Quick change mechanism, automatic system for BOD5 determination and determination method

Abstract

The application belongs to the technical field of automatic detection, and discloses a quick change mechanism, an automatic system for BOD5 determination and a determination method. The quick change mechanism comprises a base plate, a first positioning part and a plurality of servo motor driven automatic pre-tightening bolts. The base plate is used for connecting a mechanical arm. The mechanical arm is pre-positioned with a functional module through the positioning part, and then locked by the automatic pre-tightening bolts, so as to realize quick replacement of the mechanical arm and the functional module. The automatic system integrates the quick change mechanism, a six-axis mechanical arm, an integrated operation module and a clamping jaw module. The integrated operation module integrates code scanning, cover opening and pipetting functions. The clamping jaw module is responsible for clamping and transfer. The determination method switches the functional module through the quick change mechanism, and sequentially completes code scanning, cover opening, pipetting, cover closing and transfer operations of a dissolved oxygen bottle. The application realizes automation and high efficiency of the BOD5 determination process, improves operation accuracy and process connection smoothness, and reduces manual intervention cost.

Description

Technical Field

[0001] This invention belongs to the field of automated detection technology. Specifically, it relates to a quick-change mechanism, an automated system and method for BOD5 determination, which is applicable to the automated determination process of biochemical oxygen demand (BOD5) in water quality testing. Background Technology

[0002] Biochemical oxygen demand (BOD5) is an important indicator for measuring the degree of organic pollution in water bodies. Its measurement process involves multiple steps, including sample addition, opening and closing the dissolved oxygen cylinder cap, and sample transfer and incubation. The operation is cumbersome and requires high accuracy. Traditional BOD5 measurement relies heavily on manual operation, which is inefficient, prone to human error, and labor-intensive. In existing automated measurement equipment, the robotic arm is usually only compatible with a single functional module. If multiple steps need to be completed, multiple devices or manual module replacement are required, leading to increased equipment costs and inefficient process flow.

[0003] Currently, the quick-change mechanisms used in some automated equipment suffer from defects such as insufficient positioning accuracy, poor locking reliability, and low replacement efficiency. Furthermore, the compatibility between functional modules and robotic arms is poor, making it difficult to meet the demands for precise operation and efficient switching during BOD5 measurement. For example, some quick-change mechanisms rely solely on a single locking structure for fixation, lacking pre-positioning design, leading to alignment difficulties during module replacement. Some pneumatically driven quick-change mechanisms experience issues with air pressure fluctuations affecting locking stability. In addition, the functional modules of existing BOD5 automated systems are mostly designed in a decentralized manner, with functions such as barcode scanning, pipetting, and cap opening / closing being set up independently, further reducing the continuity and efficiency of the measurement process.

[0004] Therefore, there is an urgent need to design a quick-change mechanism that is precise in positioning, reliable in locking, and efficient in replacement, and to construct an integrated automated BOD5 measurement system and standardized measurement method to solve the aforementioned problems in the existing technology. In view of the above, this application is hereby submitted. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art. The purpose is to provide a quick-change mechanism with accurate positioning, reliable locking and efficient replacement for an automated system for BOD5 measurement, so as to realize the rapid and stable switching between the robotic arm and different functional modules.

[0006] The second objective of this invention is to provide an automated system for BOD5 determination that incorporates the aforementioned quick-change mechanism, integrating functions such as barcode scanning, cap opening and closing, pipetting, and transfer, thereby improving the automation level and operational efficiency of BOD5 determination.

[0007] The third objective of this invention is to provide a measurement method applicable to the aforementioned automated system for BOD5 determination, which standardizes the measurement process, reduces human error, and improves the accuracy and repeatability of the measurement results.

[0008] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by the present invention is: a quick-change mechanism applied to an automated system for BOD5 determination; The quick-change mechanism includes: substrate; A first positioning part is disposed on the first mating surface of the substrate and is used to cooperate with a second positioning part on the functional module. Multiple automatic pre-tightening bolts driven by servo motors are disposed on the first mating surface of the substrate and are used to screw into the threaded holes on the functional module to achieve locking. The second mating surface of the substrate is used to connect with the end of the six-axis robotic arm; the quick-change mechanism is used to realize the quick replacement and locking between the end of the six-axis robotic arm and different functional modules.

[0009] According to one embodiment of the present invention, eight automatic pre-tightening bolts are provided, and the eight automatic pre-tightening bolts are arranged in a circumferentially at equal intervals with the central axis of the substrate as the center. When installing the functional module, the eight automatic pre-tightening bolts are screwed into and locked one by one with the eight threaded holes provided in the functional module.

[0010] According to one embodiment of the present invention, the first positioning part is a protrusion that extends out of the first mating surface of the substrate and extends toward the direction close to the functional module; The second positioning part is a recessed receiving groove opened on the functional module. The shape of the second positioning part is adapted to the shape of the protrusion to achieve clearance fit. The first positioning part is provided in multiple ways and is arranged in a circle with equal angles around the central axis of the substrate. The included angle between two adjacent first positioning parts is the same.

[0011] According to one embodiment of the present invention, the functional module includes at least an integrated operation module and a gripper module; Both the integrated operation module and the gripper module are provided with a second positioning part adapted to the first positioning part, and a threaded hole corresponding to the automatic pre-tightening bolt, which can selectively achieve positioning and locking with the substrate.

[0012] The present invention also provides an automated system for BOD5 determination, which utilizes the aforementioned quick-change mechanism; The automation system includes: A six-axis robotic arm, wherein a quick-change mechanism is installed at the end of the six-axis robotic arm; An integrated operation module includes a back panel, on which a barcode scanning component, a cap opening / closing component, and a pipetting component are integrated and installed. The barcode scanning component is used to identify the identification information of the dissolved oxygen bottle, the cap opening / closing component is used to open and close the dissolved oxygen bottle, and the pipetting component is used to add or remove liquid from the dissolved oxygen bottle. The gripper module is used to grip and transfer dissolved oxygen cylinders; the gripper module or the integrated operation module is selectively and detachably connected to the six-axis robotic arm through the quick-change mechanism to achieve switching between different operation functions.

[0013] According to one embodiment of the present invention, the switch cover assembly includes three claws evenly distributed at 120° intervals and a drive motor for driving the claws to rotate. The drive motor can drive the three claws to synchronously contract or open radially to clamp the cap of the dissolved oxygen bottle, and at the same time drive the claws to rotate around the central axis to open or tighten the cap.

[0014] According to one embodiment of the present invention, the pipetting assembly includes a piston mechanism, a pipetting needle, and a stepper motor. The stepper motor is connected to the piston mechanism for transmission. By controlling the forward and reverse rotation of the stepper motor to drive the reciprocating motion of the piston, the pipetting needle can be used to quantitatively extract or dispense liquid.

[0015] According to one embodiment of the present invention, the gripper module includes two opposing gripping fingers and a force sensor. The inner side of the gripping fingers is provided with anti-slip texture. The force sensor is installed at the connection end of the gripping fingers and is used to detect the gripping force of the gripping fingers on the dissolved oxygen bottle in real time and feed it back to the control system to adjust the gripping force and avoid damaging the dissolved oxygen bottle.

[0016] The present invention also provides a method for measuring BOD5, which uses the above-mentioned automated system for measuring BOD5. The method for determining BOD5 includes the following steps: S1. Connect the integrated operation module to the end effector of the six-axis robotic arm via a quick-change mechanism; S2. Control the six-axis robotic arm to carry the integrated operation module and sequentially perform the scanning, opening, liquid transfer and closing operations of the dissolved oxygen bottle; S3. Replace the integrated operation module with a gripper module using the quick-change mechanism; S4. Control the six-axis robotic arm to carry the gripper module to clamp and transfer the dissolved oxygen bottle.

[0017] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: 1) The quick-change mechanism of the present invention has a coordinated design of “pre-positioning + servo motor driven locking”, which has accurate positioning and reliable locking. Multiple circumferentially arranged automatic pre-tightening bolts ensure uniform locking force, and multiple equally distributed positioning parts prevent module offset. It significantly improves the replacement efficiency and connection stability of the robotic arm and functional modules. The replacement process does not require manual intervention and is suitable for the rapid switching of multiple functional modules. 2) The automated system of the present invention integrates core functions such as barcode scanning, cap opening and closing, liquid pipetting, and transfer. It achieves efficient switching of functional modules through a quick-change mechanism, eliminating the need for multiple devices and reducing equipment costs. At the same time, the six-axis robotic arm ensures the flexibility and accuracy of operation, and the integrated design improves the continuity and automation of the measurement process. 3) The measurement method of the present invention standardizes the operation process of BOD5 measurement. By setting parameters through the control system, the robotic arm performs the operation according to the preset steps, reducing human error. The application of force sensors and stepper motors further improves the accuracy and reliability of the operation. The batch processing function significantly improves the measurement efficiency and is suitable for large-scale water quality testing scenarios.

[0018] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0019] The accompanying drawings, as part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings: Figure 1 This is a schematic diagram of the structure of an automated system for BOD5 determination with a quick-change mechanism according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the gripper module in an embodiment of the present invention; Figure 3 This is a flowchart illustrating the steps of a method for measuring BOD5 using an automated system for BOD5 measurement, as described in an embodiment of the present invention.

[0020] Description of main components in the diagram: 1. Six-axis robotic arm; 2. Quick-change mechanism; 3. Integrated operation module; 31. Barcode scanning component; 32. Cover opening and closing component; 33. Pipetting component; 4. Gripper module.

[0021] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0023] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] like Figures 1 to 3 As shown, the quick-change mechanism 2 of the present invention is applied to an automated system for BOD5 measurement. The quick-change mechanism 2 includes: substrate; A first positioning part is disposed on the first mating surface of the substrate and is used to cooperate with a second positioning part on the functional module. Multiple automatic pre-tightening bolts driven by servo motors are disposed on the first mating surface of the substrate and are used to screw into the threaded holes on the functional module to achieve locking. The second mating surface of the substrate is used to connect with the end of the six-axis robotic arm 1; the quick-change mechanism 2 is used to realize the quick replacement and locking between the end of the six-axis robotic arm 1 and different functional modules.

[0026] In this invention, by setting up a first positioning part and a second positioning part that cooperate with each other, as well as an automatic pre-tightening bolt driven by a servo motor, a dual fixing structure of "pre-positioning + locking" is constructed, which solves the problems of inaccurate positioning and unreliable locking in existing quick-change mechanisms, and realizes fast, accurate and stable switching between the six-axis robotic arm 1 and the functional modules, greatly improving the continuity and efficiency of automated operation.

[0027] In one specific embodiment of this example, the substrate is made of high-strength aluminum alloy, which is lighter in weight and has stronger rigidity.

[0028] In one specific embodiment of this example, the substrate is a circular plate structure, the diameter of which is adapted to the mating surface size of the end connecting flange and functional module of the six-axis robotic arm 1, and the thickness of the substrate is 10-20mm to ensure structural strength. The second mating surface of the substrate is provided with a connection hole (not shown in the figure) that matches the end of the six-axis robotic arm 1 for fixed connection.

[0029] In one specific embodiment of this example, eight automatic pre-tightening bolts are provided, and the eight automatic pre-tightening bolts are arranged in a circumferentially at equal intervals with the central axis of the substrate as the center. When installing the functional module, the eight automatic pre-tightening bolts are screwed into and locked one by one with the eight threaded holes provided in the functional module.

[0030] In this invention, the automatic pre-tightening bolts are set as multiple bolts arranged in an equally spaced circular pattern, which enables the locking force to be evenly distributed on the mating surface of the substrate and the functional module, avoiding connection deformation or loosening caused by excessive local stress. At the same time, the symmetrical layout of multiple bolts ensures the coaxiality after locking, further improving the stability and operational accuracy of the functional module after installation, and meeting the stringent requirements for equipment operation stability during BOD5 measurement.

[0031] In one specific embodiment of this invention, the six-axis robotic arm 1 includes a base and first to sixth rotary joints connected in sequence. The end of the sixth rotary joint (the end furthest from the fifth rotary joint) is provided with a connecting flange, which connects to the functional module through the quick-change mechanism.

[0032] In one specific embodiment of this example, the first positioning part is a protrusion that extends out of the first mating surface of the substrate and extends toward the direction close to the functional module; The second positioning part is a recessed receiving groove opened on the functional module. The shape of the second positioning part is adapted to the shape of the protrusion to achieve clearance fit. The first positioning part is provided in multiple ways and is arranged in a circle with equal angles around the central axis of the substrate. The included angle between two adjacent first positioning parts is the same.

[0033] In this invention, a clearance fit structure of "protruding block + recessed receiving groove" is adopted, which can quickly achieve the initial alignment of the substrate and the functional module, shortening the alignment time when replacing the module; multiple first positioning parts arranged at equal angles can restrict the relative displacement of the functional module from multiple directions, effectively preventing the module from shifting or shaking before locking, ensuring that the automatic pre-tightening bolt can be accurately aligned with the threaded hole, improving the efficiency and success rate of module replacement. At the same time, the clearance fit design not only ensures positioning accuracy, but also avoids wear problems caused by excessive assembly.

[0034] In one specific embodiment of this example, the cross-section of the protrusion is rectangular, triangular, or polygonal.

[0035] In one specific embodiment of this invention, the first positioning part is disposed on the outer periphery of the automatic pre-tightening bolt; The automatic pre-tightening bolt (and its corresponding threaded hole) and the first positioning part (and its corresponding second positioning part) are each provided in at least three forms.

[0036] In one specific embodiment of this invention, the first positioning part is made of wear-resistant alloy steel, which effectively extends its service life.

[0037] Working principle of quick-change mechanism 2: When replacing a functional module, the automatic pre-tightening bolt is first rotated in the opposite direction by the servo motor to unlock (unlock the functional module that has been used). The six-axis robotic arm 1 moves the base plate to the top of the functional module, so that the first positioning part is aligned with the second positioning part of the functional module to be replaced and inserted, thus completing the pre-positioning. Subsequently, the servo motor drives the automatic pre-tightening bolt to rotate in the forward direction and screw it into the corresponding threaded hole of the functional module, thereby locking and fixing the base plate and the functional module (installing the new functional module to be used). If you need to replace other functional modules, simply repeat the above unlocking, pre-positioning, and locking steps. The entire process requires no manual intervention, making the replacement efficient and stable.

[0038] Please see the appendix Figure 1 and attached Figure 2 In one specific embodiment of this example, the functional module includes at least an integrated operation module 3 and a gripper module 4; Both the integrated operation module 3 and the gripper module 4 are provided with a second positioning part adapted to the first positioning part, and a threaded hole corresponding to the automatic pre-tightening bolt, which can selectively achieve positioning and locking with the substrate.

[0039] In this invention, by adapting the integrated operation module 3 and the gripper module 4 to the same positioning and locking structures, the quick-change mechanism 2 can be compatible with multiple functional modules, achieving the effect of "one machine for multiple uses". There is no need to equip a separate six-axis robotic arm 1 for different functions, which greatly reduces the equipment procurement cost and space occupation. At the same time, the rapid switching between the two core functional modules meets the continuous operation requirements of "scanning code-opening and closing the cap-pipetting" and "clamping and transferring" in BOD5 determination, and improves the automation level of the overall determination process.

[0040] Please see the appendix Figure 1 and attached Figure 2 The present invention also provides an automated system for BOD5 determination that incorporates the above-mentioned quick-change mechanism 2; The automation system includes: A six-axis robotic arm 1, wherein a quick-change mechanism 2 is installed at the end of the six-axis robotic arm 1; The integrated operation module 3 includes a back panel, on which a barcode scanning component 31, a cap opening and closing component 32, and a pipetting component 33 are integrated and installed. The barcode scanning component 31 is used to identify the identification information of the dissolved oxygen bottle, the cap opening and closing component 32 is used to open and close the dissolved oxygen bottle, and the pipetting component is used to add or extract liquid into the dissolved oxygen bottle. The gripper module 4 is used to grip and transfer dissolved oxygen cylinders; the gripper module 4 or the integrated operation module 3 is selectively and detachably connected to the six-axis robotic arm 1 through the quick-change mechanism 2 to achieve switching between different operation functions.

[0041] In this invention, an integrated automated BOD5 measurement system is constructed by combining the quick-change mechanism 2 with the six-axis robotic arm 1, the integrated operation module 3, and the gripper module 4. This solves the problems of fragmented functions and poor process integration in existing equipment. The integrated operation module 3 integrates three core functions: barcode scanning, cap opening and closing, and liquid transfer, avoiding operational delays and errors caused by multi-device collaboration. The six-axis robotic arm 1 provides flexible spatial movement capabilities, which, together with the quick-change mechanism 2, enables fully automated operation from sample identification to liquid transfer and bottle transport, significantly improving measurement efficiency and result accuracy.

[0042] In one specific embodiment of this example, the scanning component 31 includes: a camera with autofocus function, a processor with image information processing function, and a storage device for storing data information.

[0043] The specific scanning process of scanning component 31 is as follows: The camera uses an optical lens to focus the image of the QR code attached to the bottle onto the image sensor, converting the light signal into a digital signal to complete the acquisition of image information; The acquired image information is sent to the processor. The processor performs noise reduction, contrast adjustment, and tilt correction preprocessing on the acquired image information to optimize image quality. Then, it uses a decoding algorithm to analyze and interpret the preprocessed image, identify the arrangement pattern of black and white stripes or modules in the code image, and convert it into text data for storage and judgment (identifying the relative dissolved oxygen bottle). The corresponding judgment result is sent to the control system, which then issues a corresponding control command based on the judgment result to control the subsequent operation.

[0044] In one specific embodiment of this invention, the switch cover assembly 32 includes three claws evenly distributed at 120° intervals and a drive motor for driving the claws to rotate. The drive motor can drive the three claws to synchronously contract or open radially to clamp the cap of the dissolved oxygen bottle, and at the same time drive the claws to rotate around the central axis to open or tighten the cap.

[0045] In this invention, three claws spaced 120° apart can apply force evenly from the outer periphery of the bottle cap, avoiding deformation or slippage caused by uneven force on the bottle cap during clamping. At the same time, the drive motor has the dual function of driving the claws to extend, retract, and rotate, simplifying the structural design of the opening and closing cap assembly 32 and reducing the equipment failure rate. Through precise control of the drive motor, the force and speed of opening / tightening the bottle cap can be adjusted, ensuring that the bottle cap is completely sealed while avoiding damage to the bottle cap or breakage of the dissolved oxygen bottle due to excessive rotation, thus meeting the requirements for bottle sealing performance during BOD5 determination.

[0046] In one specific embodiment of this example, the pipetting assembly includes a piston mechanism, a pipetting needle, and a stepper motor. The stepper motor is connected to the piston mechanism for transmission. By controlling the forward and reverse rotation of the stepper motor to drive the reciprocating motion of the piston, the pipetting needle can be used to quantitatively extract or dispense liquid.

[0047] In this invention, a stepper motor drives the piston mechanism. Utilizing the high-precision positioning characteristics of the stepper motor, the movement distance of the piston can be precisely controlled, thereby achieving quantitative extraction and dispensing of liquid. The pipetting accuracy can reach the microliter level, effectively reducing the errors caused by manual pipetting. The cooperative design between the pipetting needle and the piston mechanism ensures the sealing of the liquid transfer process, avoiding sample contamination or liquid leakage. At the same time, the fast response speed of the stepper motor improves the efficiency of pipetting operations, providing a guarantee for batch sample determination.

[0048] In one specific embodiment of this example, the barcode scanning component 31, the switch cap component 32, and the pipetting component are generally arranged on a single plane; The barcode scanning component 31, the switch cap component 32, and the pipetting component are arranged in sequence; This location setting allows for easy repositioning after scanning the code, enabling subsequent operations with only minor movements.

[0049] In one specific embodiment of this example, the gripper module 4 includes two gripping fingers arranged opposite each other and a force sensor. The inner side of the gripping fingers is provided with anti-slip texture. The force sensor is installed at the connection end of the gripping fingers to detect the gripping force of the gripping fingers on the dissolved oxygen bottle in real time and feed it back to the control system to adjust the gripping force and avoid damaging the dissolved oxygen bottle.

[0050] In this invention, the anti-slip texture on the inside of the gripper increases friction during clamping, preventing the dissolved oxygen bottle from slipping during transport and ensuring operational safety. The linkage design of the force sensor and control system enables real-time monitoring and dynamic adjustment of the clamping force, ensuring clamping stability and preventing the dissolved oxygen bottle from breaking due to excessive clamping force. This is especially suitable for dissolved oxygen bottles made of glass, solving the problem of easy damage to the bottle body due to improper force control in traditional clamping mechanisms and improving the operational reliability of the equipment.

[0051] In one specific embodiment of this invention, the gripper fingers are made of food-grade silicone material, which can effectively prevent contamination of the sample to be tested.

[0052] In this application, the six-axis robotic arm 1 adopts the industrial six-axis robotic arm 1 commonly used in the prior art, which has multi-degree-of-freedom motion capability and can achieve precise positioning and flexible operation; the barcode scanning component 31, drive motor, stepper motor and force sensor are all electrically connected to the control system to realize automated control.

[0053] In one specific embodiment of this invention, the automation system is provided with two functional module storage stations, which correspond to the standby placement of the integrated operation module 3 and the gripper module 4, respectively. When disassembling a functional module, the six-axis robotic arm 1 carries the functional module to the corresponding storage position, places it stably, and the servo motor drives the automatic pre-tightening bolt to rotate in the opposite direction to realize the disassembly of the function. When installing the functional module, the six-axis robotic arm 1 (without carrying the functional module at this time) moves to the storage position of the corresponding functional module, so that the first positioning part is aligned with the second positioning part of the target functional module and inserted to complete the pre-positioning. Then, the servo motor drives the automatic pre-tightening bolt to rotate in the forward direction and screw it into the threaded hole of the target functional module to complete the locking and fixing.

[0054] In one specific embodiment of this example, both the quick-change mechanism and the functional module have concave arc-shaped grooves at their respective ends that are close to each other. During installation, the two arc-shaped grooves correspond to form a channel, and ball bearings are provided in the channel. The ball bearings are provided in at least three.

[0055] The core advantages of automated systems: The quick-change mechanism 2 enables rapid switching between the integrated operation module 3 and the gripper module 4, eliminating the need for multiple six-axis robotic arms 1 and reducing equipment costs. The integrated operation module 3 integrates barcode scanning, cap opening / closing, and liquid transfer functions, avoiding the cumbersome process connections caused by the dispersion of functional modules. The six-axis robotic arm 1 ensures precise positioning of each operation, and the application of force sensors and stepper motors improves the reliability and accuracy of the operation, meeting the high precision requirements of BOD5 measurement.

[0056] Please see the appendix Figure 3 The present invention also provides a method for measuring BOD5 using the aforementioned automated system for BOD5 measurement, the method comprising the steps of: S1. Install the integrated operation module: The control system controls the servo motor of the quick-change mechanism to drive the automatic pre-tightening bolt to rotate in the reverse direction to unlock (unlocking the already used function module). The six-axis robotic arm drives the base plate to move above the integrated operation module, so that the first positioning part is aligned with the second positioning part of the integrated operation module and inserted to complete the pre-positioning. Then the servo motor drives the automatic pre-tightening bolt to rotate in the forward direction and screw it into the threaded hole of the integrated operation module to complete the locking and fixing. S2. Integrated Operation: Control the six-axis robotic arm to carry the integrated operation module and sequentially perform the operations of scanning, opening, pipetting and closing the dissolved oxygen bottle; S3. Replace the gripper module: The control system controls the servo motor of the quick-change mechanism to drive the automatic pre-tightening bolt to rotate in the opposite direction, unlocking the integrated operation module. The six-axis robotic arm moves the base plate to above the gripper module. After the first positioning part and the second positioning part of the gripper module are aligned and pre-positioned, the servo motor drives the automatic pre-tightening bolt to lock, completing the installation of the gripper module. S4. Transfer of Dissolved Oxygen Bottle: The six-axis robotic arm moves the gripper module to the dissolved oxygen bottle station. The two gripping fingers radially retract to hold the dissolved oxygen bottle. The force sensor detects the gripping force in real time and feeds it back to the control system. If the gripping force is less than the set value, the gripping fingers continue to retract. If it is greater than the set value, the gripping fingers open appropriately to ensure that the gripping force is stable within the set range. After the gripping is stable, the six-axis robotic arm moves the dissolved oxygen bottle to the preset position of the BOD5 culture device, and the gripping fingers open to place the dissolved oxygen bottle.

[0057] In this invention, by standardizing and proceduralizing the operation process of the automated system, a complete pretreatment method for BOD5 determination is formed, realizing full automation of the process from module installation and functional operation to module replacement and bottle transfer, without the need for manual intervention; the steps are closely connected, and the timing of the actions of each component is precisely controlled by the control system, which effectively avoids negligence and errors in manual operation, improves the standardization and repeatability of the determination process, and has strong batch processing capabilities, making it suitable for large-scale water quality testing scenarios.

[0058] In one specific embodiment of this example, the method for determining BOD5 further includes the following step before step S1: S0. Pretreatment: Place the sample solution to be tested in the sample storage station, place the clean dissolved oxygen bottle in the bottle placement station, and set parameters such as the liquid transfer volume (e.g., 50 mL), the clamping force of the grippers (e.g., 5 N), and the opening and closing cap rotation speed (e.g., 30 r / min) through the control system.

[0059] In one specific implementation of this embodiment, step S2 includes: S21. Scanning and identification: The scanning component is aligned with the identification code on the dissolved oxygen bottle, scans and identifies the identification information, uploads it to the control system for archiving, and establishes the correspondence between the sample and the dissolved oxygen bottle. S22. Opening operation: The opening and closing assembly moves to the top of the bottle cap, the drive motor drives the three grippers to retract radially and clamp the bottle cap, and then the drive motor drives the grippers to rotate counterclockwise (e.g., rotate 3 times) to unscrew the bottle cap. The six-axis robotic arm drives the opening and closing assembly to the bottle cap placement station, the grippers open and place the bottle cap. S23. Pipetting operation: The six-axis robotic arm moves the pipetting assembly to the sample storage station, the pipetting needle is inserted into the sample solution, the control system controls the stepper motor to rotate forward, driving the piston of the piston mechanism to move upward, and drawing a preset volume of sample solution. Then the six-axis robotic arm moves the pipetting assembly above the dissolved oxygen bottle, the pipetting needle is inserted into the dissolved oxygen bottle, the stepper motor rotates in the reverse direction, driving the piston to move downward, and injecting the sample solution into the dissolved oxygen bottle. S24. Closing operation: The six-axis robotic arm moves the opening and closing cap assembly to the cap placement station. The gripper retracts to hold the cap and moves it above the dissolved oxygen bottle. The gripper then rotates the cap clockwise to tighten it onto the dissolved oxygen bottle, completing the closing operation.

[0060] In one specific embodiment of this example, the method for determining BOD5 further includes the following steps: S5. Repeat steps S1-S4 to complete the processing and transfer of the batch of dissolved oxygen bottles, and proceed to the subsequent BOD5 determination process.

[0061] In this embodiment, parameters such as liquid volume, clamping force, and rotation speed can be flexibly set according to the specifications of the dissolved oxygen bottle and the characteristics of the sample. During batch processing, the control system can automatically record the processing status of each dissolved oxygen bottle through the identification information recognized by the barcode scanning component, which facilitates process traceability.

[0062] In one specific implementation of this embodiment, in step S2, if a scanning failure or pipetting abnormality occurs, the control system will automatically pause the operation and issue an alarm. The operator can then manually intervene to resolve the problem and continue the process.

[0063] In one specific implementation of this embodiment, corresponding to step S2, if scanning fails, the control system controls the robotic arm to fine-tune its position and then scan the code again, adjusting up to N times (e.g., 3 times). If the QR code scanning fails after N adjustments, the control system will pause the operation and issue an alarm.

[0064] The method of this invention achieves full automation of the BOD5 pretreatment process through an automated system, eliminating the need for manual intervention in operations such as scanning codes, opening and closing caps, pipetting, and transporting, significantly reducing human error and improving the accuracy and repeatability of the test results. At the same time, the application of the quick-change mechanism makes the switching of functional modules efficient and smooth, and the integrated design improves the continuity of the process and greatly improves the test efficiency, making it suitable for large-scale BOD5 test needs in fields such as environmental monitoring and water quality testing.

[0065] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. The implementation schemes in the above embodiments can also be further combined or replaced. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A quick-change mechanism, applied to an automated system for BOD5 measurement, characterized in that, include: substrate; A first positioning part is disposed on the first mating surface of the substrate and is used to cooperate with a second positioning part on the functional module. Multiple automatic pre-tightening bolts driven by servo motors are disposed on the first mating surface of the substrate and are used to screw into the threaded holes on the functional module to achieve locking. The second mating surface of the substrate is used to connect with the end of the six-axis robotic arm; the quick-change mechanism is used to realize the quick replacement and locking between the end of the six-axis robotic arm and different functional modules.

2. The quick-change mechanism according to claim 1, characterized in that, The automatic pre-tightening bolts are provided in eight positions, and the eight automatic pre-tightening bolts are arranged in a circle with equal spacing around the central axis of the substrate. When installing the functional module, the eight automatic pre-tightening bolts are screwed into and locked one by one with the eight threaded holes provided in the functional module.

3. The quick-change mechanism according to claim 1, characterized in that, The first positioning part is a protrusion that extends out of the first mating surface of the substrate and extends toward the direction close to the functional module; The second positioning part is a recessed receiving groove opened on the functional module. The shape of the second positioning part is adapted to the shape of the protrusion to achieve clearance fit. The first positioning part is provided in multiple ways and is arranged in a circle with equal angles around the central axis of the substrate. The included angle between two adjacent first positioning parts is the same.

4. A quick-change mechanism according to claim 2 or 3, characterized in that, The functional module includes at least an integrated operation module and a gripper module; Both the integrated operation module and the gripper module are provided with a second positioning part adapted to the first positioning part, and a threaded hole corresponding to the automatic pre-tightening bolt, which can selectively achieve positioning and locking with the substrate.

5. An automated system for BOD5 determination, comprising the quick-change mechanism as described in any one of claims 1-4, characterized in that, The automation system includes: A six-axis robotic arm, wherein a quick-change mechanism is installed at the end of the six-axis robotic arm; An integrated operation module includes a back panel, on which a barcode scanning component, a cap opening / closing component, and a pipetting component are integrated and installed. The barcode scanning component is used to identify the identification information of the dissolved oxygen bottle, the cap opening / closing component is used to open and close the dissolved oxygen bottle, and the pipetting component is used to add or remove liquid from the dissolved oxygen bottle. The gripper module is used to grip and transfer dissolved oxygen cylinders; the gripper module or the integrated operation module is selectively and detachably connected to the six-axis robotic arm through the quick-change mechanism to achieve switching between different operation functions.

6. An automated system for BOD5 determination according to claim 5, characterized in that, The switch cover assembly includes three claws evenly distributed at 120° intervals and a drive motor that drives the claws to rotate. The drive motor can drive the three claws to synchronously contract or open radially to clamp the cap of the dissolved oxygen bottle, and at the same time drive the claws to rotate around the central axis to open or tighten the cap.

7. An automated system for BOD5 determination according to claim 5, characterized in that, The pipetting assembly includes a piston mechanism, a pipetting needle, and a stepper motor. The stepper motor is connected to the piston mechanism for transmission. By controlling the forward and reverse rotation of the stepper motor to drive the reciprocating motion of the piston, the pipetting needle can be used to quantitatively extract or dispense liquid.

8. An automated system for BOD5 determination according to claim 5, characterized in that, The gripper module includes two opposing gripping fingers and a force sensor. The inner side of the gripping fingers is provided with anti-slip texture. The force sensor is installed at the connection end of the gripping fingers to detect the gripping force of the gripping fingers on the dissolved oxygen bottle in real time and feed it back to the control system to adjust the gripping force and avoid damaging the dissolved oxygen bottle.

9. A method for determining BOD5, applied to the automated system for BOD5 determination as described in any one of claims 5-8, characterized in that, Including the following steps: S1. Connect the integrated operation module to the end effector of the six-axis robotic arm via a quick-change mechanism; S2. Control the six-axis robotic arm to carry the integrated operation module and sequentially perform the scanning, opening, liquid transfer and closing operations on the dissolved oxygen bottle; S3. Replace the integrated operation module with a gripper module using the quick-change mechanism; S4. Control the six-axis robotic arm to carry the gripper module to clamp and transfer the dissolved oxygen bottle.

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