Intelligent control rotary evaporation system and method based on combination of mechanical arm and visual identification

Abstract

The invention relates to an intelligent control rotary evaporation system and method based on combination of a mechanical arm and visual identification. The system comprises a rotary evaporator; the flask, the storage rack and the splash-proof ball can be disassembled and connected by driving a motor through a mechanical arm to drive a rotary clamping jaw; the mechanical arm is used for controlling the disassembly and assembly of the flask, the transfer of the to-be-concentrated liquid and the opening and closing of the reaction bottle; the monitor is arranged in a water bath attached to the rotary evaporator and is used for monitoring the evaporation state of the liquid in the flask immersed in the water bath in real time; the automatic liquid collecting ball is arranged at the lower end of the condenser of the rotary evaporator and is used for collecting condensed distillate; and the controller is in communication connection with the rotary evaporator, the mechanical arm, the monitor and the automatic liquid collecting ball. According to the intelligent control rotary evaporation system, automatic and intelligent operation of the rotary evaporation process is achieved, and experiment failures caused by improper manual operation or untimely monitoring and the like in the traditional rotary evaporation (concentration) process are effectively avoided.

Description

Technical Field

[0001] The invention relates to an intelligent control rotary evaporation system and method based on the combination of a mechanical arm and visual recognition, belonging to the technical field of chemical instruments. Background Art

[0002] Rotary evaporation is a common operation in chemical laboratories. It is used to remove low-boiling volatile substances from liquids to achieve the purpose of removing solvents and concentrating samples. Traditional rotary evaporators are mainly operated manually, including transferring the liquid to be treated into a distillation flask, monitoring the evaporation status, and stopping. There are several obvious problems and technical bottlenecks: 1. Too many repetitive operations: Transferring samples, disassembling glassware such as splash guards, setting parameters, etc. will cause unnecessary waste of time.

[0003] 2. Imperfect process monitoring: In the traditional rotary evaporation process, the operator needs to visually observe the state of the liquid in the flask to determine whether there are bubbles, violent boiling or about to evaporate. This method is not only time-consuming and laborious, but also not accurate enough. Especially when violent boiling occurs, the parameters cannot be adjusted in time, which can easily lead to sample loss or experimental failure.

[0004] 3. Low degree of automation: Although some rotary evaporators can automatically set and control parameters such as rotation speed, temperature, and pressure, these functions still rely on manual initial operation and monitoring, and lack systematic automatic feedback control. Once an abnormality occurs in the evaporation process, manual intervention is usually required to adjust the operation, which limits the continuity and intelligence level of the experiment.

[0005] 4. Lack of intelligent feedback mechanism: Unexpected situations that may occur during the evaporation process, such as boiling, bubble accumulation or evaporation, require immediate response and adjustment to ensure the success of the experiment. However, traditional equipment does not have an intelligent feedback mechanism and cannot automatically respond and adjust operating parameters when the evaporation state changes.

[0006] Therefore, in view of the above technical deficiencies, there is an urgent need for a highly automated and intelligent rotary evaporation system that can automatically perform operations, monitor in real time, and provide timely feedback and adjustments to ensure the efficiency, safety, and stability of the evaporation process. Summary of the invention

[0007] In response to the above technical problems, the present invention provides an intelligent control rotary evaporation system and method based on the combination of a robotic arm and visual recognition. The system realizes fully automated operation and real-time monitoring / instantaneous response of the rotary evaporation process by using a robotic arm, an optical camera, a liquid separation sensor and program control, as well as an underwater light source, a splash-proof ball with gears, and a flask with gears. It can effectively avoid experimental failures caused by improper manual operation or untimely response in traditional rotary evaporation processes, and significantly improves experimental efficiency and safety.

[0008] To achieve the above object, the present invention adopts the following technical solutions: An intelligent control rotary evaporation system based on the combination of a mechanical arm and visual recognition includes the following components of split design: A rotary evaporator, comprising a condenser, a flask, a water bath and a frame with a lifting function, wherein the water bath is arranged on a base of the frame, the condenser is mounted on the frame, and the flask is detachably connected to the anti-splash ball; A robotic arm, used to control the disassembly and installation of the flask and the anti-splash ball, the opening and closing of the reaction bottle, and to control the pipette to inject the liquid to be concentrated into the flask; A monitor, disposed in the water bath, for monitoring the evaporation state of the liquid to be concentrated in the flask; An automated liquid collecting ball, arranged on the frame, for collecting the liquid distillate obtained by condensation of the condenser, and the controller controls the emptying and liquid recovery operations of the automated liquid collecting ball; The controller is respectively connected to the rotary evaporator, the mechanical arm, the monitor and the automatic liquid separation and collection ball for communication.

[0009] The intelligently controlled rotary evaporation system based on the combination of a robotic arm and visual recognition, preferably, the robotic arm has a geared, motor-driven clamp and a pipette, the clamp is used to accurately grasp, install and remove the flask, and is connected to the splash-proof ball, and the pipette is used to inject the liquid solution to be concentrated into the flask whose initial position is on the flask rack.

[0010] The intelligently controlled rotary evaporation system based on the combination of a robotic arm and visual recognition, preferably, the monitor includes a waterproof camera, which is installed in the water bath and below the liquid level, and is used to monitor the state of the liquid to be concentrated in the flask in real time.

[0011] The intelligently controlled rotary evaporation system based on the combination of a robotic arm and visual recognition, preferably, the monitor also includes a waterproof light source, and the waterproof light source is used to provide suitable lighting conditions for the water bath, so as to accurately monitor the liquid state in the flask.

[0012] The intelligently controlled rotary evaporation system based on the combination of a robotic arm and visual recognition, preferably, the controller is a computer, which is used to control the robotic arm to realize the disassembly and installation of the flask and the splash ball, and at the same time set the evaporation target, optimize the parameters such as the rotation speed, heating temperature and system pressure of the rotary evaporator, receive the monitoring signal of the monitor in real time, and automatically stop the evaporation process.

[0013] The intelligently controlled rotary evaporation system based on the combination of a robotic arm and visual recognition, preferably, the automated liquid collecting ball includes a liquid collecting ball or a liquid storage ball with a liquid separating valve, a liquid separating sensor, a fixed drain valve, a fixed drain valve bracket, a motor and a motor base, the motor is fixed on the motor base, and the motor base is respectively connected to the main frame of the rotary evaporator and the fixed drain valve bracket, the fixed drain valve is arranged on the fixed drain valve bracket, one end of the fixed drain valve is connected to the motor, and the other end is located in the liquid outlet hole of the liquid storage ball, the liquid separating sensor is tightly connected to the fixed drain valve, the liquid inlet of the liquid collecting ball is connected to the liquid outlet of the condenser, so that the liquid separating sensor has a status receiving signal of the fixed drain valve and transmits it to the controller, the controller can control the motor operation through the PLC, the robotic arm or the program, so that the fixed drain valve can be closed or opened, and then used to control the discharge of the liquid to realize automatic sample collection.

[0014] The intelligently controlled rotary evaporation system based on the combination of a robotic arm and visual recognition, preferably, the monitor transmits the photograph of the evaporation state of the liquid taken to the controller, and the controller makes a judgment based on the visual image recognition model. When violent boiling or large bubbles appear in the flask, the controller adjusts the rotary evaporation parameters. After the solution in the flask is evaporated, the controller automatically sends a signal to stop the rotary evaporation, thereby avoiding human operation errors.

[0015] A second aspect of the present invention provides an operation method of the above-mentioned intelligent control rotary evaporation system based on the combination of a mechanical arm and visual recognition, comprising the following steps: Turn on the rotary evaporator, control the mechanical arm to drive the pipette gun to transfer the liquid to be concentrated into the flask, unscrew the flask, and then control the mechanical arm to align and tighten the flask with the splash ball, and then use the controller visual system to control the functions and parameters of the rotary evaporation process, and start the rotary evaporation after setting the parameters. During the rotary evaporation process, the monitor is used to record the rotary evaporation state in real time. When the monitor detects that the liquid in the flask has reached the target distillation state, a signal is sent to the controller, and the controller sends an end signal, and the rotary evaporation ends; After the rotary evaporation is completed, the rack raises the flask to the initial (zero point) position, the robotic arm removes the flask and places it at a designated fixed point (flask rack), and the condensed liquid flows into the liquid storage ball. The condensed liquid in the liquid collection ball is discharged by opening the fixed drain valve and collected by the collecting bottle below.

[0016] The present invention adopts the above technical solution, which has the following advantages: The present invention realizes automatic grasping, installation and disassembly of the rotary distillation (flask) flask through a robotic arm, and accurately disassembles the splash-proof ball, thereby improving research and production efficiency. The integrated optical camera monitoring system monitors the liquid state in real time. Combined with the waterproof camera and light source device, clear data can be obtained under most lighting conditions. The control unit dynamically adjusts the rotation speed, heating temperature and system pressure based on the program to prevent problems such as violent boiling and evaporation. The automated liquid separation collector ensures the effective collection of the condensate. This system greatly improves efficiency and reduces the risk of manual operation through automation and intelligent feedback and regulation, and is suitable for fully automatic operation in laboratories or industrial environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 An overall schematic diagram of an automated controlled rotary evaporation system provided by one embodiment of the present invention; Figure 2 A schematic diagram of a rotary evaporator provided in this embodiment of the present invention; Figure 3 A schematic diagram of a splash-proof ball provided in this embodiment of the present invention; Figure 4 A schematic diagram of a flask provided for this embodiment of the present invention; Figure 5 A schematic diagram of the clamping jaws provided in this embodiment of the present invention; Figure 6 The camera provided in this embodiment of the present invention detects the bubble state diagram (bumping) of the distillation flask; Figure 7 A schematic diagram of a camera provided in this embodiment of the present invention detecting that the solution in the distillation flask is about to evaporate; Figure 8 A schematic diagram of the automated liquid separation collector provided in this embodiment of the present invention; The reference numerals in the figures are as follows: 1-rotary evaporator; 2-mechanical arm; 3-flask; 4-condenser; 5-rack; 6-water bath; 7-monitor; 8-gripper; 9-splash-proof ball; 10-liquid storage ball; 11-liquid separation sensor; 12-motor; 13-motor fixed base; 14-fixed drain valve bracket. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention is described clearly and completely below. 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 persons in the art without creative work are within the scope of protection of the present invention.

[0019] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second", "third", "fourth" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" and the like mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0020] For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figures, such as "inside", "outside", "inner side", "outer side", "below", "above", etc. Such spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figures.

[0021] The existing rotary evaporator relies on manual operation, mainly including the steps of loading the solution to be treated into the distillation bottle, setting the rotary evaporation parameters, monitoring the evaporation state, collecting the condensed liquid, etc. There are the following defects: 1. The operation is cumbersome and not precise enough: the processes of manual bottling and unbottling, connecting the condenser tube, setting parameters, etc. are easily affected by human factors, especially when a large number of samples need to be processed, the labor intensity is high, the operation efficiency is low, and errors are prone to occur. Especially in the rotary evaporation process, the operator needs to frequently adjust the rotation speed, pressure and temperature, which is easy to cause unnecessary waste of time and operational errors. 2. Imperfect process monitoring: In the traditional rotary evaporation process, the operator relies on visual observation of the state of the liquid in the evaporation bottle to determine whether bubbles, violent boiling or about to be evaporated. This method is not only time-consuming and labor-intensive, but also not precise enough, especially when violent boiling occurs, the parameters cannot be adjusted in time, which easily leads to sample loss or experimental failure. 3. Low degree of automation: Although some rotary evaporators can automatically set and control parameters such as rotation speed, temperature, and pressure, these functions still rely on manual initial operation and monitoring, and lack systematic automatic feedback control. Once an abnormality occurs in the evaporation process, manual intervention is usually required to adjust the operation, which limits the continuity and intelligence level of the experiment. 4. Lack of intelligent feedback mechanism: Emergencies that may occur during the evaporation process, such as boiling, bubble accumulation or evaporation, require immediate response and adjustment to ensure the success of the experiment. However, traditional equipment does not have an intelligent feedback mechanism and cannot automatically respond and adjust operating parameters when the evaporation state changes.

[0022] In response to the above technical problems, the present invention provides an intelligent control rotary evaporation system and method based on the combination of a robotic arm and visual recognition. The system realizes fully intelligent operation and real-time monitoring of the rotary evaporation process by using a robotic arm, an optical camera, a liquid separation sensor and program control, as well as an underwater light source, a splash-proof ball with gears, and a flask with gears. It can effectively avoid experimental failures caused by improper manual operation or untimely monitoring in traditional rotary evaporation processes, and significantly improves experimental efficiency and safety.

[0023] like Figure 1As shown, the intelligent control rotary evaporation system based on the combination of a mechanical arm and visual recognition involved in the present invention includes: a rotary evaporator 1, a flask 3, a condenser 4, a water bath 6 and a frame 5 with a lifting function, the water bath 6 is arranged on the base of the frame 5, the condenser 4 is mounted on the frame 5, the flask 3 and the splash-proof ball 9 are detachable and connected; the mechanical arm 2 is used to control the pipette gun to add the liquid to be concentrated into the flask 3, and control the flask 3 and the splash-proof ball 9 to be disassembled and installed; the monitor 7 is arranged in the water bath 6, and is used to monitor the evaporation state of the liquid in the flask 3; the automatic liquid collecting ball is arranged on the frame 5, and is used to collect the liquid condensed by the condenser 4; the controller is respectively connected to the frame 5, the mechanical arm 2, the monitor 7 and the automatic liquid collecting ball.

[0024] Specifically, Figure 1 , 4 As shown in Figure 5, the robot arm includes a motor clamp 8 with gears and a pipette gun. The motor clamp 8 with gears is used to accurately grasp, install and disassemble the flask 3, and the pipette gun is used to transfer materials. The rotary evaporation system of the present invention introduces a combination of a robot arm and a motor clamp 8 with gears to complete the disassembly and installation of the flask 3. After receiving the control signal (sent by the controller, i.e., the computer), the robot arm can accurately perform the grasping, tightening and placing operations on the flask 3, eliminating the manual operation of the experimenter. It greatly reduces the labor burden and improves work efficiency.

[0025] Furthermore, if Figure 2 As shown, the monitor 7 includes a waterproof camera and a waterproof light source. The waterproof camera is installed in the water bath 6 and is located below the liquid level, and is used to monitor the solution in the flask 3 in real time; the waterproof light source is used to provide suitable lighting conditions for the water bath 6, so as to clearly monitor the liquid state in the flask 3. Preferably, as Figure 3 As shown, a splash-proof ball 9 is also provided between the flask 3 and the main frame.

[0026] A waterproof light source and a small waterproof camera are placed in the water bath 6 (inserted from above the water surface to below the water surface). After the flask 3 and the splash ball 9 are fixed by the robot arm, a signal is sent through the controller program to start rotary evaporation. The rack 5 drives the flask 3 to enter below the liquid level of the water bath 6. During this period, the rotary evaporation speed and pressure can continue to be set through the program. The camera in the water bath 6 records the real-time status of the liquid during the rotary evaporation process. When a large number of bubbles are detected in the liquid in the flask 3 or it is in a violent boiling state (such as Figure 6 As shown in the figure, a signal is sent to remind the controller to modify the speed and pressure of the rotary evaporation by calling the program to control the speed and pressure in response to this state, so that the subsequent rotary evaporation is in a stable, fast and gentle state to distill the sample.

[0027] When the camera in the water bath 6 detects that the liquid in the flask 3 reaches the target distillation state (such as Figure 7 As shown), a signal is sent to the controller, and then the controller calls the command to end the rotary evaporation, that is, the rotary evaporation stops. Then the rack 5 rises to the initial position, and then the robot arm puts the flask 3 down through the clamp and transfers it to the fixed point after use. The liquid (low-boiling liquid such as solvent) obtained by rotary evaporation condensation is enriched in the liquid storage ball 10, and then the motor 12 of the liquid separation sensor 11 can open the valve of the liquid storage ball 10 so that the liquid in the liquid storage ball 10 can be smoothly discharged and collected by the collection bottle below.

[0028] like Figure 6 , 7 As shown, during the rotary evaporation process, the present invention designs a set of waterproof light sources and small camera systems in the water bath 6, which are installed below the liquid level of the water bath 6 to monitor the evaporation state of the solution in the flask 3 in real time. The camera continuously photographs the liquid in the flask 3. When the camera detects an increase in bubbles or violent boiling, evaporation, etc., the camera sends a signal to the controller, and the controller calls the program based on the visual image recognition model to adjust the rotation speed and pressure or temperature. The model is obtained by training with previously accumulated visual data. Specifically, the monitor 7 transmits the collected various liquid level state pictures to the controller, and the controller labels the various pictures, and then trains a visual image recognition model for rotary evaporation classification through deep learning of the convolutional neural network algorithm. The controller calls this model. When the camera captures a new picture and enters the visual image recognition model, the visual image recognition model makes a judgment on the picture captured at this time according to the previously labeled type. At this time, the controller (computer) knows which type of label the current captured picture is. For example, if the visual image recognition model recognizes that the current image is in a boiling state, the controller can issue an instruction to reduce the speed or other instructions for adjustment. In this way, the monitor 7 continuously takes pictures and transmits them to the visual image recognition model for recognition and then adjusts them, which can ensure that the rotary evaporation is in a normal state until the rotary evaporation ends. Compared with the traditional manual monitoring method, this automated monitoring mechanism greatly improves the response speed and accuracy, and effectively reduces the experimental risks.

[0029] The present invention controls various parameters of the rotary evaporator through a program, including rotation speed, evaporation temperature, condensation temperature, and system pressure. During the entire evaporation process, the user can dynamically adjust these parameters through the program, or achieve intelligent regulation through camera monitoring results. For example, when the system detects that the solution is close to boiling, it will automatically reduce the rotation speed or reduce the pressure to ensure that the evaporation process proceeds smoothly and avoid the occurrence of violent boiling. In addition, the program can also optimize various parameters through the controller algorithm to achieve a fast and efficient evaporation effect.

[0030] The rotary evaporation system of the present invention also has the functions of automatic stopping and liquid discharge. When the camera in the water bath 6 detects that the liquid in the flask 3 is about to evaporate, the system will automatically send a signal to stop the rotary evaporation operation, the frame 5 will be lifted to the initial position, and the robot arm will remove the flask 3 through the motor clamp equipped with gears and place it at a fixed point. After the rotary evaporation is completed, the valve of the liquid storage ball 10 will automatically open under the control of the motor 12 of the liquid separation sensor 11, so that the condensed liquid in the liquid storage ball 10 can be smoothly discharged and received by the collection bottle below, realizing the automatic collection process of the sample after rotary evaporation. Figure 3 shown.

[0031] The present invention also provides an operation method of an automated control rotary evaporation system based on a combination of a mechanical arm and visual recognition, and the specific steps are as follows: 1. Initialization operation: start the rotary evaporator 1, the robot arm drives the pipette gun to transfer the liquid to be concentrated into the flask 3, and then the robot arm aligns and fixes the flask 3 filled with the solution with the splash ball 9.

[0032] 2. Rotary evaporator control: The controller sends a signal through the program to start the rotary evaporation. The frame 5 of the rotary evaporator 1 drives the flask 3 to immerse under the liquid in the water bath 6, and the rotary evaporation process begins. The user can set the rotary evaporation parameters such as speed, temperature, pressure, etc. through the program.

[0033] 3. Real-time monitoring and adjustment: The camera in the water bath 6 monitors the state of the liquid in the flask 3 in real time. If a large number of bubbles or violent boiling is detected, the system will automatically send a signal to the controller, and the program will adjust the speed and pressure to restore the rotary evaporation process to a stable state. This process is an automatic closed-loop control.

[0034] 4. Evaporation detection: When the camera detects that the liquid in the flask 3 is about to be evaporated, a signal is sent, and the controller automatically calls the end rotary evaporation instruction, the rotary evaporation stops, and the frame 5 lifts the flask 3 to the initial position.

[0035] 5. Liquid discharge and collection: After the rotary evaporation is completed, the distilled liquid flowing into the liquid storage ball 10 is automatically opened by the motor 12 of the liquid separation sensor 11 to control the automatic opening of the valve of the liquid storage ball 10, and the liquid is smoothly discharged into the collection bottle below.

[0036] Through the combination of waterproof cameras, liquid separation sensors and control programs, the present invention can not only monitor bubbles, boiling and other problems during the rotary evaporation process, but also adjust the evaporation parameters in real time to ensure the stability of the process. In particular, when the liquid is close to the evaporated state, the system can automatically terminate the evaporation to avoid damage to the instrument. In addition, the automated collection mechanism further ensures the smooth progress of the experiment, reduces human intervention, and improves the accuracy and safety of the overall experiment.

[0037] Compared with the traditional rotary evaporator, the automatic rotary evaporation system of the present invention has the following advantages: 1. The rotary evaporation mode of traditional chemical laboratories has been changed. In traditional rotary evaporation of liquids, the experimental operation is performed by humans, and a series of judgments and operations from putting the liquid into the flask 3 to the end of the liquid evaporation are all performed manually. The solution of the present invention makes humans out of it, and all operations are performed automatically by machines.

[0038] 2. Accurate judgment. From the beginning to the end of rotary evaporation, the state of the liquid in flask 3 is captured and recorded by the camera. No matter what kind of sample is used, its state during rotary evaporation can be detected each time rotary evaporation is performed, and then the controller is allowed to make a judgment. The judgment is based on the visual data accumulated in the past and the visual image recognition model obtained through deep learning training of the convolutional neural network algorithm. When violent boiling or large bubbles appear in flask 3, the controller adjusts the rotary evaporation parameters. After the solution in flask 3 is evaporated, a signal is automatically sent to stop the rotary evaporation, thus avoiding human operation errors.

[0039] 3. Use a robotic arm to automatically tighten and loosen the flask, reducing manual operation and improving operation efficiency.

[0040] 4. The solution is automatically transferred to the distillation flask by a pipette, which reduces the possibility of human operation errors and improves the accuracy of the experiment.

[0041] 5. Integrate a camera in the heating pot to monitor the rotary evaporation process in real time, which helps to monitor and adjust the rotary evaporation conditions in real time to ensure the stability and efficiency of the process. Automatically adjust the rotary evaporation parameters, such as speed and pressure, to cope with different rotary evaporation conditions through the images captured by the camera, which is an innovative application in the field of automation control.

[0042] 6. By controlling the start, speed, pressure, temperature, etc. of rotary evaporation through program, the rotary evaporation process is fully automated, reducing manual intervention and improving the repeatability and efficiency of the experiment.

[0043] 7. When it is detected that the liquid in the rotary evaporation bottle is about to evaporate, the rotary evaporation process will end automatically, which helps to prevent the sample from overheating or damage; after the rotary evaporation is completed, the liquid through the condenser automatically flows into the receiving bottle, and the discharge of the liquid is controlled by the liquid separation sensor, realizing the automation of sample collection.

[0044] The intelligent rotary evaporation system of the present invention can not only monitor the problems of bubbles and boiling during the rotary evaporation process, but also adjust the evaporation parameters in real time to ensure the stability of the process. In particular, when the liquid is close to the evaporated state, the system can automatically terminate the evaporation to avoid damage to the instrument. In addition, the automated collection mechanism further ensures the smooth progress of the experiment, reduces human intervention, and improves the accuracy and safety of the overall experiment.

[0045] 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. An intelligent control rotary evaporation system based on the combination of a mechanical arm and visual recognition, characterized in that: include: A rotary evaporator (1) comprises a condenser (4), a flask (3), a water bath (6) and a frame (5) with a lifting function, wherein the water bath (6) is arranged on a base of the frame (5), the condenser (4) is mounted on the frame (5), and the flask (3) is detachably connected to a splash-proof ball (9) connected to the frame (5); A mechanical arm (2) for controlling the disassembly and installation of the flask (3) and the anti-splash ball (9), the opening and closing of the reaction bottle, and controlling the pipette to inject the liquid to be concentrated into the flask (3); a monitor (7), disposed in the water bath (6), for monitoring the evaporation state of the liquid to be concentrated in the flask (3); An automated liquid collecting ball, arranged on the frame (5), for collecting the liquid distillate after condensation by the condenser (4), and the controller controls the emptying and liquid recovery operations of the automated liquid collecting ball; A controller is communicatively connected to the rotary evaporator (1), the robotic arm (2), the monitor (7), and the automated liquid collecting ball.

2. The intelligent control rotary evaporation system based on the combination of a mechanical arm and visual recognition according to claim 1 is characterized in that: The robot arm comprises a gripper (8) with gears and driven by a motor, and a pipette, wherein the gripper (8) is used to accurately grasp, install and remove the flask (3) and is connected to the splash-proof ball (9), and the pipette is used to transfer the liquid to be concentrated to the flask (3) whose initial position is on the flask rack.

3. The intelligent control rotary evaporation system based on the combination of a mechanical arm and visual recognition according to claim 1 is characterized in that: The monitor (7) comprises a waterproof camera, which is installed in the water bath (6) and located below the liquid surface, and is used to monitor the state of the to-be-concentrated liquid in the flask (3) in real time.

4. The intelligent control rotary evaporation system based on the combination of a mechanical arm and visual recognition according to claim 1 is characterized in that: The monitor (7) further comprises a waterproof light source, which is used to provide suitable lighting conditions for the water bath (6) to facilitate accurate monitoring of the state of the liquid in the flask (3).

5. The intelligent control rotary evaporation system based on the combination of a mechanical arm and visual recognition according to claim 1 is characterized in that: The controller is a computer, which is used to control the mechanical arm (2) to realize the disassembly and installation of the flask (3) and the splash ball (9), and at the same time set the evaporation target, optimize the rotation speed, heating temperature and system pressure parameters of the rotary evaporator (1), receive the monitoring signal of the monitor (7) in real time, and automatically stop the evaporation process.

6. The intelligent control rotary evaporation system based on the combination of a mechanical arm and visual recognition according to claim 1 is characterized in that: The automated liquid collecting ball comprises a liquid collecting ball or a liquid storage ball (10) with a liquid separation valve, a liquid separation sensor (11), a fixed drain valve, a fixed drain valve bracket (14), a motor (12) and a motor base (13); the motor (12) is fixed on the motor base (13); the motor base (13) is respectively connected to a main frame of the rotary evaporator (1) and the fixed drain valve bracket (14); the fixed drain valve is arranged on the fixed drain valve bracket (14); one end of the fixed drain valve is connected to the motor (12) and the other end is located in a liquid outlet hole of the liquid storage ball (10); the liquid separation sensor (11) is tightly connected to the fixed drain valve; and the liquid inlet of the liquid storage ball (10) is connected to the liquid outlet of the condenser (4).

7. The intelligent control rotary evaporation system based on the combination of a mechanical arm and visual recognition according to claim 1 is characterized in that: The monitor (7) transmits the photograph of the evaporation state of the liquid to the controller, and the controller makes a judgment based on the visual image recognition model. When violent boiling or large bubbles appear in the flask (3), the controller adjusts the rotary evaporation parameters. After the solution in the flask (3) is evaporated, the controller automatically sends a signal to stop the rotary evaporation, thereby avoiding human operation errors.

8. An operating method for intelligently controlling a rotary evaporation system based on a combination of a mechanical arm and visual recognition according to any one of claims 1 to 7, characterized in that: The steps include: The rotary evaporator (1) is powered on, the controller controls the mechanical arm (2) and drives the pipette gun connected to the truss of the mechanical arm (2) to transfer the liquid to be distilled into the flask (3), unscrew the flask (3), and then control the mechanical arm (2) to align and fasten the flask (3) and the splash ball (9) through the interface, and then control the functions and parameters of the rotary evaporation process by the controller, and use the monitor (7) to record the rotary evaporation state in real time during the rotary evaporation process. When the monitor (7) detects that the liquid in the flask (3) reaches the target distillation state, it sends a signal to the controller, and the controller sends an end signal, and the rotary evaporation ends; After the rotary evaporation is completed, the frame (5) raises the flask (3) to the initial position, the robot arm (2) unscrews the flask (3) and places it on the flask rack, and the condensed liquid flows into the liquid storage ball (10). The motor (12) controls the opening or closing of the fixed drain valve to ensure that the liquid is discharged smoothly and collected by the collection bottle below.

Images