Abel automatic testing device

Abstract

This invention discloses an Abel automatic testing device, comprising: a chassis; a robotic arm; and a functional positioning module disposed in an accommodating space and arranged around the robotic arm. The functional positioning module provides positioning and auxiliary environmental functions for the test vessel. The robotic arm performs the following steps by moving and changing the posture of the test vessel, combined with the auxiliary environmental functions implemented by the functional positioning module: coating an indicator on test paper; filtering and injecting the sample into a test tube; loading the test paper coated with the indicator into the test tube containing the sample; heating the test tube containing the test paper and the sample; acquiring images of the test paper in real time or at a preset frequency using an image acquisition device to obtain a stability evaluation of the sample; discarding the used sample and the filter paper used for filtration; cleaning the test tube and the funnel used for sample addition; and drying the test tube and the funnel.

Description

Technical Field

[0001] This invention relates to the field of microchannel reaction technology, and in particular to an apparatus for testing the stability of nitroglycerin, nitrocellulose and nitrate ester explosives using the Abel test principle. Background Technology

[0002] As is well known, the Abel test is a typical method for testing the stability of explosives such as nitroglycerin, nitrocellulose, and nitrate esters. Its basic principle is to heat the explosive sample in a test tube to approximately 70°C and then observe the color change time of the indicator on a test paper placed pre-placed in the test tube. The faster the color change, the worse the stability of the explosive. Although the principle of the Abel test is relatively simple, the entire test procedure is quite cumbersome, specifically including the following steps: Step 1: Prepare the sample and test paper; Step 2: Apply the indicator to the test paper; Step 3: Assemble the test tube and heat it; Step 4: Observe the indicator color change; Step 5: Dispose of waste liquid and clean the test tube and other equipment; Step 6: Dry the test tube and other equipment. Existing technologies often use manual execution of these steps, which has drawbacks such as being time-consuming, labor-intensive, dangerous, and prone to inaccurate interpretation of test results. For example, when performing pipetting operations on samples, the sample may splash onto a person's skin; another example is that during the heating of a sample in a test tube, the person's eyes need to be close to the test tube to observe the color change time of the indicator, and if the sample explodes at this time, it may cause injury to the person's face; yet another example is that in the prior art, people usually use a pipette or glass rod to dip into the indicator and apply it to the test paper, which makes it difficult to ensure the uniformity of the indicator application; yet another example is that currently, conical filter paper is usually placed in a conical funnel so that the sample is filtered by passing through the filter paper in the funnel, and after filtration, when the funnel needs to be cleaned, the filter paper is difficult to peel off due to the adhesion between the filter paper and the funnel.

[0003] Although automated devices for performing the above steps exist in the prior art, these devices are equipped with numerous actuators for transferring and flipping test tubes and other instruments, resulting in overly complex structures. Furthermore, these devices have shortcomings in performing steps such as indicator application, sample filtration, and separation of the funnel from the filter paper. For example, the use of a syringe pump to apply the indicator to the test paper by dripping leads to uneven indicator application; the tilting method for adding the sample to the filter paper in the funnel easily causes sample overflow; and the filtered filter paper adheres to the inside of the funnel after filtration and is difficult to peel off. Summary of the Invention

[0004] To address the aforementioned technical problems in the prior art, embodiments of the present invention provide an Abel automated testing device.

[0005] To solve the above-mentioned technical problems, the technical solution adopted in the embodiments of the present invention is as follows:

[0006] An Abel automated testing device includes:

[0007] The chassis has internal storage space;

[0008] A robotic arm, which is set in the accommodating space;

[0009] A functional positioning module, located within the accommodating space and arranged around the robotic arm, provides positioning and auxiliary environmental functions for the experimental apparatus; wherein:

[0010] The robotic arm performs the following steps by moving and changing the orientation of the test vessel, combined with the auxiliary environmental functions implemented by the functional positioning module:

[0011] Apply indicator to test strip; filter the sample and inject it into a test tube; load the indicator-coated test strip into the test tube containing the sample; heat the test tube containing the test strip and sample, and use an image acquisition device to acquire images of the test strip in real time or at a preset frequency to obtain a stability evaluation of the sample; discard the used sample and the filter paper used for filtration; clean the test tube and the funnel used for sample injection; and dry the test tube and funnel.

[0012] Preferably, the functional positioning module includes a drying and coating module, which cooperates with the robotic arm to perform tasks such as drying test tubes and filter funnels, coating indicator paper with test paper, and assembling test tubes and funnels.

[0013] Preferably, the drying coating module includes: a first support;

[0014] The top of the first support is equipped with a test tube positioning tube for inverting test tubes, a funnel positioning tube for inserting a funnel upright, and a test tube positioning hole for upright test tubes; an air blowing chamber is provided between the top and bottom of the first support, and the air blowing chamber is connected to the test tube positioning tube and the funnel positioning tube to dry the funnel and test tube by providing a drying airflow to both; a robotic arm is used to remove the dried test tube from the test tube positioning tube, flip it over and insert it upright into the test tube positioning hole, and remove the dried funnel from the funnel positioning tube and insert it into the upper end of the test tube to realize the assembly of the funnel and test tube;

[0015] The top and bottom of the first support extend in the same direction to form an upper edge and a lower edge. The upper edge is provided with a first through hole and a second through hole. An indicator bottle is placed on the lower edge corresponding to the first through hole. The coating pen passes through the first through hole and its lower end extends into the indicator bottle. The coating pen is attached to the upper edge by means of an end cap. The test tube stopper passes through the second through hole. A test paper is attached to the lower end of the test tube stopper. A robotic arm picks up the coating pen and applies indicator to the test paper at the lower end of the test tube stopper.

[0016] Preferably, the functional positioning module further includes a sample dispensing module, which uses a robotic arm to transfer the test tube and funnel assembled on the drying coating module to the sample dispensing module. The sample dispensing module is used to add the sample into the funnel, and the sample flows into the test tube after being filtered by the filter paper inside the funnel.

[0017] Preferably, the sample dispensing module includes a second support, a pipette for transferring liquid, and a peristaltic pump arranged on the second support to power the liquid within the pipette; wherein:

[0018] On the second support, an upper support plate, a middle support plate, and a lower support plate are arranged sequentially from top to bottom; the middle support plate is provided with a test tube positioning hole for upright placement of the test tube and an upper positioning groove for placing the cleaning solution bottle; the lower support plate is provided with a drain pipe and a lower positioning groove for placing the sample bottle; the upper support plate is provided with a first upper through hole and a second upper through hole corresponding to the funnel above the test tube and the cleaning solution bottle, respectively; the middle support plate is provided with a first lower through hole and a second lower through hole corresponding to the sample bottle and the drain pipe, respectively.

[0019] The upper end of the pipette is near the upper support plate and is telescopic, and is equipped with a dispensing needle. The lower end of the pipette is near the middle support plate and is telescopic, and is equipped with a suction needle. Using a robotic arm, the dispensing needle and the suction needle are inserted into the funnel and the sample bottle respectively through the first upper through hole and the first lower through hole. The sample in the sample bottle is quantitatively transferred to the funnel by a peristaltic pump. The liquid transferred to the funnel is filtered through filter paper and flows into the test tube. Subsequently, using a robotic arm, the dispensing needle and the suction needle are inserted into the cleaning solution bottle and the drain tube respectively through the second upper through hole and the second lower through hole. The reverse operation of the peristaltic pump causes the cleaning solution in the cleaning solution bottle to pass through the pipette and the peristaltic pump and then be discharged from the drain tube to clean the pipette and the peristaltic pump.

[0020] Preferably, the functional positioning module further includes a test tube heating and test paper color change recognition module. After inserting the test tube stopper into the test tube to load the test paper coated with indicator into the test tube, the test tube heating and test paper color change recognition module is used to heat the test tube and acquire an image of the test paper in the test tube through an image acquisition device to confirm the color change time node, and judge the stability of the sample based on the color change time.

[0021] Preferably, the test tube heating and test paper color change recognition module includes:

[0022] The dark box has a rectangular window on the front of its top;

[0023] The test tube rack is set in a dark box and opposite the window. The test tube rack has multiple test tube positioning holes arranged in sequence. Test tubes containing test strips are placed on the test tube positioning holes of the test tube rack.

[0024] An electric heating module is installed around the test tube positioning holes of the test tube rack to heat the test tubes;

[0025] An image acquisition device, set in a dark box and oriented laterally toward the test tubes, is configured to acquire the color change time points of test strips in each test tube on the test tube rack by sliding.

[0026] Preferably, the functional positioning module includes a waste liquid treatment module, the waste liquid treatment module comprising:

[0027] A support frame, comprising a diagonal support and a support plate located above the diagonal support;

[0028] A drum, open at the top, with its lower end mounted on an inclined support and arranged at an angle. The drum rotates using a motor, and contains debris for adsorbing waste liquid; wherein:

[0029] The support plate has perforations and test tube positioning holes. After the sample is filtered through the filter paper inside the funnel and added to the test tube, a robotic arm holds the test tube and transfers it to the waste liquid treatment module, inserting the test tube into the test tube positioning hole. Then, the robotic arm removes the funnel from the test tube, and the filter paper is poured into the roller by inverting the funnel. The funnel is then upright and inserted into the perforation. The robotic arm transfers the test tube stopper, which has been coated with indicator on the test paper, from the drying coating module to the top of the support plate and inserts it into the test tube to complete the loading of the test paper. After the test is completed, the sample in the test tube is poured into the roller.

[0030] Preferably, the functional positioning module includes a cleaning module, the cleaning module comprising:

[0031] external sink;

[0032] A test tube cleaning tank is provided in the outer water tank, and a first spray pipe is arranged vertically in the test tube cleaning tank. The test tube is inverted on the first spray pipe.

[0033] A funnel-shaped cleaning tank is provided in the outer water tank, and a second spray pipe is arranged vertically in the funnel-shaped cleaning tank. The funnel is inverted on the second spray pipe.

[0034] Preferably, the funnel used to assist in injecting the sample into the test tube is provided with a plurality of radially extending and circumferentially arranged ribs on its radially inner side.

[0035] Compared with the prior art, the beneficial effects of the Abel automatic testing device disclosed in this invention are:

[0036] 1. This invention utilizes a single robotic arm as the sole active execution unit, coupled with multiple functional positioning modules arranged around the robotic arm (drying and coating module, sample dispensing module, waste liquid treatment module, test tube heating and test paper color change recognition module, and cleaning module). The robotic arm automatically completes all processes, including test paper indicator coating, sample filtration and dispensing, test tube assembly and transfer, heating testing and color recognition, waste liquid disposal, and glassware cleaning and drying. The entire testing process requires no human intervention; operators only need to place the test glassware at the appropriate workstation before the test begins, achieving human-machine isolation. Since operators do not need to have close contact with heated energetic material samples and toxic waste liquids, safety risks such as explosion impacts, high-temperature burns, chemical burns, and inhalation of toxic gases are effectively avoided, significantly improving the safety of the testing process.

[0037] 2. This invention greatly simplifies the structure of the device, reduces the number of execution steps, significantly reduces manufacturing costs, and makes the overall structure compact, effectively reducing the footprint of the equipment.

[0038] 3. This invention uses a coating pen or sponge to apply the indicator evenly to the test paper surface, thus avoiding the problems of premature drying of the test paper or excessive accumulation of indicator caused by uneven coating, thereby improving the accuracy of the test results.

[0039] 4. In this invention, the inner radial surface of the funnel used to assist in sample injection into the test tube is provided with multiple radially extending and circumferentially arranged ribs. When the conical filter paper is loaded into the funnel, the contact area between the outer wall of the filter paper and the inner wall of the funnel is significantly reduced due to the presence of the ribs, thereby reducing the adsorption force generated by the filter paper due to the surface tension of the liquid and the siphon effect. In the waste treatment process, when the robotic arm grasps the funnel and flips it over, the filter paper can smoothly slide into the drum under its own gravity, without the need for manual tweezers or manual digging, avoiding the risk of contact poisoning that may be caused by manual operation, while improving the automation level and success rate of waste treatment.

[0040] 5. After each sample is added, the robotic arm moves the dosing syringe and the aspiration syringe to the cleaning solution bottle and the drain pipe, respectively. The peristaltic pump is then started to run in reverse. The alkaline solution and pure water in the cleaning solution bottle are used to clean the pipetting tubing and the peristaltic pump tubing in sequence, thereby realizing the automatic cleaning of the pipetting tubing.

[0041] 6. The cleaning module of this invention includes a test tube cleaning tank and a funnel cleaning tank, each equipped with vertically arranged spray pipes. A robotic arm inverts the test tubes and funnels to be cleaned onto the spray pipes, and the cleaning solution is sprayed directly from the spray pipes to rinse the inner walls of the containers, resulting in high cleaning efficiency. After cleaning, the robotic arm transfers the test tubes and funnels to the drying and coating module, where they are dried by hot air supplied by the blower chamber, ready for the next round of testing. The seamless integration of the cleaning and drying processes forms a complete automated closed-loop process from testing, waste disposal, cleaning to drying, requiring no manual intervention and further improving the continuity of testing and the turnover rate of the instrument.

[0042] It should be understood that the foregoing general description and the following detailed description are exemplary and illustrative only, and are not intended to limit the invention.

[0043] The overview of various implementations or examples of the technology described in this invention is not a complete disclosure of the full scope or all features of the disclosed technology. Attached Figure Description

[0044] In drawings that are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with or without letter suffixes may indicate different instances of similar parts. The drawings generally illustrate various embodiments by way of example rather than limitation and, together with the description and claims, serve to explain embodiments of the invention. Where appropriate, the same reference numerals are used in all drawings to refer to the same or similar parts. Such embodiments are illustrative and not intended to be exhaustive or exclusive embodiments of the apparatus or method.

[0045] Figure 1 A three-dimensional structural diagram of the Abel automatic testing device provided by the present invention (some of the valves are hidden).

[0046] Figure 2 A three-dimensional structural schematic diagram of the Abel automatic testing device provided by the present invention from another perspective (some of the valves are hidden).

[0047] Figure 3 This is a schematic diagram of the three-dimensional structure of a coating pen.

[0048] Figure 4 This is a schematic diagram of the three-dimensional structure of the test tube stopper.

[0049] Figure 5 This is a schematic diagram of the three-dimensional structure of the funnel.

[0050] Figure 6 This is a three-dimensional structural diagram of the drying coating module.

[0051] Figure 7A three-dimensional structural diagram of the sample injection module.

[0052] Figure 8 This is a three-dimensional structural diagram of the waste liquid treatment module.

[0053] Figure 9 This is a three-dimensional structural diagram of the test tube heating and test paper color change recognition module.

[0054] Figure 10 This is a three-dimensional structural diagram of the cleaning module.

[0055] Figure label:

[0056] 10-Drying and coating module; 11-First support; 111-Upper edge; 112-Lower edge; 121-Test tube positioning tube; 122-Function funnel positioning tube; 131-First through hole; 132-Second through hole; 14-Stop strip; 15-Test tube positioning hole; 16-Connector; 20-Sample filling module; 21-Second support; 211-Upper support plate; 212-Middle support plate; 213-Lower support plate; 221-First upper through hole; 222-Second upper through hole; 231-First lower through hole; 232-Second lower through hole; 24-Test tube positioning hole; 251-Upper positioning groove; 252-Lower positioning groove; 26-Drainage tube; 27-Pipette tube; 271-Liquid addition needle; 272-Liquid suction needle; 28-Peristaltic pump; 30-Waste liquid treatment module; 31-Tilting support; 3 2-Support plate; 33-Roller; 34-Motor; 351-Test tube positioning hole; 352-Perforation; 40-Test tube heating and test paper color change recognition module; 41-Test tube rack; 42-Electric heating module; 43-Image acquisition device; 44-Dark box; 50-Cleaning module; 51-Test tube cleaning tank; 511-First spray pipe; 512-First inlet pipe; 52-Function funnel cleaning tank; 521-Second spray pipe; 522-Second inlet pipe; 53-Outer water tank; 531-Drain pipe; 60-Robotic arm; 70-Chassis; 81-Test tube; 82-Function funnel; 821-Rib; 83-Filter paper; 84-Test tube stopper; 841-End cap; 85-Test paper; 86-Indicator bottle; 861-Coating pen; 8611-End cap; 87-Sample bottle; 88-Cleaning solution bottle. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0058] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0059] To keep the following description of the embodiments of the present invention clear and concise, detailed descriptions of known functions and known components are omitted.

[0060] like Figure 1 and Figure 2 As shown, an embodiment of the present invention discloses an Abel automatic testing device, including: a chassis 70, a robotic arm 60, a functional positioning module, test vessels, and a video monitoring module. The functional positioning module includes: a drying and coating module 10, a sample dispensing module 20, a test tube heating and test paper 85 color change recognition module 40, a waste liquid treatment module 30, and a cleaning module 50. The test vessels include: a test tube 81, a funnel 82, filter paper 83, an indicator bottle 86, a coating pen 861, a sample bottle 87, and a cleaning solution bottle 88. Each functional positioning module provides support and positioning for each test vessel, and also provides auxiliary environmental functions for testing. These auxiliary environmental functions include, but are not limited to: providing power for transferring sample liquid, heating the sample in the test tube 81, acquiring an image of the test paper 85 in the test tube 81, collecting used waste liquid, and providing cleaning solution for the used test tube 81 and funnel 82.

[0061] The chassis 70 has an internal storage space, and the side wall of this storage space has a movable door. A thickened PC transparent panel can be installed on the movable door to facilitate observation of the internal structure of the storage space and to provide explosion-proof functionality. Preferably, the storage space is configured as a rectangular space.

[0062] The robotic arm 60 is disposed within the accommodating space, and its base is mounted on the top of the accommodating space. Therefore, the robotic arm 60 is arranged upside down. A pneumatic manipulator is configured at the head of the robotic arm 60. The robotic arm 60 obtains multiple degrees of freedom by configuring multiple pivots, thereby enabling the manipulator to perform actions such as transfer and posture change on the test vessel. Preferably, the robotic arm 60 is a six-axis robotic arm 60. Each arm of the robotic arm 60 is provided with an explosion-proof sleeve, which is used to protect the internal structure from possible explosion damage to the internal structure of the robotic arm 60 during the testing process.

[0063] Each functional positioning module is set within the accommodating space and arranged around the robotic arm 60. The robotic arm 60's robotic hand can reach each functional positioning module. The robotic arm 60 can perform movement and posture transformation operations on the test vessels on the functional positioning modules according to a pre-set program. By using the robotic arm 60 to perform movement and posture transformation operations on the test vessels on the functional positioning modules, combined with the auxiliary environmental functions implemented by the functional positioning modules, the following steps can be achieved: coating an indicator on the test paper 85; filtering the sample and injecting it into the test tube 81; loading the test paper 85 coated with the indicator into the test tube 81 containing the sample; heating the test tube 81 containing the test paper 85 and the sample; using the image acquisition device 43 to acquire the image of the test paper 85 in real time and thereby obtain the stability evaluation of the sample; discarding the used sample and the filter paper 83 used for filtration; cleaning the test tube 81 and the funnel 82 used for adding the sample; and drying the test tube 81 and the funnel 82.

[0064] The specific structure and function of each functional module are described below.

[0065] Dry coating module 10

[0066] like Figures 3 to 6 As shown, this module is arranged on one side of the bottom of the accommodating space. This module includes a first support 11. The main body of the first support 11 is a rectangular box structure. The top plate and bottom plate of the first support 11 define a blower cavity. The side wall of the first support 11 is provided with a connector 16. An air pipe is attached to the connector 16. The air pipe supplies airflow into the blower cavity through the connector 16. The top plate of the first support 11 is provided with a vertically arranged row of test tube positioning tubes 121 and a row of funnel positioning tubes 122. The cleaned test tubes 81 are inverted outside the test tube positioning tubes 121 for use, and the cleaned funnels 82 are inserted upright into the upper end of the funnel positioning tubes 122 for use. The lower ends of the test tube positioning tubes 121 and the funnel positioning tubes 122 are connected to the blower chamber. Thus, the airflow in the blower chamber flows out from the upper end of the test tube positioning tubes 121 and the funnel positioning tubes 122, thereby drying the test tubes 81 inverted outside the test tube positioning tubes 121 and the funnels 82 inserted upright into the funnel positioning tubes 122.

[0067] The first support 11 has an upper edge 111 and a lower edge 112. A row of through holes is formed on the upper edge 111. The first through hole may be referred to as the first through hole 131, and the subsequent through holes may be referred to as the second through hole 132. An open indicator bottle 86 is placed on the lower edge 112 below the first through hole 131. The indicator bottle 86 contains an indicator such as glycerin for application onto test paper 85. A coating pen 861 for applying the indicator onto the test paper 85 has a rod-shaped pen body and an end cap 8611. The coating pen 861 passes through the first through hole 131 and extends into the indicator bottle 86 to pick up the indicator. The coating pen 861 is connected to the upper edge 111 by the end cap 8611. The head of the coating pen 861 is provided with a brush or sponge block in the shape of a paintbrush. A test paper 85 is provided at the lower end of the test tube stopper 84. A slot and a magnetic piece are provided at the lower end of the test tube stopper 84. The test paper 85 is inserted into the slot and magnetically attracted. The upper end of the test tube stopper 84 has an end cap 841 with a radially protruding limiting structure. This allows each test tube stopper 84 to pass through a second through hole 132. The limiting structure, in conjunction with the first through hole 131, restricts the free rotation of the test tube stopper 84, thus ensuring the surface of the test paper 85 faces outwards for application by the coating pen 861. The lower end of the test tube stopper 84 rests against a stop bar 14 for support. A test tube positioning hole 15 is also provided on the top plate of the first support 11 for upright insertion of the test tube 81.

[0068] Based on a pre-set control program, the robotic arm 60, controlled by the display control module, performs the following operations:

[0069] The robotic arm 60 grasps the end cap of the coating pen 861 and pulls the coating pen 861 out of the first through hole 131. Then, it applies indicator to the test paper 85 at the lower end of the test tube stopper 84. After the application is completed, the coating pen 861 is reinserted into the first through hole 131.

[0070] The robotic arm 60 removes the dried test tube 81 from the test tube positioning tube 121 and inserts it into the test tube positioning hole 15. Then, the robotic arm 60 removes the dried funnel 82 (the inner side of the funnel 82 is pre-loaded with a matching conical filter paper 83) from the funnel positioning tube 122 and inserts it into the upper port of the test tube 81 that is already inserted into the test tube positioning hole 15, thus completing the assembly of the test tube 81 and the funnel 82 in preparation for adding the sample into the test tube 81.

[0071] Sample dispensing module 20

[0072] like Figure 7As shown, this module is arranged on one side of the bottom of the accommodating space and is adjacent to the drying and coating module 10. This module includes a second support 21, a peristaltic pump 28 and a pipetting tube 27. The second support 21 has an upper support plate 211, a middle support plate, and a lower support plate 213 arranged from top to bottom on one side facing the center of the accommodating space. The middle support plate 212 has a test tube positioning hole 24 for inserting the test tube 81 upright and two upper positioning slots 251 for placing two cleaning liquid bottles 88. The lower support plate 213 has two lower positioning slots 252 for placing two sample bottles 87 and two drain pipes 26 for discharging the two cleaning liquids. The upper support plate 211 has a first upper through hole 221 corresponding to the test tube positioning hole 24 and a second upper through hole 222 corresponding to the two upper positioning slots 251. The middle support plate 212 has a first lower through hole 231 corresponding to the two lower positioning slots 252 and a second lower through hole 232 corresponding to the two drain pipes 26.

[0073] Two open sample vials 87 for holding the test sample (e.g., nitrate ester) are placed in the two lower positioning slots 252, and two first lower through holes 231 correspond to the upper ports of the two sample vials 87. The two sample vials 87 are used to provide a sufficient amount of liquid sample. A cleaning solution bottle 88 for holding alkaline solution and a cleaning solution bottle 88 for holding pure water are placed in the upper positioning slots 251, and two second upper through holes 222 correspond to the two cleaning solution bottles 88.

[0074] The first end of the pipetting tube 27 is located near the upper support plate 211, and the second end of the pipetting tube 27 is located near the middle support plate 212. The pipetting tube 27 has sufficient length redundancy to allow both ends to reach the upper and lower through holes. A dispensing needle 271 and an aspiration needle 272 are respectively attached to the first and second ends of the pipetting tube 27, and both needles have end caps with an outer diameter larger than the through holes, allowing the needles to overlap the corresponding support plates after passing through the through holes. A peristaltic pump 28 is arranged on the pipetting tube 27 to provide power for transferring liquids.

[0075] Based on a pre-set control program, the robotic arm 60 and this module are controlled by the display control module to perform the following operations:

[0076] The robotic arm 60 grasps the test tube 81, which has been assembled with a funnel 82, on the first support 11 of the drying coating module 10 and transfers it to this module. Then, the test tube 81 is inserted into the test tube positioning hole 24. At this time, the funnel 82 above the test tube 81 corresponds to the first upper through hole 221. Then, the robotic arm 60 grasps the liquid addition needle 271 and the liquid aspiration needle 272 in sequence and inserts them into the funnel 82 and one of the sample bottles 87 respectively through the first upper through hole 221 and the first lower through hole 231. The peristaltic pump 28 is started to run in the forward direction. Under the pumping action of the peristaltic pump 28, the quantitative sample in the sample bottle 87 is transferred to the funnel 82 through the pipetting hose 27. The sample is filtered by the filter paper 83 in the funnel 82 and flows into the test tube 81, thereby completing the sample filling operation of the test tube 81.

[0077] After the filling is completed, the peristaltic pump 28 is started to run in reverse, so that the sample remaining in the pipette 27 flows back into the sample bottle 87.

[0078] The robotic arm 60 sequentially grasps the suction needle 272 and the dosing needle 271, and inserts them into the drainage pipe 26 for discharging alkaline waste liquid and the cleaning liquid bottle 88 for discharging alkaline waste liquid, respectively, through the second lower through hole 232 corresponding to the drainage pipe 26 for discharging alkaline waste liquid and the second upper through hole 222 corresponding to the cleaning liquid bottle 88 containing alkaline waste liquid. Then, the peristaltic pump 28 is started to run in reverse. Under the pumping action of the peristaltic pump 28, the alkaline liquid in the cleaning liquid bottle 88 flows through the pipetting tube 27 and the peristaltic pump 28 and is discharged into the drainage pipe 26 for discharging alkaline waste liquid, thereby achieving the first cleaning of the pipetting tube 27 and the peristaltic pump 28. In the same way, pure water is drawn from another cleaning liquid bottle 88 and passed through the pipetting tube 27 and the peristaltic pump 28 to achieve the second cleaning of the pipetting tube 27 and the peristaltic pump 28.

[0079] Waste liquid treatment module 30

[0080] like Figure 8As shown, this module is arranged on the other side of the bottom of the accommodating space. This module includes a support frame and a roller 33. The support frame has an inclined bracket 31 and a support plate 32 located above the inclined bracket 31. The lower end of the roller 33 is mounted on the inclined bracket 31, thereby making the roller 33 inclined. A motor 34 is mounted on the rear side of the inclined bracket 31. The motor 34 is used to drive the roller 33 to rotate. The roller 33 and the inclined bracket 31 are configured to be separable, allowing the roller 33 to be removed from the inclined bracket 31 and reinstalled on the inclined bracket 31, thereby facilitating the emptying of waste in the roller 33. The roller 33 contains debris such as sawdust for adsorbing samples. After the used sample is poured into the roller 33, on the one hand, the debris adsorbs the sample, and on the other hand, the roller 33 buries the sample with debris by rotating. The support plate 32 has a test tube positioning hole 351 for inserting test tubes 81 and a through hole 352 for the lower end of the funnel 82 to pass through.

[0081] Based on a pre-set control program, the robotic arm 60 and this module are controlled by the display control module to perform the following operations:

[0082] The robotic arm 60 grasps the sample-filled test tube 81 with a funnel 82 inserted at the top on the second support 21 of the sample filling module 20 and transfers it to this module. Then, the test tube 81 is inserted into the test tube positioning hole 351. Next, the robotic arm grasps the funnel 82 and flips it over so that the filter paper 83 inside the funnel 82 slips off and falls into the roller 33. Then, the funnel 82 is made to pass through the perforation 352 again and overlap the support plate 32. During the static process, the residual sample liquid attached to the funnel 82 will fall into the roller 33.

[0083] In this invention, the inner surface of the funnel 82 is provided with a plurality of radially extending and circumferentially arranged protrusions 821, thereby reducing the adsorption force between the filter paper 83 and the inner side of the funnel 82. Thus, when the funnel 82 is inverted, the filter paper 83 can easily slip off and fall into the roller 33.

[0084] Test tube heating and test paper 85 color change recognition module 40

[0085] like Figure 9 As shown, this module includes a dark box 44, a test tube rack 41, an electric heating module 42, and an image acquisition device 43. A rectangular window is provided on the front of the top of the dark box 44; the test tube rack 41 is placed inside the dark box 44 and opposite the window, and has multiple test tube positioning holes arranged sequentially. The electric heating module 42 is located around the test tube positioning holes of the test tube rack 41. The image acquisition device 43, equipped with a light source, is placed inside the dark box 44 and slides along a slide rail, thus being driven by a driver such as a motor to slide along the arrangement direction of the test tube positioning holes.

[0086] Based on a pre-set control program, the robotic arm 60 and this module are controlled by the display control module to perform the following operations:

[0087] The robotic arm 60 picks up the test tube 81 containing test strips 85 from the support plate 32 of the waste liquid treatment module 30 and transfers it to this module. Then, the test tube 81 is inserted into the test tube positioning hole through the window at the top of the dark box 44. The electric heating module 42 heats each test tube 81 on the test tube rack 41.

[0088] The image acquisition device 43 (e.g., camera, video camera) moves horizontally back and forth and acquires images of the test tube 81, including the test strip 85, in real time or at a preset frequency. The images are transmitted to the electronic device in real time. The color change time of the indicator of the test strip 85 is obtained by manual judgment or analysis of the images, thereby determining the stability of the sample and completing the stability test of the sample.

[0089] After completing the stability test, the robotic arm 60 picks up the test tube 81, transfers it to the waste liquid treatment module 30, and inserts it into the test tube 81 positioning hole of the support plate 32. The test tube plug 84 on the test tube 81 is pulled out and transferred to the second through hole 132 of the first bracket 11 of the drying coating module 10 (after all tests are completed, test paper 85 is reattached to the lower end of the test tube plug 84 and the test tube plug 84 is reused). Then, the waste liquid in the test tube 81 is poured into the roller 33, and then the test tube 81 is reinserted into the test tube 81 positioning hole of the support plate 32.

[0090] Cleaning module 50

[0091] like Figure 10 As shown, this module includes: an outer water tank 53, a test tube cleaning tank 51, and a funnel cleaning tank 52. Drainage pipes 531 are provided on both sides of the bottom of the outer water tank 53; the test tube cleaning tank 51 is located within the outer water tank 53, and its bottom has a first inlet pipe 512 extending out of the outer water tank 53. A vertically arranged first spray pipe 511 is configured within the test tube cleaning tank 51, and test tubes 81 are inverted and placed on the first spray pipe 511; the funnel cleaning tank 52 is located within the outer water tank 53, and its bottom has a second inlet pipe 522 extending out of the outer water tank 53. Funnels 82 are inverted and placed on the second spray pipe 521.

[0092] Based on a pre-set control program, the robotic arm 60 and this module are controlled by the display control module to perform the following operations:

[0093] The robotic arm 60 sequentially grabs the test tube 81 and funnel 82 on the support plate 32 of the waste liquid treatment module 30, and then inverts them onto the first spray pipe 511 in the test tube cleaning tank 51 and the second spray pipe 521 in the funnel cleaning tank 52.

[0094] Then, alkaline solution and pure water, which are used as cleaning solutions, are successively supplied to the two cleaning tanks through the first liquid inlet pipe 512 and the second liquid inlet pipe 522, so that the cleaning solution is sprayed out from the two spray pipes to clean the inside of the test tube 81 and the funnel 82. The waste liquid generated after cleaning is discharged from the drain pipe 531.

[0095] Video surveillance module

[0096] This module includes a camera and a temperature sensor installed at the top of the enclosure. The camera and temperature sensor are used to acquire image information and temperature information in the enclosure in real time. Based on the acquired image information and temperature information, the module can determine whether there is a dangerous situation using manual or display control. If there is a dangerous situation, an alarm can be triggered by an alarm device installed on the chassis 70.

[0097] Display control module

[0098] This module consists of two parts: a touchscreen controller and a color recognizer. The touchscreen controller allows operators to set test plans and system operating parameters, including the gripping points and movement trajectory of the robotic arm 60, the electric heating temperature, the pumping rate of the peristaltic pump 28, the working time of the waste processing module, and the working time of the cleaning module 50. Operators can change test plans at any time and monitor the operating status of each functional module in real time through the touchscreen controller.

[0099] The color recognizer can be an industrial computer that communicates with the image acquisition device 43 in the test tube heating and test paper 85 color change recognition module 40. During the test, if the image acquisition device 43 is a camera, it can take a picture of the test paper 85 every few minutes, and the acquired images are transmitted to the color recognizer in real time. The color recognizer is pre-installed with image analysis software, which automatically compares the currently captured test paper 85 image with the initial image. When a color change of the test paper 85 is detected and reaches a preset threshold, an alarm signal is issued through the explosion-proof alarm arranged on the chassis 70, indicating that the sample stability is unqualified.

[0100] Both the touch screen controller and the color recognizer are connected to the PLC and the industrial computer. The PLC executes the underlying logic control, while the industrial computer runs the touch screen interface and image analysis software as the host computer. The two work together to achieve automatic control and monitoring of the entire testing process.

[0101] Furthermore, although exemplary embodiments have been described in this invention, their scope includes any and all embodiments based on the invention that have equivalent elements, modifications, omissions, combinations (e.g., schemes involving intersections of various embodiments), adaptations, or alterations. Elements in the claims will be interpreted broadly based on the language used in the claims and are not limited to the examples described in this specification or during the implementation of this application, and such examples will be interpreted as non-exclusive. Therefore, this specification and examples are intended to be considered illustrative only, and the true scope and spirit are indicated by the full scope of the following claims and their equivalents.

[0102] The above description is intended to be illustrative and not restrictive. For example, the above examples (or one or more of them) can be used in combination with each other. Other embodiments may be used by those skilled in the art upon reading the above description. Furthermore, in the above detailed description, various features may be grouped together to simplify the invention. This should not be construed as an intention that a disclosed feature, which is not claimed, is necessary for any claim. Rather, the subject matter of the invention may be less than all the features of the particular disclosed embodiment. Thus, the following claims are incorporated herein by reference as examples or embodiments, wherein each claim is independently considered as a separate embodiment, and these embodiments are contemplated as being possible in various combinations or arrangements. The scope of the invention should be determined by reference to the appended claims and the full scope of their equivalents.

[0103] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. An Abel automatic testing device, characterized in that, include: The chassis has internal storage space. A robotic arm, which is set in the accommodating space; A functional positioning module, located within the accommodating space and arranged around the robotic arm, provides positioning and auxiliary environmental functions for the experimental apparatus; wherein: The robotic arm performs the following steps by moving and changing the orientation of the test vessel, combined with the auxiliary environmental functions implemented by the functional positioning module: Apply indicator to test paper; filter the sample and inject it into a test tube; place the indicator-coated test paper into the test tube containing the sample; heat the test tube containing the test paper and sample, acquire an image of the test paper using an image acquisition device, and thereby obtain a stability evaluation of the sample; discard the used sample and the filter paper used for filtration; clean the test tube and the funnel used for adding the sample. Dry the test tubes and funnels.

2. The Abel automatic testing device according to claim 1, characterized in that, The functional positioning module includes a drying and coating module, which works in conjunction with the robotic arm to perform tasks such as drying test tubes and filter funnels, coating indicator paper with test paper, and assembling test tubes and funnels.

3. The Abel automatic testing device according to claim 2, characterized in that, The drying and coating module includes: a first support; The top of the first support is equipped with a test tube positioning tube for inverting test tubes, a funnel positioning tube for inserting a funnel upright, and a test tube positioning hole for upright test tubes; an air blowing chamber is provided between the top and bottom of the first support, and the air blowing chamber is connected to the test tube positioning tube and the funnel positioning tube to dry the funnel and test tube by providing a drying airflow to both; a robotic arm is used to remove the dried test tube from the test tube positioning tube, flip it over and insert it upright into the test tube positioning hole, and remove the dried funnel from the funnel positioning tube and insert it into the upper end of the test tube to realize the assembly of the funnel and test tube; The top and bottom of the first support extend in the same direction to form an upper edge and a lower edge. The upper edge is provided with a first through hole and a second through hole. An indicator bottle is placed on the lower edge corresponding to the first through hole. The coating pen passes through the first through hole and its lower end extends into the indicator bottle. The coating pen is attached to the upper edge by means of an end cap. The test tube stopper passes through the second through hole. A test paper is attached to the lower end of the test tube stopper. A robotic arm picks up the coating pen and applies indicator to the test paper at the lower end of the test tube stopper.

4. The Abel automatic testing device according to claim 2, characterized in that, The functional positioning module also includes a sample dispensing module. A robotic arm is used to transfer the test tubes and funnels assembled on the drying and coating module to the sample dispensing module. The sample dispensing module is used to add samples to the funnel. The samples are filtered through the filter paper inside the funnel and then flow into the test tubes.

5. The Abel automatic testing device according to claim 4, characterized in that, The sample dispensing module includes a second support, a pipette for transferring liquid, and a peristaltic pump arranged on the second support to power the liquid within the pipette; wherein: On the second support, an upper support plate, a middle support plate, and a lower support plate are arranged sequentially from top to bottom; the middle support plate is provided with a test tube positioning hole for upright placement of the test tube and an upper positioning groove for placing the cleaning solution bottle; the lower support plate is provided with a drain pipe and a lower positioning groove for placing the sample bottle; the upper support plate is provided with a first upper through hole and a second upper through hole corresponding to the funnel above the test tube and the cleaning solution bottle, respectively; the middle support plate is provided with a first lower through hole and a second lower through hole corresponding to the sample bottle and the drain pipe, respectively. The upper end of the pipette is near the upper support plate and is telescopic, and is equipped with a dispensing needle. The lower end of the pipette is near the middle support plate and is telescopic, and is equipped with a suction needle. Using a robotic arm, the dispensing needle and the suction needle are inserted into the funnel and the sample bottle respectively through the first upper through hole and the first lower through hole. The sample in the sample bottle is quantitatively transferred to the funnel by a peristaltic pump. The liquid transferred to the funnel is filtered through filter paper and flows into the test tube. Subsequently, using a robotic arm, the dispensing needle and the suction needle are inserted into the cleaning solution bottle and the drain tube respectively through the second upper through hole and the second lower through hole. The reverse operation of the peristaltic pump causes the cleaning solution in the cleaning solution bottle to pass through the pipette and the peristaltic pump and then be discharged from the drain tube to clean the pipette and the peristaltic pump.

6. The Abel automatic testing device according to claim 4, characterized in that, The functional positioning module also includes a test tube heating and test paper color change recognition module. After inserting the test tube stopper into the test tube to load the test paper coated with indicator into the test tube, the test tube heating and test paper color change recognition module is used to heat the test tube and acquire an image of the test paper in the test tube through an image acquisition device to confirm the color change time node, and judge the stability of the sample based on the color change time.

7. The Abel automatic testing device according to claim 6, characterized in that, The test tube heating and test paper color change recognition module includes: The dark box has a rectangular window on the front of its top; The test tube rack is set in a dark box and opposite the window. The test tube rack has multiple test tube positioning holes arranged in sequence. Test tubes containing test strips are placed on the test tube positioning holes of the test tube rack. An electric heating module is installed around the test tube positioning holes of the test tube rack to heat the test tubes; An image acquisition device, set in a dark box and oriented laterally toward the test tubes, is configured to acquire the color change time points of test strips in each test tube on the test tube rack by sliding.

8. The Abel automatic testing device according to claim 7, characterized in that, The functional positioning module includes a waste liquid treatment module, which includes: A support frame, comprising a diagonal support and a support plate located above the diagonal support; A drum, open at the top, with its lower end mounted on an inclined support and arranged at an angle. The drum rotates using a motor, and contains debris for adsorbing waste liquid; wherein: The support plate has perforations and test tube positioning holes. After the sample is filtered through the filter paper inside the funnel and added to the test tube, a robotic arm holds the test tube and transfers it to the waste liquid treatment module, inserting the test tube into the test tube positioning hole. Then, the robotic arm removes the funnel from the test tube, and the filter paper is poured into the roller by inverting the funnel. The funnel is then upright and inserted into the perforation. The robotic arm transfers the test tube stopper, which has been coated with indicator on the test paper, from the drying coating module to the top of the support plate and inserts it into the test tube to complete the loading of the test paper. After the test is completed, the sample in the test tube is poured into the roller.

9. The Abel automatic testing device according to claim 1, characterized in that, The functional positioning module includes a cleaning module, which includes: external sink; A test tube cleaning tank is provided in the outer water tank, and a first spray pipe is arranged vertically in the test tube cleaning tank. The test tubes are inverted on the first spray pipe. A funnel-shaped cleaning tank is provided in the outer water tank, and a second spray pipe is arranged vertically in the funnel-shaped cleaning tank. The funnel is inverted on the second spray pipe.

10. The Abel automatic testing device according to claim 1, characterized in that, The funnel used to assist in injecting samples into the test tube has multiple radially extending and circumferentially arranged ribs on its radially inner side.

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