Robot-assisted water quality sample culture and monitoring system

Abstract

The utility model discloses a robot-assisted water quality sample culture and monitoring system, a stereoscopic warehouse comprises a plurality of storage spaces, each storage space is internally provided with a beaker tray, a first contact and a positioning mechanism, the beaker tray is provided with a heating device and a second contact matched with the first contact, and the second contact is electrically connected with the heating device; the material taking robot is close to the side face, provided with an entrance and exit, of the stereoscopic warehouse and comprises a transverse driving mechanism, a lifting driving mechanism and an automatic transposition mechanism, the lifting driving mechanism is installed on a transverse displacement part of the transverse driving mechanism, and the automatic transposition mechanism is installed on a lifting part of the lifting driving mechanism. The storage table is located on the feeding side of the material taking robot. And when the beaker tray is positioned on the positioning surface of the positioning mechanism, the first contact and the second contact are contacted and electrically connected. Water quality samples in different water areas can be cultured at the same time, so that the culture and monitoring efficiency is improved, and manual operation is not needed.

Description

Technical Field

[0001] The utility model relates to the technical field of water quality sample cultivation and monitoring, in particular to a robot-assisted water quality sample cultivation and monitoring system. Background Art

[0002] At present, for the cultivation, detection and monitoring of water quality samples, multiple beakers containing water quality samples are generally placed in a cultivation chamber. However, the cultivation chamber is generally limited to placing one beaker tray. Generally, water quality samples from one water area are placed on one beaker tray to avoid confusion between different water areas, thereby limiting the number of water quality samples cultivated and monitored. Moreover, water quality samples from a single water area can only be cultivated and monitored batch by batch. Therefore, water quality samples from different water areas cannot be cultivated at the same time, resulting in low efficiency of cultivation and monitoring, and manual operation is required to put in and take out. Utility Model Content

[0003] The utility model aims to solve the deficiencies in the prior art and is designed to provide a robot-assisted water quality sample cultivation and monitoring system.

[0004] In order to achieve the above-mentioned purpose, the utility model designs a robot-assisted water quality sample cultivation and monitoring system, comprising:

[0005] A three-dimensional warehouse, the three-dimensional warehouse comprising a plurality of storage spaces, each of the storage spaces having an entrance and an exit, each of the storage spaces being provided with a beaker tray for placing beakers, a first contact point and a positioning mechanism for locking the beaker tray, a heating device and a second contact point matching the first contact point being provided on the beaker tray, the second contact point being electrically connected to the heating device;

[0006] A material-picking robot, the material-picking robot is close to a side of the three-dimensional warehouse having an entrance and exit, the material-picking robot comprises a transverse driving mechanism, a lifting driving mechanism and an automatic transposition mechanism, the lifting driving mechanism is installed on the transverse displacement part of the transverse driving structure, and the automatic transposition mechanism is installed on the lifting part of the lifting driving mechanism;

[0007] A storage platform, the storage platform is located at the feeding side of the material picking robot;

[0008] Wherein, when the beaker tray is positioned on the positioning surface of the positioning mechanism, the first contact point is in contact with the second contact point and is electrically connected.

[0009] According to a further preferred embodiment, the automatic position changing mechanism comprises a displacement frame and at least one pallet transfer mechanism, wherein the displacement frame is provided with at least one transfer table, the pallet transfer mechanism is installed on the transfer table, two first support rails which are spaced apart and arranged in parallel are installed on the transfer table, the pallet transfer mechanism is located between the two first support rails, and when the pallet transfer mechanism grabs the beaker tray between the limiting inner walls of the two first support rails, the supporting portion of the first support rail is supported on the bottom surface of the beaker tray.

[0010] According to a further preferred embodiment, the pallet transfer mechanism comprises a first translation grabbing mechanism for grabbing and transferring the beaker pallet to between the limiting inner walls of the two first support rails or to the positioning surface of the positioning mechanism, and a second translation grabbing mechanism for grabbing and transferring the beaker pallet to between the limiting inner walls of the two first support rails or to the storage table. The first translation grabbing mechanism and the second translation grabbing mechanism are staggered in front and back, the first translation grabbing mechanism is arranged close to the stereoscopic warehouse, and the second translation grabbing mechanism is arranged close to the storage table. The first translation grabbing mechanism and the second translation grabbing mechanism are respectively arranged along the length direction of the first support rail, and are respectively arranged parallel to the first support rail.

[0011] According to a further preferred embodiment, the first translation grasping mechanism and the second translation grasping mechanism both include an elongated base plate, a translation driving device and an elongated translation plate, the elongated base plate, the translation driving device and the elongated translation plate are arranged parallel to each other, a first linear guide rail is fixed on the elongated base plate, the translation driving device is fixed on the elongated base plate, the translation portion of the translation driving device and the slider of the first linear guide rail are both connected to the middle portion of the elongated translation plate, positioning cylinders are respectively fixed at the front and rear ends of the elongated base plate, the telescopic pins on the positioning cylinders match the positioning holes at the front and rear ends of the beaker tray and the positions correspond, and the top surface of the elongated translation plate is flush with the top surface of the support portion of the first support rail.

[0012] According to a further preferred embodiment, the number of transfer tables on the displacement frame is set to two, the number of tray transfer mechanisms is set to two, each tray transfer mechanism is installed on two transfer tables respectively, and space for accommodating beaker trays is reserved between the two transfer tables.

[0013] According to a further preferred embodiment, the positioning mechanism comprises two second support rails which are spaced apart and arranged in parallel, each second support rail being arranged along the length direction of the storage space, the distance between the limiting inner walls of the two second support rails being equal to the distance between the limiting inner walls of the two first support rails, a pallet positioning space being formed between the limiting inner walls of the two second support rails, a movable limiting device being arranged at the front end of the pallet positioning space, a first fixed limiting block being arranged at the rear end thereof, the movable limiting device comprising a bracket and a first limiting cylinder mounted on the bracket.

[0014] According to a further preferred embodiment, the storage table includes a base and a table top installed on the base, and synchronously moving transmission mechanisms are respectively installed on the left and right sides of the table top. A second limiting cylinder is installed at the front end of the table top, and a second fixed limiting block is installed at the rear end thereof.

[0015] According to a further preferred embodiment, the transverse driving mechanism includes a first servo motor, a transverse frame, a transverse translation frame, a transverse rack and a second linear guide rail arranged transversely. The transverse rack and the second linear guide rail are parallel to each other and are both installed on the transverse frame. The transverse translation frame is connected to the slider of the second linear guide rail. The first servo motor is installed on the transverse translation. A gear is installed on the rotating shaft of the first servo motor, and the gear is meshed with the rack.

[0016] According to a further preferred embodiment, the lifting drive mechanism includes a second servo motor, a longitudinal frame, a longitudinal lead screw and a third linear guide rail arranged longitudinally. The longitudinal lead screw is rotatably mounted on the longitudinal frame, and the third linear guide rail is also mounted on the longitudinal frame. The displacement frame is connected to the slider of the third linear guide rail and the nut block of the longitudinal lead screw. The second servo motor is mounted at one end of the longitudinal frame, and the rotating shaft is connected to the longitudinal lead screw. The longitudinal frame is mounted on the transverse translation frame.

[0017] According to a further preferred embodiment, both transmission mechanisms include a double-speed chain, a driving sprocket and a driven sprocket. A transmission main shaft is rotatably mounted at the rear end of the table. Two driving sprockets are respectively sleeved and fixed on the two ends of the driving main shaft. Two driven sprockets are respectively rotatably mounted on the left and right sides of the front end of the table. The two ends of the double-speed chain are respectively meshed with the driven sprocket and the driving sprocket.

[0018] The robot-assisted water quality sample cultivation and monitoring system designed in this utility model has the following beneficial effects:

[0019] 1. The stereoscopic warehouse has multiple storage spaces, and a beaker tray can be placed in each storage space. Therefore, the water quality samples between the storage spaces can come from different water areas, that is, the water quality samples in each beaker in a storage space are the same, but the water quality samples in one storage space can be different from the water quality samples in another storage space, so that water quality samples from different water areas can be cultured at the same time to improve the efficiency of cultivation and monitoring.

[0020] 2. Each beaker tray containing beakers is automatically taken out and put in by a material-picking robot, and no manual operation is required during taking and placing. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure;

[0022] Figure 2 It is a partial enlarged view of the figure;

[0023] Figure 3 It is a schematic diagram of the back structure of the overall structure;

[0024] Figure 4 It is a schematic diagram of the structure of the material-retrieving robot;

[0025] Figure 5 It is a structural schematic diagram of the bottom surface of the material-retrieving robot;

[0026] Figure 6 This is a schematic diagram of the structure of the automatic transposition mechanism

[0027] Figure 7 It is a schematic diagram of the structure of the storage table;

[0028] Figure 8 It is a schematic diagram of the structure of the storage table from a top view.

[0029] In the figure: 1. Stereoscopic warehouse; 11. Storage space; 111. Positioning mechanism; 112. Second support rail; 113. Support part; 114. Bracket; 115. First limit cylinder; 115. First limit cylinder; 116. First fixed limit block; 2. Material-picking robot; 21. Horizontal drive mechanism; 211. Horizontal frame; 212. Second linear guide rail; 213. Horizontal rack; 214. Horizontal translation frame; 215. First servo motor; 22. Longitudinal drive mechanism; 221. Longitudinal frame; 222. Second servo motor; 223. Longitudinal lead screw; 224. Third linear guide rail; 23. Automatic transposition mechanism; 2 30. Tray transfer mechanism; 231. Displacement frame; 232. Transfer table; 233. First translation grabbing mechanism; 234. Second translation grabbing mechanism; 235. First support rail; 236. Elongated bottom plate; 237. Translation drive device; 238. Elongated translation plate; 239. Positioning cylinder; 240. First linear guide rail; 3. Storage table; 30. Base; 31. Table; 32. Conveying mechanism; 321. Double speed chain; 322. Driving sprocket; 323. Driven sprocket; 324. Transmission spindle; 325. Second limit cylinder; 326. Second fixed limit block; 4. Beaker tray; 41. Positioning hole. DETAILED DESCRIPTION

[0030] Example:

[0031] like Figure 1 , Figure 2 and Figure 3As shown, a robot-assisted water quality sample cultivation and monitoring system described in this embodiment includes a three-dimensional warehouse 1, a material-retrieving robot 2 and a storage table 3. The three-dimensional warehouse 1 includes a plurality of storage spaces 11, each of which has an entrance and exit. A beaker tray 4 for placing a beaker, a first contact and a positioning mechanism 111 for locking the beaker tray 4 are provided in each of the storage spaces 11. A heating device and a second contact matching the first contact are provided on the beaker tray 4, and the second contact is electrically connected to the heating device; when the beaker tray 4 is positioned on the positioning surface of the positioning mechanism 111, the first contact contacts and is electrically connected to the second contact, wherein a plurality of positioning grooves arranged in a rectangular array are provided on the beaker tray 4, and each beaker is positioned in the positioning groove, and an electric heating wire is embedded in the inner bottom surface of each positioning groove, and a plurality of electric heating wires are combined to form a heating device, and the plurality of electric heating wires are electrically connected to the second contact respectively, and the first contact is electrically connected to the power supply, and the beaker is a glass cup, so the water quality sample in the beaker can be heated after the heating wire is energized.

[0032] Preferably, if Figure 1 , Figure 2 and Figure 3 The positioning mechanism 111 includes two second support rails 112 that are spaced apart and arranged in parallel. Each second support rail 112 is arranged along the length direction of the storage space 11. A tray positioning space is formed between the limiting inner walls of the two second support rails 112. A movable limiting device is arranged at the front end of the tray positioning space, and a first fixed limiting block 116 is arranged at the rear end. The movable limiting device includes a bracket 114 and a first limiting cylinder 115115 installed on the bracket 114. When it is necessary to take out or put into the storage space 11, the piston rod of the first limiting cylinder 115115 descends. When the beaker tray 4 is located between the limiting inner walls of the two second support rails 112 and supported by the supporting portion 113 of the second support rail 112, the piston rod of the first limiting cylinder 115115 extends to limit the beaker tray 4 in the storage space 11.

[0033] like Figure 4 and Figure 5As shown, the material-grabbing robot 2 is close to a side of the stereoscopic warehouse 1 having an entrance and exit, and the material-grabbing robot 2 includes a transverse driving mechanism 21, a lifting driving mechanism and an automatic position-changing mechanism 23; specifically, the transverse driving mechanism 21 includes a first servo motor 215, a transverse frame 211, a transverse translation frame 214, a transverse rack 213 and a second linear guide rail 212 arranged transversely, the transverse rack 213 and the second linear guide rail 212 are parallel to each other and are both installed on the transverse frame 211, the transverse translation frame 214 is connected to the slider of the second linear guide rail 212, and the first servo motor The machine 215 is installed on the lateral translation, and a gear is installed on the rotating shaft of the first servo motor 215, and the gear is meshed with the rack; the lifting drive mechanism includes a second servo motor 222, a longitudinal frame 221, a longitudinal lead screw 223 and a third linear guide 224 arranged longitudinally, the longitudinal lead screw 223 is rotatably installed on the longitudinal frame 221, and the third linear guide 224 is also installed on the longitudinal frame 221, the displacement frame 231 is connected with the slider of the third linear guide 224 and the nut block of the longitudinal lead screw 223, the second servo motor 222 is installed at one end of the longitudinal frame 221, and the rotating shaft is connected with the longitudinal lead screw 223. The longitudinal frame 221 is mounted on the transverse translation frame 214. According to the above structure, the lifting drive mechanism is mounted on the transverse displacement part of the transverse drive structure, and the automatic position-changing mechanism 23 is mounted on the lifting part of the lifting drive mechanism. The first servo motor 215 drives the gear to rotate and mesh with the rack to drive the transverse translation plate to reciprocate along the length of the transverse frame 211, thereby driving the lifting drive mechanism and the automatic position-changing mechanism 23 to synchronously reciprocate along the length direction of the transverse frame 211 (i.e., transverse translation). The second servo motor 222 drives the longitudinal lead screw 22 3 rotates to cause the nut block to reciprocate along the height square of the longitudinal frame 221, causing the automatic position-changing mechanism 23 to reciprocate along the height square of the longitudinal frame 221 (i.e., longitudinal position-changing). Therefore, by adjusting the displacement of the automatic position-changing mechanism 23 in the lateral and longitudinal directions, the automatic position-changing mechanism 23 can accurately reach the entrance and exit, and the gripping part of the automatic position-changing mechanism 23 corresponds to the position of the beaker tray 4 at the entrance and exit, or the automatic position-changing mechanism 23 can accurately reach the tray pick-up and placement end of the storage table 3, and the gripping part of the automatic position-changing mechanism 23 corresponds to the position of the beaker tray 4 on the storage table 3.

[0034] Preferably, if Figure 5 and Figure 6As shown, the automatic position change mechanism 23 includes a displacement frame 231 and two tray transfer mechanisms 230, the displacement frame 231 is provided with two transfer tables 232, each tray transfer mechanism 230 is respectively installed on the two transfer tables 232, and a space for accommodating the beaker tray 4 is reserved between the two transfer tables 232, and each transfer table 232 is installed with two first support rails 235 that are spaced apart and arranged in parallel, and the tray transfer mechanism 230 is located between the two first support rails 235; further, the tray transfer mechanism 230 includes a first translation grabbing mechanism 23 for grabbing and transferring the beaker tray 4 to between the limiting inner walls of the two first support rails 235 or to the positioning surface of the positioning mechanism 111 3, and a second translation grabbing mechanism 234 for grabbing and transferring the beaker tray 4 to between the limiting inner walls of the two first support rails 235 or to the storage platform 3, the first translation grabbing mechanism 233 and the second translation grabbing mechanism 234 are staggered in front and back, the first translation grabbing mechanism 233 is arranged close to the stereoscopic warehouse 1, and the second translation grabbing mechanism 234 is arranged close to the storage platform 3, the first translation grabbing mechanism 233 and the second translation grabbing mechanism 234 are respectively arranged along the length direction of the first support rail 235, and are respectively arranged parallel to the first support rail 235; the first translation grabbing mechanism 233 and the second translation grabbing mechanism 234 both include an elongated bottom plate 236, a translation drive device 237 and a long The long translation plate 238, the long bottom plate 236, the translation drive device 237 and the long translation plate 238 are arranged parallel to each other, the long bottom plate 236 is fixed with a first linear guide rail 240, the translation drive device 237 is fixed on the long bottom plate 236, the translation portion of the translation drive device 237 and the slider of the first linear guide rail 240 are connected to the middle part of the long translation plate 238, the front and rear ends of the long bottom plate 236 are respectively fixed with positioning cylinders 239, the telescopic latch on the positioning cylinder 239 matches the positioning holes 41 at the front and rear ends of the beaker tray 4 and the positions correspond, the top surface of the long translation plate 238 is flush with the top surface of the support portion 113 of the first support rail 235, the translation drive device 237 adopts a rodless cylinder, and each beaker Two rows of positioning holes 41 groups are provided on the tray 4, which correspond to the positions of the positioning cylinders 239 of the first translation grasping mechanism 233 and the positioning cylinders 239 of the second translation grasping mechanism 234 respectively. The positioning hole 41 group is composed of four positioning holes 41 arranged at intervals. The two positioning holes 41 at the head and tail are respectively the two ends of the beaker tray 4, and the intervals between the four positioning holes 41 are equal. The distance between the central axes of the two positioning cylinders 239 on the long translation plate 238 is equal to the sum of the distances of the two center distances on the beaker tray 4. Each center distance is the distance between the central axes of the two positioning holes 41. The distance between the limiting inner walls of the two second support rails 112 is equal to the distance between the limiting inner walls of the two first support rails 235.

[0035] When one end of the automatic position-changing mechanism 23 corresponds to the position of the beaker tray 4 at the entrance and exit, the translation drive device 237 of the first translation mechanism drives the long translation plate 238 to move toward the three-dimensional warehouse 1. When the end of the long translation plate 238 close to the three-dimensional warehouse 1 moves to the bottom of the front end of the beaker tray 4 at the entrance and exit, it stops. The telescopic latch of the positioning cylinder 239 at this end extends out and inserts into the positioning hole 41 at the front end of the beaker tray 4. Then the translation drive device 237 of the first translation mechanism drives the long translation plate 238 to move toward the storage platform 3 and move to the extreme position. At this time, half of the beaker tray 4 in the storage space 11 is moved between the limiting inner walls of the two first support rails 235, and half of the beaker tray 4 is supported by the supporting portion 113 of the first support rail 235. Then the positioning cylinder 2 39 positioning is released, and the translation drive device 237 of the first translation mechanism drives the long translation plate 238 to move toward the three-dimensional warehouse 1 again and move to the bottom of half of the beaker tray 4, so that the piston rods of the two positioning cylinders 239 on the long translation plate 238 correspond to the positions of the two positioning holes 41 respectively. At this time, the piston rods of the two positioning cylinders 239 extend out and are inserted into the positioning holes 41. Then the translation drive device 237 of the first translation mechanism drives the long translation plate 238 to move toward the storage platform 3 and move to the extreme position, so that the beaker tray 4 is completely moved out and moved between the limiting inner walls of the two first support rails 235, and the support portion 113 of the first support rail 235 is supported on the bottom surface of the beaker tray 4 to transfer the tray in the storage space 11 to the mobile transposition mechanism.

[0036] When one end of the automatic position-changing mechanism 23 corresponds to the position of the entrance and exit of the vacant storage space 11, the two positioning cylinders 239 of the long translation plate 238 on the first translation mechanism position the front end of the beaker tray 4 on the transfer table 232, and the translation drive device 237 of the first translation mechanism drives the long translation plate 238 to move toward the stereoscopic warehouse 1, and moves the rear half of the beaker tray 4 into the storage space 11. At this time, the positioning of the positioning cylinder 239 is released, and the translation drive device 237 of the first translation mechanism drives the long translation plate 238 to move toward the stereoscopic warehouse 1. 8 is translated toward the storage table 3 and displaced to the extreme position, so that the positioning cylinder 239 close to the three-dimensional warehouse 1 positions the front end positioning hole 41 of the beaker tray 4, and then the translation drive device 237 of the first translation mechanism drives the elongated translation plate 238 to be displaced toward the three-dimensional warehouse 1, so as to push the beaker tray 4 completely into the storage space 11, and the beaker tray 4 in the storage space 11 is positioned between the limiting inner walls of the two second support rails 112, and is supported by the supporting portion 113 of the second support rail 112 and is placed stably.

[0037] When the other end of the automatic shifting mechanism 23 corresponds to the position of the pick-up and placement end of the storage table 3, the beaker tray 4 has been positioned between the two first support rails 235. At this time, the translation drive device 237 of the second translation mechanism drives the long translation plate 238 to move toward the three-dimensional warehouse 1. When the end of the long translation plate 238 close to the three-dimensional warehouse 1 moves to the bottom of the rear end of the beaker tray 4, it stops. The telescopic latch of the positioning cylinder 239 at this end extends out and is inserted into the positioning hole 41 at the rear end of the beaker tray 4. Then, the translation drive device 237 of the second translation mechanism drives the long translation plate 238 to move toward the storage table 3 and move to the extreme position. At this time, the front half of the beaker tray 4 is pushed To the surface of the storage table 3, and the front half of the beaker tray 4 is supported by the two conveying mechanisms 32 on the storage table 3, then the positioning cylinder 239 is released, and the translation drive device 237 of the second translation mechanism drives the long translation plate 238 to move toward the three-dimensional warehouse 1 again, and makes the positioning cylinder 239 close to one end of the storage table 3 below the positioning hole 41 at the rear end of the beaker tray 4. At this time, the piston rod of the positioning cylinder 239 at this end extends out and is inserted into the positioning hole 41. At this time, the translation drive device 237 of the second translation mechanism drives the long translation plate 238 to move toward the storage table 3 and move to the extreme position, so that the beaker tray 4 is completely moved onto the storage table 3.

[0038] like Figure 7 and Figure 8 As shown, the storage table 3 is located on the feeding side of the material picking robot 2; the storage table 3 includes a base 30 and a table plate 31 installed on the base 30, and the left and right sides of the table plate 31 are respectively installed with synchronously moving transmission mechanisms 32, and the front end of the table plate 31 is installed with a second limit cylinder 325, and the rear end thereof is installed with a second fixed limit block 326; further, the two transmission mechanisms 32 each include a double-speed chain 321, a driving sprocket 322 and a driven sprocket 323, and the rear end of the table plate 31 is rotatably installed with a transmission main shaft 324, and the two driving sprockets 322 are respectively sleeved and fixed on the two ends of the driving main shaft, and the two driven sprockets 323 are respectively rotatably installed on the left and right sides of the front end of the table plate 31, and the two ends of the double-speed chain 321 are respectively meshed with the driven sprocket 323 and the driving sprocket 322.

[0039] When the other end of the automatic position changing mechanism 23 corresponds to the pick-up and placement end position of the storage table 3, and the beaker tray 4 on the storage table 3 needs to be moved to the top of the transfer table 232, the two conveying mechanisms 32 work to drive the chains synchronously, so that the beaker tray 4 can be moved between the two first support rails 235, and then the first translation grabbing mechanism 233 or the second translation grabbing mechanism 234 moves the beaker tray 4 conveyed from the storage table 3 completely to the top of the transfer table 232.

[0040] In this embodiment, the support portion 113 of the first support rail 235 and the support portion 113 of the second support rail 112 are both composed of multiple rollers, and the multiple rollers are evenly arranged along the length direction of the support rails, and the multiple rollers are arranged along a straight line. At the same time, the above-mentioned fixing methods can be fixed by bolts or welding.

Claims

1. A robot-assisted water quality sample cultivation and monitoring system, characterized in that: include: A three-dimensional warehouse (1), the three-dimensional warehouse (1) comprising a plurality of storage spaces (11), each of the storage spaces (11) having an entrance and an exit, each of the storage spaces (11) being provided with a beaker tray (4) for placing beakers, a first contact point and a positioning mechanism (111) for locking the beaker tray (4), a heating device and a second contact point matching the first contact point being provided on the beaker tray (4), the second contact point being electrically connected to the heating device; A material-picking robot (2), the material-picking robot (2) being close to a side surface of the three-dimensional warehouse (1) having an entrance and an exit, the material-picking robot (2) comprising a transverse drive mechanism (21), a lifting drive mechanism and an automatic position-changing mechanism (23), the lifting drive mechanism being mounted on a transverse displacement portion of the transverse drive mechanism (21), and the automatic position-changing mechanism (23) being mounted on a lifting portion of the lifting drive mechanism; A storage platform (3), the storage platform (3) being located on the feeding side of the material picking robot (2); When the beaker tray (4) is positioned on the positioning surface of the positioning mechanism (111), the first contact point contacts and is electrically connected with the second contact point.

2. A robot-assisted water quality sample cultivation and monitoring system according to claim 1, characterized in that: The automatic position-changing mechanism (23) comprises a displacement frame (231) and at least one tray transfer mechanism (230); the displacement frame (231) is provided with at least one transfer table (232); the tray transfer mechanism (230) is installed on the transfer table (232); two first support rails (235) are installed on the transfer table (232) and are arranged in parallel and at intervals; the tray transfer mechanism (230) is located between the two first support rails (235); when the tray transfer mechanism (230) grabs the beaker tray (4) between the limiting inner walls of the two first support rails (235), the support portion (113) of the first support rail (235) is supported on the bottom surface of the beaker tray (4).

3. A robot-assisted water quality sample cultivation and monitoring system according to claim 2, characterized in that: The tray transfer mechanism (230) comprises a first translation grabbing mechanism (233) for grabbing and transferring a beaker tray (4) to between the limiting inner walls of the two first support rails (235) or to the positioning surface of the positioning mechanism (111), and a second translation grabbing mechanism (234) for grabbing and transferring the beaker tray (4) to between the limiting inner walls of the two first support rails (235) or to the storage platform (3). The first translation grabbing mechanism (233) and the second translation grabbing mechanism (234) are arranged in a front-to-back staggered manner. The first translation grabbing mechanism (233) is arranged close to the stereoscopic warehouse (1), and the second translation grabbing mechanism (234) is arranged close to the storage platform (3). The first translation grabbing mechanism (233) and the second translation grabbing mechanism (234) are respectively arranged along the length direction of the first support rail (235) and are respectively arranged parallel to the first support rail (235).

4. A robot-assisted water quality sample cultivation and monitoring system according to claim 3, characterized in that: The first translation grabbing mechanism (233) and the second translation grabbing mechanism (234) both comprise an elongated bottom plate (236), a translation driving device (237) and an elongated translation plate (238), wherein the elongated bottom plate (236), the translation driving device (237) and the elongated translation plate (238) are arranged parallel to each other, a first linear guide rail (240) is fixed on the elongated bottom plate (236), the translation driving device (237) is fixed on the elongated bottom plate (236), and the translation driving device (237) is fixed on the elongated bottom plate (236). The translation part of the driving device (237) and the slider of the first linear guide rail (240) are both connected to the middle part of the long translation plate (238), and the front and rear ends of the long bottom plate (236) are respectively fixed with positioning cylinders (239), and the telescopic latch on the positioning cylinder (239) matches the positioning holes (41) at the front and rear ends of the beaker tray (4) and the positions correspond, and the top surface of the long translation plate (238) is flush with the top surface of the support part (113) of the first support rail (235).

5. A robot-assisted water quality sample cultivation and monitoring system according to any one of claims 2 to 4, characterized in that: The number of transfer tables (232) on the displacement frame (231) is set to two, the number of tray transfer mechanisms (230) is set to two, each tray transfer mechanism (230) is installed on two transfer tables (232), and a space for accommodating the beaker tray (4) is reserved between the two transfer tables (232).

6. A robot-assisted water quality sample cultivation and monitoring system according to claim 1, characterized in that: The positioning mechanism (111) comprises two second support rails (112) which are spaced apart and arranged in parallel. Each second support rail (112) is arranged along the length direction of the storage space (11). The distance between the limiting inner walls of the two second support rails (112) is equal to the distance between the limiting inner walls of the two first support rails (235). A tray positioning space is formed between the limiting inner walls of the two second support rails (112). A movable limiting device is arranged at the front end of the tray positioning space, and a first fixed limiting block (116) is arranged at the rear end thereof. The movable limiting device comprises a bracket (114) and a first limiting cylinder (115) installed on the bracket (114).

7. The robot-assisted water quality sample cultivation and monitoring system according to claim 1, characterized in that: The storage table (3) comprises a base (30) and a tabletop (31) mounted on the base (30); a synchronously moving transmission mechanism (32) is mounted on the left and right sides of the tabletop (31); a second limit cylinder (325) is mounted on the front end of the tabletop (31); and a second fixed limit block (326) is mounted on the rear end thereof.

8. The robot-assisted water quality sample cultivation and monitoring system according to claim 2, characterized in that: The transverse driving mechanism (21) comprises a first servo motor (215), a transverse frame (211), a transverse translation frame (214), a transverse rack (213) and a second linear guide rail (212) arranged transversely, wherein the transverse rack (213) and the second linear guide rail (212) are parallel to each other and are both installed on the transverse frame (211), the transverse translation frame (214) is connected to a slider of the second linear guide rail (212), the first servo motor (215) is installed on the transverse translation, a gear is installed on the rotating shaft of the first servo motor (215), and the gear is meshed with the rack.

9. A robot-assisted water quality sample cultivation and monitoring system according to claim 8, characterized in that: The lifting drive mechanism comprises a second servo motor (222), a longitudinal frame (221), a longitudinal lead screw (223) and a third linear guide rail (224) arranged longitudinally, wherein the longitudinal lead screw (223) is rotatably mounted on the longitudinal frame (221), the third linear guide rail (224) is also mounted on the longitudinal frame (221), a displacement frame (231) is connected to a slider of the third linear guide rail (224) and a nut block of the longitudinal lead screw (223), the second servo motor (222) is mounted on one end of the longitudinal frame (221), and a rotating shaft is connected to the longitudinal lead screw (223), and the longitudinal frame (221) is mounted on a transverse translation frame (214).

10. The robot-assisted water quality sample cultivation and monitoring system according to claim 7, characterized in that: The two transmission mechanisms (32) each comprise a double-speed chain (321), a driving sprocket (322) and a driven sprocket (323); a transmission main shaft (324) is rotatably mounted at the rear end of the table (31); two driving sprockets (322) are respectively sleeved and fixed at the two ends of the driving main shaft; two driven sprockets (323) are respectively rotatably mounted at the left and right sides of the front end of the table (31); and two ends of the double-speed chain (321) are respectively meshed with the driven sprocket (323) and the driving sprocket (322).

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