Constant temperature bath control device and constant temperature bath control method

Abstract

The invention relates to the technical field of experimental equipment, and provides a thermostatic bath control device and a thermostatic bath control method. The thermostatic bath control device comprises: a container for accommodating a thermostatic bath medium; the communicating vessel is communicated with the container, a constant-temperature bath medium is filled in the communicating vessel, and the liquid level of the constant-temperature bath medium in the communicating vessel is equal to the liquid level of the constant-temperature bath medium in the container in height; and the liquid supplementing assembly is communicated with the communicating vessel. According to the constant-temperature bath control device, the constant-temperature bath medium in the liquid supplementing assembly can be continuously supplemented into the container in the object experiment process, automatic liquid supplementing is achieved, manual guarding is not needed, the labor intensity of operators is relieved, meanwhile, when the constant-temperature bath medium in the container is lost, a new constant-temperature bath medium enters the container, and therefore the constant-temperature bath control device is convenient to use. The temperature deviation of the constant-temperature bath medium in the container is small, and the experimental result is not obviously influenced, so that the working efficiency is improved, and meanwhile, the experimental effect is also ensured.

Description

Technical Field

[0001] The invention relates to the technical field of experimental equipment, and in particular to a constant temperature bath control device and a constant temperature bath control method. Background Art

[0002] During operation, the constant temperature bath equipment often loses a large amount of constant temperature bath medium due to evaporation or object carrying. In order to ensure the smooth operation of the constant temperature bath, the constant temperature bath medium needs to be replenished in time. During the replenishment process of the constant temperature bath medium, the liquid level is usually judged by the naked eye and the constant temperature bath medium is added manually, which causes a large workload and high labor intensity for the operators. After the constant temperature bath medium is manually replenished, the temperature in the constant temperature bath equipment will fluctuate significantly, which seriously affects the experimental effect and process. At the same time, the vapor of some media, such as ethanol, will also endanger the health of the operators. For example, a certain model of super constant temperature water bath, at room temperature, continuously records the liquid level position in hours. At 55℃, the liquid level drops 2mm per hour, and at 85℃, the liquid level drops 14mm per hour. The latter requires the operator to stop the machine every two hours, replenish the constant temperature bath medium, and wait for the liquid temperature to return to the set value. Not only is the labor intensity of the operators high, but the temperature fluctuation in the constant temperature bath equipment is large, and it is necessary to wait for the temperature to return to the set value, which affects the work efficiency.

[0003] In addition, for some drugs with specific experimental requirements, it is necessary to frequently switch between two or more constant temperature bath devices with different temperatures. They are highly sensitive to temperature disturbances, and artificially replenishing the constant temperature bath medium will directly affect the experimental results. Summary of the invention

[0004] The invention provides a constant temperature bath control device and a constant temperature bath control method, which are used to solve the defects in the prior art that manual replenishment of constant temperature bath medium is labor-intensive and affects the test effect.

[0005] The present invention provides a constant temperature bath control device, comprising: a container, the container is used to accommodate a constant temperature bath medium; a communicating vessel, which is connected to the container, the constant temperature bath medium is contained in the communicating vessel, and the liquid level of the constant temperature bath medium in the communicating vessel is at the same height as the liquid level of the constant temperature bath medium in the container; and a liquid replenishing component, which is connected to the communicating vessel.

[0006] According to a constant temperature bath control device provided by the present invention, the fluid replenishment component includes: a fluid replenishment container, which is connected to the communicating vessel through a first pipe; a throttle valve, which is arranged on the first pipe, and the throttle valve is used to adjust the flow rate of the constant temperature bath medium in the fluid replenishment component.

[0007] According to a constant temperature bath control device provided by the present invention, the liquid replenishing assembly further includes a solenoid valve, which is arranged in the first pipeline and located between the liquid replenishing container and the throttle valve.

[0008] A constant temperature bath control device provided according to the present invention also includes: a first liquid level sensor and a second liquid level sensor, which are respectively arranged on the inner wall of the communicating vessel, and the second liquid level sensor is located above the first liquid level sensor; a controller, which is used to control the solenoid valve to open according to the signal sent by the first liquid level sensor, and control the solenoid valve to close according to the signal sent by the second liquid level sensor, and the controller is also electrically connected to the throttle valve.

[0009] A constant temperature bath control device provided according to the present invention further includes a manipulator electrically connected to the controller, and the controller is also used to control the opening and closing of the solenoid valve according to the movement of the manipulator.

[0010] A constant temperature bath control device provided according to the present invention also includes a temperature sensor, which is arranged in the container. The temperature sensor is used to detect the temperature of the constant temperature bath medium in the container. The controller is electrically connected to the temperature sensor. The controller is also used to control the movement of the manipulator according to the temperature value detected by the temperature sensor.

[0011] A constant temperature bath control device provided by the present invention further includes an overflow container connected to the communicating vessel via a second pipe, and a connection point between the second pipe and the communicating vessel is located above a set liquid level.

[0012] The present invention also provides a method for controlling a constant temperature bath using the constant temperature bath control device as described above, comprising: obtaining the liquid level height of the constant temperature bath medium in the communicating vessel, and controlling the opening and closing of the fluid replenishment component based on the liquid level height; wherein, when the liquid level height is equal to a first preset value, the fluid replenishment component is controlled to be opened, and when the liquid level height is equal to a second preset value, the fluid replenishment component is controlled to be closed.

[0013] According to a method for controlling a constant temperature bath provided by the present invention, before the step of controlling the fluid replenishment component to open when the liquid level height is equal to a first preset value, the method also includes: obtaining the state of the manipulator, and when the manipulator is clamping an object, controlling the fluid replenishment component to continue to be in a stopped state, and before the fluid replenishment component is turned on, controlling the manipulator to clamp the object away from the container.

[0014] According to a method for controlling a constant temperature bath provided by the present invention, after the step of controlling the liquid replenishing component to close when the liquid level height is equal to a second preset value, the method further includes: obtaining the temperature value of the constant temperature bath medium in the container, and controlling the action of the manipulator to clamp the object when the temperature value is equal to the preset temperature value.

[0015] The constant temperature bath control device provided by the present invention can continuously replenish the constant temperature bath medium in the liquid replenishment component into the container during the object experiment by arranging the communicating vessel and the liquid replenishment component, thereby realizing automatic liquid replenishment, eliminating the need for manual supervision, and reducing the labor intensity of the operators. At the same time, when the constant temperature bath medium in the container is lost, new constant temperature bath medium enters the container, and the temperature deviation of the constant temperature bath medium in the container is small, which will not have a significant impact on the experimental results, thereby improving work efficiency while also ensuring the experimental effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is one of the structural schematic diagrams of the constant temperature bath control device provided by the present invention;

[0018] Figure 2 This is the second structural schematic diagram of the constant temperature bath control device provided by the present invention;

[0019] Figure 3 This is the third structural schematic diagram of the constant temperature bath control device provided by the present invention;

[0020] Reference numerals:

[0021] 10: container; 20: communicating vessel; 21: first liquid level sensor; 22: second liquid level sensor; 30: liquid replenishing assembly; 31: liquid replenishing container; 32: first pipeline; 33: throttle valve; 34: solenoid valve; 40: manipulator; 50: overflow assembly; 51: overflow container; 52: second pipeline; 60: controller; 70: temperature sensor; 100: object. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The features of the terms "first" and "second" in the specification and claims of the present invention may include one or more of the features explicitly or implicitly. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0024] Combine the following Figure 1-Figure 3 The constant temperature bath control device and the constant temperature bath control method of the present invention are described.

[0025] like Figure 1 As shown, in an embodiment of the present invention, the constant temperature bath control device includes: a container 10, a communicating vessel 20 and a liquid replenishing assembly 30. The container 10 is used to accommodate a constant temperature bath medium, the communicating vessel 20 is connected to the container 10, and the communicating vessel 20 is provided with a constant temperature bath medium, and the liquid level of the constant temperature bath medium in the communicating vessel 20 is the same as the liquid level of the constant temperature bath medium in the container. The liquid replenishing assembly 30 is connected to the communicating vessel 20.

[0026] Specifically, when the object 100 is placed in the constant temperature bath medium in the container 10, as the temperature of the constant temperature bath medium increases and the object 100 takes away part of the constant temperature bath medium when leaving the container, the liquid level of the constant temperature bath medium in the container 10 will drop. In this embodiment, the bottom of the communicating vessel 20 is connected with the bottom of the container 10, so that the two form a structure similar to a U-shaped tube, so that the liquid level of the constant temperature bath medium in the two is the same. When the liquid level in the container 10 drops, the liquid level in the communicating vessel 20 will drop accordingly, the liquid replenishing component 30 is connected to the communicating vessel 20, and the constant temperature bath medium in the liquid replenishing component 30 will enter the communicating vessel 20. When the liquid level in the communicating vessel 20 rises, the liquid level in the container 10 will also rise, so that the liquid level height of the constant temperature bath medium in the container 10 reaches the set height.

[0027] Furthermore, in this embodiment, the flow rate of the constant temperature bath medium in the liquid replenishing component 30 can be preset based on experimental experience so that the flow rate is equal to the loss rate of the constant temperature bath medium evaporated in the container 10. Considering that the object 100 will carry out part of the constant temperature bath medium when leaving the container 10, the flow rate of the constant temperature bath medium in the liquid replenishing component 30 can be slightly greater than the loss rate of the constant temperature bath medium in the container 10, thereby ensuring that the liquid level in the container 10 is always at a suitable position.

[0028] Optionally, in an embodiment of the present invention, the constant temperature bath medium may be water or ethanol, etc., and the object 100 may be a workpiece or a medicine.

[0029] The constant temperature bath control device provided in the embodiment of the present invention, by providing a communicating vessel and a liquid replenishing component, can continuously replenish the constant temperature bath medium in the liquid replenishing component into the container during the object experiment, thereby realizing automatic liquid replenishment, eliminating the need for manual supervision, and reducing the labor intensity of the operators. At the same time, when the constant temperature bath medium in the container is lost, new constant temperature bath medium enters the container, and the temperature deviation of the constant temperature bath medium in the container is small, which will not have a significant impact on the experimental results, thereby improving work efficiency while also ensuring the experimental effect.

[0030] like Figure 1 As shown, in one embodiment of the present invention, the fluid replenishment assembly 30 includes: a fluid replenishment container 31, a first pipe 32 and a throttle valve 33. The fluid replenishment container 31 is connected to the communicating vessel 20 through the first pipe 32, and the throttle valve 33 is arranged on the first pipe 32.

[0031] Specifically, in this embodiment, the liquid replenishing container 31 is connected to the communicating vessel 20 through the first pipe 32, and the throttle valve 33 is used to adjust the flow rate of the constant temperature bath medium in the liquid replenishing container 31, so that the amount of the constant temperature bath medium entering the communicating vessel 20 per unit time is roughly equal to the amount of the constant temperature bath medium lost in the container 10. For example, assuming that the room temperature is 20°C and the set temperature of the constant temperature bath medium in the container 10 is 85°C, according to the experimental results, the loss of the constant temperature bath medium in the container 10 is 625ml / h at this time, and the flow rate of the throttle valve 33 can be set to 625ml / h at this time, but considering the changes in ambient temperature, humidity and air pressure, the flow rate of the throttle valve 33 can be set to 650ml / h to ensure the normal operation of the constant temperature bath control device.

[0032] The constant temperature bath control device provided in the embodiment of the present invention can make the amount of constant temperature bath medium entering the communicating vessel and the amount of constant temperature bath medium lost in the container roughly the same per unit time by adjusting the valve core opening of the throttle valve. While realizing automatic liquid replenishment, the liquid level of the constant temperature bath medium in the container can also be kept within a preset range at all times, which not only reduces the labor intensity of the operators, but also improves the experimental efficiency.

[0033] like Figure 2 As shown, in another embodiment of the present invention, the fluid replenishment assembly 30 further includes a solenoid valve 34. The solenoid valve 34 is disposed in the first pipeline 32 and located between the fluid replenishment container 31 and the throttle valve 33. The solenoid valve 34 is used to control the connection and disconnection between the fluid replenishment container 31 and the communicating vessel 20.

[0034] Furthermore, if Figure 2As shown, the constant temperature bath control device further includes: a first liquid level sensor 21, a second liquid level sensor 22 and a controller 60. The first liquid level sensor 21 and the second liquid level sensor 22 are respectively arranged on the inner wall of the communicating vessel 20, and the first liquid level sensor 21 is located below the second liquid level sensor 22. The controller 60 is used to control the opening of the solenoid valve 34 according to the signal sent by the first liquid level sensor 21, and to control the closing of the solenoid valve 34 according to the signal sent by the second liquid level sensor 22. The controller 60 is also electrically connected to the throttle valve 33.

[0035] Specifically, when the liquid level in the container 10 drops, the liquid level in the communicating vessel 20 also drops. When the liquid level in the communicating vessel 20 drops to the position of the first liquid level sensor 21, the first liquid level sensor 21 sends a signal to the controller 60, and the controller 60 controls the electromagnetic valve 34 to be energized and closed, and the constant temperature bath medium in the liquid replenishment container 31 enters the communicating vessel 20 through the electromagnetic valve 34 and the throttle valve 33; when the liquid level in the communicating vessel 20 rises to the position of the second liquid level sensor 22, at this time, the liquid level in the container 10 is at the set position, the second liquid level sensor 22 sends a signal to the controller 60, and the controller 60 controls the electromagnetic valve 34 to be powered off and closed, and the constant temperature bath medium in the liquid replenishment container 31 no longer enters the communicating vessel 20. Further, in this embodiment, the controller 60 controls the valve core opening of the throttle valve 33 to adjust the flow rate of the constant temperature bath medium flowing through the throttle valve 33 to avoid excessive flow rate and impact, so as to accurately control the liquid level in the communicating vessel 20.

[0036] like Figure 2 As shown, in this embodiment, the constant temperature bath control device further includes a manipulator 40 , which is electrically connected to a controller 60 , and the controller 60 is used to control the opening and closing of the solenoid valve 34 according to the movement of the manipulator 40 .

[0037] Specifically, the manipulator 40 is used to hold the object 100 for the experiment. When the liquid level in the communicating vessel 20 is at the position of the first liquid level sensor 21, such as when the manipulator 40 is holding the object 100 for the experiment, the controller 60 does not energize the solenoid valve 34, and the solenoid valve 34 is still in a power-off state to avoid the constant temperature bath medium from entering the container 10 and causing temperature disturbances, thereby affecting the experimental results. After the manipulator 40 holds the object 100 away from the container 10, the controller 60 controls the solenoid valve 34 to energize, so that the solenoid valve 34 is attracted to replenish the communicating vessel 20 with liquid.

[0038] Furthermore, the controller 60 is also used to control the manipulator 40 to hold the object 100 and not move it into the container 10 when the solenoid valve 34 is energized and the rehydration container 31 replenishes the constant temperature bath medium into the communicating vessel 20, so as to avoid the temperature change caused by the rehydration affecting the experimental results of the object 100.

[0039] like Figure 3 As shown, in another embodiment of the present invention, the constant temperature bath control device further includes a temperature sensor 70, which is disposed in the container 10 and is used to detect the temperature of the constant temperature bath medium in the container 10. The controller 60 is electrically connected to the temperature sensor 70, and the controller 60 is also used to control the action of the manipulator 40 according to the temperature data detected by the temperature sensor 70.

[0040] Specifically, after the container 10 is replenished with liquid, the temperature sensor 70 detects the temperature of the constant temperature bath medium in the container 10 in real time. If the temperature does not reach the preset temperature value, the controller 60 controls the manipulator 40 not to move into the constant temperature bath medium. When the temperature of the constant temperature bath medium reaches the preset temperature value, the manipulator 40 is controlled to clamp the object 100 for the experiment.

[0041] like Figure 1 As shown, in an embodiment of the present invention, the constant temperature bath control device further includes an overflow container 51 and a second pipe 52. The overflow container 51 is connected to the communicating vessel 20 through the second pipe 52. The connection between the second pipe 52 and the communicating vessel 20 is located above the set liquid level.

[0042] Specifically, when the liquid level in the communicating vessel 20 is above the set liquid level, the excess constant temperature bath medium flows from the second pipe 52 into the overflow container 51 for recovery. Figure 2 and Figure 3 In the illustrated embodiment, the connection between the second pipe 52 and the communicating vessel 20 is located above the second liquid level sensor 22. When the second liquid level sensor 22 is damaged, when the liquid level in the communicating vessel 20 exceeds the set liquid level, the excess constant temperature bath medium flows from the second pipe 52 into the overflow container 51 for recovery, thereby preventing the constant temperature bath medium in the container 10 from overflowing out of the container 10 when the liquid replenishment speed in the container 10 is greater than the loss speed.

[0043] The constant temperature bath control device provided in the embodiment of the present invention can meet the experimental requirements that are sensitive to temperature changes, and has a reasonable structural design, low cost, safety and environmental protection, and can achieve long-term unattended operation, effectively reducing the labor intensity of operators, improving work efficiency, and preventing operators from contacting with harmful steam, thereby protecting the personal health of operators.

[0044] The embodiment of the present invention also provides a method for controlling a constant temperature bath, which specifically comprises the following steps:

[0045] The liquid level of the constant temperature bath medium in the communicating vessel 20 is obtained, and the opening and closing of the liquid replenishing component 30 is controlled based on the liquid level; wherein, when the liquid level is equal to a first preset value, the liquid replenishing component 30 is controlled to be opened, and when the liquid level is equal to a second preset value, the liquid replenishing component 30 is controlled to be closed.

[0046] Specifically, when the liquid level in the container 10 drops, the liquid level in the communicating vessel 20 also drops. When the liquid level in the communicating vessel 20 drops to the position of the first liquid level sensor 21, the first liquid level sensor 21 sends a signal to the controller 60, and the controller 60 controls the fluid replenishment component 30 to open, and the constant temperature bath medium in the fluid replenishment component 30 enters the communicating vessel 20; when the liquid level in the communicating vessel 20 rises to the position of the second liquid level sensor 22, at this time, the liquid level in the container 10 is at the set liquid level, and the second liquid level sensor 22 sends a signal to the controller 60, and the controller 60 controls the fluid replenishment component 30 to power off and close, and the constant temperature bath medium in the fluid replenishment component 30 no longer enters the communicating vessel 20.

[0047] The method for controlling a constant temperature bath provided in an embodiment of the present invention can replenish liquid into the container in time when the liquid level height in the container is equal to a first preset value, and control the liquid replenishment component to stop replenishing liquid into the container when the liquid level height is equal to a second preset value, thereby realizing automatic replenishment of the constant temperature bath medium in the container, eliminating the need for manual supervision, reducing manual labor intensity, and improving work efficiency.

[0048] Furthermore, when the liquid level height is equal to the first preset value, before the step of controlling the fluid replenishment component to open, the method of constant temperature bath control also includes the following steps: obtaining the state of the manipulator 40, and when the manipulator 40 is clamping the object 100, controlling the fluid replenishment component 30 to continue to be in a stopped state, and before the fluid replenishment component 30 is opened, controlling the manipulator 40 to clamp the object 100 away from the container 10.

[0049] Specifically, when the liquid level in the communicating vessel 20 is at the position of the first liquid level sensor 21, the state of the manipulator 40 is obtained. If the manipulator 40 is holding the object 100 for experiment, the controller 60 does not energize the solenoid valve 34, and the solenoid valve 34 is still in a power-off state to avoid the constant temperature bath medium from entering the container 10 and causing temperature disturbance, thereby affecting the experimental results. After the manipulator 40 holds the object 100 away from the container 10, the controller 60 controls the solenoid valve 34 to energize, so that the solenoid valve 34 is attracted to replenish the communicating vessel 20 with liquid.

[0050] Furthermore, when the liquid replenishing container 31 replenishes the constant temperature bath medium into the communicating vessel 20 , the robot 40 is controlled to hold the object 100 and not move it into the container 10 , so as to avoid the temperature change caused by the liquid replenishment affecting the experimental result of the object 100 .

[0051] Furthermore, after the step of controlling the liquid replenishment component 30 to close when the liquid level height is equal to the second preset value, the method of constant temperature bath control also includes the following steps: obtaining the temperature value of the constant temperature bath medium in the container 10, and when the temperature value is equal to the preset temperature value, controlling the manipulator 40 to clamp the object 100.

[0052] Specifically, after the container 10 is replenished with liquid, the temperature sensor 70 detects the temperature of the constant temperature bath medium in the container 10 in real time. If the temperature does not reach the preset temperature value, the controller 60 controls the manipulator 40 not to move into the constant temperature bath medium. When the temperature of the constant temperature bath medium reaches the preset temperature value, the manipulator 40 is controlled to clamp the object 100 for the experiment.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A constant temperature bath control device, characterized in that: include: A container, the container being used to contain a constant temperature bath medium; A communicating vessel, connected to the container, wherein a constant temperature bath medium is contained in the communicating vessel, and a liquid level of the constant temperature bath medium in the communicating vessel is equal to a liquid level of the constant temperature bath medium in the container; A fluid replenishing component is connected to the communicating vessel.

2. The constant temperature bath control device according to claim 1, characterized in that: The fluid replenishment component comprises: A liquid replenishing container connected to the communicating vessel via a first pipe; A throttle valve is arranged on the first pipeline, and the throttle valve is used to adjust the flow rate of the constant temperature bath medium in the fluid replenishing component.

3. The constant temperature bath control device according to claim 2, characterized in that: The fluid replenishment component also includes a solenoid valve, which is arranged in the first pipeline and located between the fluid replenishment container and the throttle valve.

4. The constant temperature bath control device according to claim 3, characterized in that: Also includes: A first liquid level sensor and a second liquid level sensor are respectively arranged on the inner wall of the communicating vessel, and the second liquid level sensor is located above the first liquid level sensor; A controller is used to control the solenoid valve to open according to the signal sent by the first liquid level sensor, and to control the solenoid valve to close according to the signal sent by the second liquid level sensor. The controller is also electrically connected to the throttle valve.

5. The constant temperature bath control device according to claim 4, characterized in that: It also includes a manipulator electrically connected to the controller, and the controller is also used to control the opening and closing of the solenoid valve according to the movement of the manipulator.

6. The constant temperature bath control device according to claim 5, characterized in that: It also includes a temperature sensor, which is arranged in the container. The temperature sensor is used to detect the temperature of the constant temperature bath medium in the container. The controller is electrically connected to the temperature sensor. The controller is also used to control the action of the manipulator according to the temperature value detected by the temperature sensor.

7. The constant temperature bath control device according to claim 1, characterized in that: It also includes an overflow container, which is connected to the communicating vessel through a second pipe, and the connection between the second pipe and the communicating vessel is located above the set liquid level.

8. A method for controlling a constant temperature bath using the constant temperature bath control device according to any one of claims 1 to 7, characterized in that: include: Acquiring the liquid level of the constant temperature bath medium in the communicating vessel, and controlling the opening and closing of the liquid replenishing component based on the liquid level; Wherein, when the liquid level height is equal to a first preset value, the liquid replenishing component is controlled to be turned on, and when the liquid level height is equal to a second preset value, the liquid replenishing component is controlled to be turned off.

9. The method for controlling a constant temperature bath according to claim 8, characterized in that: Before the step of controlling the fluid replenishing component to open when the liquid level height is equal to the first preset value, the method further includes: The state of the manipulator is obtained, and when the manipulator is gripping an object, the fluid replenishment component is controlled to continue to be in a stopped state, and before the fluid replenishment component is turned on, the manipulator is controlled to grip the object away from the container.

10. The method for controlling a constant temperature bath according to claim 8, characterized in that: After the step of controlling the liquid replenishing component to close when the liquid level height is equal to the second preset value, the method further includes: The temperature value of the constant temperature bath medium in the container is obtained, and when the temperature value is equal to a preset temperature value, the robot is controlled to clamp the object.

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