Environmental quality detection sample pretreatment instrument

Abstract

The invention discloses a sample pretreatment instrument for environmental quality detection. The sample pretreatment instrument comprises a heating acid-driving device, a heating digestion device, a negative-pressure suction filtration device and a constant-volume membrane passing device, wherein the heating acid-driving device is used for firstly adding an acidic reagent into a sample for acidification, performing acid-driving on the sample after acidification, and then weighing the mass of the sample; the heating digestion device is used for putting a sample subjected to heating and acid removal into a digestion furnace for digestion through a six-axis mechanical arm; the negative pressure suction filtration device is used for transferring the heated and digested sample from the digestion tube to a colorimetric tube and carrying out negative pressure suction filtration; the constant-volume membrane-passing device is used for fixing the volume of the sample subjected to negative-pressure suction filtration, and the constant-volume sample is subjected to membrane-passing pipetting through a pipetting gun provided with a Tip head and a filter disc. According to the invention, the accuracy and reliability of the detection result of the detection sample are improved through the automation of the pretreatment process of the environmental quality detection sample.

Description

Technical Field

[0001] This invention relates to the field of environmental quality testing sample pretreatment technology, specifically to an environmental quality testing sample pretreatment instrument. Background Technology

[0002] Environmental heavy metal testing is the process of monitoring and analyzing the content of heavy metals in the environment. Through this testing, we can promptly understand the pollution status of heavy metals in the environment, take effective measures to prevent the spread of pollution, and protect the balance and stability of the ecosystem. At the same time, it helps prevent acute or chronic poisoning in humans caused by excessive heavy metals in the environment, reducing the risk of disease.

[0003] The sample pretreatment process involves operations such as heating to remove acid, heating to digest, negative pressure filtration, and volume adjustment and membrane filtration. These processes aim to minimize the impact of impurities on the test results, ensure that the test samples meet the requirements of the analytical instruments, and improve the accuracy and reliability of the test results. Summary of the Invention

[0004] The purpose of this invention is to provide an environmental quality testing sample pretreatment instrument, which improves the accuracy and reliability of test results by automating the sample pretreatment process. To achieve the above objective, this invention adopts the following technical solution: This invention discloses an environmental quality testing sample pretreatment instrument, comprising: a heating acid removal device, a heating digestion device, a negative pressure filtration device, and a volumetric membrane filtration device.

[0005] The heating and acid-removing device is equipped with an acid-adding module, a heating and acid-removing module, and a weighing module. The acid-adding module adds acidic reagents to the sample for acidification, the heating and acid-removing module removes acid from the acidified sample, and the weighing module weighs the sample.

[0006] The heating digestion device is equipped with a digestion furnace and a six-axis robotic arm. The six-axis robotic arm places the heated and acid-removed sample into the digestion furnace for digestion.

[0007] The negative pressure filtration device is equipped with a sample pouring module and a negative pressure filtration module. The sample pouring module transfers the heated and digested sample from the digestion tube to the colorimetric tube, and the negative pressure filtration module performs negative pressure filtration on the sample transferred to the colorimetric tube.

[0008] The volume-fixing membrane device is equipped with a volume-fixing module and a three-axis robotic arm B. The volume-fixing module fixes the volume of the sample after negative pressure filtration. The three-axis robotic arm B holds a pipette, which is equipped with a tip and a filter plate. The pipette is used to transfer the fixed-volume sample through the membrane.

[0009] Furthermore, the opening and acid-adding module includes: a feeding device and a first opening and closing cover device and an acid-adding device respectively installed on both sides of the feeding device. The feeding device is provided with a first digestion tube rack to hold a digestion tube containing a test sample. The feeding device transports the digestion tube containing the test sample between the first opening and closing cover device and the acid-adding device to open the digestion tube for acid addition and close the cover.

[0010] The heating and acid removal module includes: an oscillation device and a heating and acid removal furnace. The heating and acid removal furnace is placed on the oscillation device, and the digestion tube after adding acid is placed in the heating and acid removal furnace and oscillated and removed under the control of the oscillation device.

[0011] The weighing module includes a measuring balance and a weighing pan. The weighing pan is installed on the measuring balance and is provided with a limiting sleeve. The digestion tube after acid removal is placed on the weighing pan and is limited by the limiting sleeve so that its center of gravity is kept on the same straight line as the center of the weighing pan.

[0012] Furthermore, the digestion tube is affixed with a relevant barcode, and the heating digestion device is equipped with a corresponding barcode scanning component to scan and confirm the digestion tube before and after digestion. The barcode scanning component includes: a first vision camera, a second digestion tube holder, and a first light source. The first vision camera and the first light source are respectively installed on opposite sides of the second digestion tube holder, and the barcode is scanned by the first vision camera.

[0013] Furthermore, the sample pouring module includes: a pouring device, which is provided with a first frame and a first colorimetric tube holder installed on one side of the first frame, the first colorimetric tube holder being used to hold colorimetric tubes; the first frame is provided with a digestion tube holder, a first rotating shaft, a first synchronous pulley and a first servo mechanism, the digestion tube holder being used to hold digestion tubes containing samples, the first servo mechanism being connected to one end of the first rotating shaft through the first synchronous pulley, the other end of the first rotating shaft being connected to the digestion tube holder, and the digestion tube holder rotating under the control of the first servo mechanism to pour the sample in the digestion tube into the colorimetric tube.

[0014] The negative pressure filtration module includes: a negative pressure filtration cylinder, a sealing plate, and a vacuum pump. The sealing plate is positioned above the negative pressure filtration cylinder and has a Buchner funnel holder for holding the Buchner funnel. The negative pressure filtration cylinder has a second colorimetric tube holder and a vacuum pump connection port connected to the vacuum pump to create a negative pressure environment during filtration. The second colorimetric tube holder holds the colorimetric tube to receive the filtered sample.

[0015] Furthermore, the volume adjustment module includes: a colorimetric tube fixing device, a reagent adding device, and a scale recognition device. The colorimetric tube containing the test sample is placed on the colorimetric tube fixing device, the reagent adding device adds reagent to the sample for volume adjustment, and the scale recognition device is equipped with a second vision camera to identify the scale reached during volume adjustment.

[0016] The pipette also includes: a pipette body, one end of which is fixed to the three-axis robotic arm B, and the other end is connected to the tip head for taking liquid from the sample after it has been brought to a fixed volume. After taking the liquid, the other end of the tip head is connected to the filter plate for passing the sample through a membrane and pipetting.

[0017] Preferably, the scale recognition device is further provided with a second light source. The second vision camera and the second light source are arranged opposite to each other on both sides of the colorimetric tube fixing device. The colorimetric tube is illuminated by the second light source to enhance the recognition of the volumetric liquid level of the colorimetric tube by the second vision camera.

[0018] In some embodiments, the constant volume membrane device is further provided with a switch cover module, the switch cover module including: a second frame and a second switch cover device and a first pneumatic gripper mounted on the second frame.

[0019] The second cover switch device includes: a first mounting base, a first slide, a fourth servo mechanism, and an automatic cover switch assembly. A guide rod is provided on the first mounting base; the first slide is fitted in the guide rod, and the automatic cover switch assembly is mounted on the first slide. The first slide moves up and down along the guide rod under the control of the fourth servo mechanism. The automatic cover opening and closing assembly includes: a pull rod, a first housing, a gripper, a tube cap fixing head, and a seventh servo mechanism. The seventh servo mechanism is installed on the top of the first housing. The pull rod is located inside the first housing, with one end connected to the seventh servo mechanism and the other end having two protrusions. A pair of grippers are provided, respectively hinged to both sides of the first housing, and one end of each gripper has a ball joint that engages between the protrusions. When the pull rod moves up and down under the control of the seventh servo mechanism, the grippers open and close under the pull rod's influence. The tube cap fixing head is installed at the bottom of the first housing, and the inner cavity of the second tube cap fixing head has a fixing groove corresponding to the tube cap of the colorimetric tube to clamp the tube cap of the colorimetric tube.

[0020] Preferably, the second cover opening and closing device further includes a fourth synchronous pulley and a fifth servo mechanism. The fifth servo mechanism is connected to the automatic cover opening and closing assembly via the fourth synchronous pulley. The automatic cover opening and closing assembly rotates under the control of the fifth servo mechanism to loosen the cover and release pressure on the color tube.

[0021] Preferably, the switch cover module further includes: a second synchronous pulley, a second servo mechanism and a tube cover placement box, and a first guide rail is also provided on the second frame, with the tube cover placement box disposed on one side of the second switch cover device.

[0022] The first mounting base is snapped onto the first guide rail, and the first mounting base is connected to the second servo mechanism via the second synchronous pulley. Under the control of the second servo mechanism, the first mounting base moves along the first guide rail to place the cap of the colorimetric tube, which has been opened, into the cap placement box. In some embodiments, the volume-regulating membrane device is further provided with a shaking module, the shaking module comprising: a third frame and a colorimeter tube clamping device, a third synchronous pulley, a second rotating shaft and a third servo mechanism mounted on the third frame.

[0023] The third servo mechanism is connected to one end of the second rotating shaft via the third synchronous pulley, and the other end of the second rotating shaft is connected to the colorimetric tube clamping device. The colorimetric tube clamping device rotates under the control of the third servo mechanism.

[0024] The colorimetric tube clamping device includes a second mounting base, a second pneumatic gripper, a pressure plate, and a sixth servo mechanism mounted on the second mounting base. The second pneumatic gripper moves towards each other to clamp the colorimetric tube; the pressure plate is disposed on the top of the second mounting base, and the pressure plate presses down on the tube cap of the colorimetric tube under the control of the sixth servo mechanism.

[0025] In some embodiments, the volumetric membrane applicator further includes a waste tip and filter disc separation module, which comprises a waste tip and filter disc separation device. The waste tip separation device includes a separation frame and a second housing, with a notch between the separation frame and the second housing to allow the pipette to enter the cavity formed by the separation frame and the second housing. The top of the separation frame has at least one tip separation port; when the pipette engages the tip in the tip separation port and pulls it upwards, the tip separates from the pipette body.

[0026] A limiting slot and a baffle are provided directly below the tip separation port. The baffle has a filter disc separation port. When the pipette jams the filter disc in the filter disc separation port, the limiting slot limits the tip. When the pipette is pulled upward, the filter disc separates from the tip.

[0027] In some embodiments, the constant volume membrane apparatus is further provided with a filter tray rack for placing replacement filter trays, the filter tray rack including: a fourth frame and a filter tray placement plate placed on the fourth frame.

[0028] The fourth frame includes: a second guide rail, a second slide, a third guide rail, a third slide, and a fifth synchronous pulley. The second slide and the third slide are respectively engaged on the second guide rail and the third guide rail, and the second slide and the third slide are connected by the fifth synchronous pulley.

[0029] The filter tray is placed on the second slide and the third slide, and the filter tray is provided with a plurality of filter tray placement slots for placing filter trays. Unused filter trays are placed on the filter tray on one side slide, and the filter tray on the other side slide is empty.

[0030] The fourth frame is equipped with a single-axis robotic arm on one side, and the filter tray placement plate has a protrusion at its center. The single-axis robotic arm moves the filter tray placement plate between the second and third slides by grabbing the protrusion on the filter tray placement plate and moving it, so as to perform batch replacement of filter trays.

[0031] Preferably, the heating acid removal device, the negative pressure filtration device, and the constant volume membrane device are all equipped with a three-axis robotic arm A to transfer samples between different modules in each device.

[0032] Furthermore, the external parts of the heating acid removal device, heating digestion device, negative pressure filtration device, and constant volume membrane device are all equipped with anti-corrosion covers, and ventilation systems are installed on the anti-corrosion covers.

[0033] After adopting the above technical solution, the present invention has the following effects: 1. The heating acid removal device of the present invention, by setting up functional modules such as a lid-opening acid addition module, a heating acid removal module, and a weighing module, can determine the degree of acid removal according to different test samples and adapt to the requirements of subsequent analysis methods and instruments.

[0034] 2. The heating digestion device of the present invention uses a robotic arm to transfer the digestion tube to the digestion chamber for digestion, which can prevent the sample from being contaminated, ensure the cleanliness of the instrument, and avoid introducing new impurities.

[0035] 3. The negative pressure filtration device of the present invention, by setting up functional modules such as sample pouring and negative pressure filtration modules, can perform negative pressure filtration according to different test samples, and adapt to the requirements of subsequent analysis methods and instruments.

[0036] 4. The volume-fixing membrane device of the present invention uses a volume-fixing module to fix the volume of the sample and a three-axis robotic arm to hold the pipette for membrane transfer, which can prevent the sample from being contaminated, ensure the cleanliness of the instrument, and avoid the introduction of new impurities. Attached Figure Description

[0037] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0038] Figure 2 This is a disassembled diagram of the present invention.

[0039] Figure 3 This is a top view of the internal structure of the present invention.

[0040] Figure 4 This is a three-dimensional structural diagram of the open-top acid-adding module in the heating and acid-removing device of the present invention.

[0041] Figure 5 This is a three-dimensional structural diagram of the heating and acid-removing module in the heating and acid-removing device of the present invention.

[0042] Figure 6 This is a three-dimensional structural diagram of the weighing module in the heating and acid-removing device of the present invention.

[0043] Figure 7 This is a three-dimensional structural diagram of the digestion tube.

[0044] Figure 8 This is a three-dimensional structural diagram of the digestion furnace, six-axis robotic arm, and barcode scanning component in the heating digestion device of the present invention.

[0045] Figure 9 This is a three-dimensional structural diagram of the tilting module in the negative pressure filtration device of the present invention.

[0046] Figure 10 This is a first state diagram of the tilting device in the negative pressure filtration device of the present invention.

[0047] Figure 11 This is a second state diagram of the tilting device in the negative pressure filtration device of the present invention.

[0048] Figure 12 This is a diagram showing the internal structure of the tilting device in the negative pressure filtration device of the present invention.

[0049] Figure 13 This is a first state diagram of the negative pressure filtration module in the negative pressure filtration device of the present invention.

[0050] Figure 14 This is a second state diagram of the negative pressure filtration module in the negative pressure filtration device of the present invention.

[0051] Figure 15 This is a three-dimensional structural diagram of a colorimetric tube.

[0052] Figure 16 This is a three-dimensional structural diagram of the volume-fixing module in the volume-fixing membrane device of the present invention.

[0053] Figure 17 This is a three-dimensional structural diagram of the pipette mounted on a three-axis robotic arm B in the volumetric membrane applicator of the present invention.

[0054] Figure 18This is a three-dimensional structural diagram of the pipette in the volumetric membrane applicator of the present invention.

[0055] Figure 19 This is a disassembled diagram of the pipette in the volumetric membrane applicator of the present invention.

[0056] Figure 20 This is a three-dimensional structural diagram of the switch cover module in the constant volume membrane device of the present invention.

[0057] Figure 21 This is a bottom structural diagram of the switch cover module in the constant volume membrane device of the present invention.

[0058] Figure 22 This is a three-dimensional structural diagram of the second switch cover device in the constant volume membrane device of the present invention.

[0059] Figure 23 This is a bottom structural diagram of the second switch cover device in the volumetric membrane device of the present invention.

[0060] Figure 24 This is a top view of the switch cover module in the volumetric membrane device of the present invention.

[0061] Figure 25 for Figure 24 AA-direction cross-sectional view.

[0062] Figure 26 for Figure 25 Enlarged view of point B.

[0063] Figure 27 This is a first state diagram of the shaking module in the volume-regulating membrane device of the present invention.

[0064] Figure 28 This is a second state diagram of the shaking module in the volume-regulating membrane device of the present invention.

[0065] Figure 29 This is a back view of the shaking module in the volume-regulating membrane device of the present invention.

[0066] Figure 30 This is a diagram showing the internal structure of the colorimetric tube clamping device in the volumetric membrane applicator of the present invention.

[0067] Figure 31 This is a three-dimensional structural diagram of the waste tip head and filter disc separation device in the constant volume membrane device of the present invention.

[0068] Figure 32 This is a disassembly diagram of the waste tip head and filter disc separation device in the constant volume membrane device of the present invention.

[0069] Figure 33 This is a three-dimensional structural diagram of the filter tray frame in the constant volume membrane device of the present invention.

[0070] Figure 34This is a diagram showing the internal structure of the filter tray frame in the constant volume membrane device of the present invention.

[0071] Figure 35 This is a front view of the interior of the filter tray in the constant volume membrane device of the present invention.

[0072] Main component symbols: 1: Heating and acid-removing device, 11: Opening and adding acid module; 111: Feeding device; 1111: First digestion tube rack; 112: First opening and closing device; 113: Acid adding device; 12: Heating and removing acid module; 121: Vibration device; 122: Heating and removing acid furnace; 13: Weighing module; 131: Measuring balance; 132: Weighing pan; 1321: Limiting sleeve; 14: Digestion tube; 141: Digestion tube cap; 142: Digestion tube body. 2: Heating and digestion device, 21: Digestion furnace; 22: Six-axis robotic arm; 23: First vision camera; 24: Second digestion tube rack; 25: First light source. 3: Negative pressure filtration device. 31: Sample pouring module; 311: Pouring device; 3111: First frame; 3112: First colorimetric tube holder; 3113: Digestion tube holder; 3114: First synchronous pulley; 3115: First rotating shaft; 3116: First servo mechanism; 32: Negative pressure filtration module; 321: Negative pressure filtration cylinder; 3211: Second colorimetric tube holder; 322: Sealing plate; 3221: Buchner funnel holder; 33: Colorimetric tube; 331: Colorimetric tube cap; 332: Colorimetric tube body; 34: Buchner funnel. 4: Volumetric membrane applicator 41: Volume adjustment module; 411: Colorimetric tube fixing device; 412: Reagent adding device; 413: Scale recognition device; 4131: Second vision camera; 4132: Second light source; 42: Three-axis robotic arm B; 43: Pipette; 431: Pipette body; 432: Tip; 433: Filter plate; 44: Cap opening and closing module; 441: Second frame; 4411: First guide rail; 442: Second cap opening and closing device; 4421: First mounting base; 44211: Guide rod. 4422: First slide table; 4423: Fourth servo mechanism; 4424: Automatic cover opening and closing assembly; 44241: Pull rod; 44242: Protrusion; 44243: First housing; 44244: Gripper; 44245: Ball bearing; 44246: Pipe cover fixing head; 44247: Fixing slot; 44248: Seventh servo mechanism; 4425: Fifth servo mechanism; 4426: Fourth synchronous pulley; 443: First pneumatic gripper; 444: Second servo mechanism; 45: Second synchronous pulley; 446: Tube cap placement box; 45: Shaking module; 451: Third frame; 452: Colorimetric tube clamping device; 4521: Second mounting base; 4522: Second pneumatic gripper; 4523: Capping plate; 4524: Sixth servo mechanism; 453: Third servo mechanism; 454: Third synchronous pulley; 455: Second rotating shaft; 46: Waste tip head and filter disc separation module; 461: Waste tip head and filter disc separation device; 4611: Separation frame, 46111: Tip head separation port, 46112: Slot, 46113: Baffle, 46114: Filter disc separation port, 4612: Second housing, 47: Filter disc holder, 471: Filter disc placement plate, 4711: Filter disc placement groove, 4712: Protrusion, 472: Fourth frame, 4721: Second guide rail, 4722: Second slide, 4723: Third guide rail, 4724: Third slide, 4725: Fifth synchronous pulley, 473: Single-axis robotic arm 5: Three-axis robotic arm A, 6: Anti-corrosion cover, 7: Ventilation system. Detailed Implementation

[0073] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0074] In the description of the present invention, it should be noted that the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0075] like Figure 7 As shown, the digestion tube 14 used in this invention includes: a digestion tube cap 141 and a digestion tube body 142. For example... Figure 19As shown, the colorimetric tube 33 used in this invention includes a colorimetric tube cap 331 and a colorimetric tube body 332, and is made of transparent material.

[0076] like Figures 1 to 3 As shown, the present invention discloses an environmental quality testing sample pretreatment instrument, including: a heating acid removal device 1, a heating digestion device 2, a negative pressure filtration device 3, and a volumetric membrane filtration device 4.

[0077] In this embodiment, a three-axis robotic arm A5 is installed in the heating acid removal device 1, the negative pressure filtration device 3, and the constant volume membrane transfer device 4 to transfer samples between different modules in each device. Meanwhile, the heating acid removal device 1, the heating digestion device 2, the negative pressure filtration device 3, and the constant volume membrane transfer device 4 are all externally equipped with a corrosion-resistant cover 6, and a ventilation system 7 is installed on the corrosion-resistant cover 6.

[0078] Combination Figures 4 to 6 As shown, the heating and acid removal device 1 is equipped with an acid-adding module 11, a heating and acid removal module 12, and a weighing module 13. The acid-adding module 11 adds acidic reagent to the sample for acidification, the heating and acid removal module 12 removes acid from the acidified sample, and the weighing module 13 is used to weigh the sample.

[0079] The open-lid acid-adding module 11 includes: a feeding device 111 and a first opening and closing cover device 112 and an acid-adding device 113 respectively installed on both sides of the feeding device 111. The feeding device 111 is provided with a first digestion tube rack 1111 to place a digestion tube 14 containing a test sample. The feeding device 111 transports the digestion tube 14 containing the test sample in the first opening and closing cover device 112 and the acid-adding device 113 to open the digestion tube 14 for acid addition and close the cover.

[0080] The heated acid removal module 12 includes an oscillation device 121 and a heated acid removal furnace 122. The heated acid removal furnace 122 is placed on the oscillation device 121, and the digestion tube 14 after acid addition is placed in the heated acid removal furnace 122 and oscillated to remove acid under the control of the oscillation device 121. In this embodiment, the heated acid removal module 12 is provided with four heated acid removal furnaces 122, and the heated acid removal furnaces 122 are graphene acid removal furnaces.

[0081] The weighing module 13 includes a measuring balance 131 and a weighing pan 132. The weighing pan 132 is installed on the measuring balance 131, and a limiting sleeve 1321 is provided on the weighing pan 132. The digestion tube 14 after acid removal is placed on the weighing pan 132, and the limiting sleeve 1321 limits the digestion tube 14 so that its center of gravity is kept on the same straight line as the center of the weighing pan 132.

[0082] Combination Figure 8As shown, the heating digestion device 2 is equipped with a digestion furnace 21 and a six-axis robotic arm 22. The six-axis robotic arm 22 puts the heated and acid-removed sample into the digestion furnace 21 for digestion.

[0083] In this embodiment, a barcode (not shown in the figure) is affixed to the digestion tube 14. The heating digestion device 2 is equipped with a corresponding barcode scanning component to scan and confirm the digestion tube 14 before and after digestion. The barcode scanning component includes: a first vision camera 23, a second digestion tube holder 24, and a first light source 25. The first vision camera 23 and the first light source 25 are respectively installed on opposite sides of the second digestion tube holder 24, and the barcode is scanned by the first vision camera 23.

[0084] Combination Figure 9 and Figure 13 As shown, the negative pressure filtration device 3 is equipped with a sample pouring module 31 and a negative pressure filtration module 32. The sample pouring module 31 transfers the heated and digested sample from the digestion tube 14 to the colorimetric tube 33, and the negative pressure filtration module 32 performs negative pressure filtration on the sample transferred to the colorimetric tube 33.

[0085] like Figures 10 to 12 As shown, in this embodiment, the sample pouring module 31 includes a pouring device 311, which is provided with a first frame 3111 and a first colorimetric tube placement seat 3112 installed on one side of the first frame 3111. The first colorimetric tube placement seat 3112 is used to place colorimetric tubes 33. The first frame 3111 is provided with a digestion tube placement seat 3113, a first rotating shaft 3115, a first synchronous pulley 3114, and a first servo mechanism 3116. The digestion tube placement seat 3113 is used to place a digestion tube 14 containing a sample. The first servo mechanism 3116 is connected to one end of the first rotating shaft 3115 through the first synchronous pulley 3114. The other end of the first rotating shaft 3115 is connected to the digestion tube placement seat 3113. The digestion tube placement seat 3113 rotates under the control of the first servo mechanism 3116, pouring the sample in the digestion tube 14 into the colorimetric tube 33.

[0086] like Figure 14 As shown, in this embodiment, the negative pressure filtration module 32 includes: a negative pressure filtration cylinder 321, a sealing plate 322, and a vacuum pump (not shown in the figure). The sealing plate 322 is disposed above the negative pressure filtration cylinder 321, and a Buchner funnel placement seat 3221 is provided on the sealing plate 322 for placing the Buchner funnel 34. A second colorimetric tube placement seat 3211 is provided in the negative pressure filtration cylinder 321, and the negative pressure filtration cylinder 321 is provided with a vacuum pump connection port (not shown in the figure). The vacuum pump connection port is connected to a vacuum pump to form a negative pressure environment during filtration. The second colorimetric tube placement seat 3211 is used to place the colorimetric tube 33 to receive the filtered sample.

[0087] Combination Figures 16 to 19 As shown, the volume-fixing membrane device 4 is equipped with a volume-fixing module 41 and a three-axis robotic arm B 42. The volume-fixing module 41 fixes the volume of the sample after negative pressure filtration. The three-axis robotic arm B 42 holds a pipette 43, which is equipped with a tip 432 and a filter plate 433. The pipette 43 is used to transfer the fixed-volume sample through the membrane.

[0088] In this embodiment, the volume-fixing module 41 includes: a colorimetric tube fixing device 411, a reagent adding device 412, and a scale recognition device 413. The colorimetric tube 33 containing the test sample is placed on the colorimetric tube fixing device 411. The reagent adding device 412 adds reagent to the sample to fix the volume. The scale recognition device 413 is equipped with a second vision camera 4131, which identifies the scale reached by the volume fixation.

[0089] The pipette 43 also includes: a pipette body 431, one end of which is fixed to the three-axis robotic arm B 42, and the other end is connected to the tip head 432 to take liquid from the sample after it has been brought to a certain volume. After taking liquid, the other end of the tip head 432 is connected to the filter plate 433 to pass the sample through a membrane and transfer it to a centrifuge tube.

[0090] In this embodiment, the scale recognition device 413 is also provided with a second light source 4132. The second vision camera 4131 and the second light source 4132 are arranged opposite to each other on both sides of the colorimetric tube fixing device 411. The colorimetric tube 33 is illuminated by the second light source 4132 to enhance the recognition of the liquid level of the colorimetric tube 33 by the second vision camera 4131.

[0091] In addition, such as Figure 20 , Figure 27 , Figure 31 and Figure 33 As shown, in some embodiments, the volumetric membrane applicator 4 is further provided with one or more of the following: a cover switch module 44, a shaking module 45, a waste tip and filter disc separation module 46, and a filter disc holder 47. In this embodiment, the volumetric membrane applicator 4 further includes: a cover switch module 44, a shaking module 45, a waste tip and filter disc separation module 46, and a filter disc holder 47.

[0092] Combination Figures 21 to 26 As shown, the switch cover module 44 includes: a second frame 441 and a second switch cover device 442 and a first pneumatic gripper 443 mounted on the second frame 441.

[0093] The second cover opening and closing device 442 includes: a first mounting base 4421, a first slide 4422, a fourth servo mechanism 4423, and an automatic cover opening and closing assembly 4424. A guide rod 44211 is provided on the first mounting base 4421. The first slide 4422 is fitted into the guide rod 44211, and the automatic cover opening and closing assembly 4424 is mounted on the first slide 4422. The first slide 4422 moves up and down along the guide rod 44211 under the control of the fourth servo mechanism 4423.

[0094] The automatic cover opening and closing assembly 4424 includes: a pull rod 44241, a first housing 44243, a gripper 44244, a second cover fixing head 44246, and a seventh servo mechanism 44248. The seventh servo mechanism 44248 is installed on the top of the first housing 44243. The pull rod 44241 is located inside the first housing 44243, with one end connected to the seventh servo mechanism 44248 and the other end having two rings of protrusions 44242. A pair of grippers 44244 are provided, respectively hinged to both sides of the first housing 44243. One end of each gripper 44244 has a ball joint 44245, which engages with the protrusions 44242. When the pull rod 44241 moves up and down under the control of the seventh servo mechanism 44248, the grippers 44244 open and close under the action of the pull rod 44241. The second tube cap fixing head 44246 is installed at the bottom of the first housing 44243, and the inner cavity of the second tube cap fixing head 44246 is provided with a fixing groove 44247 corresponding to the colorimetric tube cap 331 to clamp the colorimetric tube cap 331.

[0095] When the cap is opened, after the colorimetric tube 33 containing the test sample is clamped by the first pneumatic gripper 443, the automatic cap opening and closing assembly 4424 moves downward under the control of the fourth servo mechanism 4423, and the second cap fixing head 44246 in the automatic cap opening and closing assembly 4424 clamps the colorimetric tube cap 331. Then, the automatic cap opening and closing assembly 4424 moves upward under the control of the fourth servo mechanism 4423 to open the cap. At the same time, the pull rod 44241 moves upward under the control of the seventh servo mechanism 44248, thereby driving the gripper 44244 to grip. After the gripper 44244 grips the end of the colorimetric tube body 332, it moves upward in conjunction with the entire automatic cap opening and closing assembly 4424, causing the colorimetric tube cap 331 and the colorimetric tube body 332 to separate.

[0096] When the cap is closed, the first pneumatic gripper 443 clamps the colorimetric tube body 332, and the automatic cap opening and closing assembly 4424 moves downward under the control of the fourth servo mechanism 4423, so that the colorimetric tube cap 331 and the colorimetric tube body 332 are combined.

[0097] In addition, in this embodiment, the second cover opening and closing device 442 further includes a fourth synchronous pulley and a fifth servo mechanism. The fifth servo mechanism is connected to the automatic cover opening and closing assembly through the fourth synchronous pulley. The automatic cover opening and closing assembly rotates under the control of the fifth servo mechanism to loosen the cover and release pressure on the color tube.

[0098] Meanwhile, the cover switch module 44 also includes: a second synchronous pulley 445, a second servo mechanism 444, and a tube cap placement box 446. A first guide rail 4411 is also provided on the second frame 441, and the tube cap placement box 446 is located on one side of the second cover switch device 442. A first mounting base 4421 is snapped onto the first guide rail 4411, and the first mounting base 4421 is connected to the second servo mechanism 444 through the second synchronous pulley 445. Under the control of the second servo mechanism 444, the first mounting base 4421 moves along the first guide rail 4411. After the cover is opened, the colorimetric tube cap 331 held after the cover is opened can be placed in the tube cap placement box 446.

[0099] Combination Figure 28 and Figure 29 As shown, the shaking module 45 includes: a third frame 451 and a colorimeter tube clamping device 452, a third synchronous pulley 454, a second rotating shaft 455, and a third servo mechanism 453 mounted on the third frame 451. The third servo mechanism 453 is connected to one end of the second rotating shaft 455 via the third synchronous pulley 454, and the other end of the second rotating shaft 455 is connected to the colorimeter tube clamping device 452. The colorimeter tube clamping device 452 rotates and shakes under the control of the third servo mechanism 453.

[0100] like Figure 30 As shown, in this embodiment, the colorimetric tube clamping device 452 includes: a second mounting base 4521, and a second pneumatic gripper 4522, a pressure plate 4523, and a sixth servo mechanism 4524 mounted on the second mounting base 4521. The second pneumatic gripper 4522 moves towards each other to clamp the colorimetric tube 33. The pressure plate 4523 is disposed on the top of the second mounting base 4521, and the pressure plate 4523 presses down on the colorimetric tube cap 331 under the control of the sixth servo mechanism 4524.

[0101] Combination Figure 32As shown, the waste tip and filter tray separation module 46 includes a waste tip and filter tray separation device 461. The waste tip separation device 461 is provided with a separation frame 4611 and a second housing 4612. A notch is provided between the separation frame 4611 and the second housing 4612 to allow the pipette 43 to enter the cavity formed by the separation frame 4611 and the second housing 4612. The top of the separation frame 4611 has two tip separation ports 46111. When the pipette 43 engages the tip 432 in the tip separation port 46111 and pulls it upwards, the tip 432 separates from the pipette body 431.

[0102] Typically, a limiting slot 46112 and a baffle 46113 are provided directly below the Tip separation port 46111 on one side. The baffle 46113 is provided with a filter disc separation port 46114. When the pipette 43 clamps the filter disc 433 in the filter disc separation port 46114, the limiting slot 46112 limits the Tip head 432. When the pipette 43 is pulled upward, the filter disc 433 separates from the Tip head 432.

[0103] Combination Figure 34 and Figure 35 As shown, the filter tray frame 47 includes: a fourth frame 472 and a filter tray placement tray 471 placed on the fourth frame 472.

[0104] The fourth frame 472 includes: a second guide rail 4721, a second slide 4722, a third guide rail 4723, a third slide 4724, and a fifth synchronous pulley 4725. The second slide 4722 and the third slide 4724 are respectively engaged on the second guide rail 4721 and the third guide rail 4723, and the second slide 4722 and the third slide 4724 are connected by the fifth synchronous pulley 4725.

[0105] The filter disc placement tray 471 is placed on the second slide 4722 and the third slide 4724, and the filter disc placement tray 471 is provided with a number of filter disc placement slots 4711 for placing filter discs 433. Unused filter discs 433 are placed on the filter disc placement tray 471 on one side slide, and the filter disc placement tray 471 on the other side slide is empty.

[0106] Typically, one slide is used to hold the filter discs 433 to be used, and the other slide is used to hold the empty filter disc placement tray 471. One slide moves downwards under gravity due to the stacking of the filter disc placement trays 471, while the other slide moves upwards under the control of the fifth synchronous pulley 4725, thus maintaining the same height on both sides. This allows the operator to perform batch replacements of the filter discs 433.

[0107] In addition, in this embodiment, a single-axis robotic arm 473 is installed on one side of the fourth frame 472, and a protrusion 4712 is provided at the center of the filter tray placement plate 471. The single-axis robotic arm 473 moves the filter tray placement plate 471 between the second slide 4722 and the third slide 4724 by grasping the protrusion 4712 on the filter tray placement plate 471, so as to perform batch replacement of the filter trays 433.

[0108] The above description is merely a preferred embodiment of the present invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the protection scope of the present invention.

Claims

1. A sample pretreatment instrument for environmental quality testing, characterized in that, include: Heating acid removal device, heating digestion device, negative pressure filtration device, and constant volume membrane filtration device; The heating and acid-removing device is equipped with an acid-adding module, a heating and acid-removing module, and a weighing module. The acid-adding module adds acidic reagent to the sample for acidification, the heating and acid-removing module removes acid from the acidified sample, and the weighing module weighs the sample. The heating digestion device is equipped with a digestion furnace and a six-axis robotic arm. The six-axis robotic arm puts the heated and acid-removed sample into the digestion furnace for digestion. The negative pressure filtration device is equipped with a sample pouring module and a negative pressure filtration module. The sample pouring module transfers the heated and digested sample from the digestion tube to the colorimetric tube, and the negative pressure filtration module performs negative pressure filtration on the sample transferred to the colorimetric tube. The volume-fixing membrane device is equipped with a volume-fixing module and a three-axis robotic arm B. The volume-fixing module fixes the volume of the sample after negative pressure filtration. The three-axis robotic arm B holds a pipette, which is equipped with a tip and a filter plate. The pipette is used to transfer the fixed-volume sample through the membrane.

2. The environmental quality testing sample pretreatment instrument as described in claim 1, characterized in that: The opening and acid-adding module includes: a feeding device and a first opening and closing cover device and an acid-adding device respectively installed on both sides of the feeding device. The feeding device is provided with a first digestion tube rack to hold a digestion tube containing a test sample. The feeding device transports the digestion tube containing the test sample between the first opening and closing cover device and the acid-adding device to open the digestion tube for acid addition and close the cover. The heating acid removal module includes: an oscillation device and a heating acid removal furnace. The heating acid removal furnace is placed on the oscillation device, and the digestion tube after adding acid is placed in the heating acid removal furnace and oscillated to remove acid under the control of the oscillation device. The weighing module includes a measuring balance and a weighing pan. The weighing pan is installed on the measuring balance and is provided with a limiting sleeve. The digestion tube after acid removal is placed on the weighing pan and is limited by the limiting sleeve so that its center of gravity is kept on the same straight line as the center of the weighing pan.

3. The environmental quality testing sample pretreatment instrument as described in claim 1, characterized in that: The digestion tube is affixed with a relevant barcode, and the heating digestion device is equipped with a corresponding barcode scanning component to scan and confirm the digestion tube before and after digestion. The scanning component includes a first vision camera, a second digestion tube rack, and a first light source. The first vision camera and the first light source are respectively installed on opposite sides of the second digestion tube rack, and scanning is performed by the first vision camera.

4. The environmental quality testing sample pretreatment instrument as described in claim 1, characterized in that: The sample pouring module includes: a pouring device, which is provided with a first frame and a first colorimetric tube holder installed on one side of the first frame. The first colorimetric tube holder is used to hold colorimetric tubes. The first frame is provided with a digestion tube holder, a first rotating shaft, a first synchronous pulley, and a first servo mechanism. The digestion tube holder is used to hold digestion tubes containing samples. The first servo mechanism is connected to one end of the first rotating shaft through the first synchronous pulley. The other end of the first rotating shaft is connected to the digestion tube holder. The digestion tube holder rotates under the control of the first servo mechanism to pour the sample in the digestion tube into the colorimetric tube. The negative pressure filtration module includes: a negative pressure filtration cylinder, a sealing plate, and a vacuum pump. The sealing plate is positioned above the negative pressure filtration cylinder and has a Buchner funnel holder for holding the Buchner funnel. The negative pressure filtration cylinder has a second colorimetric tube holder and a vacuum pump connection port connected to the vacuum pump to create a negative pressure environment during filtration. The second colorimetric tube holder holds the colorimetric tube to receive the filtered sample.

5. The environmental quality testing sample pretreatment instrument as described in claim 1, characterized in that: The volume adjustment module includes: a colorimetric tube fixing device, a reagent adding device, and a scale recognition device. The colorimetric tube containing the test sample is placed on the colorimetric tube fixing device, and the reagent adding device adds reagent to the sample to adjust the volume. The scale recognition device is equipped with a second vision camera, which identifies the scale reached by the volume adjustment. The pipette also includes: a pipette body, one end of which is fixed to the three-axis robotic arm B, and the other end is connected to the tip head for taking liquid from the sample after it has been brought to a fixed volume. After taking the liquid, the other end of the tip head is connected to the filter plate for passing the sample through a membrane and pipetting.

6. The environmental quality testing sample pretreatment instrument as described in claim 5, characterized in that: The scale recognition device is also provided with a second light source. The second vision camera and the second light source are arranged opposite each other on both sides of the colorimetric tube fixing device. The colorimetric tube is illuminated by the second light source to enhance the recognition of the volumetric liquid level of the colorimetric tube by the second vision camera.

7. The environmental quality testing sample pretreatment instrument as described in claim 5, characterized in that: The volumetric membrane-filling device is further provided with a switch cover module, which includes: a second frame and a second switch cover device and a first pneumatic gripper mounted on the second frame; The second cover switch device includes: a first mounting base, a first slide, a fourth servo mechanism, and an automatic cover switch assembly. A guide rod is provided on the first mounting base; the first slide is fitted in the guide rod, and the automatic cover switch assembly is mounted on the first slide. The first slide moves up and down along the guide rod under the control of the fourth servo mechanism. The automatic cover opening and closing assembly includes: a pull rod, a first housing, a gripper, a tube cap fixing head, and a seventh servo mechanism. The seventh servo mechanism is installed on the top of the first housing. The pull rod is located inside the first housing, with one end connected to the seventh servo mechanism and the other end having two protrusions. A pair of grippers are provided, respectively hinged to both sides of the first housing, and one end of each gripper has a ball joint that engages between the protrusions. When the pull rod moves up and down under the control of the seventh servo mechanism, the grippers open and close under the pull rod's influence. The tube cap fixing head is installed at the bottom of the first housing, and the inner cavity of the second tube cap fixing head has a fixing groove corresponding to the tube cap of the colorimetric tube to clamp the tube cap of the colorimetric tube.

8. The environmental quality testing sample pretreatment instrument as described in claim 7, characterized in that: The second cover opening and closing device further includes a fourth synchronous pulley and a fifth servo mechanism. The fifth servo mechanism is connected to the automatic cover opening and closing assembly via the fourth synchronous pulley. The automatic cover opening and closing assembly rotates under the control of the fifth servo mechanism to loosen the cover and release pressure on the color tube.

9. The environmental quality testing sample pretreatment instrument as described in claim 7, characterized in that: The switch cover module also includes: a second synchronous pulley, a second servo mechanism and a tube cover placement box. The second frame is also provided with a first guide rail, and the tube cover placement box is located on one side of the second switch cover device. The first mounting base is snapped onto the first guide rail, and the first mounting base is connected to the second servo mechanism via the second synchronous pulley. Under the control of the second servo mechanism, the first mounting base moves along the first guide rail to place the cap of the colorimetric tube, which is held after opening, into the cap placement box.

10. The environmental quality testing sample pretreatment instrument as described in claim 5, characterized in that: The volume-fixing membrane device is also provided with a shaking module, which includes: a third frame and a colorimeter tube clamping device, a third synchronous pulley, a second rotating shaft and a third servo mechanism installed on the third frame; The third servo mechanism is connected to one end of the second rotating shaft via the third synchronous pulley, and the other end of the second rotating shaft is connected to the colorimetric tube clamping device. The colorimetric tube clamping device rotates under the control of the third servo mechanism.

11. The environmental quality testing sample pretreatment instrument as described in claim 10, characterized in that: The colorimetric tube clamping device includes: a second mounting base and a second pneumatic gripper, a pressure plate and a sixth servo mechanism mounted on the second mounting base; The second pneumatic grippers move towards each other to clamp the colorimetric tube; the pressure plate is located on top of the second mounting base, and the pressure plate presses down on the tube cap of the colorimetric tube under the control of the sixth servo mechanism.

12. The environmental quality testing sample pretreatment instrument as described in claim 5, characterized in that: The constant volume membrane device is further provided with a waste tip head and filter disc separation module, which includes a waste tip head and filter disc separation device. The waste tip separation device is provided with a separation frame and a second housing. A notch is provided between the separation frame and the second housing to allow the pipette to enter the cavity formed by the separation frame and the second housing. The top of the separation frame is provided with at least one tip separation port. When the pipette catches the tip in the tip separation port and pulls it upward, the tip separates from the pipette body. A limiting slot and a baffle are provided directly below the tip separation port. The baffle has a filter disc separation port. When the pipette jams the filter disc in the filter disc separation port, the limiting slot limits the tip. When the pipette is pulled upward, the filter disc separates from the tip.

13. The environmental quality testing sample pretreatment instrument as described in claim 5, characterized in that: The constant volume membrane device is also equipped with a filter tray rack for placing replacement filter trays. The filter tray frame includes: a fourth frame and a filter tray placed on the fourth frame; The fourth frame includes: a second guide rail, a second slide table, a third guide rail, a third slide table and a fifth synchronous pulley. The second slide table and the third slide table are respectively engaged on the second guide rail and the third guide rail, and the second slide table and the third slide table are connected by the fifth synchronous pulley. The filter tray is placed on the second slide and the third slide, and the filter tray is provided with a plurality of filter tray placement slots for placing filter trays. Unused filter trays are placed on the filter tray on one side slide, and the filter tray on the other side slide is empty.

14. The environmental quality testing sample pretreatment instrument as described in claim 13, characterized in that: A single-axis robotic arm is installed on one side of the fourth frame, and a protrusion is provided in the center of the filter tray placement plate. The single-axis robotic arm moves the filter tray placement plate between the second slide and the third slide by grabbing the protrusion on the filter tray placement plate, so as to perform batch replacement of filter trays.

15. An environmental quality testing sample pretreatment instrument as described in any one of claims 1-14, characterized in that: The heating acid removal device, the negative pressure filtration device, and the constant volume membrane device are all equipped with a three-axis robotic arm A to transfer samples between different modules in each device. Furthermore, the external parts of the heating acid removal device, heating digestion device, negative pressure filtration device, and constant volume membrane device are all equipped with anti-corrosion covers, and ventilation systems are installed on the anti-corrosion covers.

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