A fully automated food toxin detection device

Abstract

This invention relates to the field of grain testing technology and provides a fully automated grain toxin detection device. It includes: a housing unit, within which a pretreatment unit and a toxin detection unit are housed; the pretreatment unit includes a grinding assembly and a transfer assembly, with the grain powder produced by the grinding assembly temporarily stored in the transfer assembly; the pretreatment unit also includes a centrifuge tube feeding assembly, an extract injection assembly, and a receiving assembly; wherein, centrifuge tubes from the centrifuge tube feeding assembly enter the receiving assembly, and under the action of the receiving assembly, the centrifuge tubes open their covers to collect the grain powder transferred by the transfer assembly; after injecting the extract into the centrifuge tubes containing the grain powder, the covers close and the device enters the toxin detection unit for toxin detection. The advantages are: this grain toxin detection device integrates a fully automated pretreatment unit and a toxin detection unit, the entire detection process requires no manual intervention, has a high degree of automation, and high detection efficiency.

Description

Technical Field

[0001] This invention relates to the field of grain testing technology, specifically to a fully automated grain toxin detection device. Background Technology

[0002] In existing technologies, grain grinding for toxin detection is primarily done manually, followed by feeding the ground grain into the detection equipment and following a set procedure to complete the toxin test. Traditional toxin detection equipment has a low level of integration, especially lacking grain pretreatment equipment, resulting in low automation and a need to improve toxin detection efficiency.

[0003] Therefore, this invention is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a fully automated detection device for grain toxins, so as to solve the technical problems existing in the prior art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a fully automatic grain toxin detection device, comprising: a housing unit, wherein a pretreatment unit and a toxin detection unit are disposed within the housing unit;

[0006] The pretreatment unit is equipped with a grinding component and a transfer component. The grain powder produced by the grinding component is temporarily stored in the transfer component.

[0007] The pretreatment unit is also equipped with a centrifuge tube feeding assembly, an extract injection assembly, and a receiving assembly;

[0008] In this process, the centrifuge tube in the centrifuge tube feeding assembly enters the receiving assembly. Under the action of the receiving assembly, the centrifuge tube opens its cover and receives the grain powder transferred by the transfer assembly. After the centrifuge tube containing the grain powder is injected with the extract, the cover is closed and the centrifuge tube enters the toxin detection unit for toxin detection.

[0009] In an optional embodiment, the grinding assembly includes a cylinder mill, which is detachably fixed on an annular gripper. The annular gripper is connected to a lifting module via a rotating shaft, and the rotating shaft is connected to a drive motor located outside the lifting module. A cylinder cover is provided on the connecting plate at the telescopic end of the lifting module, and the cylinder cover is used to fasten the cylinder opening of the cylinder mill.

[0010] In an optional embodiment, the pretreatment unit is further provided with a cleaning component, which includes a rotatable nozzle and a scraper; at least three nozzles are provided, evenly arranged on a claw plate, and the claw plate is connected to a swing arm; the scraper is located below the cylinder head.

[0011] In an optional embodiment, the pretreatment unit is further provided with a cooling component, the water-cooled circulation pipeline of the cooling component is disposed in the annular gripper, and the water inlet and outlet on the annular gripper are connected to the slip ring connected to the rotating shaft through the pipeline.

[0012] In an optional embodiment, the grinding component, cleaning component, and cooling component are disposed in a sealed cavity shell, and the sealed cavity shell is provided with a dust suction port.

[0013] In an optional embodiment, the material transfer assembly includes a base, on which a ramp and a first linear drive are provided. The output end of the first linear drive is connected to the fixed end of a second linear drive, and the output end of the second linear drive is fixedly connected to a cup holder. The cup holder is rotatably connected to a receiving cup via a first connecting shaft. A second connecting shaft is also provided on the receiving cup. The second connecting shaft is located below the first connecting shaft and is parallel to the axis of the first connecting shaft. The second connecting shaft moves along the slope to flip the receiving cup.

[0014] In an optional embodiment, the receiving component is provided with a rotating plate, and a first station and a second station are respectively provided at both ends of the rotating plate. At least one adsorption robot is provided between the first station and the second station. The receiving component is also provided with a cap-opening robot, which includes a lifting module, a rotating module and a cap-opening module.

[0015] In an optional embodiment, the centrifuge tube feeding assembly is provided with a storage bin, a rotary switch is provided below the storage bin, and a slide is connected below the rotary switch.

[0016] In an optional embodiment, the toxin detection unit is provided with a linear module and a material storage bin. The linear module is connected to a first gripper and a second gripper, and a pipette is provided on the second gripper. The material storage bin is used to temporarily hold the centrifuge tube falling through the feed tube.

[0017] The toxin detection unit is also equipped with a dilution platform, a filter tip storage platform, and a suction tip storage platform; the dilution platform is provided with multiple mixing holes, the filter tip storage platform stores multiple filter tips, and the suction tip storage platform stores multiple suction tips.

[0018] In an optional embodiment, the toxin detection unit is further provided with a reagent strip box, a toxin detection box, a mixing platform, a lid-opening clamping platform, a diluent storage platform, and a centrifugation platform;

[0019] The reagent strip box is provided with a box body and a box cover. The box body is provided with multiple slots, each slot storing multiple reagent strips. The multiple reagent strips in each slot can extend out of the slot one by one under the action of a push rod.

[0020] The opening and closing clamping platform is equipped with opening and closing clamps, which cooperate with the first clamps to open and close the cap of the centrifuge tube.

[0021] The centrifuge platform is equipped with a rotating shaft, the top of which is connected to the center of a connecting crossbar, and a support ring is rotatably connected to each end of the crossbar.

[0022] The beneficial effects of this invention are as follows:

[0023] (1) The grain toxin detection device not only integrates a toxin detection unit, but also a fully automatic pretreatment unit. The grain is processed into powder by the cylinder mill in the pretreatment unit. After the powder is automatically stored in the centrifuge tube and the extract is automatically injected into the centrifuge tube, the centrifuge tube enters the toxin detection unit to complete the toxin detection. The entire detection process is automated and efficient.

[0024] (2) The pretreatment unit of the grain toxin detection device can automatically process grain into powder and is equipped with cooling and cleaning components, which can ensure the cleanliness of the pretreatment unit and ensure that the powder does not clump during processing.

[0025] (3) The transfer component in the pretreatment unit of the grain toxin detection device pulls the second connecting shaft of the receiving cup along the slope by the stepwise linear contraction of the first linear drive and the second linear drive. As the second connecting shaft rises along the slope, it causes the receiving cup to flip and pour the powder into the opened centrifuge tube. The structure is novel. In particular, the two-stage telescopic structure can save the space occupied by the transfer component compared with setting a single linear drive element, while meeting the travel distance of the receiving cup. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the external structure of a fully automated grain toxin detection device provided in an embodiment of the present invention.

[0028] Figure 2 A schematic diagram of the internal structure of a fully automated grain toxin detection device provided in an embodiment of the present invention. Figure 1 .

[0029] Figure 3A schematic diagram of the internal structure of a fully automated grain toxin detection device provided in an embodiment of the present invention. Figure 2 .

[0030] Figure 4 A schematic diagram of the internal structure of a fully automated grain toxin detection device provided in an embodiment of the present invention. Figure 3 .

[0031] Figure 5 This is a schematic diagram of the structure of a grinding assembly, a cleaning assembly, and a cooling assembly provided in an embodiment of the present invention.

[0032] Figure 6 This is a schematic diagram of the material transfer assembly provided in an embodiment of the present invention.

[0033] Figure 7 This is a schematic diagram of the structure of a centrifuge tube feeding assembly provided in an embodiment of the present invention.

[0034] Figure 8 A schematic diagram of the structure of a toxin detection unit provided in an embodiment of the present invention. Figure 1 .

[0035] Figure 9 A schematic diagram of the structure of a toxin detection unit provided in an embodiment of the present invention. Figure 2 .

[0036] Figure 10 This is a schematic diagram of the structure of a reagent strip box provided in an embodiment of the present invention.

[0037] Figure 11 This is a schematic diagram of the structure of a cover-opening clamping platform provided in an embodiment of the present invention.

[0038] Figure 12 This is a schematic diagram of the structure of a centrifuge platform provided in an embodiment of the present invention.

[0039] Figure 13 This is a schematic diagram of the structure of a filter gun head provided in an embodiment of the present invention.

[0040] Figure 14 This is a schematic diagram of the structure of a suction nozzle provided in an embodiment of the present invention.

[0041] The attached figures are labeled as follows:

[0042] 1-Shell unit;

[0043] 2-Preprocessing unit;

[0044] 21-Grinding assembly, 211-Cylinder mill, 2111-Cylinder opening, 212-Annular gripper, 213-Rotating shaft, 214-Lifting module, 215-Connecting plate, 216-Drive motor, 217-Grain feed inlet;

[0045] 22-Centrifuge tube feeding assembly, 221-Storage bin, 222-Rotary switch, 223-Slide rail;

[0046] 23-Cleaning components, 231-Nozzle, 232-Scraper, 233-Operating arm, 234-Sealing chamber, 2341-Dust suction port;

[0047] 24-Transfer assembly, 241-Receiving cup, 242-Cup holder, 243-Slope, 244-First connecting shaft, 245-Second connecting shaft, 246-Discharge port, 247-Second linear drive;

[0048] 25 - Cooling component; 251 - Slip ring;

[0049] 26-Receiving assembly, 261-Rotating plate, 262-First station, 263-Second station, 264-Adsorption robot, 265-Opening robot, 2651-Lifting module, 2652-Rotating module, 2653-Opening module, 266-Guide tube;

[0050] 3-Toxin detection unit;

[0051] 31-Linear module, 3101-First gripper, 3102-Second gripper, 3103-Pipette;

[0052] 32-Dilution platform; 33-Filter tip storage platform; 331-Filter tip; 34-Liquid suction tip storage platform; 341-Liquid suction tip; 35-Material temporary storage bin;

[0053] 36-Reagent strip box, 361-Box body, 362-Box lid, 363-Reagent strip, 364-Card slot;

[0054] 37-Toxin detection box; 38-Mixing platform; 39-Lid opening clamping platform; 391-Opening and closing grippers; 310-Diluent storage platform;

[0055] 311-Centrifuge platform, 3111-Rotating shaft, 3112-Crossbar, 3113-Support ring. Detailed Implementation

[0056] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0057] It should be noted that when a component is referred to as being "fixed to" or "attached" to another component, it can be located directly or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positions based on the accompanying drawings, and are for ease of description only, and should not be construed as limiting the technical solution. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "Multiple" means two or more, and "several" means any number including one, unless otherwise explicitly specified.

[0058] Please see the appendix Figure 1-14 The purpose of this embodiment is to provide a fully automatic grain toxin detection device, including: a housing unit 1, in which a pretreatment unit 2 and a toxin detection unit 3 are disposed; the pretreatment unit 2 is provided with a grinding component 21 and a transfer component 24, and the grain powder produced by the grinding component 21 enters the transfer component 24 for temporary storage; the pretreatment unit 2 is also provided with a centrifuge tube feeding component 22, an extract injection component, and a receiving component 26; wherein, the centrifuge tube in the centrifuge tube feeding component 22 enters the receiving component 26, and after the centrifuge tube opens its cover under the action of the receiving component 26, it receives the grain powder transferred by the transfer component 24, and after the centrifuge tube containing the grain powder is injected with extract, the cover is closed and it enters the toxin detection unit 3 for toxin detection.

[0059] In this embodiment, grain enters the open-top mill 211 through the grain inlet 217. The grinding assembly 21 includes the mill 211, which is detachably fixed to an annular gripper 212. The annular gripper 212 is connected to the lifting module 214 via a rotating shaft 213. The rotating shaft 213 is connected to a drive motor 216 located outside the lifting module 214. A cylinder cover is provided on the connecting plate 215 at the telescopic end of the lifting module 214. The cylinder cover is used to close the cylinder opening 2111 of the mill 211. After processing, the grain in the mill 211 can form grain powder. After the mill 211 rotates and opens, the processed grain powder can be poured into the receiving cup 241.

[0060] Furthermore, the pretreatment unit 2 is also equipped with a cleaning component 23, which includes a rotatable nozzle 231 and a scraper 232. At least three nozzles 231 are evenly arranged on a claw disc, which is connected to a swing arm 233. The scraper 232 is located below the cylinder head. After machining, the cylinder mill 211 can use the high-speed rotating scraper 232, driven by a motor, to clean the cylinder opening 2111. The cylinder mill 211 can also rotate to a position opposite to the nozzles 231. The nozzles 231 rotate at high speed under the action of the claw disc and simultaneously spray gas to clean the interior of the cylinder mill 211. The claw disc is connected to a motor below the swing arm 233. When not in use, the nozzles 231 move to a non-working area under the action of the swing arm 233. The grinding component 21, the cleaning component 23, and the cooling component 25 are disposed in the sealed cavity shell 234. The sealed cavity shell 234 is provided with a dust suction port 2341. Impurities generated by the nozzle 231 and scraper 232 during cleaning are discharged through the dust suction port 2341.

[0061] It should be noted that the pretreatment unit 2 is also equipped with a cooling assembly 25. The water-cooled circulation pipeline of the cooling assembly 25 is set in the annular gripper 212. The water inlet and outlet on the annular gripper 212 are connected to the slip ring 251 connected to the rotating shaft 213 through the pipeline. The slip ring 251 can prevent the connecting pipeline of the cooling assembly 25 from getting tangled, and the water-cooled circulation pipeline of the cooling assembly can prevent the grinding powder from caking during the processing.

[0062] Furthermore, the material transfer assembly 24 includes a base, on which a ramp 243 and a first linear drive are provided. The output end of the first linear drive is connected to the fixed end of a second linear drive 247. The output end of the second linear drive 247 is fixedly connected to a cup holder 242. The cup holder 242 is rotatably connected to a receiving cup 241 via a first connecting shaft 244. A second connecting shaft 245 is also provided on the receiving cup 241. The second connecting shaft 245 is located below the first connecting shaft 244 and is parallel to the axis of the first connecting shaft 244. The second connecting shaft 245 moves along the slope of the ramp 243 to flip the receiving cup 241. Specifically, after the receiving cup 241 receives a specified amount of grinding powder, the first linear drive and the second linear drive 247 gradually retract linearly, pulling the second connecting shaft 245 of the receiving cup 241 along the slope 243. As the second connecting shaft 245 rises along the slope 243, it causes the receiving cup 241 to flip, pouring the grinding powder into the opened centrifuge tube. In a preferred embodiment, the first linear drive is a lead screw and nut pair, and the second linear drive 247 is a telescopic rod. The movable nut is fixedly connected to the non-telescopic end of the telescopic rod. This arrangement, while meeting the travel distance of the receiving cup 241, saves space occupied by the transfer assembly 24 compared to using a single linear drive element.

[0063] It is worth mentioning that the receiving assembly 26 is equipped with a rotating plate 261, which is rotatable. A first station 262 and a second station 263 are respectively located at both ends of the rotating plate 261. Limiting housings are respectively provided on the first station 262 and the second station 263. Each limiting housing has an opening on its side wall for the adsorption robot 264 to extend into and adsorb the centrifuge tube. The area below the limiting housings of the first station 262 and the second station 263 is left unoccupied, allowing the centrifuge tube to fall into the guide pipe 266 when not adsorbing. At least one adsorption robot 264 is located between the first station 262 and the second station 263. The adsorption robot 264 is used to adsorb the centrifuge tube and also cooperates with the cap-opening robot 265 in the receiving assembly 26 to open and close the cap of the centrifuge tube. The receiving assembly 26's cap-opening robot 265 includes a lifting module 2651, a rotating module 2652, and a cap-opening module 2653. The cap-opening module 2653 can simultaneously lift, lower, and rotate under the action of the lifting module 2651 and the rotating module 2652. During cap opening, the adsorption robot 264 keeps the centrifuge tube stationary, while the cap-opening module 2653 holds the centrifuge tube cap and rises while rotating. During cap closing, the adsorption robot 264 keeps the centrifuge tube stationary, while the cap-opening module 2653 holds the centrifuge tube cap and descends while rotating.

[0064] Furthermore, the centrifuge tube feeding assembly 22 is equipped with a storage bin 221, and a rotary switch 222 is located below the storage bin 221. A slide rail 223 is connected below the rotary switch 222. Each rotation of the rotary switch 222 at one station conveys a centrifuge tube to the limiting housing of the first station 262 or the second station 263 of the receiving assembly 26, where the centrifuge tube is simultaneously adsorbed and limited by the adsorption robot 264. The first station 262 and the second station 263 of the receiving assembly 26 rotating plate 261 can be rotated to the bottom of the receiving cup 241 for the centrifuge tube with the cap already opened to receive the grinding powder. The first station 262 and the second station 263 of the receiving assembly 26 rotating plate 261 can continue to rotate to the bottom of the extract injection assembly, so that the centrifuge tube with the grinding powder continues to receive the extract. After the extract is injected into the centrifuge tube, the cap is closed and the extract enters the toxin detection unit 3 through the guide tube 266.

[0065] In this embodiment, the toxin detection unit 3 is equipped with a linear module 31 and a material storage chamber 35. The linear module 31 is connected to a first gripper 3101 and a second gripper 3102. A pipette 3103 is mounted on the second gripper 3102. The material storage chamber 35 is used to temporarily hold centrifuge tubes falling through the feed tube 266. It should be noted that the linear module 31 can realize the movement of the first gripper 3101 and the second gripper 3102 in the X, Y, and Z directions. The first gripper 3101 can grip the cap of the centrifuge tube and rotate the cap.

[0066] In addition, the toxin detection unit 3 is also equipped with a dilution platform 32, a filter tip storage platform 33, and a suction tip storage platform 34. The dilution platform 32 is provided with multiple mixing holes, the filter tip storage platform 33 stores multiple filter tips 331, and the suction tip storage platform 34 stores multiple suction tips 341. The toxin detection unit 3 is also equipped with a reagent strip box 36, a toxin detection box 37, a mixing platform 38, a lid-opening clamping platform 39, a diluent storage platform 310, and a centrifugation platform 311. The reagent strip box 36 is provided with a box body 361 and a box cover 362. The box body 361 is provided with multiple slots 364. Each slot 364 stores multiple reagent strips. The multiple reagent strips in each slot 364 can extend out of the slot 364 one by one under the action of a push rod. The opening and closing clamping platform 39 is equipped with an opening and closing gripper 391, which cooperates with the first gripper 3101 to open and close the cap of the centrifuge tube. The centrifuge platform 311 is equipped with a rotating shaft 3111, the top of which is connected to the center of the connecting crossbar 3112. Each end of the crossbar 3112 is rotatably connected to a support ring 3113.

[0067] The specific toxin detection process includes the following steps:

[0068] S1: Transfer the centrifuge tubes in the material storage bin 35 to the mixing platform 38 to complete the mixing and obtain the mixed liquid, and then transfer them to the centrifuge platform 311 to obtain the centrifuged liquid.

[0069] The grinding powder in the centrifuge tube in the material storage chamber 35 of the toxin detection unit 3 has been injected with the extract. The centrifuge tube is transferred to the mixing platform 38 by the first gripper 3101. The grinding powder and extract in the centrifuge tube are mixed under the vibration of the mixing platform 38 to form a mixture in the centrifuge tube.

[0070] Next, the centrifuge tube containing the mixture is transferred to the support ring 3113 of the centrifuge platform 311. The rotating shaft 3111 and the crossbar 3112 rotate at high speed under the action of the drive device. The centrifuge tube in the support ring 3113 also rotates around the rotating shaft 3111. During rotation, the axis of the centrifuge tube forms a certain angle with the axis of the rotating shaft 3111. After rotating for a certain period, the rotating shaft 3111 stops rotating, and the centrifuge tube changes from an inclined state to a vertical state, and is then left to stand for a period of time. As described above, the mixture in the centrifuge tube completes the centrifugation process to form centrifuged liquid.

[0071] S2: Filter the centrifuged liquid through the filter tip 331 and transfer it to a mixing hole on the dilution platform 32;

[0072] The second gripper 3102 moves the pipette 3103 above the pipette tip storage platform 34. The pipette 3103 aligns with a pipette tip 341 on the pipette tip storage platform 34 and moves downwards to insert the pipette tip 341. At this time, the centrifuge tube, having been mixed, has been transported by the first gripper 3101 to the cap-opening clamping platform 39. The first gripper 3101 engages with the opening / closing gripper 391 of the cap-opening clamping platform 39 to open the centrifuge tube. Then, the pipette 3103 uses the inserted pipette tip 341 to aspirate the centrifuged liquid from the centrifuge tube. 03. The pipette tip 341 carrying the aspirated centrifuged liquid moves to above the filter tip storage platform 33. The pipette tip 341 is aligned with one of the filter tips 331 in the filter tip storage platform 33. The pipette 3103 carrying the aspirator tip 341 is inserted into the filter tip 331. Then, the pipette 3103 carrying the inserted aspirator tip 341 and filter tip 331 moves to above the dilution platform 32. It is aligned with a mixing hole on the dilution platform 32. The centrifuged liquid in the aspirator tip 341 is filtered through the filter tip 331 and injected into the mixing hole.

[0073] S3: Transfer the diluent through the suction nozzle 341 to another mixing port on the dilution platform 32;

[0074] The pipette 3103, carrying the inserted pipette tip 341 and filter tip 331, moves to the waste hopper of the toxin detection unit 3 (not shown in the attached diagram). The pipette 3103 automatically removes the used pipette tip 341 and filter tip 331 into the waste hopper. Then, the pipette 3103 moves again to the pipette tip storage platform 34 to insert a new pipette tip 341. The pipette 3103 carries the new pipette tip 341 to the diluent storage platform 310 to draw up the diluent and transfer the diluent to another mixing port on the dilution platform 32.

[0075] S4: The filtered centrifugal liquid in the mixing hole of the dilution platform 32 is transferred to the mixing hole of the dilution platform 32 containing the diluent through the suction pipette head 341 to obtain the centrifugal liquid diluted according to a certain ratio, i.e., the test liquid;

[0076] The pipette 3103 continues to use the pipette tip 341 and uses the pipette tip 341 to adsorb a certain amount of the centrifuged liquid that has been filtered in the mixing well and inject it into the mixing well containing the diluent to complete the dilution and obtain the test solution.

[0077] S5: Transfer the test solution to the reagent strip in the reagent strip box 36. After the test solution reacts with the reagent strip for a period of time, transfer the reagent strip to the toxin detection box 37 for toxin detection.

[0078] After the used pipette tip 341 is removed from the waste hopper by pipette 3103, a new pipette tip 341 is inserted. The pipette 3103 carrying the new pipette tip 341 draws the test liquid and moves it to the top of the test strip box 36. The box cover 362 opens automatically, and the new pipette tip 341 injects the test liquid onto the test strip. After the test liquid reacts with the test strip for a period of time, the first gripper 3101 transfers the test strip to the toxin detection box 37 for toxin detection.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully automatic detection device for grain toxins, characterized in that, include: The housing unit (1) is provided with a pretreatment unit (2) and a toxin detection unit (3). The pretreatment unit (2) is equipped with a grinding component (21) and a transfer component (24). The grain powder produced by the grinding component (21) is temporarily stored in the transfer component (24). The pretreatment unit (2) is also provided with a centrifuge tube feeding assembly (22), an extract injection assembly and a receiving assembly (26). The centrifuge tube in the centrifuge tube feeding assembly (22) enters the receiving assembly (26). The centrifuge tube opens its cover under the action of the receiving assembly (26) and receives the grain powder transferred by the transfer assembly (24). After the centrifuge tube containing the grain powder is injected with the extract, the cover is closed and it enters the toxin detection unit (3) for toxin detection. The material transfer assembly (24) includes a base, on which a ramp (243) and a first linear drive are provided. The output end of the first linear drive is connected to the fixed end of a second linear drive (247). The output end of the second linear drive (247) is fixedly connected to a cup holder (242). The cup holder (242) is rotatably connected to a receiving cup (241) via a first connecting shaft (244). A second connecting shaft (245) is also provided on the receiving cup (241). The second connecting shaft (245) is located below the first connecting shaft (244). The second connecting shaft (245) is parallel to the axis of the first connecting shaft (244). The second connecting shaft (245) moves along the slope of the ramp (243) to flip the receiving cup (241). The receiving assembly (26) is provided with a rotating plate (261), and a first station (262) and a second station (263) are respectively provided at both ends of the rotating plate (261). At least one suction robot (264) is provided between the first station (262) and the second station (263). The receiving assembly (26) is also provided with a lid-opening robot (265), which includes a lifting module (2651), a rotating module (2652), and a lid-opening module (2653).

2. The fully automatic grain toxin detection device as described in claim 1, characterized in that, The grinding assembly (21) includes a cylinder mill (211), which is detachably fixed on an annular gripper (212). The annular gripper (212) is connected to a lifting module (214) via a rotating shaft (213). The rotating shaft (213) is connected to a drive motor (216) located outside the lifting module (214). A cylinder cover is provided on the connecting plate (215) at the telescopic end of the lifting module (214). The cylinder cover is used to fasten the cylinder opening (2111) of the cylinder mill (211).

3. The fully automatic grain toxin detection device as described in claim 2, characterized in that, The pretreatment unit (2) is also provided with a cleaning component (23), which includes a rotatable nozzle (231) and a scraper (232); at least three nozzles (231) are provided and are evenly arranged on the claw plate, which is connected to a swing arm (233); the scraper (232) is located below the cylinder head.

4. The fully automatic grain toxin detection device as described in claim 3, characterized in that, The pretreatment unit (2) is also provided with a cooling component (25). The water cooling circulation pipeline of the cooling component (25) is arranged in the annular gripper (212). The water inlet and outlet on the annular gripper (212) are connected to the slip ring (251) of the rotating shaft (213) through the pipeline.

5. The fully automatic grain toxin detection device as described in claim 4, characterized in that, The grinding assembly (21), cleaning assembly (23), and cooling assembly (25) are disposed in a sealed cavity shell (234), and the sealed cavity shell (234) is provided with a dust suction port (2341).

6. The fully automatic grain toxin detection device as described in claim 1, characterized in that, The centrifuge tube feeding assembly (22) is provided with a storage bin (221), and a rotary switch (222) is provided below the storage bin (221). A slide rail (223) is connected below the rotary switch (222).

7. The fully automatic grain toxin detection device as described in claim 1, characterized in that, The toxin detection unit (3) is equipped with a linear module (31) and a material storage bin (35). The linear module (31) is connected to a first gripper (3101) and a second gripper (3102). A pipette (3103) is provided on the second gripper (3102). The material storage bin (35) is used to temporarily hold the centrifuge tube falling through the feed tube (266). The toxin detection unit (3) is also provided with a dilution platform (32), a filter tip storage platform (33), and a suction tip storage platform (34); the dilution platform (32) is provided with multiple mixing holes, the filter tip storage platform (33) stores multiple filter tips (331), and the suction tip storage platform (34) stores multiple suction tips (341).

8. The fully automatic grain toxin detection device as described in claim 7, characterized in that, The toxin detection unit (3) is also equipped with a reagent strip box (36), a toxin detection box (37), a mixing platform (38), a lid opening and clamping platform (39), a diluent storage platform (310), and a centrifugation platform (311). The reagent strip box (36) is provided with a box body (361) and a box cover (362). The box body (361) is provided with multiple slots (364). Each slot (364) stores multiple reagent strips. The multiple reagent strips in each slot (364) can extend out of the slot (364) one by one under the action of a push rod. The opening clamping platform (39) is provided with an opening and closing clamp (391), which cooperates with the first clamp (3101) for opening and closing the cap of the centrifuge tube; The centrifugal platform (311) is provided with a rotating shaft (3111), the top end of which is connected to the center of a connecting crossbar (3112), and a support ring (3113) is rotatably connected to both ends of the crossbar (3112).

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