Manipulator of full-automatic five-day biochemical oxygen demand tester

Abstract

The utility model provides a full-automatic five-day biochemical oxygen demand tester manipulator, which comprises a cross-shaped sliding table and a manipulator assembly, the manipulator assembly comprises a mounting seat, three lifting components are arranged on the mounting seat in parallel, each lifting component comprises a vertical sliding seat and a first driving mechanism, and the vertical sliding seat and the first driving mechanism are arranged on the cross-shaped sliding table. The three vertical sliding seats are respectively provided with a clamping mechanism, a needle body assembly and a dissolved oxygen electrode, the needle body assembly comprises a first needle body, a second needle body and a third needle body which are arranged in parallel, the first needle body is connected with a pump body and is used for pumping and supplying liquid, the second needle body is connected with an air pump and is used for aeration, and the third needle body is used for pumping and supplying liquid. And the third needle body is a liquid level probe and is used for detecting the liquid level. The full-automatic five-day biochemical oxygen demand tester manipulator disclosed by the utility model is compact in structure, small in mounting space, diversified in function, capable of realizing automatic operation, capable of greatly improving the detection efficiency and the detection precision, convenient to operate and wide in application range.

Description

Technical Field

[0001] The utility model relates to a detection device, in particular to a manipulator of a full-automatic five-day biochemical oxygen demand measuring instrument. Background Art

[0002] Dissolved oxygen refers to molecular oxygen dissolved in water or a liquid phase, which is an indispensable condition for the survival of aquatic organisms and aquatic plants. The determination of dissolved oxygen concentration is of great significance in the fields of industry, medicine, environmental monitoring, aquaculture, etc. It is one of the important indicators of water pollution degree. The traditional detection method is to detect through manual or semi-automatic means, with complex operations, low detection efficiency, and it will affect the detection results. Therefore, our company has developed a detection device that can achieve automatic detection, which includes a multi-functional manipulator and can realize multi-process operations. Content of the Utility Model

[0003] Technical Problems to be Solved

[0004] The technical problem to be solved by the utility model is to provide a manipulator of a full-automatic five-day biochemical oxygen demand measuring instrument with a compact structure, small volume, stable operation and multiple functions.

[0005] Technical Solutions for Solving the Problems

[0006] The utility model provides a manipulator of a full-automatic five-day biochemical oxygen demand measuring instrument, which includes a cross slide and a manipulator assembly 4 arranged at the output end of the cross slide and capable of realizing horizontal movement. The manipulator assembly 4 includes a mounting seat 41 fixed at the output end of the cross slide. Three lifting components are arranged in parallel on the mounting seat 41. The lifting component includes a vertical slide seat vertically and slidably matched on the mounting seat 41 and a first driving mechanism for driving the vertical slide seat to move up and down. A clamping mechanism, a needle body assembly and a dissolved oxygen electrode 451 are respectively arranged on the three vertical slide seats. The needle body assembly includes a first needle body, a second needle body and a third needle body arranged in parallel. The first needle body is connected to a pump body and is used for pumping and supplying liquid. The second needle body is connected to an air pump and is used for aeration. The third needle body is a liquid level detection needle and is used for detecting the liquid level.

[0007] Further, the mounting seat 41 is a vertically arranged plate-like structure, and the plane where it is located is parallel or perpendicular to the cross beam. The vertical slide seat is arranged at the rear end of the mounting seat 41, and the first driving mechanism is arranged at the front end of the mounting seat 41. A vertically arranged strip-shaped hole is opened on the mounting seat 41. A connecting piece is arranged on the vertical slide seat, and the connecting piece passes through the strip-shaped hole and is connected to the first driving mechanism.

[0008] Further, the first driving mechanism includes two first synchronous belt pulleys 46 arranged in parallel on the mounting base. A first synchronous belt 47 is provided between the two first synchronous belt pulleys 46. The connecting member is connected to the first synchronous belt and can move up and down. The upper end of the mounting base is provided with a first driving motor 48. The output end of the first driving motor 48 is connected to the upper first synchronous belt pulley 46 and is used to drive the first synchronous belt 47 to move.

[0009] Further, a limit switch is provided on the mounting base 41, and a contact block is provided on the vertical sliding seat. When the vertical sliding seat moves to the upper limit position, the limit switch can be triggered.

[0010] Further, a cover body with an open lower end is provided outside the mounting base 41, and the lifting assembly is located inside the cover body.

[0011] Further, the clamping mechanism includes a vertically arranged clamping cylinder 431 and a clamping jaw 432 provided at the lower output end of the clamping cylinder 431. A clamping block 4321 is provided on the inner wall of the clamping jaw. The upper surface of the clamping block 4321 is an inclined surface and forms a second inclined guide surface 4321a, and the bottom surface of the clamping block 4321 is a flat surface and forms a supporting surface 4321b.

[0012] Further, the inner wall of the clamping block 4321 is arc-shaped.

[0013] Further, the cross slide table includes a horizontally arranged cross beam 2 and a longitudinal beam 3. There are two cross beams 2 and they are arranged in parallel. A first horizontal guide rail 21 is provided on the cross beam 2 along the length direction. A first sliding seat is horizontally slidably fitted on the first horizontal guide rail 21. A second driving mechanism for driving the first sliding seat to slide horizontally is provided on the cross beam 2; the longitudinal beam 3 is perpendicular to the cross beam 2 and is respectively connected to the two first sliding seats at both ends and can slide horizontally. A second horizontal guide rail 31 is provided on the longitudinal beam 3 along the length direction. A second sliding seat is horizontally slidably fitted on the second horizontal guide rail 31. A third driving mechanism for driving the second sliding seat to slide horizontally is provided on the longitudinal beam 3; the mounting base 41 is fixed on the second sliding seat.

[0014] Further, both the second driving mechanism and the third driving mechanism are synchronous belt assemblies.

[0015] Further, the first needle body, the second needle body and the third needle body are distributed in a triangle, and the distance between any two of them is less than or equal to 40 mm.

[0016] Beneficial effects

[0017] The manipulator of the full-automatic five-day biochemical oxygen demand analyzer of the present utility model integrates clamping, detection, aeration, liquid extraction and liquid supply on the same manipulator assembly. Through a single manipulator, multiple processes can be carried out, improving the detection efficiency and accuracy. Moreover, the single-slide table structure is set, greatly reducing the production and manufacturing costs, reducing the installation space, being easy to operate and avoiding interference. It is driven by a synchronous belt, with a small installation space, high running accuracy, good stability and low working noise. The manipulator of the full-automatic five-day biochemical oxygen demand analyzer of the present utility model has a compact structure, a small installation space, diverse functions, can realize automated operations, greatly improves the detection efficiency and accuracy, is easy to operate and has a wide application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the manipulator of the full-automatic five-day biochemical oxygen demand analyzer of the present utility model;

[0019] Figure 2 is a schematic internal structure diagram of the manipulator of the full-automatic five-day biochemical oxygen demand analyzer of the present utility model;

[0020] Figure 3 is a schematic structural diagram of the manipulator assembly of the manipulator of the full-automatic five-day biochemical oxygen demand analyzer of the present utility model;

[0021] Figure 4 is a schematic structural diagram of the manipulator assembly of the manipulator of the full-automatic five-day biochemical oxygen demand analyzer of the present utility model from another angle;

[0022] Figure 5 is a schematic installation diagram of the clamping mechanism of the manipulator of the full-automatic five-day biochemical oxygen demand analyzer of the present utility model;

[0023] Figure 6 is a schematic installation diagram of the needle body assembly of the manipulator of the full-automatic five-day biochemical oxygen demand analyzer of the present utility model;

[0024] Figure 7 is a schematic installation diagram of the dissolved oxygen electrode of the manipulator of the full-automatic five-day biochemical oxygen demand analyzer of the present utility model;

[0025] Figure 8 is a schematic structural diagram of the jaw of the manipulator of the full-automatic five-day biochemical oxygen demand analyzer of the present utility model;

[0026] Figure 9 is a schematic structural diagram of the jaw of the manipulator of the full-automatic five-day biochemical oxygen demand analyzer of the present utility model from another angle. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The embodiments of the present utility model will be described in detail below with reference to the drawings.

[0028] Refer toFigures 1-9 , the present utility model provides a manipulator for a full-automatic five-day biochemical oxygen demand analyzer, which includes a cross slide and a manipulator assembly 4 provided at the output end of the cross slide. The manipulator assembly 4 can move in two horizontal axes (X-axis and Y-axis) along with the output end of the cross slide. Specifically, the cross slide includes a cross beam 2 and a longitudinal beam 3. Both the cross beam 2 and the longitudinal beam 3 are horizontally arranged. Among them, there are two parallel cross beams 2. Along the length direction of the cross beam 2, a first horizontal guide rail 21 is provided, that is, the length direction of the first horizontal guide rail 21 is parallel to the length direction of the cross beam 2. In this embodiment, the first horizontal guide rail 21 is provided at the upper end of the cross beam. A first slide seat is horizontally slidably fitted on the first horizontal guide rail 21. At the same time, a second driving mechanism is provided on the cross beam 2. The second driving mechanism is connected to the first slide seat and is used to drive the first slide seat to slide horizontally; the longitudinal beam 3 is also horizontal, and its length direction is perpendicular to the length direction of the cross beam 2. Both ends of the longitudinal beam 3 are respectively connected to the two first slide seats and can slide horizontally along with the movement of the two first slide seats, (the two first slide seats move synchronously). Along the length direction of the longitudinal beam 3, a second horizontal guide rail 31 is provided, that is, the length direction of the second horizontal guide rail 31 is parallel to the length direction of the longitudinal beam 3. In this embodiment, the second horizontal guide rail 31 is provided at the upper end of the longitudinal beam 3. The second horizontal guide rail 31 is perpendicular to the first horizontal guide rail 21. A second slide seat is horizontally slidably fitted on the second horizontal guide rail 31. The sliding direction of the second slide seat is perpendicular to the sliding direction of the longitudinal beam, so as to realize two-axis movement in the horizontal direction. A third driving mechanism is provided on the longitudinal beam 3. The third driving mechanism is connected to the second slide seat and is used to drive the second slide seat to slide horizontally.

[0029] Both the above-mentioned second driving mechanism and the third driving mechanism are synchronous belt assemblies. Specifically, the second driving mechanism includes a plurality of second synchronous belt wheels and a second synchronous belt 23 arranged on the plurality of second synchronous belt wheels. In this embodiment, there is one second synchronous belt, which realizes commutation through the second synchronous belt wheels, so that the direction of the second synchronous belt on the cross beam 2 is parallel to the length direction of the first horizontal guide rail 21, forming a gantry structure. The two first slide seats are connected to the second synchronous belt, so that the two first slide seats can realize synchronous sliding, and further ensure the linearity of the sliding of the longitudinal beam. At the same time, the second driving mechanism also includes a second driving motor 22, which is connected to one of the second synchronous belt wheels, and then drives the second synchronous belt to rotate; the third driving mechanism includes two third synchronous belt wheels, which are respectively arranged at both ends of the longitudinal beam. A third synchronous belt 32 is provided between the two third synchronous belt wheels. The third synchronous belt is in a horizontal state. The second slide seat is connected to the third synchronous belt 32, so that the second slide seat can realize horizontal sliding. At the same time, it also includes a third driving motor 33, which is connected to one of the third synchronous belt wheels, and then drives the third synchronous belt to rotate.

[0030] The manipulator assembly 4 is installed on the second sliding seat and can thus achieve arbitrary movement in the horizontal direction. The manipulator assembly 4 includes a mounting seat 41 which is fixed on the second sliding seat. Three lifting components are provided on the mounting seat 41. The three lifting components are arranged in parallel. The lifting component includes a vertical sliding seat and a first driving mechanism. The vertical sliding seat is vertically slidably matched with the mounting seat 41. The first driving mechanism is connected to the vertical sliding seat and is used to drive the vertical sliding seat to move up and down to achieve lifting. Specifically, a first slide rail 421 is vertically provided on the side wall of the mounting seat 41. There are three first slide rails 421 which are arranged in parallel. The vertical sliding seat 43 is vertically slidably matched on the first slide rail and can achieve up and down movement, that is, lifting. The first driving mechanism is connected to the vertical sliding seat 43. Specifically, the first driving mechanism includes two first synchronous belt wheels 46 which are arranged in parallel on the mounting seat. The two first synchronous belt wheels 46 are arranged one above the other. A first synchronous belt 47 is provided between the two first synchronous belt wheels 46. The first synchronous belt 47 can achieve conveyance (rotation) in the vertical direction. A connecting member is provided on the vertical sliding seat. The connecting member is connected to the first synchronous belt and can move up and down with the rotation of the first synchronous belt. A first driving motor 48 is provided at the upper end of the mounting seat. The output end of the first driving motor 48 is connected to the upper first synchronous belt wheel 46 and is thus used to drive the first synchronous belt 47 to move, thereby driving the vertical sliding seat to move up and down.

[0031] In this application, the mounting seat 41 is of a plate-like structure and is vertically arranged. The plane where the mounting seat is located is parallel or perpendicular to the cross beam. For the convenience of observation, in this embodiment, its plane is perpendicular to the cross beam, that is, parallel to the longitudinal beam. The vertical sliding seat is arranged at the rear end of the mounting seat 41, and the first driving mechanism is arranged at the front end of the mounting seat 41, which can reduce the mounting space at the front end. At the same time, a strip-shaped hole is provided in the mounting seat 41. The strip-shaped hole is vertically arranged. A connecting member is provided on the vertical sliding seat. The connecting member passes through the strip-shaped hole and is connected to the first driving mechanism (first synchronous belt), thereby realizing the connection between the first driving mechanism and the vertical sliding seat.

[0032] Clamping mechanisms, a needle body assembly, and a dissolved oxygen electrode 451 are respectively provided on three vertical sliders. Among them, the needle body assembly 433 is mounted on the vertical slider through a seat body. The needle body assembly includes a first needle body, a second needle body, and a third needle body that are arranged in parallel. They are all vertically arranged with their ends facing downwards. The first needle body is connected to a pump body for liquid pumping and feeding. The second needle body is connected to an air pump for aeration (outlet air). The third needle body is a liquid level detection needle for detecting the liquid level. The clamping mechanism is used to pick and place the stopper of the test bottle to achieve opening and closing the lid. The dissolved oxygen electrode 451 is generally cylindrical and is used to detect the oxygen content in the liquid. During measurement, a polarization voltage of 675 mV is applied between the electrodes. Oxygen permeates through the diaphragm and is consumed at the cathode, while an equal amount of oxygen is generated at the anode. This dynamic process reaches equilibrium when the oxygen partial pressures on both sides are the same. At this time, the current between the two electrodes is proportional to the oxygen partial pressure. The secondary meter detects this current and, through a series of transformations, obtains the oxygen concentration and oxygen content.

[0033] The first needle body, the second needle body, and the third needle body are distributed in a triangle, and the distance between any two of them is less than or equal to 40 mm, which enables the three needles to be inserted into the test bottle simultaneously with high compactness.

[0034] The clamping mechanism includes a clamping cylinder 431. The clamping cylinder 431 is vertically arranged with its output end facing downwards. In this embodiment, the clamping cylinder 431 is a finger cylinder. Claw 432 is provided at the two output ends of the clamping cylinder 431. The two claws can move closer to or away from each other to achieve clamping or loosening. A clamping block 4321 is provided on the inner wall of the claw. The inner wall of the clamping block 4321 is arc-shaped, and the upper surface of the clamping block 4321 is an inclined surface, which forms a second inclined guide surface 4321a for contacting the first inclined surface at the lower end of the stopper of the bottle body. When the clamping block moves closer to each other, it contacts the first inclined surface of the stopper and pushes the stopper upwards until the stopper is separated from the bottle body to achieve opening the lid. The bottom surface of the clamping block 4321 is a plane, which forms a supporting surface 4321b for contacting the mouth of the bottle body to support the bottle body and prevent the bottle body from moving upwards during the rising process of the stopper, improving the reliability and stability of opening the lid.

[0035] To improve the degree of automation, limit switches are provided on the mounting seat 41. There are three such mounting switches, corresponding to the three vertical sliders respectively. In this embodiment, the limit switches are inductive switches. At the same time, a touch block is provided on the vertical slider. When the vertical slider moves to the upper limit position, the touch block can trigger the limit switch, indicating that it has moved to the upper limit position, and this upper limit position is the reset state position.

[0036] To improve the overall aesthetics and at the same time protect the manipulator assembly, a cover body is provided outside the mounting seat 41. The cover body is of a cuboid structure and can be made of metal or plastic. The lower end is open (open), and the lifting assembly is located inside the cover body.

[0037] The manipulator of the full-automatic five-day biochemical oxygen demand measuring instrument of the utility model integrates clamping, detection, aeration, liquid pumping and liquid supply on the same manipulator assembly. Through a single manipulator, multi-process operations can be realized, improving the detection efficiency and detection accuracy. Moreover, the single sliding table structure is set, greatly reducing the production and manufacturing costs, reducing the installation space, being easy to operate and avoiding interference. It is driven by a synchronous belt, with a small installation space, high running accuracy, good stability and low working noise. The manipulator of the full-automatic five-day biochemical oxygen demand measuring instrument of the utility model has a compact structure, a small installation space, diverse functions, can realize automated operations, greatly improves the detection efficiency and detection accuracy, is easy to operate and has a wide application range.

[0038] The above are only the preferred embodiments of the utility model. It should be pointed out that for those of ordinary skill in the art of this technology, without departing from the technical principle of the utility model, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the utility model.

Claims

1. An automatic five-day biochemical oxygen demand analyzer manipulator, characterized in that: It includes a cross slide and a robot assembly arranged at the output end of the cross slide and capable of realizing horizontal movement. The robot assembly includes a mounting seat fixed at the output end of the cross slide. Three lifting components are arranged in parallel on the mounting seat. The lifting component includes a vertical sliding seat vertically and slidably matched on the mounting seat and a first driving mechanism for driving the vertical sliding seat to move up and down. A clamping mechanism, a needle body assembly and a dissolved oxygen electrode are respectively arranged on the three vertical sliding seats. The needle body assembly includes a first needle body, a second needle body and a third needle body arranged in parallel. The first needle body is connected to a pump body and is used for pumping and supplying liquid. The second needle body is connected to an air pump and is used for aeration. The third needle body is a liquid level detection needle and is used for detecting the liquid level.

2. The manipulator of the full-automatic five-day biochemical oxygen demand analyzer according to claim 1, characterized in that: The mounting seat is a vertically arranged plate-like structure. The vertical sliding seat is arranged at the rear end of the mounting seat. The first driving mechanism is arranged at the front end of the mounting seat. A strip-shaped hole is vertically formed in the mounting seat. A connecting piece is arranged on the vertical sliding seat. The connecting piece passes through the strip-shaped hole and is connected to the first driving mechanism.

3. The manipulator of the fully automatic five-day biochemical oxygen demand analyzer according to claim 2, characterized in that: The first driving mechanism includes two first synchronous belt wheels arranged in parallel on the mounting seat. A first synchronous belt is arranged between the two first synchronous belt wheels. The connecting piece is connected to the first synchronous belt and can move up and down. A first driving motor is arranged at the upper end of the mounting seat. The output end of the first driving motor is connected to the upper first synchronous belt wheel and is used for driving the first synchronous belt to rotate.

4. The manipulator of the fully automatic five-day biochemical oxygen demand analyzer according to claim 1, wherein: A limit switch is arranged on the mounting seat. A contact block is arranged on the vertical sliding seat. When the vertical sliding seat moves to the upper limit position, the limit switch can be triggered.

5. The manipulator of the fully automatic five-day biochemical oxygen demand analyzer according to claim 1, characterized in that: A cover body with an open lower end is arranged outside the mounting seat. The lifting component is located inside the cover body.

6. The manipulator of the full-automatic five-day biochemical oxygen demand analyzer according to claim 1, wherein: The clamping mechanism includes a vertically arranged clamping cylinder and a clamping jaw arranged at the lower output end of the clamping cylinder. Clamping blocks are arranged on the inner wall of the clamping jaw. The upper surface of the clamping block is an inclined surface and forms a second inclined guide surface. The bottom surface of the clamping block is a plane and forms a supporting surface.

7. The manipulator of the full-automatic five-day biochemical oxygen demand measuring instrument according to claim 6, characterized in that: The inner wall of the clamping block is arc-shaped.

8. The manipulator of the fully automatic five-day biochemical oxygen demand analyzer according to claim 1, wherein: The cross slide includes a horizontally arranged cross beam and a longitudinal beam. There are two cross beams arranged in parallel. First horizontal guide rails are arranged along the length direction on the cross beams. First sliding seats are horizontally and slidably matched on the first horizontal guide rails. Second driving mechanisms for driving the first sliding seats to slide horizontally are arranged on the cross beams. The longitudinal beam is perpendicular to the cross beam and is respectively connected to the two first sliding seats at both ends and can realize horizontal sliding. Second horizontal guide rails are arranged along the length direction on the longitudinal beam. Second sliding seats are horizontally and slidably matched on the second horizontal guide rails. Third driving mechanisms for driving the second sliding seats to slide horizontally are arranged on the longitudinal beam. The mounting seat is fixed on the second sliding seat.

9. The manipulator of the fully automatic five-day biochemical oxygen demand analyzer according to claim 8, wherein: Both the second driving mechanism and the third driving mechanism are synchronous belt assemblies.

10. The manipulator of the full-automatic five-day biochemical oxygen demand analyzer according to claim 1, characterized in that: The first needle body, the second needle body and the third needle body are distributed in a triangle, and the distance between any two of them is less than or equal to 40 mm.

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