A fully automatic pre-treatment system and method for soil samples

Abstract

The present invention provides a fully automatic pre-processing system and method for soil samples, belonging to the field of soil sample processing. The system includes a weighing device, a digestion device, a transfer device, and a volumetric device with a workbench. The volumetric device includes a first manipulator for grasping and capping, a second manipulator for pipetting, an annular conveying unit equipped with multiple tube holders, a tube clamping unit, and a liquid level calibration unit. The tube holders are provided with placement slots that match the digestion tubes and colorimetric tubes, respectively. The first manipulator is configured to grasp and cap the digestion tubes and colorimetric tubes from a first position of the annular conveying unit, and the second manipulator is configured to pipette from a second position of the annular conveying unit. The present invention realizes the full process automation of soil sample weighing, final volume determination, and packaging, significantly improving the system's operating efficiency, especially for processing large quantities of soil samples.

Description

Technical Field

[0001] The present invention relates to the technical field of soil sample processing, and in particular to a fully automatic pre-processing system and method for soil samples. Background Art

[0002] The pretreatment of soil samples is a key link in fields such as environmental monitoring, agricultural analysis, and geological research. The process usually includes multiple steps such as sample weighing, digestion, solution transfer, volume determination, and packaging. Traditional pretreatment methods are highly dependent on manual operations, such as manually transferring liquids one by one with a pipette, visually judging the volume level, and repeatedly opening and closing the digestion tube and colorimetric tube caps. Such operations are not only inefficient, but also prone to errors due to technical differences between operators, especially when processing large batches of samples, which significantly increases the time consumption. In addition, the strong acids, high temperature environments, and volatile hazardous substances used in the digestion process may pose a threat to the health of operators, and the frequent manual intervention further exacerbates this safety risk.

[0003] In recent years, automation technology has been increasingly adopted in laboratory pretreatment processes, but existing automated systems still have numerous limitations. For example, some systems only automate a single step (such as weighing or digestion), lacking efficient connectivity between processing modules and requiring manual transfer of sample containers. For volumetric determination, most devices rely on fixed-volume dosing pumps, making them difficult to adapt to the flexible volumetric demands of diverse experiments and resulting in insufficient liquid level detection accuracy. Furthermore, the transfer and rinsing of post-digestion solutions suffer from a low degree of automation, limiting aliquoting efficiency and resulting in poor overall process consistency. Especially for the processing of complex matrices in soil samples, existing systems still lack technical gaps in avoiding cross-contamination, ensuring solution homogeneity (e.g., by shaking), and coordinating multiple containers (e.g., alternating digestion and colorimetric tubes). Furthermore, when performing large-scale pretreatment of soil samples, conventional processing protocols often require that the entire process for a single soil sample be completed before proceeding to the next soil sample. This results in low overall sample processing efficiency and hinders the efficient processing of large batches of soil samples.

[0004] In view of this, the existing technology needs to be further improved and enhanced. Summary of the Invention

[0005] In view of the above problems, an embodiment of the present invention provides a fully automatic pretreatment system and method for soil samples. On the one hand, by setting up a ring-shaped conveying unit and a transfer device, the coordinated work between various processing modules such as a weighing device, a digestion device, and a constant volume device is realized, greatly reducing the waiting time for the connection between various processes; on the other hand, by optimizing the processing flow for large batches of soil samples, the system can circulate and continuously process batches of soil samples, significantly improving the processing efficiency of the system.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] In a first aspect, the present invention provides a fully automatic pre-processing system for soil samples, comprising:

[0008] Weighing device;

[0009] digestion device;

[0010] transfer device;

[0011] A volumetric device with a workbench includes a first manipulator for grabbing and screwing caps, a second manipulator for pipetting, an annular conveying unit equipped with multiple tube supports, a tube clamping unit, and a liquid level calibration unit, wherein the tube supports are provided with placement slots that match the digestion tubes and colorimetric tubes respectively, the first manipulator is set to grab and screw caps the digestion tubes and colorimetric tubes from the first position of the annular conveying unit, and the second manipulator is set to pipette from the second position of the annular conveying unit.

[0012] Furthermore, the liquid level calibration unit includes:

[0013] The constant volume liquid adding assembly comprises a rotary seat arranged on the workbench, a vertical plate connected to the rotary seat, a first vertical guide rail arranged on the vertical plate, and a constant volume liquid adding plate that moves up and down along the first vertical guide rail, wherein the constant volume liquid adding plate is provided with a positioning hole adapted for the colorimetric tube;

[0014] A constant volume detection assembly comprises a fixed seat opposite to the rotating seat, a second vertical guide rail provided on the side of the fixed seat, and a detection member moving up and down along the second vertical guide rail;

[0015] A constant volume clamping assembly comprises a mounting seat located between a rotating seat and a fixed seat, a first clamping jaw and a second clamping jaw provided on the side of the mounting seat, the first clamping jaw and the second clamping jaw moving toward each other to form a clamping position;

[0016] In addition, the first manipulator can grab the colorimetric tube at the first position of the annular conveying unit to the constant volume liquid adding plate, and the second manipulator can pipette the colorimetric tube in the constant volume liquid adding plate rotated to the clamping position.

[0017] Furthermore, the fully automatic pre-treatment system further includes a shaking unit located in front of the liquid level calibration unit, and the shaking unit includes:

[0018] A base that sits on a work surface;

[0019] A turntable provided on the side of the base;

[0020] The swing bracket connected to the turntable has a pair of claws located between the top plate and the bottom plate of the swing bracket, and the top plate and the bottom plate can move toward each other to close the colorimetric tube that is grabbed by the first manipulator from the constant volume liquid adding plate to the swing bracket and clamped by the pair of claws.

[0021] Furthermore, the fully automatic pretreatment system also includes a first tube rack, a second tube rack, a third tube rack, a fourth tube rack and a volumetric flask respectively arranged on the surface of the workbench, the first tube rack is used to accommodate colorimetric tubes, the second tube rack is used to accommodate digestion tubes, the third tube rack is used to accommodate pipetting heads, and the fourth tube rack is used to accommodate dispensing tubes;

[0022] The working stroke of the first manipulator includes a stroke of movement between the first pipe rack and the first position of the annular conveying unit, a stroke of movement between the second pipe rack and the first position of the annular conveying unit, a stroke of movement between the first position of the annular conveying unit and the liquid level calibration unit, a stroke of movement between the liquid level calibration unit and the shaking unit, and a stroke of movement between the first position of the annular conveying unit and the shaking unit;

[0023] The working stroke of the second manipulator includes the stroke of movement between the colorimetric tube and the digestion tube at the second position of the annular conveying unit, the stroke of movement between the second position of the annular conveying unit and the liquid level calibration unit, the stroke of movement between the second position of the annular conveying unit and the third pipe rack, and the stroke of movement between the second position of the annular conveying unit and the fourth pipe rack.

[0024] Furthermore, the annular conveying unit is provided with a plurality of bottle holders, each of which is provided with a receiving groove matching the volumetric flask;

[0025] The fully automatic pretreatment system also includes a liquid injection device, which has a liquid injection bracket located above the annular conveying unit and a peristaltic pump arranged on the liquid injection bracket. The peristaltic pump is used to inject solvent into a volumetric flask driven by the annular conveying unit and moved below it.

[0026] Furthermore, the fully automatic pre-processing system further includes a manipulator support located above the workbench and a horizontal linear module arranged on top of the manipulator support along the X-axis direction;

[0027] The first manipulator includes:

[0028] The first linear module is connected to the horizontal linear module along the Y-axis direction;

[0029] The second linear module is connected to the first linear module along the Z-axis direction;

[0030] A gripping assembly is rotatably connected to the second linear module to move along the X-axis, Y-axis, and Z-axis to grip and cap the colorimetric tube and the digestion tube;

[0031] The second manipulator includes:

[0032] The third linear module is connected to the horizontal linear module along the Y-axis direction;

[0033] The fourth linear module is connected to the third linear module along the Z-axis direction;

[0034] The pipetting head is connected to the fourth linear module to move along the X-axis, Y-axis and Z-axis respectively to perform pipetting.

[0035] Furthermore, the annular conveying unit includes an annular guide rail and a driving assembly, wherein the driving assembly includes a driving motor, a sprocket arranged on an output shaft of the driving motor, and a chain matched with the sprocket;

[0036] Among them, several tube supports are respectively slidably matched with the annular guide rails and connected to the chain, and any tube support has a Z-shaped structure and is provided with at least two placement slots for accommodating digestion tubes and colorimetric tubes respectively.

[0037] In a second aspect, the present invention further provides a fully automatic pretreatment method for soil samples, which is applied to the above fully automatic pretreatment system and comprises the following steps:

[0038] Weigh the soil powder added to the digestion tube;

[0039] After weighing is completed, the transfer device transports the digestion tubes containing soil powder in batches to the digestion device for digestion treatment;

[0040] After the digestion process is completed, the transfer device transfers the digestion tubes to the workbench in batches;

[0041] The annular conveying unit transports the multiple tube supports to the first position in sequence, and the first manipulator grabs the digestion tubes in sequence and places them in the placement slots of the tube supports at the first position;

[0042] The annular conveying unit transports the tube holders containing the colorimetric tubes and the digestion tubes to the second position in sequence, and the second manipulator transfers the liquid in the digestion tubes to the colorimetric tubes at the second position;

[0043] The second manipulator rinses the digestion tubes at the second position in sequence using a solvent;

[0044] The annular conveying unit transports the tube holders carrying the rinsed digestion tubes to the first position in sequence. The first manipulator removes the digestion tubes at the first position, shakes them, and then puts them back into the placement slot of the tube holder at the first position.

[0045] The annular conveying unit transports the tube holders containing the colorimetric tubes and the digestion tubes to the second position in sequence, and the second manipulator transfers the rinsing solution in the digestion tubes to the colorimetric tubes at the second position;

[0046] The annular conveying unit sequentially transports the tube holders of the colorimetric tubes containing the rinsing solution to the first position. The first manipulator grabs the colorimetric tubes at the first position and takes them to the liquid level calibration unit. The second manipulator adds solvent to the colorimetric tubes to adjust the volume. After the volume is adjusted, the first manipulator grabs the colorimetric tubes to the first position.

[0047] The annular conveying unit transports the tube holders carrying the colorimetric tubes after the volume is fixed to the second position in sequence, and the second manipulator divides the solution in the colorimetric tubes.

[0048] Furthermore, after completing the volume setting, the fully automatic pre-processing method further includes:

[0049] The first manipulator grabs the colorimetric tube to the shaking unit, and after the shaking is completed, grabs the colorimetric tube to the placement slot of the tube holder at the first position of the annular conveying unit.

[0050] In a third aspect, the present invention provides a fully automatic pretreatment method for soil samples, which is applied to the above fully automatic pretreatment system. The fully automatic pretreatment method comprises the following steps:

[0051] Weigh the soil powder added to the digestion tube;

[0052] After weighing is completed, the transfer device transports the digestion tubes containing soil powder in batches to the digestion device for digestion treatment;

[0053] After the digestion process is completed, the transfer device transfers the digestion tubes to the workbench in batches;

[0054] The annular conveying unit transports the multiple tube supports to the first position in sequence, and the first manipulator grabs the digestion tubes in sequence and places them in the placement slots of the tube supports at the first position;

[0055] The annular conveying unit transports the tube holders containing the colorimetric tubes and the digestion tubes to the second position in sequence, and the second manipulator transfers the liquid in the digestion tubes to the colorimetric tubes at the second position;

[0056] The second manipulator rinses the digestion tubes at the second position in sequence using a solvent;

[0057] The annular conveying unit transports the tube holders carrying the rinsed digestion tubes to the first position in sequence. The first manipulator removes the digestion tubes at the first position, shakes them, and then puts them back into the placement slot of the tube holder at the first position.

[0058] The annular conveying unit transports the tube holders containing the colorimetric tubes and the digestion tubes to the second position in sequence, and the second manipulator transfers the rinsing solution in the digestion tubes to the colorimetric tubes at the second position;

[0059] The annular conveying unit sequentially transports the tube holders of the colorimetric tubes containing the rinsing solution to the first position, and the first manipulator grabs the colorimetric tubes at the first position and moves them to the liquid level calibration unit;

[0060] The annular conveying unit transports the bottle holder carrying the volumetric flask to the bottom of the peristaltic pump. The peristaltic pump injects the reagent into the volumetric flask. The second manipulator extracts the reagent from the volumetric flask and transports it to the colorimetric tube in the liquid level calibration unit for volume determination. After volume determination is completed, the first manipulator grabs the colorimetric tube to the first position.

[0061] The annular conveying unit transports the tube holders carrying the colorimetric tubes after the volume is fixed to the second position in sequence, and the second manipulator divides the solution in the colorimetric tubes.

[0062] Due to the adoption of the above technical solution, the technical effects achieved by the present invention are as follows:

[0063] On the one hand, the present invention provides a fully automatic pretreatment system for soil samples. First, by integrating a weighing device, a digestion device, a transfer device and a volumetric device, the entire process of soil sample weighing, final volume determination and packaging is automated, greatly reducing manual intervention and significantly improving the system's working efficiency, especially for the processing efficiency of large quantities of soil samples. Second, the various devices in the system work together to accurately complete each process according to a preset program, avoiding problems such as inaccurate weighing, incomplete digestion, inaccurate pipetting, and low volume determination accuracy that may occur in manual operation, thereby improving the accuracy and reliability of sample pretreatment. Third, the coordinated design of the annular conveying unit and the first and second manipulators can ensure seamless connection between the automatic transfer, capping and pipetting operations of the digestion tube and the colorimetric tube, reducing waiting time in sample processing, realizing cyclic and continuous processing of soil samples, greatly shortening the sample pretreatment time, and improving the overall efficiency of soil sample processing. In addition, the systematic operating process allows each sample to be processed according to the same procedure, ensuring standardization of operations, facilitating soil sample quality control and verification of repeatability of processing results. In addition, when soil samples are packaged in batches, since the packaging process is concentrated within a certain time period, the impact of temperature changes on soil samples can be greatly reduced, especially the impact of temperature changes on the volume of sample solutions can be avoided, thereby further improving the accuracy of soil sample preparation and facilitating subsequent accurate analysis of soil samples.

[0064] On the other hand, the present invention provides a fully automatic pre-treatment method for soil samples, which realizes efficient, accurate and reliable processing of soil sample pre-treatment by automating the steps of weighing, digesting, transferring, pipetting, constant volume and packaging of soil samples, reducing the error and labor intensity of manual operation. In addition, by rationally configuring the order of each operating step, the entire pre-treatment process is made smoother, reducing the waiting time of samples between different links and improving the operating efficiency of the system. In addition, the method can improve the overall efficiency of soil samples through the automated control of the system to meet the pre-treatment requirements of large-scale samples.

[0065] On the other hand, the present invention also provides a fully automatic pretreatment method for soil samples. Compared with the above methods, this method injects reagents into the volumetric flask through a peristaltic pump, and a second manipulator extracts the reagents for constant volume. This not only further expands the function of the system, enabling it to meet more complex pretreatment requirements, but also can stably ensure that when constant volume is achieved, the second manipulator can continuously inject solvent into the colorimetric tube to achieve continuous processing of batch soil samples.

[0066] The above description is only an overview of the technical solutions of the embodiments of the present invention. In order to more clearly understand the technical means of the embodiments of the present invention, they can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiments of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the drawings. In the drawings:

[0068] Figure 1 This is a top view of a fully automatic pre-treatment system provided by the present invention;

[0069] Figure 2 This is a structural diagram of a fully automatic pre-treatment system provided by the present invention;

[0070] Figure 3 This is a structural schematic diagram of a volume constant device provided by the present invention;

[0071] Figure 4 This is a structural schematic diagram of a ring-shaped conveying unit provided by the present invention;

[0072] Figure 5 This is a structural schematic diagram of a tube clamping unit provided by the present invention;

[0073] Figure 6 This is a structural diagram of a liquid level calibration unit provided by the present invention;

[0074] Figure 7 This is a schematic structural diagram of a shaking unit provided by the present invention;

[0075] Figure 8 1 is a schematic structural diagram of another shaking unit provided by the present invention;

[0076] Figure 9 It is a structural schematic diagram of a workbench provided by the present invention.

[0077] Reference numerals:

[0078] 100 weighing device;

[0079] 200 digestion device;

[0080] 300 transfer devices;

[0081] 400 constant volume device, 410 workbench, 420 first manipulator, 421 first linear module, 422 second linear module, 423 grabbing assembly, 430 second manipulator, 431 third linear module, 432 fourth linear module, 433 pipetting head, 440 circular conveying unit, 441 tube holder, 4411 digestion tube, 4412 colorimetric tube, 442 bottle holder, 443 circular guide rail, 444 driving assembly, 450 tube clamping unit, 460 liquid level calibration unit, 461 constant volume adding assembly, 4611 rotary seat, 4612 vertical plate, 4613 first vertical Guide rail, 4614 constant volume liquid adding plate, 462 constant volume detection assembly, 4621 fixed seat, 4622 second vertical guide rail, 4623 detection piece, 463 constant volume clamping assembly, 4631 mounting seat, 4632 first clamping jaw, 4633 second clamping jaw, 470 shaking unit, 471 base, 472 turntable, 473 swing bracket, 4731 top plate, 4732 bottom plate, 4733 claw, 481 first tube rack, 482 second tube rack, 483 third tube rack, 484 fourth tube rack, 485 volumetric flask, 490 manipulator bracket, 491 horizontal linear module;

[0082] 500 liquid injection device, 510 liquid injection bracket, 520 peristaltic pump. DETAILED DESCRIPTION

[0083] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0084] Reference Figure 1-Figure 5As shown, the present invention provides a fully automatic pretreatment system for soil samples, including a weighing device 100, a digestion device 200, a transfer device 300 and a volumetric device 400 with a workbench 410, and the volumetric device 400 includes a first manipulator 420 for grabbing and screwing on the cap, a second manipulator 430 for pipetting, an annular conveying unit 440 provided with a plurality of tube supports 441, a tube clamping unit 450 and a liquid level calibration unit 460; wherein, the tube supports 441 are provided with placement slots (not marked in the figure) that match the digestion tubes 4411 and the colorimetric tubes 4412, respectively, the first manipulator 420 is set to grab and screw on the digestion tubes 4411 and the colorimetric tubes 4412 from a first position of the annular conveying unit 440, and the second manipulator 430 is set to pipet from a second position of the annular conveying unit 440.

[0085] Typically, the pre-treatment steps of soil samples mainly include drying, grinding, screening, weighing, digestion, constant volume, packaging, etc., and in the above pre-treatment steps, it is not only related to the transportation of soil samples, but also to the preparation, transfer and accurate constant volume of sample solutions. Wherein, constant volume refers to adjusting the soil sample solution after digestion to a fixed volume, so as to facilitate subsequent analysis and detection, and whether the sample solution constant volume is accurately directly related to the accuracy of subsequent sample analysis and detection, plays a crucial role in the accuracy of experimental results. Thus, the full-automatic pre-treatment system provided by the present invention, by integrating weighing device 100, digestion device 200, transport device 300 and constant volume device 400, can realize the automation of various pre-treatment processes of soil samples on the one hand, and on the other hand can also greatly improve the accuracy and efficiency in the soil sample constant volume process.

[0086] It is understood that the weighing device 100 is mainly used to weigh the soil powder after drying, grinding and screening. Although the present invention does not provide a detailed description of its specific structure, for the purpose of automation and standardization of the pre-processing process, the weighing device 100 can optionally include multiple dischargers for loading soil fragments, a weighing manipulator for grabbing the dischargers, a weighing scale with a digestion tube 4411 placed thereon, and a screwing manipulator for screwing the soil powder in the discharger into the digestion tube 4411.

[0087] Moreover, in one example, the weighing process of the soil fraction can be as follows: the weighing robot grabs the discharger loaded with soil powder to the screwing robot, and after completing the grabbing action of the discharger, grabs the digestion tube 4411 to the weighing scale; the screwing robot moves to the top of the weighing scale, and rotates and squeezes the soil powder in the discharger into the digestion tube 4411; after all the soil powder in the discharger enters the digestion tube 4411, the weighing scale weighs its weight.

[0088] The digestion device 200 is mainly used to digest soil samples. Digestion refers to the process of converting organic matter, inorganic matter, or other insoluble substances in soil samples into soluble ionic or molecular forms through chemical or physical methods. It mainly includes acid digestion, alkaline fusion, microwave digestion, constant temperature water bath digestion, etc. When digesting soil samples, users can flexibly select appropriate digestion methods and corresponding digestion equipment based on different testing requirements and different types of soil samples. For example, in one example, the digestion device 200 provided by the present invention may include a fume hood and a graphite digestion furnace disposed in the fume hood. The fume hood can collect and ventilate volatile substances generated during the digestion process, and the graphite digestion furnace can inject a digestion solution (such as nitric acid, hydrochloric acid, sulfuric acid, etc.) into the digestion tube 4411 containing soil powder and perform a heating treatment.

[0089] The transfer device 300 is mainly used to realize the transfer and transportation of soil samples between various devices in the fully automatic pre-treatment system. In the present invention, the transfer device 300 is mainly arranged between the weighing device 100 and the digestion device 200, and between the digestion device 200 and the volume determination device 400. Optionally, in one example, the transfer device 300 may include a transfer track and a transfer manipulator coordinated with the transfer track, wherein the transfer manipulator can not only move along the transfer track, but also grasp or support the container or bracket containing the soil sample.

[0090] In addition, the annular conveying unit 440 in the constant volume device 400 has an annular structure, and the multiple pipe supports 441 arranged thereon can circulate in sequence along the annular contour of the conveyor belt. Moreover, during the cyclic movement of the pipe supports 441, the first manipulator 420 and the second manipulator 430 can respectively perform relevant grasping, capping and pipetting operations from the first position and the second position of the annular conveying unit 440 that have been set in advance. It can be understood that during the entire constant volume treatment process, the first manipulator 420 always moves first, so the first position of the annular conveying unit 440 is located upstream of the running direction of the annular conveying unit 440 compared to the second position, and is closer to the digestion device 200.

[0091] The clamping unit 450 is primarily used to clamp the digestion tube 4411, allowing the first manipulator 420 to screw the cap onto the digestion tube 4411 while it is clamped. The liquid level calibration unit 460 is primarily used to adjust the volume of the solution in the colorimetric tube 4412. The specific structures of the clamping unit 450 and the liquid level calibration unit 460 are described below. Regarding certain devices or components whose specific structures are not fully described in this disclosure, those skilled in the art can configure them appropriately based on existing equipment or structures, and will not be further elaborated on here.

[0092] The fully automatic pretreatment system provided by the present invention, firstly, realizes the full process automation operation of soil sample from weighing to final volume determination and packaging by integrating the weighing device 100, the digestion device 200, the transfer device 300 and the volume determination device 400, greatly reduces manual intervention and significantly improves the working efficiency of the system, especially the processing efficiency of large quantities of soil samples; secondly, the various devices in the system work together to accurately complete each process according to the preset program, avoiding the problems of inaccurate weighing, incomplete digestion, inaccurate pipetting, low volume determination accuracy, etc. that may occur in manual operation, thereby improving The accuracy and reliability of sample pre-treatment are improved; secondly, the coordinated design of the annular conveying unit and the first and second manipulators can ensure the seamless connection of the automatic transportation, capping and pipetting operations of the digestion tube 4411 and the colorimetric tube 4412, reduce the waiting time in sample processing, realize the circulation and continuous processing of soil samples, greatly shorten the time of sample pre-treatment, and improve the overall efficiency of soil sample processing; and the systematic operation process allows each sample to be processed according to the same procedure, ensuring the standardization of operations, facilitating the control of soil sample quality and the verification of the repeatability of processing results. In addition, when batch packaging of soil samples, because the packaging process is concentrated in a certain time period, the impact of temperature changes on soil samples can be greatly reduced, especially the impact of temperature changes on the volume of sample solution can be avoided, thereby further improving the accuracy of soil sample preparation, so as to facilitate the subsequent accurate analysis of soil samples.

[0093] In some embodiments, reference Figure 6As shown, the liquid level calibration unit 460 includes a constant volume liquid adding component 461, a constant volume detection component 462 and a constant volume clamping component 463. Among them, the constant volume liquid adding component 461 has a rotating seat 4611 set on the workbench 410, a vertical plate 4612 connected to the rotating seat 4611, a first vertical guide rail 4613 set on the vertical plate 4612 and a constant volume liquid adding plate 4614 that moves up and down along the first vertical guide rail 4613, and the constant volume liquid adding plate 4614 is provided with a positioning hole (not marked in the figure) that is compatible with the colorimetric tube 4412; the constant volume detection component 462 has a fixed seat 4621 opposite to the rotating seat 4611, a second vertical guide rail 4622 set on the side of the fixed seat 4621 and a fixed volume clamping component 463. The detection part 4623 moves downward; the constant volume clamping assembly 463 has a mounting seat 4631 located between the rotating seat 4611 and the fixed seat 4621, and a first clamping jaw 4632 and a second clamping jaw 4633 arranged on the side of the mounting seat 4631, and the first clamping jaw 4632 and the second clamping jaw 4633 move toward each other to form a clamping position; and the first manipulator 420 can grab the colorimetric tube 4412 at the first position of the annular conveying unit 440 to the constant volume liquid adding plate 4614, and the second manipulator 430 can pipette the colorimetric tube 4412 in the constant volume liquid adding plate 4614 rotated to the clamping position.

[0094] In combination with the specific structure of the above liquid level calibration unit 460, the specific process of volume determination can be:

[0095] First, the first manipulator 420 grabs the colorimetric tube 4412 that needs to be constant volume and positions it in the positioning hole of the constant volume liquid adding plate 4614, and the constant volume liquid adding plate 4614 can move up and down along the first vertical guide rail 4613, and rotate under the drive of the rotary seat 4611, so as to achieve precise adjustment of the constant volume position of the constant volume liquid adding plate 4614. It should be noted that although the constant volume liquid adding plate 4614 can achieve the limitation of the initial position of the colorimetric tube 4412, this limiting effect is relatively unstable. Therefore, the liquid level calibration unit 460 in the present invention is further improved by the setting of the constant volume clamping assembly 463 to further improve the clamping effect of the colorimetric tube 4412. That is, secondly, after the colorimetric tube 4412 is initially positioned by the constant volume liquid adding plate 4614 , the first clamping jaw 4632 and the second clamping jaw 4633 in the constant volume clamping assembly 463 move toward each other to achieve clamping and limiting of the top of the colorimetric tube 4412 .

[0096] Finally, after completing the position limiting of the colorimetric tube 4412, the present invention also performs real-time detection of the liquid level height in the colorimetric tube 4412 by setting a constant volume detection component 462. Specifically, when the second manipulator 430 transfers liquid into the colorimetric tube 4412, the detection member 4623 detects the liquid level in the colorimetric tube 4412 by moving up and down along the second vertical guide rail 4622. Optionally, the detection member 4623 can be a positioning sensor, an infrared sensor, a laser sensor, etc. It should be noted here that when the detection member 4623 adopts a positioning sensor, since the positioning sensor mainly performs liquid level detection by emitting and receiving a light beam, in order to ensure that the light beam can pass through the colorimetric tube 4412 without hindrance, the material of the colorimetric tube 4412 should preferably be a light-transmitting material, such as glass, quartz, polypropylene, etc.; at the same time, given that the pre-treatment process also includes high-temperature digestion treatment of the soil sample, the colorimetric tube 4412 must also take into account special requirements such as high temperature resistance and corrosion resistance when selecting the material.

[0097] The liquid level calibration unit 460 with the above structural configuration can, on the one hand, ensure that the position of the colorimetric tube 4412 is fixed during the liquid level calibration process, eliminating the liquid level fluctuation error caused by shaking; on the other hand, the detection part 4623 that moves up and down can monitor the liquid level height in the colorimetric tube 4412 in real time, and cooperate with the second manipulator 430 to dynamically adjust the solvent injection amount to achieve millimeter-level precision control of the liquid level; on the other hand, the separate design of the constant volume liquid adding component 461, the constant volume detection component 462 and the constant volume clamping component 463 allows the liquid adding, detection and clamping functions to run independently and work together, shortening the time spent in the constant volume link and improving the overall processing efficiency.

[0098] In some embodiments, reference Figure 7 and Figure 8 As shown, the fully automatic pre-treatment system also includes a shaking unit 470 located in front of the liquid level calibration unit 460, and the shaking unit 470 includes a base 471 located on the workbench 410, a turntable 472 arranged on the side of the base 471 and a swing bracket 473 connected to the turntable 472, the swing bracket 473 has a pair of claws 4733 located between the top plate 4731 and the bottom plate 4732 of the swing bracket 473, and the top plate 4731 and the bottom plate 4732 can move toward each other to close the colorimetric tube 4412 that is grabbed by the first manipulator 420 from the constant volume liquid adding plate 4614 to the swing bracket 473 and clamped by the pair of claws 4733.

[0099] The setting of the shaking unit 470 can shake the colorimetric tube 4412 after the volume is fixed, ensuring that the solution in the colorimetric tube 4412 is fully mixed. This is crucial for subsequent analysis and testing, and can improve the accuracy of the analysis results. In addition, the automated shaking can ensure that the force and time of each shaking are consistent, avoiding the problem of uneven shaking caused by human factors and improving the consistency of sample processing.

[0100] The specific working process of the shaking unit 470 can be referred to the following description:

[0101] When the first manipulator 420 grabs the colorimetric tube 4412 after volume determination to the shaking unit 470, especially when it is grabbed to the bottom plate 4732 of the swing bracket 473, first, a pair of claws 4733 in the swing bracket 473 move toward each other to clamp the tube body of the colorimetric tube 4412; secondly, the top plate 4731 and the bottom plate 4732 move toward each other until the bottle stopper provided on the top plate 4731 seals the opening of the colorimetric tube 4412, and it is considered that the colorimetric tube 4412 is clamped in place; finally, the swing bracket 473 rotates under the drive of the turntable 472 to complete the shaking operation of the colorimetric tube 4412.

[0102] In some embodiments, reference Figure 9 As shown, the fully automatic pretreatment system also includes a first tube rack 481, a second tube rack 482, a third tube rack 483, a fourth tube rack 484 and a volumetric flask 485 respectively arranged on the surface of the workbench 410. The first tube rack 481 is used to accommodate the colorimetric tube 4412, the second tube rack 482 is used to accommodate the digestion tube 4411, the third tube rack 483 is used to accommodate the pipetting head 433, and the fourth tube rack 484 is used to accommodate the sub-packaging tube.

[0103] Among them, the working stroke of the first manipulator 420 includes the stroke of movement between the first pipe rack 481 and the first position of the annular conveying unit 440, the stroke of movement between the second pipe rack 482 and the first position of the annular conveying unit 440, the stroke of movement between the first position of the annular conveying unit 440 and the liquid level calibration unit 460, the stroke of movement between the liquid level calibration unit 460 and the shaking unit 470, and the stroke of movement between the first position of the annular conveying unit 440 and the shaking unit 470; the working stroke of the second manipulator 430 includes the stroke of movement between the colorimetric tube 4412 and the digestion tube 4411 at the second position of the annular conveying unit 440, the stroke of movement between the second position of the annular conveying unit 440 and the liquid level calibration unit 460, the stroke of movement between the second position of the annular conveying unit 440 and the third pipe rack 483, and the stroke between the second position of the annular conveying unit 440 and the fourth pipe rack 484.

[0104] It is understandable that the number of the first tube rack 481, the second tube rack 482, the third tube rack 483 and the volumetric flask 485 in the present invention can be one or more, and the placement of the different tube racks on the workbench 410 can be configured according to user needs or in combination with the specific position configuration of each processing unit of the constant volume device 400. This application does not limit this. In one example, the first tube rack 481 can be one and is located between the first position and the second position of the annular conveying unit 440; the second tube rack 482 can be one and is located in the workbench 410 near the digestion device 200; the third tube rack 483 can be two, and the specifications of the pipette heads 433 accommodated in the two third tube racks 483 are different. A third tube rack 483 can be located near the second position, and another third tube rack 483 can be located near the liquid level calibration unit 460; there can be one fourth tube rack 484, and it can be located near the shaking unit 470; there can be multiple volumetric flasks 485, which can be respectively set on the multiple bottle holders 442 of the annular conveying unit 440, or they can be set at any position in the workbench 410 that can be covered by the second robot 430.

[0105] Here, by defining the positions of containers such as the tube racks and volumetric flasks 485 on the workbench 410, and by defining the working ranges of the first and second manipulators 420 and 430, on one hand, rational planning of the sample and reagent storage locations is achieved, making the workflow of the entire system smoother and improving space utilization; on the other hand, the determination of the working range enables the manipulators to efficiently complete operations such as sample grabbing, transfer, and pipetting, reducing ineffective manipulator movement and improving work efficiency. Furthermore, this layout makes the entire system more compact and integrated, facilitating operation and maintenance.

[0106] In some embodiments, continue to refer to Figure 3 and Figure 4 As shown, a plurality of bottle holders 442 are further provided on the annular conveying unit 440, and the bottle holders 442 are provided with a receiving groove (not marked in the figure) that matches the volumetric flask 485; the fully automatic pretreatment system also includes a liquid injection device 500, and the liquid injection device 500 has a liquid injection bracket 510 located above the annular conveying unit 440 and a peristaltic pump 520 arranged on the liquid injection bracket 510, and the peristaltic pump 520 is used to inject solvent into the volumetric flask 485 driven by the annular conveying unit 440 and moved to the bottom thereof.

[0107] Correspondingly, when multiple volumetric flasks 485 are placed on the annular conveying unit 440 , there can be multiple liquid injection brackets 510 and multiple peristaltic pumps 520 , and the multiple liquid injection brackets 510 and the multiple peristaltic pumps 520 are matched with the multiple volumetric flasks 485 respectively.

[0108] The addition of the injection device 500 automates the solvent addition process, reducing manual operations, saving time for manual solvent addition, improving work efficiency, and further improving the system's degree of automation. Furthermore, automated injection ensures consistent volume for each injection, avoiding inaccurate injections caused by human factors and improving the accuracy of sample processing. Furthermore, while the injection device 500 is injecting solvent into the volumetric flask 485, other units (such as volume adjustment and shaking) can operate simultaneously, seamlessly integrating solvent injection with subsequent filling steps, reducing the need for manual bottle replacement operations and improving the overall throughput of the system.

[0109] In some embodiments, continue to refer to Figure 3 As shown, the fully automatic pre-processing system further includes a robot support 490 located above the workbench 410 and a horizontal linear module 491 arranged on the top of the robot support 490 along the X-axis direction.

[0110] Furthermore, the first manipulator 420 includes a first linear module 421, a second linear module 422, and a grabbing assembly 423. The first linear module 421 is connected to the horizontal linear module 491 along the Y-axis direction, and the second linear module 422 is connected to the first linear module 421 along the Z-axis direction. The grabbing assembly 423 is rotatably connected to the second linear module 422 to move along the X-axis, Y-axis, and Z-axis to grab and screw on the colorimetric tube 4412 and the digestion tube 4411. The second manipulator 430 includes a third linear module 431, a fourth linear module 432, and a pipetting head 433. The third linear module 431 is connected to the horizontal linear module 491 along the Y-axis direction, and the fourth linear module 432 is connected to the third linear module 431 along the Z-axis direction. The pipetting head 433 is connected to the fourth linear module 432 to move along the X-axis, Y-axis, and Z-axis to perform pipetting.

[0111] Through the design of a multi-axis linear module, the first and second manipulators 420 and 430 can precisely move along the X, Y, and Z axes, enabling precise grasping, capping, and pipetting of colorimetric tubes 4412 and digestion tubes 4411, improving operational flexibility, accuracy, and reliability. Furthermore, the first and second manipulators 420 and 430 share a horizontal linear module 491, which, through time-sharing multiplexing, prevents motion interference between the two, enabling efficient dual-manipulator collaboration within a confined space. Furthermore, the linear module design makes the manipulator structure more modular, facilitating maintenance and upgrades, and reducing system maintenance costs.

[0112] In some embodiments, continue to refer to Figure 4As shown, the annular conveying unit 440 includes an annular guide rail 443 and a driving assembly 444, and the driving assembly 444 has a driving motor, a sprocket arranged on the output shaft of the driving motor and a chain cooperating with the sprocket; wherein, a number of tube supports 441 are respectively slidably engaged with the annular guide rail 443 and connected to the chain, and any tube support 441 has a Z-shaped structure and is provided with at least two placement slots for accommodating the digestion tube 4411 and the colorimetric tube 4412 respectively.

[0113] First, the drive design of the annular guide rail 443 and the chain ensures that the tube holder 441 moves in a circular motion along a fixed path, avoiding the slippage or deviation problems of traditional conveyor belts and improving conveying reliability. Second, the dual placement slot design of the Z-shaped tube holder 441 allows a single tube holder 441 to simultaneously carry both the digestion tube 4411 and the colorimetric tube 4412, doubling the amount of sample transported per unit time and significantly improving processing efficiency. In addition, the number of tube holders 441 can be increased or decreased according to demand, flexibly expanding the system's processing capacity to meet the needs of experiments of different scales.

[0114] It can be understood that the driving structure of the annular conveying unit 440 can adopt the transmission combination of chain and sprocket, as well as the transmission combination of gear and rack, belt and pulley, gear and belt, etc., and this application does not make specific restrictions on this.

[0115] In addition, the present invention also provides a fully automatic pretreatment method for soil samples, which is applied to the above fully automatic pretreatment system. The method specifically comprises the following steps:

[0116] S101. Weigh the soil powder added to the digestion tube.

[0117] S102: After weighing is completed, the transfer device transports the digestion tubes carrying the soil powder in batches to the digestion device for digestion treatment.

[0118] S103. After the digestion process is completed, the transfer device transfers the digestion tubes to the workbench in batches.

[0119] S104: The annular conveying unit transports the plurality of tube supports to the first position in sequence, and the first manipulator sequentially grabs the digestion tubes and places them into the placement slots of the tube supports at the first position.

[0120] S105. The annular conveying unit transports the tube holders containing the colorimetric tubes and the digestion tubes to the second position in sequence, and the second manipulator transfers the liquid in the digestion tubes to the colorimetric tubes at the second position.

[0121] S106. The second manipulator uses a solvent to rinse the digestion tubes at the second position in sequence.

[0122] S107, the annular conveying unit transports the tube holder carrying the rinsed digestion tube to the first position in sequence, the first manipulator removes the digestion tube at the first position, shakes it, and then puts it back into the placement slot of the tube holder at the first position.

[0123] S108. The annular conveying unit transports the tube holders containing the colorimetric tubes and the digestion tubes to the second position in sequence, and the second manipulator transfers the rinsing solution in the digestion tubes to the colorimetric tubes at the second position.

[0124] S109. The annular conveying unit transports the tube holders of the colorimetric tubes containing the rinsing solution to the first position in sequence. The first manipulator grabs the colorimetric tubes to the liquid level calibration unit at the first position. The second manipulator adds solvent to the colorimetric tubes to adjust the volume. After the volume is adjusted, the first manipulator grabs the colorimetric tubes to the first position.

[0125] S110, the annular conveying unit transports the tube holders carrying the colorimetric tubes after the volume is fixed to the second position in sequence, and the second manipulator divides the solution in the colorimetric tubes.

[0126] Since the above method is mainly used in the aforementioned fully automatic pretreatment system, the specific steps and related instructions of the method have been presented in the above content and will not be repeated here. However, the main purpose of the rinsing process in steps S106 and S108 is to ensure the cleanliness of the digestion tube after emptying when the digestion solution in the digestion tube is transferred to the colorimetric tube, so as to facilitate subsequent recycling; on the other hand, it is to ensure that the digestion solution or insoluble substances remaining on the inner wall of the digestion tube can be transferred to the colorimetric tube together with the rinsing process, thereby greatly reducing the volumetric error of the sample solution.

[0127] This fully automated pretreatment method achieves efficient, accurate, and reliable soil sample pretreatment by automating the steps of weighing, digesting, transferring, pipetting, volume determination, and packaging, reducing the errors and labor intensity of manual operations. Furthermore, by rationally configuring the order of each operating step, the entire pretreatment process is made smoother, reducing the waiting time between samples and improving the system's operating efficiency. Furthermore, through automated system control, this method can improve the overall efficiency of soil samples to meet the pretreatment needs of large-scale samples.

[0128] In some embodiments, in step S109, after volume determination is completed, the fully automatic pre-processing method further includes:

[0129] S1091. The first manipulator grabs the colorimetric tube to the shaking unit. After the shaking is completed, the manipulator grabs the colorimetric tube to the placement slot of the tube holder at the first position of the annular conveying unit.

[0130] Shaking the solution after volume determination can make the solution in the colorimetric tube more uniform, further improving the accuracy and reliability of the test results.

[0131] In addition, the present invention also provides a fully automatic pretreatment method for soil samples, which is applied to the above fully automatic pretreatment system. The fully automatic pretreatment method includes the following steps:

[0132] S201. Weigh the soil powder added to the digestion tube.

[0133] S202: After weighing is completed, the transfer device transports the digestion tubes carrying the soil powder in batches to the digestion device for digestion treatment.

[0134] S203. After the digestion process is completed, the transfer device transfers the digestion tubes to the workbench in batches.

[0135] S204: The annular conveying unit transports the plurality of tube supports to the first position in sequence, and the first manipulator sequentially grabs the digestion tubes and places them into the placement slots of the tube supports at the first position.

[0136] S205 , the annular conveying unit transports the tube holders containing the colorimetric tubes and the digestion tubes to the second position in sequence, and the second manipulator transfers the liquid in the digestion tubes to the colorimetric tubes at the second position.

[0137] S206. The second manipulator uses a solvent to rinse the digestion tubes at the second position in sequence.

[0138] S207, the annular conveying unit transports the tube holder carrying the rinsed digestion tube to the first position in sequence, the first manipulator removes the digestion tube at the first position, shakes it, and then puts it back into the placement slot of the tube holder at the first position.

[0139] S208. The annular conveying unit transports the tube holders containing the colorimetric tubes and the digestion tubes to the second position in sequence, and the second manipulator transfers the rinsing solution in the digestion tubes to the colorimetric tubes at the second position.

[0140] S209: The annular conveying unit transports the tube holders of the colorimetric tubes carrying the rinsing solution to the first position in sequence, and the first manipulator grabs the colorimetric tubes at the first position and takes them to the liquid level calibration unit.

[0141] S210, the annular conveying unit transports the bottle tray carrying the volumetric flask to the bottom of the peristaltic pump, the peristaltic pump injects the reagent into the volumetric flask, the second manipulator extracts the reagent from the volumetric flask and transports it to the colorimetric tube in the liquid level calibration unit for volume determination, and after volume determination is completed, the first manipulator grabs the colorimetric tube to the first position.

[0142] S211. The annular conveying unit transports the tube holders carrying the colorimetric tubes after the volume is fixed to the second position in sequence, and the second manipulator divides the solution in the colorimetric tubes.

[0143] Compared with the above methods, this method injects reagents into the volumetric flask through a peristaltic pump, and the second robot extracts the reagents to adjust the volume. This not only further expands the function of the system so that it can meet more complex pre-treatment requirements, but also can stably ensure that when adjusting the volume, the second robot can continuously inject solvent into the colorimetric tube to achieve continuous processing of batch soil samples.

[0144] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present invention may be practiced without these specific details. Similarly, in order to streamline the present invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. The claims that follow the detailed description are hereby expressly incorporated into that detailed description, with each claim itself serving as a separate embodiment of the present invention.

[0145] It should be noted that the above embodiments illustrate rather than limit the invention, and that alternative embodiments may be devised by a person skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments should not be understood as limiting the order of execution unless otherwise specified.

Claims

1. A fully automatic pre-treatment system for soil samples, characterized in that: include: Weighing device; digestion device; transfer device; A volumetric device with a workbench includes a first manipulator for grasping and capping, a second manipulator for pipetting, an annular conveying unit equipped with a plurality of tube holders, a tube clamping unit, and a liquid level calibration unit, wherein the tube holders are provided with placement slots respectively matching the digestion tubes and the colorimetric tubes, the first manipulator is configured to grasp and cap the digestion tubes and the colorimetric tubes from a first position of the annular conveying unit, and the second manipulator is configured to pipette from a second position of the annular conveying unit; A first tube rack, a second tube rack, a third tube rack, a fourth tube rack and a volumetric flask are respectively arranged on the surface of the workbench, wherein the first tube rack is used to accommodate colorimetric tubes, the second tube rack is used to accommodate digestion tubes, the third tube rack is used to accommodate pipetting heads, and the fourth tube rack is used to accommodate dispensing tubes. The annular conveying unit is also provided with a plurality of bottle holders, each of which has a receiving groove matching the volumetric flask; a liquid injection device comprising a liquid injection bracket located above the annular conveying unit and a peristaltic pump disposed on the liquid injection bracket, wherein the peristaltic pump is used to inject solvent into the volumetric flask driven by the annular conveying unit and moved thereto; In which, the first manipulator is used to grab the digestion tube and place it in the placement slot at the first position. As the tube holder moves from the first position to the second position, the second manipulator is used to transfer the liquid in the digestion tube to the colorimetric tube at the second position and rinse the digestion tube with a solvent, and transfer the rinsing solution to the colorimetric tube again after rinsing; when the tube holder circulates from the second position to the first position, the first manipulator grabs the colorimetric tube to the liquid level calibration unit at the first position, and then the second manipulator adds solvent to the colorimetric tube to fix the volume. After the fixing is completed, the first manipulator grabs the colorimetric tube to the first position. As the annular conveying unit circulates, the second manipulator can subpackage the solution in the colorimetric tube at the second position, thereby realizing the circulation and continuous processing of soil samples.

2. The fully automatic pre-treatment system according to claim 1, characterized in that: The liquid level calibration unit comprises: A constant volume liquid adding assembly comprising a rotary seat disposed on the workbench, a vertical plate connected to the rotary seat, a first vertical guide rail disposed on the vertical plate, and a constant volume liquid adding plate that moves up and down along the first vertical guide rail, wherein the constant volume liquid adding plate is provided with a positioning hole adapted for the colorimetric tube; A constant volume detection assembly comprises a fixed seat opposite to the rotating seat, a second vertical guide rail provided on a side of the fixed seat, and a detection member moving up and down along the second vertical guide rail; A constant volume clamping assembly comprises a mounting seat located between the rotating seat and the fixed seat, a first clamping jaw and a second clamping jaw provided on a side of the mounting seat, wherein the first clamping jaw and the second clamping jaw move toward each other to form a clamping position; Furthermore, the first manipulator can grab the colorimetric tube at the first position of the annular conveying unit to the constant volume liquid adding plate, and the second manipulator can pipette the colorimetric tube in the constant volume liquid adding plate rotated to the clamping position.

3. The fully automatic pre-treatment system according to claim 2, characterized in that: The device further includes a shaking unit located in front of the liquid level calibration unit, and the shaking unit includes: a base located on the workbench; A turntable provided on the side of the base; The swing bracket connected to the turntable has a pair of claws located between the top plate and the bottom plate of the swing bracket, and the top plate and the bottom plate can move toward each other to enclose the colorimetric tube that is grabbed by the first manipulator from the constant volume liquid adding plate to the swing bracket and clamped by the pair of claws.

4. The fully automatic pre-treatment system according to claim 3, characterized in that: The working stroke of the first manipulator includes a stroke between the first pipe rack and the first position of the annular conveying unit, a stroke between the second pipe rack and the first position of the annular conveying unit, a stroke between the first position of the annular conveying unit and the liquid level calibration unit, a stroke between the liquid level calibration unit and the shaking unit, and a stroke between the first position of the annular conveying unit and the shaking unit; The working stroke of the second manipulator includes the stroke of movement between the colorimetric tube and the digestion tube at the second position of the annular conveying unit, the stroke of movement between the second position of the annular conveying unit and the liquid level calibration unit, the stroke of movement between the second position of the annular conveying unit and the third pipe rack, and the stroke of movement between the second position of the annular conveying unit and the fourth pipe rack.

5. The fully automatic pre-treatment system according to claim 1, characterized in that: The fully automatic pre-processing system further comprises a manipulator support located above the workbench and a horizontal linear module arranged on the top of the manipulator support along the X-axis direction; The first manipulator comprises: A first linear module connected to the horizontal linear module along the Y-axis direction; A second linear module connected to the first linear module along the Z-axis direction; A gripping assembly is rotatably connected to the second linear module to move along the X-axis, Y-axis, and Z-axis to grip and cap the colorimetric tube and the digestion tube; The second manipulator comprises: A third linear module connected to the horizontal linear module along the Y-axis direction; A fourth linear module connected to the third linear module along the Z-axis direction; The pipetting head is connected to the fourth linear module to move along the X-axis, Y-axis and Z-axis respectively to perform pipetting.

6. The fully automatic pre-treatment system according to claim 1, characterized in that: The annular conveying unit includes an annular guide rail and a driving assembly, wherein the driving assembly includes a driving motor, a sprocket arranged on the output shaft of the driving motor, and a chain matched with the sprocket; Among them, several tube supports are respectively slidably matched with the annular guide rail and connected to the chain, and any of the tube supports has a Z-shaped structure and is provided with at least two placement slots for accommodating digestion tubes and colorimetric tubes respectively.

7. A fully automatic pre-treatment method for soil samples, characterized in that: The method is applied to the fully automatic pre-treatment system according to any one of claims 1 to 6, comprising the following steps: Weigh the soil powder added to the digestion tube; After weighing is completed, the transfer device transports the digestion tubes containing soil powder in batches to the digestion device for digestion treatment; After the digestion process is completed, the transfer device transfers the digestion tubes to the workbench in batches; The annular conveying unit transports the multiple tube supports to the first position in sequence, and the first manipulator grabs the digestion tubes in sequence and places them in the placement slots of the tube supports at the first position; The annular conveying unit transports the tube holders containing the colorimetric tubes and the digestion tubes to the second position in sequence, and the second manipulator transfers the liquid in the digestion tubes to the colorimetric tubes at the second position; The second manipulator rinses the digestion tubes at the second position in sequence using a solvent; The annular conveying unit transports the tube holders carrying the rinsed digestion tubes to the first position in sequence. The first manipulator removes the digestion tubes at the first position, shakes them, and then puts them back into the placement slot of the tube holder at the first position. The annular conveying unit transports the tube holders containing the colorimetric tubes and the digestion tubes to the second position in sequence, and the second manipulator transfers the rinsing solution in the digestion tubes to the colorimetric tubes at the second position; The annular conveying unit sequentially transports the tube holders of the colorimetric tubes containing the rinsing solution to the first position, and the first manipulator grabs the colorimetric tubes at the first position and moves them to the liquid level calibration unit; The annular conveying unit transports the bottle holder carrying the volumetric flask to the bottom of the peristaltic pump. The peristaltic pump injects the reagent into the volumetric flask. The second manipulator extracts the reagent from the volumetric flask and transports it to the colorimetric tube in the liquid level calibration unit for volume determination. After volume determination is completed, the first manipulator grabs the colorimetric tube to the first position. The annular conveying unit transports the tube holders carrying the colorimetric tubes after the volume is fixed to the second position in sequence, and the second manipulator divides the solution in the colorimetric tubes.

8. The fully automatic pre-treatment method according to claim 7, characterized in that: After completing the volume setting, the method further includes: The first manipulator grabs the colorimetric tube to the shaking unit, and after the shaking is completed, grabs the colorimetric tube to the placement slot of the tube holder at the first position of the annular conveying unit.

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