Sampling device, control method and automated production device

Abstract

The application discloses a sampling device, a control method and an automatic production device, and relates to the field of automatic sample processing equipment.The sampling device comprises a bottle taking device, a liquid taking device and a controller.The bottle taking device comprises a mechanical arm, a cap screwing assembly, a sample rack and a sample bottle with a bottle cap.The liquid taking device comprises an agitator kettle, a pressurizing assembly, a liquid taking driving assembly, a liquid taking seat, a liquid taking pipe and a liquid outlet head.The pressurizing assembly, the cap screwing assembly, the liquid taking driving assembly and the mechanical arm are electrically connected to the controller.The controller controls the mechanical arm to transfer the sample bottle to the cap screwing assembly, and controls the cap screwing assembly to remove the bottle cap.The controller controls the mechanical arm to transfer the sample bottle to the liquid taking seat, and controls the liquid taking driving assembly to drive the liquid outlet head to descend to the bottle mouth of the sample bottle.The controller controls the pressurizing assembly to pressurize, so that the polymerization liquid in the liquid storage cavity flows into the sample bottle through the liquid taking pipe and the liquid outlet head.The sampling device can realize automatic and continuous sampling.

Description

Technical Field

[0001] This invention relates to the field of automated sample processing equipment, and particularly to a sampling device, control method, and automated production equipment. Background Technology

[0002] Currently, in the production process of aramid fibers, the collection of polymerization solution samples still mainly relies on manual labor, which results in low collection efficiency and makes it impossible to achieve continuous sampling over a long period of time. In addition, due to the high viscosity of the polymerization solution and its susceptibility to the effects of moisture and oxygen in the environment, it is difficult to obtain high-quality and unspoiled samples. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a sampling device that can automate the sampling of polymer solutions and obtain high-quality, undeteriorated samples.

[0004] The sampling device provided according to an embodiment of the present invention includes:

[0005] A bottle-retrieving device includes a robotic arm, a capping assembly, a sample rack, and a sample bottle with a cap. The capping assembly and the sample rack are located on one side of the robotic arm, and the sample bottle is located inside the sample rack.

[0006] A liquid extraction device includes a polymerization reactor, a pressurizing assembly, a liquid extraction driving assembly, a liquid extraction seat, a liquid extraction tube, and a liquid outlet head. The liquid extraction driving assembly is driven and connected to the liquid outlet head to drive the liquid outlet head to rise or fall. The liquid extraction seat is located below the liquid outlet head. The polymerization reactor has a liquid storage chamber and is provided with a pressurizing hole communicating with the liquid storage chamber. The pressurizing assembly pressurizes the liquid storage chamber through the pressurizing hole. The polymerization reactor is connected to the liquid outlet head through the liquid extraction tube.

[0007] The controller, the pressurizing component, the capping component, the liquid dispensing drive component, and the robotic arm are all electrically connected to the controller;

[0008] The controller is used to control the robotic arm to transfer the sample bottle to the capping assembly and to control the capping assembly to remove the cap. The controller is also used to control the robotic arm to transfer the sample bottle to the liquid dispensing seat and to control the liquid dispensing drive assembly to drive the liquid dispensing head down to the mouth of the sample bottle. The controller further uses the controller to control the pressurizing assembly to pressurize the liquid storage chamber so that the polymer liquid in the liquid storage chamber flows into the sample bottle through the liquid dispensing tube and the liquid dispensing head.

[0009] The sampling device provided according to the embodiments of the present invention further includes a waste liquid collection device, the waste liquid collection device including a liquid guide head and a waste liquid collection component, the liquid guide head being disposed on the waste liquid collection component and located at the bottom of the liquid collection seat, the liquid collection seat having a clearance port communicating with the liquid guide head, and the liquid collection driving component being used to drive the liquid outlet head to descend so that the liquid outlet head passes through the clearance port and docks with the liquid guide head.

[0010] The sampling device provided according to an embodiment of the present invention includes at least two liquid collection devices arranged side by side, and the robotic arm is capable of alternately placing the sample bottle on the liquid collection seat of at least two of the liquid collection devices.

[0011] The sampling device provided according to the embodiments of the present invention further includes a waste liquid collection device, the waste liquid collection device including two liquid guide heads, a support base, a lifting drive component, a waste liquid head, a waste liquid collection component and a connecting base;

[0012] Each liquid dispensing seat has a liquid guide head at its bottom and a clearance port that communicates with the liquid guide head. Each liquid dispensing drive assembly drives a liquid outlet head to descend so that the liquid outlet head passes through the clearance port and docks with the liquid guide head.

[0013] The lifting drive is located on the support base and is connected to the connecting base. Both liquid guide heads and waste liquid heads are located on the connecting base and are connected to each other. The lifting drive can drive the connecting base to rise and fall so that the waste liquid head can be separated from or connected to the waste liquid collection device.

[0014] The sampling device provided according to an embodiment of the present invention further includes a cap storage device, which is disposed on one side of the capping assembly. The cap storage device has at least two cap storage slots. After the capping assembly removes the bottle cap, it can transfer the bottle cap to the cap storage slot.

[0015] According to the sampling device provided in the embodiment of the present invention, the storage cover device includes a fixed base and a storage cover component, wherein the storage cover component is detachably connected to the fixed base and has at least two storage cover grooves on its upper end surface.

[0016] According to the sampling device provided in the embodiments of the present invention, the capping assembly includes a cap-removing drive arm, a rotating gripper, and a cap-removing seat. The cap-removing drive arm is disposed on one side of the robotic arm, the rotating gripper is disposed at the end of the cap-removing drive arm, and the cap-removing seat is disposed below the rotating gripper for fixing the sample bottle.

[0017] According to the sampling device provided in the embodiments of the present invention, the liquid-taking drive assembly includes a liquid-taking drive arm, the liquid-taking device further includes a position sensor, the liquid outlet head is connected to the liquid-taking drive arm, and the position sensor is disposed on the liquid-taking drive arm and located on one side of the liquid-taking seat to detect whether the sample bottle is present in the liquid-taking seat.

[0018] An embodiment of the present invention also proposes a control method applied to the sampling device provided in the embodiment of the present invention, the control method comprising:

[0019] The robotic arm is controlled to transfer the sample vial to the capping assembly, and the capping assembly removes the cap from the sample vial.

[0020] The robotic arm is controlled to transfer the sample bottle to the liquid dispensing seat, and the liquid dispensing drive assembly drives the liquid dispensing head to descend to the mouth of the sample bottle;

[0021] The pressurization component is controlled to pressurize the liquid storage chamber so that the liquid in the liquid storage chamber flows into the sample bottle through the liquid collection tube and the liquid outlet.

[0022] Embodiments of the present invention also propose an automated production device, including the sampling device provided in the embodiments of the present invention.

[0023] The sampling device provided by the embodiments of the present invention has at least the following beneficial effects: the robotic arm can transfer the sample bottle between the capping assembly and the liquid collection seat, and the capping assembly can automatically remove the cap, avoiding contamination and errors that may be caused by manual operation. In the liquid collection device, the polymerization reactor, the pressurizing assembly, the liquid collection drive assembly, the liquid collection seat, the liquid collection tube, and the liquid outlet work together. Under the control of the controller, the liquid collection drive assembly drives the liquid outlet to descend to the mouth of the sample bottle. The pressurizing assembly pressurizes the liquid storage chamber of the polymerization reactor, so that the polymer liquid in the liquid storage chamber flows into the sample bottle through the liquid collection tube and the liquid outlet. Through automated control, long-term continuous sampling can be achieved. Furthermore, because the pressurizing assembly pressurizes the polymer liquid, it can flow into the sample bottle quickly, thereby shortening the liquid collection time and reducing the contact time between the polymer liquid and the moisture and oxygen in the environment. This allows for the acquisition of high-quality and undeteriorated polymer liquid samples, meeting the requirements of experimental and production standards for polymer liquid sample quality.

[0024] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0026] Figure 1A schematic diagram of the overall structure of the sampling device provided in an embodiment of the present invention;

[0027] Figure 2 Schematic diagrams of the bottle-removing device and liquid-removing device provided for embodiments of the present invention;

[0028] Figure 3 This is a schematic diagram of the liquid dispensing drive assembly and the capping assembly provided in an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the liquid extraction drive assembly and waste liquid collection device provided in an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the waste liquid collection device provided in an embodiment of the present invention;

[0031] Figure 6 A flowchart illustrating the control method provided in an embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of the polymer liquid treatment unit provided in an embodiment of the present invention.

[0033] The attached icons are numbered as follows:

[0034] 100. Rack;

[0035] 200. Bottle picking device; 210. Robotic arm; 220. Capping assembly; 221. Cap picking drive arm; 222. Rotary gripper; 223. Cap picking seat; 230. Sample rack; 240. Sample bottle;

[0036] 300. Liquid dispensing device; 310. Polymerization reactor; 311. Pressure port; 320. Liquid dispensing drive assembly; 321. Liquid dispensing drive arm; 322. Position sensor; 330. Liquid dispensing seat; 340. Liquid dispensing tube; 350. Liquid outlet head;

[0037] 400 Waste liquid collection device; 410 Liquid guide head; 420 Support base; 430 Lifting drive component; 440 Waste liquid head; 450 Waste liquid collection component; 460 Connecting base;

[0038] 500. Storage cover device; 510. Fixing base; 520. Storage cover component; 521. Storage cover trough;

[0039] 600. Degassing kettle. Detailed Implementation

[0040] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0041] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0042] In the description of this invention, the use of "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0043] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0044] Currently, in the production process of aramid fibers, the collection of polymerization solution samples still mainly relies on manual labor, which results in low collection efficiency and makes it impossible to achieve continuous sampling over a long period of time. In addition, due to the high viscosity of the polymerization solution and its susceptibility to the effects of moisture and oxygen in the environment, it is difficult to obtain high-quality and unspoiled samples.

[0045] The present invention provides a sampling device for use in automated production equipment, which can be fiber automated production equipment. The following will take the sampling of polymerization liquid in fiber automated production equipment as an example, and describe the specific structure and function of the sampling device provided in the present invention with reference to the text and the accompanying drawings.

[0046] Reference Figures 1 to 5According to an embodiment of the present invention, a sampling device includes a frame 100, a bottle-grabbing device 200, a liquid-grabbing device 300, and a controller. The bottle-grabbing device 200 is mounted on the frame 100 and includes a robotic arm 210, a capping assembly 220, a sample holder 230, and sample bottles 240 with caps. The robotic arm 210 has multiple degrees of freedom and can move and position flexibly in three-dimensional space. Its end has a rotary motor and a gripper. The rotary motor drives the gripper to rotate on a horizontal plane, and the gripper is used to grasp and transfer the sample bottles 240. The capping assembly 220 is fixedly mounted on the frame 100 and located on one side of the robotic arm 210 to realize the opening and tightening operations of the caps on the sample bottles 240. The sample holder 230 is provided with multiple grooves adapted to the shape of the sample bottles 240 for placing the sample bottles 240. The sample holder 230 is installed within the working range of the robotic arm 210 to facilitate the robotic arm 210 in grasping and placing the sample bottles 240.

[0047] The liquid collection device 300 includes a polymerization reactor 310, a pressurizing assembly, a liquid collection drive assembly 320, a liquid collection seat 330, a pressurizing pipe, a liquid collection pipe 340, and a liquid outlet 350. The polymerization reactor 310 has an internal storage chamber for storing the polymerization liquid, and its outer wall has a pressurizing hole 311 communicating with the storage chamber. The pressurizing assembly is connected to the pressurizing hole 311 of the polymerization reactor 310 via a pressurizing pipe, enabling the injection of inert gas into the storage chamber to provide stable pressure. The liquid collection drive assembly 320 is mounted on the frame 100 and located on one side of the robotic arm 210. The liquid outlet 350 is fixedly mounted on the liquid collection drive assembly 320. Under the control of the controller, the liquid collection drive assembly 320 can drive the liquid outlet 350 to rise or fall. The liquid collection seat 330 is installed below the liquid outlet 350 and has a positioning groove adapted to the shape of the bottom of the sample bottle 240 for placing the sample bottle 240. One end of the liquid collection tube 340 is connected to the bottom of the polymerization reactor 310, and the other end is connected to the liquid outlet 350, so as to realize the transfer of the polymerization liquid from the storage chamber to the sample bottle 240.

[0048] In practical use, multiple sample vials 240 are first placed inside the sample rack 230. After the controller is activated, it sends a command to control the robotic arm 210. The robotic arm 210 uses a gripper to pick up one sample vial 240 from the sample rack 230 and transfers it to the capping assembly 220. At this time, the controller controls the capping assembly 220 to unscrew the cap of the sample vial 240. The robotic arm 210 then transfers the capped sample vial 240 to the liquid-collecting seat 330, ensuring that the bottom of the sample vial 240 accurately falls into the positioning groove of the liquid-collecting seat 330, thus achieving positioning.

[0049] Next, the controller controls the liquid dispensing drive assembly 320 to lower the liquid outlet head 350 until the outlet of the liquid outlet head 350 is positioned appropriately above the mouth of the sample bottle 240. Then, the controller controls the pressurization assembly to start, injecting inert gas into the liquid storage chamber of the polymerization reactor 310 through the pressurization pipe to increase the pressure in the liquid storage chamber, causing the polymerization liquid to flow into the sample bottle 240 through the liquid dispensing pipe 340 and the liquid outlet head 350.

[0050] After sampling is completed, the controller controls the liquid-taking drive assembly 320 to raise the liquid outlet 350 to its initial position. The robotic arm 210 removes the sample vial 240 from the liquid-taking seat 330 and transfers it to the capping assembly 220. The capping assembly 220 tightens the cap back onto the sample vial 240. Finally, the robotic arm 210 returns the sample vial 240, now capped and sampled, to its corresponding position on the sample rack 230. This completes one sampling operation of the polymerization liquid. Subsequent sampling of other sample vials 240 on the sample rack 230 can be performed using the same procedure.

[0051] The sampling device provided in this embodiment of the invention has a robotic arm 210 that can transfer the sample bottle 240 between the capping assembly 220 and the liquid collection seat 330. The capping assembly 220 can automatically remove the cap, avoiding contamination and errors that may be caused by manual operation. In the liquid collection device 300, the polymerization vessel 310, pressurizing component, liquid collection drive component 320, liquid collection seat 330, pressurizing tube, liquid collection tube 340, and liquid outlet 350 work together. Under the control of the controller, the liquid collection drive component 320 drives the liquid outlet 350 to descend to the mouth of the sample bottle 240. The pressurizing component pressurizes the liquid storage chamber of the polymerization vessel 310, so that the polymer liquid in the liquid storage chamber flows into the sample bottle 240 through the liquid collection tube 340 and the liquid outlet 350. Through automated control, long-term continuous sampling can be achieved. Furthermore, due to the pressurization by the pressurizing component, the polymer liquid can flow into the sample bottle 240 quickly, thereby shortening the liquid collection time and reducing the contact time between the polymer liquid and the moisture and oxygen in the environment. This allows for the acquisition of high-quality and undeteriorated polymer liquid samples, meeting the requirements for the quality of polymer liquid samples during the detection process.

[0052] Optionally, the sampling base 330 is connected to a gravity detector electrically connected to the controller, or the sampling base 330 is equipped with a gravity sensor electrically connected to the controller. The gravity detector or gravity sensor is used to detect the weight of the sample vial 240. During sampling, the controller can control the start and stop of the pressurization component based on the weight of the sample vial 240 fed back by the gravity detector or gravity sensor, thereby controlling the amount of sample taken. In addition, the controller can also control the amount of sample taken by controlling the pressure and duration of pressurization by the pressurization component.

[0053] Optionally, an electromagnetic control valve is also connected to one end of the liquid collection pipe 340 near the polymerization reactor 310. This electromagnetic control valve is connected to a controller to control the connection and disconnection of the liquid collection pipe 340.

[0054] Reference Figures 4 to 7 According to the sampling device provided in the embodiment of the present invention, a waste liquid collection device 400 is also included. The waste liquid collection device 400 is disposed on the frame 100 and is located entirely below the liquid outlet 350. During or after the sampling process, the waste liquid collection device 400 is used to collect any waste liquid that may be generated, so as to prevent the waste liquid from flowing randomly and causing pollution to the equipment and working environment.

[0055] The waste liquid collection device 400 includes a liquid guide head 410 and a waste liquid collection component 450 connected to each other. The liquid guide head 410 is made of a hard material with good corrosion resistance, which enables the liquid guide head 410 to resist the erosion of the polymer liquid and its possible impurities, ensuring that the liquid guide head 410 will not be damaged during long-term use and guaranteeing the stability and reliability of waste liquid collection. The liquid guide head 410 is located at the bottom of the liquid receiving seat 330 and directly below the liquid outlet head 350. The liquid receiving seat 330 is provided with a through clearance opening. When the liquid receiving drive component 320 drives the liquid outlet head 350 to descend, the liquid outlet head 350 can pass through the clearance opening and connect with the liquid guide head 410, so that the waste liquid can flow into the waste liquid collection component 450 through the liquid guide head 410.

[0056] In actual operation, after a sampling operation is completed, or when waste liquid is generated due to cleaning of the outlet head 350, the controller sends a command to control the liquid-taking drive component 320 to operate. The liquid-taking drive component 320 drives the outlet head 350 to descend. As the outlet head 350 descends, its outlet gradually approaches the guide head 410 at the bottom of the liquid-taking seat 330. When the outlet head 350 descends to the preset position, the outlet head 350 and the guide head 410 are connected. At this time, the polymer liquid remaining in the outlet head 350 or the waste liquid generated from cleaning can flow into the guide head 410 through the outlet of the outlet head 350 under the action of gravity and the pressure of the pressurizing component, so as to be stored in the waste liquid collection component 450, thereby realizing the collection of waste liquid.

[0057] Optionally, the polymerization reactor 310 can be connected to an automatic cleaning device. This device injects cleaning fluid into the storage chamber of the polymerization reactor 310 for cleaning and generates waste liquid. After cleaning, the controller sends a command to activate the liquid-taking drive assembly 320. The liquid-taking drive assembly 320 drives the outlet head 350 to descend. As the outlet head 350 descends, its outlet gradually approaches the guide head 410 at the bottom of the liquid-taking seat 330. When the outlet head 350 reaches a preset position, it connects with the guide head 410. At this point, the controller can control the pressurizing assembly to pressurize, allowing the waste liquid in the storage chamber to flow into the guide head 410 through the outlet of the outlet head 350, thereby achieving waste liquid collection.

[0058] Reference Figure 1 According to an embodiment of the present invention, a sampling device includes at least two liquid sampling devices 300, which are arranged side-by-side in the overall layout of the sampling device. Each liquid sampling device 300 includes components such as a polymerization vessel 310, a pressurizing assembly, a liquid sampling drive assembly 320, a liquid sampling seat 330, a pressurizing pipe, a liquid sampling pipe 340, and a liquid outlet 350. The polymerization vessel 310 has a storage chamber for storing the sampled polymerization liquid inside, and a pressurizing hole 311 communicating with the storage chamber on its outer wall. The two polymerization vessels 310 can store the same or different types of polymerization liquids respectively as needed. Each pressurizing assembly is connected to the pressurizing hole 311 of the corresponding polymerization vessel 310 through a pressurizing pipe, and can independently provide a stable pressure to its corresponding storage chamber, ensuring that the two liquid sampling devices 300 do not interfere with each other during the sampling process.

[0059] In actual operation, the controller can control the operation of the two liquid sampling devices 300 according to a preset sampling program. For example, when sampling two different polymer solutions is required, the controller first controls the robotic arm 210 to transfer the sample bottle 240 to the liquid sampling seat 330 of the first liquid sampling device 300. Then, the controller controls the liquid sampling drive component 320 of the first liquid sampling device 300 to drive the liquid outlet 350 down to the mouth of the sample bottle 240. Next, the controller controls the pressurizing component of the first liquid sampling device 300 to pressurize the corresponding liquid storage chamber, so that the polymer solution flows into the sample bottle 240. After the sampling of the first liquid sampling device 300 is completed, the controller then controls the robotic arm 210 to transfer the sample bottle 240 to the liquid sampling seat 330 of the second liquid sampling device 300, and controls the second liquid sampling device 300 to complete the sampling of another polymer solution according to the same process.

[0060] Optionally, the number of liquid dispensing devices 300 can be two, three, four, etc., which can be set according to actual needs.

[0061] Reference Figures 4 to 7According to the sampling device provided in the embodiments of the present invention, the waste liquid collection device 400 includes two liquid guide heads 410, a support base 420, a lifting drive component 430, a waste liquid head 440, a waste liquid collection component 450, and a connecting seat 460. The support base 420 is a support component, which is mounted on the frame 100 by fasteners and is located below the liquid collection head. The lifting drive component 430 includes a lifting cylinder, a lifting electric push rod, etc., which is vertically mounted on the support base 420. The connecting seat 460 is mounted on the lifting rod of the lifting drive component 430.

[0062] Both liquid guide heads 410 are mounted on the connecting seat 460 and extend upward to the bottom of the liquid collection seat 330 of the two liquid collection devices 300. The bottom wall of each liquid collection seat 330 is provided with a clearance port that communicates with the liquid guide head 410. The liquid collection drive assembly 320 of the two liquid collection devices 300 can drive the liquid outlet head 350 connected to it to descend so that the liquid outlet head 350 passes through the clearance port and docks with the liquid guide head 410.

[0063] The waste liquid head 440 is fixed to the connecting seat 460 by clamps and fasteners and is located below the liquid guide head 410. The upper end of the waste liquid head 440 is connected to both liquid guide heads 410 simultaneously, and the lower end is inserted into the opening of the waste liquid collection component 450. The waste liquid collection component 450 is a container for holding waste liquid, usually made of corrosion-resistant material. The waste liquid collection component 450 is placed in a suitable position below the waste liquid head 440, and the height and shape of its opening match the waste liquid head 440 so that the waste liquid head 440 can be accurately aligned and inserted into it.

[0064] The lifting drive component 430 can drive the connecting seat 460 to rise and fall, thereby driving the two liquid guide heads 410 and the waste liquid head 440 to rise and fall simultaneously, thus realizing the separation or docking of the waste liquid head 440 and the waste liquid collection component 450.

[0065] In actual operation, when waste liquid needs to be collected, the controller first controls the lifting drive component 430 to move. The lifting rod of the lifting drive component 430 extends downward, causing the connecting seat 460 and the waste liquid head 440 to descend and insert the waste liquid head 440 into the opening of the waste liquid collection component 450. At this time, the waste liquid flowing from the outlet head 350 into the guide head 410 flows smoothly into the waste liquid collection component 450 through the channel inside the waste liquid head 440. After the waste liquid collection is completed, or when it is necessary to replace or clean the waste liquid collection component 450, the controller controls the lifting drive component 430 to move in the opposite direction, causing the waste liquid head 440 to rise and separate from the waste liquid collection component 450. In this way, the waste liquid collection component 450 can be easily removed for processing.

[0066] It should be noted that, due to the corrosive nature of the polymer solution, both the guide head 410 and the waste liquid head 440 used in the waste liquid collection device 400 are made of hard, corrosion-resistant materials and must be kept sealed. Therefore, the guide head 410 and the waste liquid head 440 are mounted on the connecting seat 460. This allows them to rise and fall simultaneously during the lifting process, preventing relative movement between them and improving the sealing of their connection.

[0067] Reference Figures 1 to 3 According to the sampling device provided in the embodiments of the present invention, a cap storage device 500 is also included. The cap storage device 500 is disposed on one side of the cap screwing assembly 220. Its specific position can be set according to the requirements to ensure that the cap screwing assembly 220 can transfer the bottle cap into the cap storage device 500 after completing the cap removal action.

[0068] The cap storage device 500 is provided with at least two cap storage slots 521, the shape and size of which are customized according to the shape of common sample bottle 240 caps. For example, for common round caps, the cap storage slot 521 is designed as a matching round groove with a depth less than the height of the cap to ensure that the cap protrudes so that the cap screw-on assembly 220 can grip it.

[0069] During the actual sampling operation, when it is necessary to sample the sample vial 240, the capping assembly 220 moves above the cap of the sample vial 240 and removes the cap from the sample vial 240. After removing the cap, under the control of the controller, the capping assembly 220 transfers the cap to one of the cap storage slots 521 of the cap storage device 500 according to a preset path. Subsequently, the capping assembly 220 slowly descends, accurately placing the cap into the cap storage slot 521, and releases the gripping force on the cap, completing the cap storage action.

[0070] If multiple sample vials 240 need to be operated on during the sampling process, and each sample vial 240 requires repeated steps of cap removal, sampling, and cap closing, the multiple cap storage slots 521 of the cap storage device 500 can improve sampling efficiency. For example, when processing two sample vials 240, the capping assembly 220 first removes the cap of the first sample vial 240 and places it into the first cap storage slot 521. After sampling the first sample vial 240, the cap of the second sample vial 240 is removed and placed into the second cap storage slot 521. In subsequent capping operations, the capping assembly 220 can, according to the controller's instructions, remove the cap from the corresponding cap storage slot 521 and accurately put it back on the corresponding sample vial 240, ensuring the accuracy and efficiency of the entire sampling process.

[0071] Reference Figures 1 to 3According to the sampling device provided in the embodiment of the present invention, the cap storage device 500 includes a fixed base 510 and a cap storage component 520. The fixed base 510 includes a base plate and multiple support columns disposed on the base plate. The base plate is fixed to the frame 100 by fasteners. Its installation position can be set according to actual needs to ensure that the cap storage device 500 is located in a suitable position on one side of the capping assembly 220, so that the capping assembly 220 can accurately transfer the removed bottle caps to the cap storage component 520.

[0072] The cap storage component 520 is located at the top of multiple support pillars. The upper surface of the cap storage component 520 has at least two cap storage slots 521, the layout of which is rationally planned according to actual usage requirements. For example, when multiple sample vials 240 of different sizes need to be processed simultaneously, the cap storage slots 521 can be grouped and arranged according to different sizes and shapes. For common round caps, the cap storage slots 521 are designed as matching circular grooves. The depth and diameter of the grooves are designed according to the specific dimensions of the caps to ensure that the caps can be tightly placed within the grooves and will not shake or fall off due to equipment vibration.

[0073] In actual operation, after the capping assembly 220 removes the cap from the sample vial 240, the controller, according to a preset program, moves the capping assembly 220 to the corresponding cap storage slot 521 above the cap storage component 520. The capping assembly 220 slowly descends, accurately placing the cap into the cap storage slot 521, and then releases its gripping force on the cap. When the cap needs to be used again, the capping assembly 220 moves above the corresponding cap storage slot 521, removes the cap from the cap storage slot 521, and transfers it to the sample vial 240 for capping.

[0074] Optionally, the cap 520 and the fixing base 510 are detachably connected to facilitate disassembly and cleaning, or to facilitate replacement of the cap 520, so as to realize the replacement of cap slots 521 of different sizes, so that the cap device 500 can use bottle caps of different specifications.

[0075] Reference Figures 1 to 3 According to the sampling device provided in the embodiments of the present invention, the capping assembly 220 includes a cap-removing drive arm 221, a rotating gripper 222, and a cap-removing seat 223. The cap-removing drive arm 221 is located on one side of the robotic arm 210, and its installation position can be set according to actual needs to ensure that it can cover the area above the sample bottle 240 and the cap storage device 500 under the drive of the robotic arm 210, thereby realizing the cap removal and cap placement actions. The cap-removing drive arm 221 includes two sets of linear modules, one set arranged vertically and the other set horizontally. The two sets of linear modules cooperate to realize the movement of the cap-removing drive arm 221 in different directions.

[0076] A rotating gripper 222 is located at the end of the cap-removing drive arm 221. A cap-removing seat 223 is connected to the frame 100 and located below the rotating gripper 222, used to hold sample vials 240. The rotating gripper 222 consists of at least two movable claws, the shape and size of which can be designed according to the shape and size of the bottle cap. A motor is installed inside the rotating gripper 222 to drive the claws to rotate. When a bottle cap needs to be grasped, the cap-removing drive arm 221 moves the rotating gripper 222 above the bottle cap. Then, the claws of the rotating gripper 222 gradually tighten and grasp the bottle cap, and the motor drives the claws to rotate, thereby removing the bottle cap. When it is necessary to put the bottle cap back on, the process is reversed.

[0077] Reference Figures 1 to 5 According to the sampling device provided in the embodiments of the present invention, the liquid-taking drive assembly 320 includes a liquid-taking drive arm 321, and the liquid-taking device 300 also includes a position sensor 322. The liquid-taking drive arm 321 is connected to the frame 100 via an L-shaped bracket. It is a vertically arranged linear module or an electric push rod, etc. The liquid-taking drive arm 321 is mounted on the frame 100, and its installation position can be set according to requirements to ensure that the liquid outlet 350 can cover the sample bottle 240 on the liquid-taking seat 330 under the drive of the liquid-taking drive arm 321. The stroke of the liquid-taking drive arm 321 is designed according to the height of the sample bottle 240 and the sampling requirements to ensure that the liquid outlet 350 can smoothly extend into the sample bottle 240 for liquid taking, and can rise after sampling to avoid collision with the sample bottle 240 or other components.

[0078] A position sensor 322 is mounted on the liquid dispensing drive arm 321 and located on one side of the liquid dispensing seat 330. It is used to detect in real time whether there is a sample bottle 240 on the liquid dispensing seat 330. The position sensor 322 adopts photoelectric sensor or ultrasonic sensor, etc., and its position can be set according to actual needs to ensure that its detection range can accurately cover the sample bottle 240 placement area on the liquid dispensing seat 330, and can detect the insertion and removal of the sample bottle 240 in a timely and accurate manner.

[0079] During the actual sampling operation, when the sample vial 240 needs to be placed on the liquid collection seat 330 for sampling, the robotic arm 210 accurately places the sample vial 240 into the positioning groove of the liquid collection seat 330. The position sensor 322 immediately detects the presence of the sample vial 240 and transmits a signal to the controller. Based on the received signal, the controller controls the liquid collection drive arm 321 to lower the liquid outlet 350 and extend it into the sample vial 240. When the liquid outlet 350 reaches the preset liquid collection position, the controller controls the liquid collection device 300 to start the liquid collection operation. After being pressurized by the pressurizing component, the polymerization liquid flows from the polymerization reactor 310 into the sample vial 240 through the liquid outlet 350. After sampling is completed, the controller controls the liquid collection drive arm 321 to raise the liquid outlet 350. When it is necessary to remove the sample vial 240, the robotic arm 210 transfers the sample vial 240. Position sensor 322 detects that sample vial 240 has been removed and transmits a signal to the controller. The controller records the relevant status information to prepare for the next operation, such as sampling or waste disposal.

[0080] Optionally, the liquid dispensing drive assembly 320 also includes a tube rack with tube holes, through which the liquid dispensing tube 340 passes and is connected to the liquid outlet head 350.

[0081] Reference Figure 6 The embodiments of the present invention also propose a control method applied to the sampling device provided in the embodiments of the present invention. The control method includes:

[0082] S100: Control the robotic arm 210 to transfer the sample vial 240 to the capping assembly 220, and cause the capping assembly 220 to remove the cap from the sample vial 240;

[0083] S200: Control the robotic arm 210 to transfer the sample bottle 240 to the liquid collection seat 330, and cause the liquid collection drive assembly 320 to drive the liquid outlet head 350 down to the bottle mouth of the sample bottle 240.

[0084] S300: Control the pressurization component to pressurize the liquid storage chamber so that the liquid in the liquid storage chamber flows into the sample bottle 240 through the liquid collection tube 340 and the liquid outlet 350.

[0085] During operation, firstly, the controller issues a movement command to the robotic arm 210 according to a preset program. The robotic arm 210 can move to the initial placement position of the sample vial 240. This initial placement position can be a specific position on a pre-set sample storage rack. The robotic arm 210 uses its end gripper to grasp the sample vial 240 and then smoothly transfers the sample vial 240 to the capping assembly 220 along a predetermined path. When the sample vial 240 reaches the capping assembly 220, the cap of the sample vial 240 is removed by the capping assembly 220. The cap removal drive arm 221 of the capping assembly 220 starts working under the command of the controller, driving the rotating gripper 222 to descend to the cap of the sample vial 240. The rotating gripper 222 tightens and rotates through its internal drive device to loosen the cap of the sample vial 240, and then the cap removal drive arm 221 rises to remove the cap from the sample vial 240.

[0086] Next, the robotic arm 210 is controlled to transfer the sample bottle 240 to the liquid collection seat 330. The liquid collection seat 330 is provided with a positioning groove that matches the bottom of the sample bottle 240. The robotic arm 210 slowly lowers the sample bottle 240 so that the sample bottle 240 falls accurately into the positioning groove, thus achieving stable placement of the sample bottle 240 on the liquid collection seat 330.

[0087] Then, the liquid dispensing drive assembly 320 is controlled to lower the dispensing head 350 to the mouth of the sample vial 240. The controller sends a command to the liquid dispensing drive assembly 320, and the liquid dispensing drive arm 321 starts working, driving the dispensing head 350 downward so that the dispensing head 350 is lowered directly above the mouth of the sample vial 240, and maintains a suitable distance from the mouth, so that the liquid will not splash out due to excessive distance, nor will it collide due to excessive distance.

[0088] Finally, once the liquid outlet 350 accurately reaches the designated position, the controller sends a start command to the pressurization assembly. The pressurization assembly begins operation and injects inert gas (such as nitrogen or argon) into the liquid storage chamber, causing the liquid in the storage chamber to flow into the sample vial 240 at a stable flow rate through the liquid inlet tube 340 and the liquid outlet 350 under pressure.

[0089] Optionally, the sampling equipment also includes an automatic cleaning device and a waste liquid collection device 400. The polymerization reactor 310 is connected to a stirring assembly that extends into the storage chamber. The automatic cleaning device injects cleaning fluid into the storage chamber of the polymerization reactor 310. The stirring assembly performs cleaning and generates waste liquid. The waste liquid collection device 400 is located below the outlet head 350 and includes a guide head 410 located at the bottom of the liquid collection seat 330. The liquid collection drive assembly 320 drives the outlet head 350 to descend, so that the outlet head 350 aligns with the guide head 410. The control method also includes:

[0090] S400: Controls the automatic cleaning device to inject cleaning fluid into the storage chamber and controls the stirring component to stir to clean the storage chamber, thereby generating waste liquid;

[0091] S500: Control the liquid dispensing drive assembly 320 to drive the liquid dispensing head 350 down so that the liquid dispensing head 350 docks with the liquid guide head 410;

[0092] S600: Control the pressurization component to pressurize the liquid storage chamber so that the waste liquid in the liquid storage chamber flows into the liquid guide head 410 through the liquid intake pipe 340 and the liquid outlet head 350.

[0093] During operation, when cleaning is required, the controller controls the automatic cleaning device to inject cleaning fluid into the storage chamber according to the preset program. After the cleaning fluid in the storage chamber reaches a certain volume, the controller controls the stirring component to stir and clean the storage chamber, thereby generating waste liquid. Then, the controller controls the liquid extraction drive component 320 to drive the liquid outlet head 350 to descend so that the liquid outlet head 350 connects with the liquid guide head 410, and controls the pressurization component to pressurize the storage chamber so that the waste liquid in the storage chamber flows into the liquid guide head 410 through the liquid extraction pipe 340 and the liquid outlet head 350, thereby completing the cleaning.

[0094] Optionally, the liquid dispensing drive assembly 320 is equipped with a position sensor 322 on the liquid dispensing drive arm 321 to detect the position information of the sample bottle 240 on the liquid dispensing seat 330 in real time. When discharging waste liquid, the position sensor 322 needs to detect whether there is a sample bottle 240 on the liquid dispensing seat 330. If so, the robotic arm 210 needs to be controlled to transfer the sample bottle 240 so that the liquid outlet head 350 can be smoothly docked with the liquid guide head 410.

[0095] The present invention also proposes an automated production equipment, which includes a sampling device. The specific structure of the sampling device is as described in the above embodiments. Since the automated production equipment adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0096] Optional, refer to Figure 7 The automated production equipment is a fiber automated production equipment, specifically an aramid fiber automated production equipment. The aramid fiber automated production equipment has a polymerization liquid treatment unit and a spinning and forming unit. The polymerization liquid treatment unit includes a degassing kettle 600 and a sampling device as provided in the embodiment of the present invention. The degassing kettle 600 is connected to a vacuum degassing component to degas the polymerization liquid. The polymerization kettle 310 and the degassing kettle 600 operate independently of each other. The polymerization kettle 310 is connected to the degassing kettle 600 through a pipeline.

[0097] It should be noted that by injecting inert gas into the storage chamber through a pressurizing component, polymer solution samples can be obtained continuously and with high quality. However, this approach is not typically used in traditional aramid fiber production equipment because pressurizing the storage chamber would prolong the time required for subsequent degassing of the polymer solution, thus affecting the continuity and efficiency of the production process to some extent.

[0098] To address this issue, the polymerization liquid treatment unit of the automated aramid fiber production equipment in this embodiment of the invention includes two polymerization kettles 310 and four degassing kettles 600. Each polymerization kettle 310 is connected to two degassing kettles 600 via pipelines. The two polymerization kettles 310 complete the formation of the polymerization liquid, and the four degassing kettles 600 alternately degas it, thereby providing a stable polymerization liquid to the spinning and forming unit in an alternating manner. This solves the problem of prolonged sampling time caused by using pressurized components, which affects production.

[0099] The automated aramid fiber production equipment of this invention, by setting up a pressurizing component to inject inert gas into the polymerization reactor 310, automates the sampling of the polymerization liquid, enabling continuous acquisition of high-quality, undeteriorated samples. Simultaneously, it sets up two polymerization reactors 310 and four degassing reactors 600. The two polymerization reactors 310 complete the formation of the polymerization liquid, while the four degassing reactors 600 alternately degas, thus alternately providing a stable polymerization liquid to the spinning unit. This achieves both automated sampling of the polymerization liquid using the pressurizing component, continuously acquiring high-quality, undeteriorated samples, and avoids the problem of prolonged degassing time and production disruptions caused by using the pressurizing component for sampling, greatly improving the stability of sampling and production.

[0100] Of course, the present invention is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A sampling device applied to sampling of aramid polymer liquid, characterized in that, The application relates to a sampling device. The sampling device comprises a bottle taking device (200), a liquid taking device (300) and a controller. The bottle taking device (200) comprises a mechanical arm (210), a cap screwing assembly (220), a sample rack (230) and a sample bottle (240) with a bottle cap, the cap screwing assembly (220) and the sample rack (230) are arranged on one side of the mechanical arm (210), and the sample bottle (240) is arranged in the sample rack (230). The liquid taking device (300) comprises a polymerization kettle (310), a pressurizing assembly, a liquid taking driving assembly (320), a liquid taking seat (330), a liquid taking pipe (340) and a liquid outlet head (350), the liquid taking driving assembly (320) is drivingly connected to the liquid outlet head (350) and is used for driving the liquid outlet head (350) to ascend or descend, the liquid taking seat (330) is arranged below the liquid outlet head (350), the polymerization kettle (310) has a liquid storage cavity and is provided with a pressurizing hole (311) communicating with the liquid storage cavity, the pressurizing assembly pressurizes the liquid storage cavity through the pressurizing hole (311), and the polymerization kettle (310) is connected to the liquid outlet head (350) through the liquid taking pipe (340). The controller is electrically connected to the pressurizing assembly, the cap screwing assembly (220), the liquid taking driving assembly (320) and the mechanical arm (210). The controller is used for controlling the mechanical arm (210) to transfer the sample bottle (240) to the cap screwing assembly (220) and is used for controlling the cap screwing assembly (220) to take off the bottle cap, the controller is used for controlling the mechanical arm (210) to transfer the sample bottle (240) to the liquid taking seat (330) and is used for controlling the liquid taking driving assembly (320) to drive the liquid outlet head (350) to descend to the bottle mouth of the sample bottle (240), and the controller is used for controlling the pressurizing assembly to pressurize the liquid storage cavity so that polymerization liquid in the liquid storage cavity flows into the sample bottle (240) through the liquid taking pipe (340) and the liquid outlet head (350). The sampling device comprises at least two liquid taking devices (300), the at least two liquid taking devices (300) are arranged side by side, and the mechanical arm (210) can alternately place the sample bottle (240) on the liquid taking seats (330) of the at least two liquid taking devices (300). The sampling device further comprises a waste liquid collecting device (400), the waste liquid collecting device (400) comprises two liquid guide heads (410), a supporting seat (420), a lifting driving member (430), a waste liquid head (440), a waste liquid collecting member (450) and a connecting seat (460). The bottom of each liquid taking seat (330) is provided with a liquid guide head (410), each liquid taking seat (330) is provided with a gap mouth communicating with the liquid guide head (410), and each liquid taking driving assembly (320) drives a liquid outlet head (350) to descend so that the liquid outlet head (350) penetrates through the gap mouth and is connected with the liquid guide head (410). The lifting driving member (430) is arranged on the support base (420) and is drivingly connected to the connecting base (460), the two liquid guiding heads (410) and the waste liquid head (440) are sealingly connected and arranged on the connecting base (460), the two liquid guiding heads (410) and the waste liquid head (440) are connected in communication, and the lifting driving member (430) can drive the connecting base (460) to lift, so that the waste liquid head (440) is separated from or docked with the waste liquid collecting member (450).

2. The sampling device of claim 1, wherein, The cap storage device (500) is arranged on one side of the cap screwing assembly (220), and the cap storage device (500) is provided with at least two cap storage grooves (521), so that the bottle cap can be transferred to the cap storage grooves (521) after the bottle cap is removed by the cap screwing assembly (220).

3. The sampling device of claim 2, wherein, The cap storage device (500) comprises a fixing base (510) and a cap storage member (520), the cap storage member (520) is detachably connected to the fixing base (510) and is provided with at least two cap storage grooves (521) on the upper end face.

4. The sampling device of claim 2, wherein, The cap screwing assembly (220) comprises a cap taking driving arm (221), a rotating clamping jaw (222) and a cap taking seat (223), the cap taking driving arm (221) is arranged on one side of the mechanical arm (210), the rotating clamping jaw (222) is arranged at the end of the cap taking driving arm (221), and the cap taking seat (223) is arranged below the rotating clamping jaw (222) and is used for fixing the sample bottle (240).

5. The sampling device of any one of claims 1 to 4, wherein, The liquid taking driving assembly (320) comprises a liquid taking driving arm (321), the liquid taking device (300) further comprises a position sensor (322), the liquid outlet head (350) is connected to the liquid taking driving arm (321), and the position sensor (322) is arranged on the liquid taking driving arm (321) and located on one side of the liquid taking seat (330) and is used for detecting whether the liquid taking seat (330) has the sample bottle (240).

6. A control method applied to the sampling device according to any one of claims 1 to 5, characterized in that, The control method comprises: controlling the mechanical arm (210) to transfer the sample bottle (240) to the cap screwing assembly (220) and make the cap screwing assembly (220) remove the bottle cap of the sample bottle (240); controlling the mechanical arm (210) to transfer the sample bottle (240) to the liquid taking seat (330) and make the liquid taking driving assembly (320) drive the liquid outlet head (350) to descend to the bottle mouth of the sample bottle (240); controlling the pressurizing assembly to pressurize the liquid storage cavity, so that the liquid in the liquid storage cavity flows into the sample bottle (240) through the liquid taking pipe (340) and the liquid outlet head (350).

7. An automated production apparatus characterized by comprising: The sampling device comprises the sampling device according to any one of claims 1 to 5.

Images