Water quality automatic circulation detection system and detection method

Abstract

The invention discloses a water quality automatic circulation detection system and method, and the system comprises an annular conveying line which is used for carrying detection test tubes for annular circulation; a starting station, a liquid adding station and a plurality of detection stations are arranged on a flowing path of the annular conveying line, a detection instrument assembly and an operation robot are installed on the outer side of each detection station, and the operation robots are used for clamping and operating the detection test tubes. By means of automatic circulation, sewage to be detected can be continuously circulated and sequentially passes through all the stations for corresponding operation, corresponding detection standards can be adopted in the specific detection method, and continuity and automation of sewage detection can be achieved.

Description

Technical Field

[0001] This invention relates to wastewater testing equipment, and more specifically, to an automated water quality flow testing system and a method for automated water quality flow testing. Background Technology

[0002] In today's world, where environmental protection and water quality monitoring are increasingly important, accurate and real-time water quality testing is crucial for ensuring aquatic ecological security and protecting human health. Wastewater testing typically involves measuring key indicators such as total phosphorus, total nitrogen, pH, and COD to determine water quality. Currently, water quality testing usually involves installing individual testing standards for each indicator and conducting tests separately. This approach cannot achieve streamlined water sample testing, requiring testing personnel to carry water samples between different testing stations, which is detrimental to improving testing efficiency.

[0003] Therefore, a new solution is needed to address this problem. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automated water quality flow detection system and method.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An automated water quality flow detection system includes a circular conveyor line for transporting test tubes in a circular flow. The flow path of the circular conveyor line is equipped with a starting station, a liquid addition station, and several detection stations. Detection instrument components and an operating robot are installed on the outside of each detection station. The operating robot is used to clamp and operate the test tubes.

[0007] The present invention is further configured such that a plurality of test tube transfer racks are installed on the annular conveyor line, and the test tube transfer racks follow the annular conveyor line to place test tubes for testing.

[0008] The present invention is further configured such that the liquid addition station is used to add liquid into the test tube; the detection station is provided in three groups, namely detection station one, detection station two and detection station three; the starting station, liquid addition station, detection station one, detection station two and detection station three are arranged in sequence.

[0009] The present invention is further configured such that the operating robot includes a movable arm, and a robotic arm is mounted at the end of the movable arm for clamping and inspecting test tubes.

[0010] The present invention is further configured such that the operating robot also includes a base, a lifting frame, and a lifting seat. The lifting frame is vertically installed on the base, the lifting seat can be adjusted up and down along the lifting frame, and the movable arm is installed on the lifting seat and can be adjusted up and down with the lifting seat.

[0011] The present invention is further configured such that the movable arm includes a movable arm one and a movable arm two, one end of the movable arm one is rotatably connected to the lifting seat and can rotate horizontally relative to the lifting seat, the other end of the movable arm one is rotatably connected to the movable arm two, the movable arm two can rotate horizontally relative to the movable arm one, and the robotic arm is rotatably mounted on the end of the movable arm two away from the movable arm one.

[0012] The invention is further configured such that the robotic arm includes a driver and two grippers. The driver has two drive blocks that can slide and open relative to each other. The two grippers are respectively mounted on the two drive blocks via two connecting frames. The connecting frame includes an integrally connected rotating connecting block and a gripper mounting block. The gripper mounting block is rotatably connected to the drive block via a linkage sleeve, and the axis of rotation is horizontal. The drive block forms a support surface on the side facing the grippers. The gripper mounting block abuts against the support surface to restrict the downward rotation of the connecting frame. A clearance arc surface is formed on the upper side of the support surface.

[0013] The present invention is further configured such that the linkage sleeve is fixedly connected to the rotating connecting block, a linkage shaft is provided between the two linkage sleeves, the linkage sleeve and the linkage shaft are axially slidably connected, and a rotation limit is formed.

[0014] The present invention is further configured such that the driving block has a connecting hole, the linkage sleeve passes through the connecting hole and is threadedly connected to the connecting hole; the gripper mounting block and the gripper deflect upward, and the two linkage sleeves move threadedly in opposite directions.

[0015] The present invention is further configured such that the linkage shaft has a linkage groove arranged in the extension direction, and a linkage slider is fixedly connected inside the linkage sleeve, and the linkage slider is slidably connected to the linkage groove.

[0016] The present invention is further configured such that the linkage sleeve includes a first connecting section and a second connecting section coaxially connected, the first connecting section is inserted through and fixedly connected to the rotating connecting block, the outer periphery of the second connecting section is provided with an external thread, the first connecting hole is provided with an internal thread, and the second connecting section is threadedly connected to the first connecting hole.

[0017] The invention is further configured such that the external threads of the connecting sections of the two linkage sleeves rotate in opposite directions.

[0018] The present invention also provides an automated water quality flow detection method, which uses the automated water quality flow detection system described above for detection.

[0019] In summary, the present invention has the following beneficial effects:

[0020] The automated water quality testing system allows for the continuous flow of wastewater to be tested, sequentially passing through various workstations for corresponding operations. Specific testing methods can be implemented using corresponding standards, achieving continuous and automated wastewater testing. The system utilizes a robotic arm to grip and transport test tubes during the testing process, adapting to streamlined wastewater testing workflows.

[0021] By employing an operating robot in conjunction with a robotic arm, the two grippers in the robotic arm can grasp the test tube. When the test tube is lowered and placed, the bottom of the test tube will contact the bottom of the placement position. Then, by deflecting and floating upwards through the two grippers, the position of the test tube can be slightly raised to buffer the impact, ensuring that the test tube can be stably placed in the placement position, and avoiding damage to the bottom of the test tube from impact, squeezing, or collision. Attached Figure Description

[0022] Figure 1 This is a top view of an automated water quality flow detection system according to Example 1;

[0023] Figure 2 This is a perspective view of the robot operating in Example 2;

[0024] Figure 3 This is a partial structural diagram of the robot operating in Example 2;

[0025] Figure 4 This is a perspective view of the robotic arm in Example 2;

[0026] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0027] Figure 6 This is a top sectional view of the robotic arm in Example 2;

[0028] Figure 7 for Figure 6 Enlarged view at point B in the middle;

[0029] Figure 8 This is an exploded structural diagram of the drive block, connecting frame, linkage sleeve, and linkage shaft in Embodiment 2;

[0030] Figure 9 This is a three-dimensional structural diagram of the linkage sleeve in Example 2;

[0031] Figure 10 This is a schematic diagram of the drive block, connecting frame, linkage sleeve, and linkage shaft in Embodiment 4.

[0032] Reference numerals: 1. Circular conveyor line; 100. Test tube; 2. Starting station; 3. Liquid addition station; 4. Testing station; 41. Testing station one; 42. Testing station two; 43. Testing station three; 5. Testing instrument assembly; 6. Test tube transfer rack; 7. Operating robot; 71. Base; 72. Lifting stand; 73. Lifting seat; 74. Movable arm; 741. Movable arm one; 742. Movable arm two; 8. Robotic arm; 81. Support shell; 82. Driver; 83. Driver block; 84. Connecting frame; 841. Rotating connecting block; 842. Gripper mounting block; 85. Linkage sleeve; 851. Linkage slider; 852. Connecting section one; 853. Connecting section two; 854. Limiting protrusion ring one; 855. Linkage shaft; 86. Linkage groove; 861. End limiting block; 862. Gripper; 87. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Example 1

[0035] This embodiment discloses an automated water quality flow detection system, referring to... Figure 1 As shown, the system includes a circular conveyor line 1. The circular conveyor line 1 has a starting station 2, a liquid addition station 3 and several testing stations along its flow path. The test tubes 100 are transported in a circular flow through the circular conveyor line 1. The flow starts from the starting station 2 and passes through each of the other stations in sequence to perform corresponding testing operations on the wastewater in the test tubes 100.

[0036] Several test tube transfer racks 6 are installed on the circular conveyor line 1. Each test tube transfer rack 6 can hold multiple sets of test tubes 100. The test tube transfer racks 6 follow the circular conveyor line 1 and pass through each workstation in sequence.

[0037] In this embodiment, the testing station 4 is provided in three groups, namely testing station one 41, testing station two 42 and testing station three 43; the starting station 2, the liquid adding station 3, the testing station one 41, the testing station two 42 and the testing station three 43 are arranged in sequence.

[0038] In each workstation, the starting workstation 2 is the opening position. The sewage is diluted and transferred according to the testing requirements. The sewage to be tested is added to the test tube 100 for transfer.

[0039] Liquid filling station 3 can add liquid into test tube 100. A liquid filling gantry is installed on the upper side of liquid filling station 3, and a multi-head peristaltic pump is installed on the lower side of the liquid filling gantry, which can add reagents into test tube 100, such as standard water, overflow acid, ascorbic acid solution, molybdate solution, hydrochloric acid solution and other reagents in the testing process.

[0040] The testing instrument assembly 5 and the operating robot 7 are installed on the outside of the testing station. The operating robot 7 can clamp the test tube 100 passing through the corresponding station, thereby realizing the automated operation of sewage testing.

[0041] The automated water quality flow detection system in this embodiment is suitable for detection operations such as pH detection, COD detection, total phosphorus detection, and total nitrogen detection of wastewater. Detection instrument assemblies 5 are installed on the outside of detection station 1 41, detection station 2 42, and detection station 3 43. The detection instrument assemblies 5 can be selected and arranged according to the requirements of the detection process.

[0042] For example, the testing instrument assembly 5 outside testing station 41 can be equipped with a high-pressure steam sterilizer, a digester, a total nitrogen digestion tube frame, a total phosphorus digestion tube frame, and a COD digestion tube cooling rack to meet the digestion operation requirements of wastewater. The testing instrument assembly 5 outside testing station 42 can be equipped with a three-component spectrophotometer, suitable for detecting total phosphorus, total nitrogen, and COD in wastewater, as well as a total phosphorus and total nitrogen cuvette recovery rack and a COD digestion tube recovery test tube rack. The testing instrument assembly 5 outside testing station 43 can be equipped with a total nitrogen cuvette, a total phosphorus cuvette, and recovery components for each digestion tube.

[0043] Regarding pH testing, it can be performed at the starting station 2 in this embodiment, directly testing the undiluted wastewater to avoid the impact of dilution on pH testing.

[0044] This embodiment also provides an automated water quality flow detection method, which uses the aforementioned automated water quality flow detection system. The automated water quality flow detection system in this embodiment allows for continuous flow of the wastewater to be tested, sequentially passing through each station for corresponding operations. Specific detection methods can adopt corresponding detection standards, enabling continuous and automated wastewater detection.

[0045] Example 2

[0046] This embodiment discloses an automated water quality flow detection system, which is based on Embodiment 1 and further refers to... Figures 2-9 Please provide a detailed explanation.

[0047] In this embodiment, the operating robot 7 is installed on the outside of each testing station, and can grasp and transport the transported test tubes 100, and can transport them between various testing instruments and test tube racks.

[0048] Reference Figure 2 , Figure 3 As shown, the operating robot 7 includes a base 71, a lifting frame 72, a lifting seat 73, and a movable arm 74. The operating robot 7 is supported by the base 71. The lifting frame 72 is vertically installed on the base 71. The lifting seat 73 can be adjusted up and down along the lifting frame 72. The lifting action of the lifting frame 72 can drive the lifting and moving of each component.

[0049] The movable arm 74 is mounted on the lifting base 73 and can move up and down with the lifting base 73. A robotic arm 8 is installed at the end of the movable arm 74. The robotic arm 8 can clamp the test tube 100. After the robotic arm 8 clamps the test tube 100, it can move and transfer the test tube 100 in conjunction with the movement of the movable arm 74.

[0050] Specifically, the movable arm 74 includes a first movable arm 74 and a second movable arm 742. One end of the first movable arm 74 is rotatably connected to the lifting seat 73 and can rotate horizontally relative to the lifting seat 73. The other end of the first movable arm 74 is rotatably connected to the second movable arm 742 and can rotate horizontally relative to the first movable arm 74. The combination of the first movable arm 74 and the second movable arm 742 enables a horizontal offset movement.

[0051] The robotic arm 8 is rotatably mounted on the end of the second movable arm 742 away from the first movable arm 74. Driven by the drive motor mounted at the end of the second movable arm 742, the robotic arm 8 can also achieve horizontal rotation.

[0052] Reference Figures 3-6 As shown, the robotic arm 8 includes a support shell 81, a driver 82, and two grippers 87. The upper side of the support shell 81 is mounted on the movable arm 742, with the support shell 81 serving as a support. The driver 82 is installed inside the support shell 81. The driver 82 is an electric driver with two drive blocks 83. Driven by the driver 82, the two drive blocks 83 can open and close relative to each other. The two grippers 87 are respectively mounted on the two drive blocks 83 via two connecting brackets 84, so that the driver 82 can drive the two grippers 87 to move, thereby enabling the gripping of the test tube 100.

[0053] After the operating robot 7 grips the test tube 100 using its robotic arm 8, it needs to transport the test tube 100 by placing it into a test tube rack or corresponding testing equipment. During the placement process, the operating robot 7 moves the test tube 100 downwards, that is, the lifting seat 73 of the operating robot 7 descends. Once the test tube 100 is inserted into the corresponding test tube position, the robotic arm 8 opens, releasing the test tube 100 to complete the transfer.

[0054] However, the lifting and lowering movements of the operating robot 7 may have slight errors, and the clamping height of the robotic arm 8 on the test tube 100 may also be off, or too low. If the test tube 100 is positioned too high, it will be difficult to accurately control its downward movement, potentially resulting in a height difference between the test tube 100 and the bottom support. After the robotic arm 8 releases the test tube 100, it will fall slightly, possibly causing vibration and spillage of the liquid. If the test tube 100 is positioned too low, it may collide and be squeezed against the bottom support during the descent driven by the operating robot 7. Excessive impact and squeezing could cause the test tube 100 to break or be damaged.

[0055] In this embodiment, the two grippers 87 of the robotic arm 8 have a movable structure, and the two grippers 87 can deflect and float slightly up and down. When the operating robot 7 lowers the test tube 100 to prepare to place it in the designated placement position, the bottom of the test tube 100 will contact the bottom of the placement position. Then, through the upward deflection and floating of the two grippers 87, the position of the test tube 100 can be slightly raised to buffer the impact effect, ensuring that the test tube 100 can be stably placed in the designated placement position, and avoiding damage to the bottom of the test tube 100 from impact, squeezing, or collision.

[0056] Reference Figures 5-9 As shown, the connecting frame 84 includes an integrally connected rotating connecting block 841 and a gripper mounting block 842, which are integrally connected to form a T-shaped structure. The gripper mounting block 842 is rotatably connected to the drive block 83 via a linkage sleeve 85, and the axis of rotation is horizontal. By rotatably connecting the gripper mounting block 842 and the drive block 83, the connecting frame 84 and the grippers 87 fixed to the connecting frame 84 can deflect relative to the axis of the drive block 83, thereby allowing the two grippers 87 to have vertical deflection range.

[0057] Reference Figure 5As shown, the drive block 83 forms a support surface 831 on the side facing the gripper 87. The gripper mounting block 842 abuts against the support surface 831, restricting the downward rotation of the connecting frame 84. A clearance arc surface 832 is formed on the upper side of the support surface 831. Under its own weight, the gripper mounting block 842 of the connecting frame 84 can abut against the support surface 831, thus supporting the connecting frame 84. When the two grippers 87 clamp the test tube 100, the grippers 87 can be pulled downward by their own weight and the weight of the test tube 100, maintaining the state of abutting against the gripper mounting block 842 and the support surface 831.

[0058] When the two grippers 87 clamp the test tube 100, the test tube 100 gradually moves downward, and the bottom of the test tube 100 comes into contact with the support position. The test tube 100 will cause the two grippers 87 to deflect slightly upward. With the help of the upward deflection of the two grippers 87 and the test tube 100, the test tube 100 can be adjusted upward, thus avoiding excessive pressure on the test tube 100.

[0059] Reference Figures 7-9 As shown, the linkage sleeve 85 is fixedly connected to the rotating connecting block 841, which can fix the linkage sleeve 85 and the rotating connecting block 841 to each other; and the linkage sleeve 85 and the driving block 83 can rotate relative to each other, thereby enabling the rotating connecting block 841 and the driving block 83 to also rotate relative to each other.

[0060] The linkage sleeve 85 includes a first connecting section 852 and a second connecting section 853 coaxially connected. The first connecting section 852 passes through and is fixedly connected to the rotating connecting block 841. After the first connecting section 852 is inserted into the second connecting hole 843 of the rotating connecting block 841, it can be fitted and fixed. Furthermore, a limiting protrusion 854 is formed at the end of the first connecting section 852, which can form an axial limiting fixation. The linkage sleeve 85 and the rotating connecting block 841 can also be bonded and fixed with additional adhesive.

[0061] A connection hole 833 is provided in the drive block 83, and the connecting section 853 of the linkage sleeve 85 passes through the connection hole 833, so that the drive block 83 and the linkage sleeve 85 can generate relative deflection, thereby enabling the two grippers 87 to generate upward deflection and displacement.

[0062] Furthermore, a linkage shaft 86 is inserted between the two linkage sleeves 85, and the linkage sleeves 85 and the linkage shaft 86 are axially slidably connected, forming a rotational limit. Specifically, a linkage groove 861 is formed on the outer periphery of the linkage shaft 86 in the extension direction, and a linkage slider 851 is fixedly connected inside the linkage sleeve 85, and the linkage slider 851 is slidably connected to the linkage groove 861. The linkage slider 851 and the linkage groove 861 are nested and slide together, forming an axial rotational linkage, which ensures that the linkage sleeves 85 on both sides can deflect synchronously, and keeps the connecting frame 84 and the gripper 87 on both sides in a synchronous deflection, ensuring that the robot can have a stable clamping posture for the test tube 100.

[0063] Example 3

[0064] This embodiment discloses an automated water quality flow detection system, which is based on Embodiment 2 and further refers to... Figures 2-9 Please provide a detailed explanation.

[0065] In this embodiment, the connecting section 853 of the linkage sleeve 85 is threadedly connected to the connecting hole 833. When the gripper mounting block 842 and the gripper 87 deflect upward, the two linkage sleeves 85 and the connecting hole 833 will move slightly in the axial direction. The direction of movement is that the two linkage sleeves 85 move simultaneously in the opposite direction, that is, the two grippers 87 have a mutually open state. The distance between the two grippers 87 increases slightly, which can release the test tube 100 gripped by the grippers 87, thereby allowing the test tube 100 to be stably supported and placed.

[0066] Specifically, the outer periphery of the second connecting segment 853 is provided with an external thread, and the inner hole 833 is provided with an internal thread. The internal and external threads are compatible with each other, so that the second connecting segment 853 of the linkage sleeve 85 can be threadedly connected to the inner hole 833. Moreover, the external threads of the second connecting segments 853 of the two linkage sleeves 85 have opposite directions, and the corresponding internal threads of the two inner holes 833 also have opposite directions, forming a roughly symmetrical structure.

[0067] Example 4

[0068] This embodiment discloses an automated water quality flow detection system, which is based on Embodiment 2 and further refers to... Figure 10 Please provide a detailed explanation.

[0069] In this embodiment, the connecting section 853 of the linkage sleeve 85 and the connecting hole 833 may not be threaded, but rather form a rotational connection structure. Furthermore, a second limiting ring, the second limiting ring 855, is formed at the end of the connecting section 853. After installation, the linkage sleeve 85 can be axially limited by the second limiting ring 855, allowing the linkage sleeve 85 and the drive block 83 to stably achieve a rotational connection. This allows the grippers 87 and the connecting frame 84 on both sides to tilt upwards, preventing excessive impact on the test tube 100 during downward placement. The slight upward tilt of the grippers 87 and the test tube 100 provides cushioning.

[0070] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An automated water quality flow detection system, characterized in that, It includes a circular conveyor line (1) for transporting test tubes (100) in a circular flow; the circular conveyor line (1) is provided with a starting station (2), a liquid adding station (3) and several testing stations on the flow path of the circular conveyor line (1); a testing instrument assembly (5) and an operating robot (7) are installed on the outside of the testing station; the operating robot (7) is used to clamp and operate the test tubes (100).

2. The automated water quality flow detection system according to claim 1, characterized in that, A number of test tube transfer racks (6) are installed on the circular conveyor line (1). The test tube transfer racks (6) follow the circular conveyor line (1) and are used to place test tubes (100). The liquid addition station (3) is used to add liquid into the test tube (100); the detection station (4) is set up with three groups, namely detection station one (41), detection station two (42) and detection station three (43); the starting station (2), liquid addition station (3), detection station one (41), detection station two (42) and detection station three (43) are arranged in sequence.

3. The automated water quality flow detection system according to claim 1, characterized in that, The operating robot (7) includes a movable arm (74), and a manipulator (8) is installed at the end of the movable arm (74) for clamping and inspecting test tubes (100).

4. The automated water quality flow detection system according to claim 3, characterized in that, The operating robot (7) also includes a base (71), a lifting frame (72) and a lifting seat (73). The lifting frame (72) is vertically installed on the base (71). The lifting seat (73) can be adjusted up and down along the lifting frame (72). The movable arm (74) is installed on the lifting seat (73) and can be adjusted up and down with the lifting seat (73).

5. The automated water quality flow detection system according to claim 4, characterized in that, The movable arm (74) includes a movable arm one (74) and a movable arm two (742). One end of the movable arm one (74) is rotatably connected to the lifting seat (73) and can rotate horizontally relative to the lifting seat (73). The other end of the movable arm one (74) is rotatably connected to the movable arm two (742) and can rotate horizontally relative to the movable arm one (74). The robotic arm (8) is rotatably mounted on the end of the movable arm two (742) away from the movable arm one (74).

6. The automated water quality flow detection system according to claim 3, characterized in that, The robotic arm (8) includes a driver (82) and two grippers (87). The driver (82) has two drive blocks (83) that can slide relative to each other. The two grippers (87) are respectively mounted on the two drive blocks (83) via two connecting frames (84). The connecting frame (84) includes an integrally connected rotating connecting block (841) and a gripper mounting block (842). The gripper mounting block (842) is rotatably connected to the drive block (83) via a linkage sleeve (85), and the axis of rotation is horizontal. The drive block (83) forms a support surface (831) on the side facing the gripper (87). The gripper mounting block (842) abuts against the support surface (831) to restrict the downward rotation of the connecting frame (84). A clearance arc surface (832) is formed on the upper side of the support surface (831).

7. The automated water quality flow detection system according to claim 6, characterized in that, The linkage sleeve (85) is fixedly connected to the rotating connecting block (841), and a linkage shaft (86) is provided between the two linkage sleeves (85). The linkage sleeve (85) and the linkage shaft (86) are axially slidably connected and can form a rotation limit.

8. The automated water quality flow detection system according to claim 7, characterized in that, The drive block (83) has a connection hole (833), the linkage sleeve (85) passes through the connection hole (833) and is threadedly connected to the connection hole (833); the gripper mounting block (842) and the gripper (87) deflect upwards, and the two linkage sleeves (85) move in opposite directions.

9. The automated water quality flow detection system according to claim 8, characterized in that, The linkage shaft (86) has a linkage groove (861) arranged in the extension direction, and the linkage sleeve (85) is fixedly connected to the inside of the linkage slider (851), and the linkage slider (851) is slidably connected to the linkage groove (861). The linkage sleeve (85) includes a first connecting section (852) and a second connecting section (853) connected coaxially. The first connecting section (852) is inserted through and fixedly connected to the rotating connecting block (841). The outer periphery of the second connecting section (853) is provided with an external thread, and the first connecting hole (833) is provided with an internal thread. The second connecting section (853) is threadedly connected to the first connecting hole (833). The external threads of the connecting section 2 (853) of the two linkage sleeves (85) are opposite.

10. An automated method for detecting water quality during flow, characterized in that, The water quality automated flow detection system as described in any one of claims 1-9 is used for detection.

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