color changes and calculates the test results. The light source and color sensor of the titration device are installed on both sides of the sample cup to detect color changes in the solution system within the sample cup. The color sensor transmits the signals generated by the detected color changes to a computer control system for processing. Although the above analyzer greatly improves the efficiency of water quality analysis, the determination of the titration color endpoint is usually instantaneous. When the sample cup contains impurities, it is often impossible to make a stable and effective determination. In addition, the quality of the sample cup, the light source of the titration device, and the detection position of the color sensor can all cause significant interference to the measurement data. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide an automatic water quality analysis device and method based on three-dimensional spatial motion, which measures water quality parameters based on colorimetry, reduces the influence of internal and external conditions on detection, reduces errors, and improves the accuracy of water quality analysis results.

[0005] To achieve the above objectives, the technical solution proposed by this invention is as follows: This invention discloses an automatic water quality analysis device based on three-dimensional spatial motion, comprising: a sample rack, a digestion and colorimetric tube rack, an actuator, a digestion device, a colorimetric device, a rotary gripper, a syringe pump, a liquid dispensing device, a three-dimensional moving device, and a controller. The sample rack holds sample tubes, the digestion and colorimetric tube rack holds digestion and colorimetric tubes, the rotary gripper holds the digestion and colorimetric tubes, cooperates with the actuator to open and close the spiral sealing cap of the digestion and colorimetric tubes, and cooperates with the colorimetric device to rotate the digestion and colorimetric tubes for multi-angle rotational colorimetric analysis, the syringe pump injects the sample solution from the sample tubes into the digestion and colorimetric tubes placed at the actuator, the liquid dispensing device adds liquid to the digestion and colorimetric tubes placed at the actuator, and the three-dimensional moving device drives the rotary gripper, syringe pump, and liquid dispensing device to move between the sample rack, digestion and colorimetric tube rack, actuator, digestion device, and colorimetric device. The controller is electrically connected to the actuator, digestion device, colorimetric device, rotary gripper, syringe pump, liquid dispensing device, and three-dimensional moving device.

[0006] Preferably, the actuating device includes a fixed base and a mechanical gripper. The fixed base has an actuation insertion hole vertically, and a side slot communicating with the actuation insertion hole is formed on its side wall. The mechanical gripper is located on one side of the fixed base and can be inserted into the side slot to hold the digestion colorimetric tube inserted into the actuation insertion hole.

[0007] Preferably, the three-dimensional moving device includes: a first lifting mechanism, a second lifting mechanism, a third lifting mechanism, a Y-axis translation mechanism, and an X-axis translation mechanism. The X-axis translation mechanism drives the Y-axis translation mechanism to move horizontally along the X direction; the Y-axis translation mechanism drives the first, second, and third lifting mechanisms to move horizontally along the Y direction; the first lifting mechanism drives the rotating gripper to move up and down; the second lifting mechanism drives the syringe pump to move up and down; and the third lifting mechanism drives the dispensing head to move up and down.

[0008] Preferably, the Y-axis translation mechanism includes a Y-axis linear module and a mounting base mounted on a slide of the Y-axis linear module. The mounting base includes a first horizontal plate, a second horizontal plate, a first vertical plate, and a second vertical plate. The first horizontal plate is connected to the upper side of the slide, the second horizontal plate is connected to the lower side of the slide, the first vertical plate is located on the left side of the slide and its two ends are connected to the first and second horizontal plates respectively, and the second vertical plate is located on the right side of the slide and its two ends are connected to the first and second horizontal plates respectively. Two of the first, second, and third lifting mechanisms are fixed to the first vertical plate, and the other is fixed to the second vertical plate.

[0009] Preferably, the X-axis translation mechanism includes: an X-axis linear module and an X-axis slide rail arranged relatively parallel to each other, with both ends of the Y-axis linear module fixedly connected to the slide base of the X-axis linear module and the slider of the X-axis slide rail, respectively. The first lifting mechanism, the second lifting mechanism, and the third lifting mechanism each include: a Z-axis linear module fixed on the mounting base of the Y-axis linear module, a slotted photoelectric sensor mounted on the guide rail of the Z-axis linear module, and a light-shielding plate fixed on the slide base of the Z-axis linear module.

[0010] Preferably, the colorimetric device includes: a support, a light emitting module, and a far-end light receiving module, wherein the light emitting module and the far-end light receiving module are disposed opposite each other on the periphery of the support.

[0011] Preferably, the light emitting module includes a first light source, a second light source, and a third light source. The far-end light receiving module includes a first far-end light receiver, a second far-end light receiver, and a third far-end light receiver. The first light source and the first far-end light receiver are symmetrically arranged on opposite sides of the support, the second light source and the second far-end light receiver are symmetrically arranged on opposite sides of the support, and the third light source and the third far-end light receiver are symmetrically arranged on the other opposite sides of the support.

[0012] Preferably, the colorimetric device further includes a first near-end light receiver and a second near-end light receiver, wherein the first near-end light receiver is disposed on the same side as the first light source, and the second near-end light receiver is disposed on the same side as the second light source.

[0013] Preferably, the liquid dispensing device includes: a support, a dispensing head, and several metering pumps mounted side by side on the support. The inlet of the metering pump is connected to a medicine bottle through a conduit, and the outlet of the metering pump is connected to the dispensing head through a conduit.

[0014] This invention also discloses an automatic water quality analysis method based on three-dimensional spatial motion, which includes the following steps: S1. Prepare digestion colorimetric tubes: The three-dimensional moving device drives the rotating jaws to clamp the digestion colorimetric tubes on the digestion colorimetric tube rack to the execution device. The execution device fixes the digestion colorimetric tubes, and the rotating jaws unscrew the spiral sealing cap of the digestion colorimetric tubes. S2. Sampling: The three-dimensional moving device drives the injection pump to extract the sample liquid in the sample tube, cleans the injection pump, and discharges it into the waste cup. Then, it drives the injection pump to extract the sample liquid in the same sample tube and injects it into the digestion colorimetric tube at the execution device. S3. Adding reagents: The three-dimensional moving device drives the liquid dispensing head to inject reagents into the digestion colorimetric tube at the actuator; S4. Heating and digestion: The three-dimensional moving device drives the rotating jaws to screw the spiral sealing cap back to the digestion colorimetric tube, and then transports the digestion colorimetric tube to the digestion device for heating and digestion; S5. Cooling: The three-dimensional moving device transports the digestion colorimetric tubes that have completed digestion to the digestion colorimetric tube rack for cooling. S6. Colorimetric analysis: The three-dimensional moving device drives the rotating gripper to transport the cooled digestion colorimetric tube to the colorimetric device and rotates the digestion colorimetric tube at least one revolution to perform multi-angle rotation colorimetric analysis. In step S4, when heating and digesting the solution in the colorimetric tube, or in step S5, when cooling and digesting the solution in the colorimetric tube, steps S1 to S3 can be executed simultaneously, or step S6 can be executed.

[0015] The beneficial effects of the present invention using the above technical solution are as follows: The automatic water quality analysis device and method based on three-dimensional spatial motion of the present invention uses colorimetry to determine water quality parameters. The three-dimensional moving device drives the rotating gripper, injection pump, and dispensing head to perform operations such as moving the digestion colorimetric tube, removing the screw-on sealing cap, sampling, adding reagents, and screwing the screw-on sealing cap back on. This standardizes the operation, eliminates random errors inherent in manual operation, and is simpler, more convenient, and time-saving compared to titration methods, while also reducing experimental risk. The rotating gripper and colorimetric device work together to perform multi-angle rotational colorimetry, acquiring light passing through various positions around the digestion colorimetric tube. This provides sufficient samples for subsequent data processing, thereby eliminating interference from internal and external factors such as impurities in the sample solution and uneven wall thickness of the digestion colorimetric tube, reducing colorimetric errors, and improving the accuracy of the colorimetric results. Attached Figure Description

[0016] Figure 1 and Figure 2 This is a three-dimensional structural diagram of a preferred embodiment of the present invention.

[0017] Figure 3 for Figure 1 A schematic diagram of the three-dimensional moving device.

[0018] Figure 4 for Figure 3 A side view of the Y-axis translation mechanism.

[0019] Figure 5 for Figure 1 A schematic diagram of the assembly structure of the first lifting mechanism and the rotating gripper.

[0020] Figure 6 for Figure 1 A three-dimensional structural diagram of the actuator.

[0021] Figure 7 for Figure 1 A three-dimensional structural diagram of a colorimetric device.

[0022] Figure 8 for Figure 7 A half-section diagram.

[0023] Figure 9 for Figure 7 A half-section diagram of the central support.

[0024] Figure 10 for Figure 1 A schematic diagram of the assembly structure of the colorimetric device and the mechanical gripper.

[0025] The components include: 1. Sample holder; 2. Digestion colorimetric tube holder; 21. Digestion colorimetric tube; 211. Spiral sealing cap; 3. Actuator; 31. Fixing base; 311. Actuation socket; 312. Side slot; 32. Mechanical gripper; 4. Digestion device; 5. Colorimetric device; 51. Support; 510. Vertical receiving cavity; 511. First transmitting channel; 512. First proximal receiving channel; 513. First distal receiving channel; 514. Second transmitting channel; 515. Second proximal receiving channel; 516. Second distal receiving channel; 517. Third transmitting channel; 518. Third receiving channel; 519. Observation window; 520. Socket; 521. Buffer pad; 522. Mounting base; 52. First light source; 53. Second light source; 54. Third light source; 55. First distal light receiver. 56. Second far-end light receiver; 57. Third far-end light receiver; 58. First near-end light receiver; 59. Second near-end light receiver; 6. Rotating gripper; 7. Injection pump; 8. Liquid dispensing device; 81. Support; 82. Liquid dispensing head; 83. Metering pump; 9. Three-dimensional moving device; 91. First lifting mechanism; 911. Z-axis linear module; 912. Slotted photoelectric sensor; 913. Light shield; 92. Second lifting mechanism; 93. Third lifting mechanism; 94. Y-axis translation mechanism; 941. Y-axis linear module; 942. First horizontal plate; 943. Second horizontal plate; 944. First vertical plate; 945. Second vertical plate; 95. X-axis translation mechanism; 951. X-axis linear module; 952. X-axis slide rail; 10. Controller; 11. Waste collection cup. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0027] In this invention, the terms "upper," "lower," "left," "right," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better describing the invention and its embodiments, and are not intended to require the invention to be constructed or operated in a specific orientation; therefore, they should not be construed as limiting the invention. The terms "connection" and "connection" in this invention should be interpreted broadly. For example, they can refer to a connection or a detachable connection; they can refer to a direct connection or an indirect connection through intermediate components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0028] Combination Figure 1 and Figure 2 This invention discloses an automatic water quality analysis device based on three-dimensional spatial motion, comprising: a base, a sample rack 1 mounted on the base, a digestion and colorimetric tube rack 2, an actuator 3, a digestion device 4, a colorimetric device 5, a rotating gripper 6, a syringe pump 7, a liquid dispensing device 8, a three-dimensional moving device 9, and a controller 10. The rotating gripper 6, the syringe pump 7, and the liquid dispensing device 8 have their dispensing heads 82 mounted on the three-dimensional moving device 9, and are driven by the three-dimensional moving device 9 to move between the sample rack 1, the digestion and colorimetric tube rack 2, the actuator 3, the digestion device 4, and the colorimetric device 5. The controller 10 is electrically connected to the actuator 3, the digestion device 4, the colorimetric device 5, the rotating gripper 6, the syringe pump 7, the liquid dispensing device 8, and the three-dimensional moving device 9 to control their respective actions.

[0029] Combination Figures 3 to 10In a preferred embodiment of the present invention, the three-dimensional moving device 9 includes: a first lifting mechanism 91 that drives the rotating gripper 6 to move up and down; a second lifting mechanism 92 that drives the syringe pump 7 to move up and down; a third lifting mechanism 93 that drives the dispensing head 82 to move up and down; a Y-direction translation mechanism 94 that drives the first lifting mechanism 91, the second lifting mechanism 92, and the third lifting mechanism 93 to move horizontally in the Y direction; and an X-direction translation mechanism 95 that drives the Y-direction translation mechanism 94 to move horizontally in the X direction. Specifically, the X-direction translation mechanism 95 includes an X-direction linear module 951 and an X-direction slide rail 952 that are fixedly parallel to each other on the base. The Y-direction translation mechanism 94 includes a Y-direction linear module 941 and a mounting base 522. One end of the Y-direction linear module 941 is fixedly connected to the slide of the X-direction linear module 951, and the other end is fixedly connected to the slider of the X-direction slide rail 952. Mounting base 522 includes a first horizontal plate 942, a second horizontal plate 943, a first vertical plate 944, and a second vertical plate 945. The first horizontal plate 942 is connected to the upper side of the slide of the Y-direction linear module 941, and the second horizontal plate 943 is connected to the lower side of the slide of the Y-direction linear module 941. The first vertical plate 944 is located on the left side of the slide of the Y-direction linear module 941 and is connected to the first horizontal plate 942 and the second horizontal plate 943. The second vertical plate 945 is located on the right side of the slide of the Y-direction linear module 941 and is connected to the first horizontal plate 942 and the second horizontal plate 943. A first lifting mechanism 91 and a second lifting mechanism 92 are fixed on the first vertical plate 944, and a third lifting mechanism 93 is fixed on the second vertical plate 945. The first lifting mechanism 91, the second lifting mechanism 92, and the third lifting mechanism 93 are distributed on both sides of the Y-axis translation mechanism 94, rather than all of them being installed on a single side of the Y-axis translation mechanism 94. This ensures that the forces on both sides of the Y-axis translation mechanism 94 are balanced, allowing the three lifting mechanisms to move smoothly. The first lifting mechanism 91, the second lifting mechanism 92, and the third lifting mechanism 93 have similar structures. Taking the first lifting mechanism 91 as an example, all three include a Z-axis linear module 911 fixedly connected to the mounting base 522, a slotted photoelectric sensor 912 fixed on the guide rail of the Z-axis linear module 911, and a light-shielding plate 913 fixed on the slide of the Z-axis linear module 911. The slotted photoelectric sensor 912 and the light-shielding plate 913 work together to detect the positioning information of the slide of the Z-axis linear module 911, in order to reset the rotating gripper 6 / injection pump 7 / liquid head 82 for the next action.

[0030] The actuator 3 includes a fixed base 31 and a mechanical gripper 32. The fixed base 31 has a vertical actuator insertion hole 311 on its top surface and a side slot 312 communicating with the actuator insertion hole 311 on its side wall. The mechanical gripper 32 is located on one side of the fixed base 31. The mechanical gripper 32 can be inserted into the side slot 312 to hold the digestion colorimetric tube 21 inserted into the actuator insertion hole 311. It cooperates with the rotating gripper 6 to unscrew or screw on the spiral sealing cap 211 at the top of the digestion colorimetric tube 21.

[0031] The colorimetric device 5 includes: a support 51, a light emitting module and a far-end light receiving module disposed opposite to each other around the support 51. The light emitting module includes: a first light source 52, a second light source 53, and a third light source 54. The far-end light receiving module includes: a first far-end light receiver 55, a second far-end light receiver 56, and a third far-end light receiver 57. The first light source 52 and the first far-end light receiver 55 are symmetrically disposed on opposite sides of the digestion colorimetric tube 21 mounting base 522. The first light source 52 is a 660nm LED lamp used for phosphate determination. The second light source 53 and the second far-end light receiver 56 are symmetrically disposed on opposite sides of the digestion colorimetric tube 21 mounting base 522. The second light source 53 is a 410nm LED lamp used for CODcr determination. The third light source 54 and the third far-end light receiver 57 are symmetrically disposed on the other opposite sides of the digestion colorimetric tube 21 mounting base 522. The third light source 54 is a xenon lamp used for total nitrogen and nitrate nitrogen determination. In another preferred embodiment of the present invention, to further improve the accuracy of the detection results, a first near-end light receiver 58 is provided on one side of the first light source 52, and a second near-end light receiver 59 is provided on one side of the second light source 53. This allows for the acquisition of initial data of the light beam emitted by the light source before it passes through the colorimetric tube, monitoring whether the working status of the first light source 52 and the second light source 53 is normal and stable. This, in conjunction with the first far-end light receiver 55 and the second far-end light receiver 56, ensures the accuracy of water quality analysis. The colorimetric device 5 of this embodiment can measure various parameters; the corresponding light source and light receiver can be switched according to the required parameter, making operation convenient and saving time and effort. In existing technologies, the accuracy of water quality testing results is affected by internal and external factors such as impurities in the sample solution, varying wall thickness of the digestion colorimetric tube 21, and damage from impacts. However, in this embodiment, during colorimetric analysis using the colorimetric device 5, the light source and light receiver are always on, the mechanical gripper 32 rotates the digestion colorimetric tube 21 several times, and the remote light receiver acquires the light passing through various positions from the circumference of the digestion colorimetric tube 21, providing sufficient samples for subsequent data processing, thereby reducing colorimetric errors, improving the accuracy of colorimetric results, and enhancing detection precision.

[0032] The support 51 of this embodiment has six sides: a front side, a rear side, a left side, a right side, an upper side, and a lower side. The support 51 has a vertically accommodating cavity 510 extending downwards from its upper side for inserting the digestion colorimetric tube 21. A first transmitting channel 511 and a second distal receiving channel 516, vertically communicating with the vertically accommodating cavity 510, are formed from the left side to the right, with the second distal receiving channel 516 located directly below the first transmitting channel 511. A first distal receiving channel 513 and a second transmitting channel 514, vertically communicating with the vertically accommodating cavity 510, are formed from the right side to the left, with the second transmitting channel 514 located directly below the first distal receiving channel 513. From the front side, a third receiving channel 518, a first proximal receiving channel 512, and a second proximal receiving channel 515, vertically communicating with the second transmitting channel 514, are formed from the front side to the rear. A third transmitting channel 517, vertically communicating with the vertically accommodating cavity 510, is formed from the rear side to the front. An observation window 519, horizontally penetrating the vertical accommodating cavity 510, is provided on the upper part of the support 51 for observing the color of the solution in the digestion colorimetric tube 21. A buffer pad 521 is also provided in the vertical accommodating cavity 510 to prevent the digestion colorimetric tube 21 from being bumped or damaged during insertion, thus affecting subsequent colorimetric analysis.

[0033] In this embodiment, the first light source 52, the second light source 53, the first near-end light receiver 58, the second near-end light receiver 59, the first far-end light receiver 55, and the second far-end light receiver 56 are all installed in their respective channels via mounting bases 522. To facilitate installation and subsequent maintenance and replacement of components, insertion holes 520 penetrating the support 51 are opened on one side of each transmitting and receiving channel. Threaded holes corresponding to the insertion holes 520 are opened on the outer wall of the mounting base 522. By passing screws through the insertion holes 520 and screwing them into the threaded holes, a detachable connection between the mounting base 522 and the support 51 is achieved.

[0034] The liquid dispensing device 8 includes: a support 81, several metering pumps 83 mounted side by side on the support 81, and a dispensing head 82 connected to the outlet of the metering pumps 83. The inlet of each metering pump 83 is connected to a different medicine bottle.

[0035] The analysis method of the automatic water quality analysis device based on three-dimensional spatial motion of the present invention is as follows: S1: Prepare the colorimetric tubes for digestion The three-dimensional moving device 9 drives the rotating gripper 6 to clamp the digestion colorimetric tube 21 on the digestion colorimetric tube rack 2 to the execution device 3. The execution device 3 fixes the digestion colorimetric tube 21, and the rotating gripper 6 unscrews the spiral sealing cap (211).

[0036] S2: Sampling First, the three-dimensional moving device 9 drives the syringe pump 7 to draw sample liquid from the sample tube to clean the syringe pump 7, so as to clean the sample liquid remaining from the previous sampling and avoid contaminating the current sampling. The waste liquid after cleaning is injected into the waste collection cup 11. Second, the three-dimensional moving device 9 drives the syringe pump 7 again to draw sample liquid from the same sample tube and inject it into the digestion colorimetric tube 21 inserted at the execution device 3.

[0037] S3: Add medicine The three-dimensional moving device 9 drives the liquid dispensing head 82 to inject the reagent into the digestion colorimetric tube 21 inserted into the actuator 3.

[0038] S4: Heating digestion The three-dimensional moving device 9 drives the rotating gripper 6 to rotate the spiral sealing cap (211) back to the digestion colorimetric tube 21, and then transports the digestion colorimetric tube 21 to the digestion device 4 for heating and digestion for a certain period of time.

[0039] S5: Cooling The three-dimensional moving device 9 transports the digestion colorimetric tube 21, which has completed digestion, to the digestion colorimetric tube rack 2 for cooling for a certain period of time.

[0040] S6: Colorimetry The three-dimensional moving device 9 drives the rotating gripper 6 to transport the cooled digestion colorimetric tube 21 to the colorimetric device 5 and rotate the digestion colorimetric tube 21 at least one revolution to obtain the absorbance of the digestion colorimetric tube 21 at various angles.

[0041] Since the heating digestion and cooling in steps S4 and S5 require a certain amount of time, steps S1 to S3 or step S6 can be executed simultaneously during this time to shorten the detection time of the entire batch of sample solution and improve detection efficiency.

[0042] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail to the invention without departing from the spirit and scope of the invention as defined in the appended claims are within the scope of protection of the invention.

Claims

1. An automatic water quality analysis device based on three-dimensional spatial motion, characterized in that, include: Sample holder (1), used to hold sample tubes; Digestion colorimetric tube rack (2) is used to hold digestion colorimetric tubes (21); The actuator (3) is used to fix the digestion colorimetric tube (21). Digestion device (4) is used to heat and digest the solution in the digestion colorimetric tube (21); A colorimetric device (5) is used to determine the absorbance of the solution in the digestion colorimetric tube (21). The colorimetric device (5) includes a support (51), a light emitting module, and a far-end light receiving module. The light emitting module and the far-end light receiving module are arranged opposite each other on the periphery of the support (51). The light emitting module includes a first light source (52), a second light source (53), and a third light source (54). The far-end light receiving module includes a first far-end light receiver (55), a second far-end light receiver (56), and a third far-end light receiver (57). The first light source (52) and the first far-end light receiver (55) are symmetrically arranged on opposite sides of the support (51). The second light source (53) and the second far-end light receiver (56) are symmetrically arranged on opposite sides of the support (51). The third light source (54) and the third far-end light receiver (57) are symmetrically arranged on the other opposite sides of the support (51). The rotating gripper (6) is used to hold the digestion colorimetric tube (21), cooperate with the actuator (3) to open and close the spiral sealing cap (211) of the digestion colorimetric tube (21), and cooperate with the colorimetric device (5) to rotate the digestion colorimetric tube (21) for multi-angle rotation colorimetry. The syringe pump (7) is used to inject the sample solution in the sample tube into the digestion colorimetric tube (21) placed at the actuator (3); Liquid addition device (8) is used to add liquid to the digestion colorimetric tube (21) placed at the actuator (3); The three-dimensional moving device (9) is used to drive the rotating gripper (6), the injection pump (7) and the liquid dispensing device (8) to move between the sample rack (1), the digestion colorimetric tube rack (2), the execution device (3), the digestion device (4) and the colorimetric device (5); The controller (10) is electrically connected to the actuator (3), digestion device (4), colorimetric device (5), rotary gripper (6), injection pump (7), liquid dispensing device (8) and three-dimensional moving device (9).

2. The automatic water quality analysis device based on three-dimensional spatial motion according to claim 1, characterized in that, The actuator (3) includes: The fixed base (31) has an execution socket (311) vertically and a side slot (312) communicating with the execution socket (311) on its side wall. Mechanical gripper (32) is provided on one side of the fixed base (31). The mechanical gripper (32) can be inserted into the side slot (312) to hold the digestion colorimetric tube (21) inserted into the execution socket (311).

3. The automatic water quality analysis device based on three-dimensional spatial motion according to claim 1, characterized in that, The three-dimensional moving device (9) includes: The first lifting mechanism (91) drives the rotating gripper (6) to move up and down; The second lifting mechanism (92) drives the injection pump (7) to move up and down. The third lifting mechanism (93) drives the liquid filling head (82) to move up and down; The Y-direction translation mechanism (94) drives the first lifting mechanism (91), the second lifting mechanism (92) and the third lifting mechanism (93) to move horizontally along the Y direction; The X-direction translation mechanism (95) drives the Y-direction translation mechanism (94) to move horizontally along the X direction.

4. The automatic water quality analysis device based on three-dimensional spatial motion according to claim 3, characterized in that, The Y-axis translation mechanism (94) includes a Y-axis linear module (941) and a mounting base (522) mounted on a slide of the Y-axis linear module (941). The mounting base (522) includes a first horizontal plate (942), a second horizontal plate (943), a first vertical plate (944), and a second vertical plate (945). The first horizontal plate (942) is connected to the upper side of the slide, the second horizontal plate (943) is connected to the lower side of the slide, and the first vertical plate (944)... The first vertical plate (944) is located on the left side of the slide block, and its two ends are respectively connected to the first horizontal plate (942) and the second horizontal plate (943). The second vertical plate (945) is located on the right side of the slide block, and its two ends are respectively connected to the first horizontal plate (942) and the second horizontal plate (943). Two of the first lifting mechanism (91), the second lifting mechanism (92) and the third lifting mechanism (93) are fixed to the first vertical plate (944), and the other is fixed to the second vertical plate (945).

5. The automatic water quality analysis device based on three-dimensional spatial motion according to claim 4, characterized in that, The X-axis translation mechanism (95) includes: an X-axis linear module (951) and an X-axis slide rail (952) arranged in parallel with each other. The two ends of the Y-axis linear module (941) are fixedly connected to the slide block of the X-axis linear module (951) and the slider of the X-axis slide rail (952), respectively. The first lifting mechanism (91), the second lifting mechanism (92) and the third lifting mechanism (93) each include: a Z-axis linear module (911) fixed on the mounting base (522) of the Y-axis linear module (941), a slotted photoelectric sensor (912) mounted on the guide rail of the Z-axis linear module (911), and a light shield (913) fixed on the slide of the Z-axis linear module (911).

6. The automatic water quality analysis device based on three-dimensional spatial motion according to claim 1, characterized in that, The colorimetric device (5) further includes a first near-end light receiver (58) and a second near-end light receiver (59). The first near-end light receiver (58) and the first light source (52) are located on the same side, and the second near-end light receiver (59) and the second light source (53) are located on the same side.

7. The automatic water quality analysis device based on three-dimensional spatial motion according to claim 3, characterized in that, The liquid adding device (8) includes: a support (81), a liquid adding head (82), and several metering pumps (83) installed side by side on the support (81). The inlet of the metering pump (83) is connected to a medicine bottle through a conduit, and the outlet of the metering pump (83) is connected to the liquid adding head (82) through a conduit.

8. An automatic water quality analysis method based on three-dimensional spatial motion, employing the automatic water quality analysis equipment based on three-dimensional spatial motion as described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1. Prepare digestion colorimetric tube (21): The three-dimensional moving device (9) drives the rotating jaw (6) to clamp the digestion colorimetric tube (21) on the digestion colorimetric tube rack (2) to the execution device (3). The execution device (3) fixes the digestion colorimetric tube (21), and the rotating jaw (6) unscrews the spiral sealing cap (211) of the digestion colorimetric tube (21). S2. Sampling: The three-dimensional moving device (9) drives the injection pump (7) to extract the sample liquid in the sample tube, clean the injection pump (7), and then discharge it into the waste cup (11). Subsequently, the injection pump (7) is driven to extract the sample liquid in the same sample tube and inject it into the digestion colorimetric tube (21) at the execution device (3). S3, Adding reagent: The three-dimensional moving device (9) drives the liquid dispensing head (82) to inject the reagent into the digestion colorimetric tube (21) at the execution device (3); S4. Heating and digestion: The three-dimensional moving device (9) drives the rotating jaw (6) to rotate the spiral sealing cap (211) back to the digestion colorimetric tube (21), and then transports the digestion colorimetric tube (21) to the digestion device (4) for heating and digestion; S5. Cooling: The three-dimensional moving device (9) transports the digestion colorimetric tube (21) that has completed digestion to the digestion colorimetric tube rack (2) for cooling; S6, Colorimetric analysis: The three-dimensional moving device (9) drives the rotating gripper (6) to transport the cooled digestion colorimetric tube (21) to the colorimetric device (5) and rotate the digestion colorimetric tube (21) at least one revolution to perform multi-angle rotation colorimetric analysis; In step S4, when heating and digesting the solution in the colorimetric tube (21), or in step S5, when cooling and digesting the solution in the colorimetric tube (21), steps S1 to S3 can be executed simultaneously, or step S6 can be executed.

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