Dairy product unpacking mechanism and dairy product sample separation work station

Abstract

The utility model relates to the technical field of sample detection, and provides a dairy product unpacking mechanism and a dairy product sample dividing workstation, the dairy product unpacking mechanism comprises a mechanical arm, a control module and a visual module, the mechanical arm and the visual module are respectively in communication connection with the control module; the needle head is arranged at the end part of the mechanical arm; wherein the visual module is used for acquiring image information of a sample package; and the control module is used for determining a target hole pricking position on the sample package according to the image information, and controlling the mechanical arm to drive the needle head to perform hole pricking operation on the sample package from the target hole pricking position. The dairy product unpacking mechanism can replace manual unpacking, manpower is reduced, sample pollution caused by manual unpacking can be avoided, the consistency of the packing and hole pricking positions of all samples can be ensured, subsequent sampling operation is facilitated, and the working efficiency can be detected easily.

Description

Technical Field

[0001] The utility model relates to the technical field of sample detection, in particular to a dairy product package opening mechanism and a dairy product sample separation station. Background Art

[0002] During the dairy production process, it is necessary to test the physical and chemical indicators of raw milk samples, semi-finished product samples, and finished products produced in the workshop to ensure the quality and safety of the food. At present, in the inspection process of dairy products, inspectors not only need to complete multiple inspection tasks by one person, but also need to spend a lot of energy on non-inspection work such as material collection, sampling, preparation of testing reagents, and waste cleaning. Among them, in the inspection and sampling of finished product samples, inspectors are required to manually open the packaging box to facilitate subsequent sampling operations. This not only wastes manpower and easily causes sample contamination and affects the accuracy of the experimental results, but also affects subsequent sampling due to differences in the position of the package opened manually, reducing the efficiency of the inspection work. Utility Model Content

[0003] The utility model provides a dairy product package opening mechanism and a dairy product sampling station, which are used to solve the problem that manual package opening is used in dairy product testing in the prior art, which not only wastes manpower and easily causes sample contamination, but also affects subsequent sampling due to differences in the manual package opening position, thereby reducing the efficiency of testing work.

[0004] The utility model provides a dairy product packaging opening mechanism, comprising:

[0005] A robotic arm, a control module and a vision module, wherein the robotic arm and the vision module are respectively connected to the control module for communication;

[0006] A needle is provided at the end of the robotic arm;

[0007] Among them, the visual module is used to obtain image information of the sample package; the control module is used to determine the target puncture position on the sample package based on the image information, and control the robotic arm to drive the needle to perform a puncture operation on the sample package from the target puncture position.

[0008] According to the utility model, a dairy product package opening mechanism is provided, which further comprises:

[0009] The suction module, the needle is a hollow tubular needle, the tail end of the needle is connected to the suction module, and the suction module is communicatively connected to the control module; the control module is also used to control the suction module to perform a sample suction operation after the puncture operation.

[0010] According to the utility model, a dairy product packaging opening mechanism is provided, which further includes:

[0011] A code scanning module, the code scanning module is in communication with the control module and is used to obtain the sample identification code on the sample packaging;

[0012] The control module is also used to determine the puncture depth according to the sample identification code, and control the robotic arm to drive the needle to move according to the puncture depth; and / or determine the sampling volume according to the sample identification code, and control the suction module to aspirate the sample according to the sampling volume.

[0013] According to the utility model, a dairy product packaging opening mechanism is provided, which further includes:

[0014] A mobile base, the mechanical arm is fixed to the mobile base, and the mobile base is communicatively connected with the control module; the control module is also used to control the movement of the mobile base.

[0015] According to a dairy product packaging opening mechanism provided by the present invention, a first tray and a first sampling vessel are provided on the movable base, a receiving groove is provided on the first tray, and the first sampling vessel is limitedly set in the receiving groove;

[0016] The control module is further configured to control the robotic arm to drive the needle to move to the corresponding first sampling vessel, and to control the suction module to release the sucked sample into the first sampling vessel.

[0017] The utility model also provides a dairy product sampling station, comprising: a first laboratory table and any one of the above-mentioned dairy product packaging opening mechanisms, wherein the first laboratory table is used for placing samples to be tested, and the dairy product packaging opening mechanism is used for performing the piercing operation on the samples to be tested.

[0018] According to the utility model, a dairy product sampling station is provided, which also includes:

[0019] A cleaning device, arranged on the first laboratory table;

[0020] The control module is further configured to control the robotic arm to drive the needle to move to the cleaning device for a cleaning operation before the puncturing operation.

[0021] According to a dairy product sampling station provided by the present invention, the cleaning device includes:

[0022] A water pump and a cleaning pool, wherein the cleaning pool is provided on the first experimental table and is provided with a water inlet and a drain, and the water inlet is connected to a water source through the water pump;

[0023] During the cleaning operation, the control module is used to control the robotic arm to drive the needle to move into the cleaning pool for shaking cleaning, and to control the suction module to repeatedly suck water to clean the inner wall of the needle.

[0024] According to a dairy product sampling station provided by the present invention, the cleaning device further comprises:

[0025] a wiping piece, arranged on the first laboratory table;

[0026] The control module is further configured to control the robotic arm to drive the needle to move to the wiping member for a drying operation after the cleaning operation.

[0027] According to a dairy product sampling station provided by the present invention, the dairy product packaging opening mechanism further includes:

[0028] A gripper, the gripper being disposed at the end of the robotic arm and being in communication with the control module. The control module is further configured to control the robotic arm to drive the gripper to move to the wiping member, and to control the gripper to grasp and replace the wiping member;

[0029] During the drying operation, the control module is used to control the robotic arm to move the needle to contact the wiper for drying, and to control the suction module to repeatedly suck air to dry the inner wall of the needle.

[0030] The dairy product packaging opening mechanism and dairy product sampling station provided by the utility model are provided with a robotic arm, a control module, and a vision module. A needle is provided at the end of the robotic arm. The vision module is used to obtain image information of the sample packaging. The control module is used to determine the target puncture position on the sample packaging based on the image information, and the robotic arm is controlled to drive the needle to puncture the sample packaging from the target puncture position. The packaging opening mechanism can replace manual packaging work, reducing manpower and avoiding sample contamination caused by manual packaging. It can also control the robotic arm to follow a unified operating standard to open multiple samples of the same specification in a batch, ensuring the consistency of the puncture position of each sample package, facilitating subsequent sampling operations, and improving detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is a structural diagram of the dairy product packaging opening mechanism provided by the utility model.

[0033] Figure 2This is a schematic diagram of the connection between the mechanical arm and the needle in the dairy product packaging opening mechanism provided by the utility model.

[0034] Figure 3 This is a schematic diagram of a dairy product sampling station provided by the present invention.

[0035] Figure 4 This is a schematic diagram of a dairy product testing station provided by the present utility model.

[0036] Reference numerals:

[0037] 100. Dairy product opening mechanism; 11. Robotic arm; 111. Mounting base; 12. Control module; 13. Vision module; 14. Needle; 15. Suction module; 16. Code scanning module; 17. Mobile base; 171. First tray; 172. First sampling vessel; 200. First laboratory table; 21. Sample placement area; 211. Sample to be tested; 22. Vessel placement area; 221. Second tray; 222. Second sampling vessel; 300. Cleaning device; 31. Water pump; 32. Cleaning tank; 33. Wiping piece; 400. Second laboratory table; 500. Transfer mechanism; 600. Detection mechanism. DETAILED DESCRIPTION

[0038] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0039] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "first" and "second" are numbered for the purpose of clearly explaining the product components and do not represent any substantial difference. The terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two components. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to the specific circumstances. In addition, the meaning of "multiple" is two or more. In the specification and claims, "and / or" means at least one of the connected objects, and the character " / " generally indicates that the related objects before and after are in an "or" relationship.

[0040] The following combination Figure 1-Figure 4 The utility model describes a dairy product package opening mechanism and a dairy product sampling station.

[0041] like Figure 1 As shown, the dairy product packaging opening mechanism 100 provided by the embodiment of the present invention includes a robotic arm 11, a control module 12, a vision module 13, and a needle 14. The robotic arm 11 and the vision module 13 are respectively connected to the control module 12 for communication. The needle 14 is disposed at the end of the robotic arm 11. The vision module 13 is used to obtain image information of the sample package. The control module 12 is used to determine the target puncture position on the sample package based on the image information, and control the robotic arm 11 to drive the needle 14 to puncture the sample package from the target puncture position.

[0042] Among them, the control module 12 and the vision module 13 can both be set on the robotic arm 11. The vision module 13 is used to capture the image information of the sample package and convert the image information into a digital signal that can be understood and processed by the control module 12. The control module 12 performs analysis and processing based on the digital signal to locate the target puncture position on the sample package, and the target puncture position is a pre-set puncture position. For example, for a paper box-type sample package without a straw insertion position, the target puncture position can be set at a specific position on the paper box body where the thickness is relatively thin. For bottle or paper box-type sample packages with a straw insertion position, the target puncture position can be set at the straw insertion position. The straw puncture position is usually sealed by a plastic film, which is more convenient for needle insertion than the box body.

[0043] The robot arm 11 is used to drive the needle 14 to move in three-dimensional space, and the position of the needle 14 can be flexibly adjusted under the control of the control module 12. The robot arm 11 can be Figure 2 The multi-joint robotic arm shown can also be a rectangular coordinate robotic arm or a cylindrical coordinate robotic arm.

[0044] The vision module 13 can be a high-precision camera. The image information captured by the vision module 13 can include the height of the target puncture location. The control module 12 determines the movement trajectory of the needle 14 based on the target puncture location height and the set puncture depth. It then controls the robotic arm 11 to drive the needle 14 to perform the puncture operation according to this movement trajectory. If the specifications of the batch samples are consistent, the control module 12 can control the robotic arm 11 to drive the needle 14 to perform puncture sampling using a unified operating standard, thereby improving puncture sampling efficiency.

[0045] The dairy product package opening mechanism provided by the embodiment of the present utility model is provided with a robotic arm 11, a control module 12 and a visual module 13. A needle 14 is provided at the end of the robotic arm 11. The visual module 13 is used to obtain image information of the sample package. The control module 12 is used to determine the target puncture position on the sample package based on the image information, and the robotic arm 11 is controlled to drive the needle 14 to puncture the sample package from the target puncture position. The package opening mechanism can replace manual package opening work, reduce manpower, and avoid sample contamination caused by manual package opening. It can also control the robotic arm 11 to follow a unified operating standard to open multiple samples of the same specification in a batch, ensuring the consistency of the puncture position of each sample package, facilitating subsequent sampling operations, and improving detection work efficiency.

[0046] In the embodiment of the present invention, the needle 14 can be a solid needle or a hollow tubular needle. The needle tip of the needle 14 is configured as a cone or a wedge to facilitate smooth insertion into the sample package.

[0047] When the needle 14 is a solid needle, a larger diameter needle can be provided. In this case, the dairy product packaging opening mechanism is only used to pierce a sampling hole in the sample package for the subsequent sampling gun head to pass through the sampling hole for sampling. When the needle 14 is a hollow tubular needle, a smaller diameter needle can be provided. In this case, the dairy product packaging opening mechanism can simultaneously perform packaging and sampling operations. In this embodiment, the sample package is opened by the needle 14. Since the needle 14 is relatively small in size, it can not only avoid sample contamination caused by manual packaging and sampling operations, but also ensure the integrity of the sample and reduce the cost of sample testing.

[0048] The dairy product packaging opening mechanism provided by the embodiment of the present utility model also includes a suction module 15, the tail end of the needle 14 is connected to the suction module 15, and the suction module 15 is in communication with the control module 12. The control module 12 is also used to control the suction module 15 to perform a sample aspiration operation after the puncture operation. Among them, the end of the needle 14 away from the needle tip is the tail end of the needle 14, and the tail end of the needle 14 is connected to the suction module 15. After the needle 14 punctures the hole and inserts it into the sample package, the control module 12 controls the suction module 15 to vacuum the needle 14, so that a negative pressure is formed in the needle 14 to achieve sample aspiration.

[0049] In some embodiments of the present invention, the needle 14 is detachably connected to the robotic arm 11 , so that when the needle 14 is damaged or needs to be replaced, the needle 14 can be easily replaced.

[0050] The needle 14 can be a disposable needle or a reusable needle. Reusable needles can be replaced regularly. Needles can also be replaced for different sample sizes. For example, for samples requiring a small sample, a needle 14 with a smaller diameter can be used to ensure precise sampling. For samples requiring a large sample, a needle 14 with a larger diameter can be used to reduce sampling time and improve sampling efficiency.

[0051] Among them, there can be multiple ways of detachably connecting the needle 14 and the robotic arm 11. For example, the needle 14 can be threadedly connected to the robotic arm 11, that is, one end of the needle 14 is provided with an annular flange, the annular flange is provided with an external thread, the end of the robotic arm 11 is provided with a threaded hole, the annular flange of the needle 14 is inserted into the threaded hole and threadedly connected to the robotic arm 11. For another example, one end of the needle 14 is provided with an elastic clip, the end of the robotic arm 11 is provided with a clip hole, the needle 14 is inserted into the clip hole, and the needle 14 is fixed in the clip hole by the elastic deformation of the clip. For another example, one end of the needle 14 is provided with a magnetic connection part, the end of the robotic arm 11 is provided with a magnet, and the needle 14 is magnetically connected to the magnet on the robotic arm 11 through its magnetic connection part.

[0052] In this embodiment of the present invention, a flow control valve is provided within the suction module 15. During the sample aspiration process, the control module 12 can precisely control the sample aspiration speed by adjusting the opening of the flow control valve. The control module 12 can also precisely control the sample aspiration volume by adjusting the valve core opening of the flow control valve and the aspiration time of the suction module 15, thus achieving intelligent sampling. By aspirating samples according to a preset aspiration volume, inconsistent sampling volumes and sample contamination caused by human intervention can be avoided.

[0053] The package opening mechanism provided in this embodiment of the utility model further includes a code scanning module 16, which is in communication with the control module 12. The code scanning module 16 is used to obtain a sample identification code. The control module 12 is further used to determine the puncture depth based on the sample identification code and control the movement of the needle 14 by the robotic arm 11 based on the puncture depth; and / or to determine the sample volume based on the sample identification code and control the aspiration module 15 to aspirate the sample based on the sample volume.

[0054] The control module 12 may obtain sample information corresponding to the sample identification code according to the sample identification code. The sample information may include sample packaging information and sample type information.

[0055] The sample packaging information may include the sample liquid level within the sample packaging. The sample liquid level within the packaging of samples of different specifications may vary. The control module 12 can determine the puncture depth of the needle 14 based on the sample liquid level within the sample packaging and the image information obtained by the vision module 13. The puncture depth should ensure that a set amount of sample can be aspirated.

[0056] The sample packaging information may also include the sample packaging thickness. The control module 12 can determine the movement speed of the needle 14 based on the sample packaging thickness. The control module 12 then controls the robotic arm 11 to move the needle 14 based on this movement speed, thereby enabling puncturing of sample packages of varying thicknesses. For thicker packages at the target puncture location, a higher movement speed may be used; for thinner packages, a lower movement speed may be used.

[0057] In dairy product testing, different sampling volumes may be required for samples of different specifications or samples used for different types of physical and chemical tests. The control module 12 can determine the corresponding sampling volume based on the sample type information, and then control the suction module 15 to suck samples according to the sampling volume to achieve accurate sampling.

[0058] In this embodiment, a code scanning module 16 is provided to obtain a sample identification code by using the code scanning module 16, so that the control module 12 determines the puncture depth and / or sampling volume required for the corresponding sample according to the sample identification code, controls the mechanical arm 11 to drive the needle 14 to move and perform puncture according to the puncture depth, and controls the suction module 15 to perform sampling according to the sampling volume, thereby replacing manual identification of product information and corresponding sampling, avoiding human operational errors that cause the sampling volume to not meet the requirements, and is conducive to ensuring the accuracy of the experimental results.

[0059] like Figure 3 As shown, the package opening mechanism provided by the embodiment of the present invention further includes a mobile base 17. The mechanical arm 11 is fixed to the mobile base 17, and the mobile base 17 is in communication with the control module 12. The control module 12 is also used to control the movement of the mobile base 17.

[0060] Specifically, a walking mechanism is provided at the bottom of the mobile base 17, and the control module 12 is in communication with the walking mechanism to control the movement of the mobile base 17, thereby expanding the working range of the package opening mechanism. Figure 2 As shown, the robot arm 11 includes a mounting base 111, and the robot arm 11 is connected to the mobile base 17 through the mounting base 111. The control module 12 is arranged in the mounting base 111 or in the mobile base 17.

[0061] The dairy product packaging opening mechanism of the present invention can control the mobile base 17 via the control module 12 to move between the sampling station and the physical and chemical processing station. For example, after packaging is opened at the sampling station, the mobile base 17 can transfer the opened samples to the physical and chemical processing station for sampling and physical and chemical testing. Alternatively, after packaging is opened and sampled at the sampling station, the mobile base 17 can transfer the opened samples to the physical and chemical processing station for physical and chemical testing.

[0062] See also Figure 3In this embodiment of the present invention, the mobile base 17 is provided with a first tray 171 and a first sampling vessel 172. The first tray 171 is provided with a receiving slot, within which the first sampling vessel 172 is positioned. After the sample aspiration operation is completed, the control module 12 is further configured to control the robotic arm 11 to move the needle 14 to the corresponding first sampling vessel 172 and to control the aspiration module 15 to release the aspirated sample into the first sampling vessel 172.

[0063] Specifically, the first sampling vessel 172 can be a beaker, a measuring cylinder, or a test tube. The first tray 171 can be provided with multiple receiving slots, and the multiple first sampling vessels 172 are placed in the multiple receiving slots in a one-to-one correspondence. The receiving slots limit the first sampling vessels 172 and prevent them from tipping over. The multiple receiving slots can be of the same or different sizes and shapes.

[0064] The first tray 171 can be fixed to the mobile base 17 or placed on the mobile base 17. Optionally, the position of the first tray 171 on the mobile base 17 is fixed, so that the position of the first sampling vessel 172 is also fixed, which makes it easier for the robotic arm 11 to drive the needle 14 to move to the corresponding first sampling vessel 172 along the set trajectory to release the sample.

[0065] In this embodiment, a first tray 171 and a first sampling vessel 172 are set on the mobile base 17. After the sample is punctured, unpacked and sampled, the control module 12 controls the robotic arm 11 to drive the needle 14 to move to the top of the corresponding first sampling vessel 172, and then controls the suction module 15 to stop vacuuming to release the sucked sample into the first sampling vessel 172. Thereafter, the mobile base 17 is controlled to transfer the first sampling vessel 172 containing the sample to the physical and chemical station for physical and chemical testing.

[0066] like Figure 3 As shown, an embodiment of the present invention also provides a dairy product sampling station, which includes a first laboratory table 200 and any one of the above-mentioned dairy product packaging opening mechanisms 100, wherein the first laboratory table 200 is used to place the samples to be tested, and the dairy product packaging opening mechanism 100 is used to perform the puncturing operation on the samples to be tested.

[0067] Optionally, the dairy product packaging opening mechanism 100 is located on one side of the first laboratory table 200. If the dairy product packaging opening mechanism 100 is not equipped with a movable base 17, the dairy product packaging opening mechanism 100 can be located on the first laboratory table 200. If the dairy product packaging opening mechanism 100 is equipped with a movable base 17, the dairy product packaging opening mechanism 100 can be located separately from the first laboratory table 200 to facilitate transfer of opened samples to the physical and chemical processing station.

[0068] The dairy product sampling station provided in this embodiment also includes a cleaning device 300. The cleaning device 300 is mounted on the first laboratory table 200. The control module 12 is also configured to control the robotic arm 11 to move the needle 14 to the cleaning device 300 for cleaning prior to the puncture operation. By providing the cleaning device 300 to clean the needle 14, this embodiment can avoid or reduce needle 14 consumption, lower testing costs, and standardize needle 14 specifications, simplifying the cleaning process.

[0069] Optionally, the cleaning device 300 includes a water pump 31 and a cleaning tank 32. The cleaning tank 32 is located on the first laboratory table 200 and has a water inlet and a water outlet. The water inlet is connected to a water source via the water pump 31. During the cleaning operation, the control module 12 controls the robotic arm 11 to move the needle 14 into the cleaning tank 32 for shaking and cleaning. The shaking of the needle 14 can flush away any sample remaining on the surface of the needle 14.

[0070] The water pump 31 is used to replenish clean water to the cleaning pool 32, and the drain is used to discharge waste water. Optionally, the water pump 31 is in communication with the control module 12. Before the piercing operation, the control module 12 controls the water pump 31 to start to keep the water in the cleaning pool 32 clean enough.

[0071] It should be noted that the cleaning device 300 may also have other forms, which are not limited in this embodiment. For example, the cleaning device 300 may include a nozzle and a liquid collection tank, wherein the nozzle is disposed within the liquid collection tank, and the liquid collection tank is provided with a drain outlet. The control module 12 controls the robotic arm 11 to move the needle 14 to the nozzle, and the nozzle flushes the needle 14. The wastewater collected in the liquid collection tank is then discharged from the first laboratory table 200 through the drain outlet.

[0072] If needle 14 is a hollow tubular needle, then during the cleaning operation, control module 12 is further configured to control robotic arm 11 to move needle 14 into cleaning tank 32 for shaking and cleaning, and to control suction module 15 to repeatedly pump water to clean the inner wall of needle 14. In this embodiment, needle 14 is thoroughly cleaned by shaking needle 14 in cleaning tank 32 to clean away sample remaining on the outer wall of needle 14, while suction module 15 repeatedly pumps water to clean away sample remaining on the inner wall of needle 14.

[0073] Furthermore, in this embodiment of the present invention, the cleaning device 300 also includes a wiper 33, which is disposed on the first laboratory table 200. After the cleaning operation, the control module 12 is further configured to control the robotic arm 11 to move the needle 14 to the wiper 33 for drying. The wiper 33 can be made of a water-absorbing material such as a sponge, cotton cloth, or paper towel, without limitation.

[0074] In the case where the needle 14 is a hollow tubular needle, further, in the drying operation, the control module 12 is used to control the robotic arm 11 to drive the needle 14 to move to contact the wiper 33 for drying, and control the suction module 15 to perform repeated suction of air to blow dry the inner wall of the needle 14.

[0075] In this embodiment, the wiper 33 absorbs the residual moisture on the outer wall of the needle 14, and the suction module 15 repeatedly sucks air to dry the residual moisture on the inner wall of the needle 14, so that the inside and outside of the needle 14 can be completely dried.

[0076] Based on the above embodiment, the dairy product packaging opening mechanism 100 further includes a gripper (not shown), which is disposed at the end of the robotic arm 11 and is in communication with the control module 12. The control module 12 is further configured to control the robotic arm 11 to move the gripper to the wiper 33, and to control the gripper to grasp and replace the wiper 33.

[0077] Specifically, the first laboratory table 200 is equipped with a waste collection trough, a wiper storage box, and a wiper placement area. The waste collection trough is used to collect waste, the wiper storage box is used to store clean wipers, and the wiper placement area is used to store used wipers. The control module 12 can be configured to replace the wiper 33 after completing a set number of puncturing operations.

[0078] When replacing the wiper 33, the control module 12 controls the robotic arm 11 to drive the gripper to grab the wiper 33 from the wiper placement position, then controls the robotic arm 11 to drive the gripper to discard the wiper 33 into the garbage collection bin, and then controls the robotic arm 11 to drive the gripper to grab a clean wiper 33 from the wiper storage box and place it on the wiper placement position.

[0079] Specifically, the gripper includes a first drive member and two opposing jaws that are rotatably connected. The first drive member is used to drive one jaw to rotate around the other, causing one end of the two jaws to move closer or further away from each other, thereby opening and closing the gripper to grasp and release an object. The first drive member can be a hydraulic, pneumatic, or electric gripper.

[0080] In some embodiments of the present invention, a sample placement area 21 and a vessel placement area 22 are provided on the first laboratory table 200. The sample placement area 21 is used to place the sample to be tested 211, and the vessel placement area 22 is used to place the removed sample. The vessel placement area 22 is provided with a plurality of second sampling vessels 222, and the cleaning device 300 is located between the sample placement area 21 and the vessel placement area 22. After completing the sample aspiration operation, the control module 12 is further used to control the robotic arm 11 to drive the needle 14 to move to the corresponding second sampling vessel 222, and to control the suction module 15 to release the aspirated sample into the second sampling vessel 222.

[0081] Specifically, the second sampling vessel 222 can be a beaker, a measuring cylinder, or a test tube. A second tray 221 is provided on the vessel placement area 22. The second tray 221 can be fixed to or placed on the first laboratory table 200. The second tray 221 can be provided with multiple receiving slots, and multiple second sampling vessels 222 are placed in a one-to-one correspondence within the multiple receiving slots. The receiving slots limit the second sampling vessels 222 and prevent them from tipping over. The multiple receiving slots can be of the same or different sizes and shapes.

[0082] The second tray 221 can be fixed to the first laboratory table 200 or placed on the first laboratory table 200. Optionally, the positions of the samples 211 to be tested placed in the sample placement area 21 are fixed, and the position of the second tray 221 on the first laboratory table 200 is fixed, that is, the position of the second sampling vessel 222 is also fixed, so that the robotic arm 11 can drive the needle 14 to move between the sample placement area 21 and the vessel placement area 22 along a set trajectory, so as to accurately move the sample sucked from each sample 211 to be tested to the corresponding first sampling vessel 172 to release the sample.

[0083] Furthermore, the dairy product package opening mechanism provided in this embodiment of the utility model further includes a clamping member (not shown in the figure), which is disposed at the end of the robotic arm 11 and is in communication with the control module 12. The control module 12 is further configured to control the clamping member to clamp the sample package, the first sampling vessel, or the second sampling vessel.

[0084] In this embodiment, a second tray 221 and a second sampling vessel 222 are placed on the first laboratory table 200. After the sample is punctured, unpacked, and sampled, the control module 12 controls the robotic arm 11 to move the needle 14 to the corresponding second sampling vessel 222, and then controls the suction module 15 to stop vacuuming to release the sucked sample into the second sampling vessel 222. The robotic arm 11 is then controlled to drive the clamping member to move to the vessel placement area 22, control the clamping member to clamp the corresponding second sampling vessel 222, and control the robotic arm 11 to drive the clamping member to move to the mobile base 17 and place the second sampling vessel 222 on the first tray 171, so that the mobile base 17 can transfer the sucked sample to the physical and chemical station for physical and chemical testing.

[0085] Specifically, the clamping member includes a first clamping portion, a second clamping portion, and a second driving member. The first clamping portion and the second clamping portion are arranged opposite each other. The second driving member is connected to the first clamping portion and is used to drive the first clamping portion toward or away from the second clamping portion to achieve clamping and release of the second sampling vessel 222. The second driving member can be a hydraulic, pneumatic, or electric push rod.

[0086] Among them, the first clamping part and the second clamping part can be flat plate-like parts or mutually symmetrical arc-shaped plate-like parts, which are specifically determined according to the shape of the second sampling vessel 222 to be clamped, so that the first clamping part and the second clamping part can better fit the outer wall of the second sampling vessel 222.

[0087] The present invention also provides a dairy product testing station. Figure 4 As shown, the dairy product testing station includes a second laboratory table 400, a transfer mechanism 500, a testing mechanism 600, and any of the aforementioned dairy product packaging opening mechanisms 100. The testing mechanism 600 is located on the second laboratory table 400, while the transfer mechanism 500 and the dairy product packaging opening mechanism 100 are located on one side of the second laboratory table 400. The transfer mechanism 500 is used to transfer samples collected by the dairy product packaging opening mechanism 100 to the testing mechanism 600 for physical and chemical testing.

[0088] The embodiment of the present invention also provides a dairy product testing system, which includes a dairy product testing station and any of the above-mentioned dairy product sampling stations. The control module 12 is also used to control the mobile base 17 to move back and forth between the first laboratory table 200 and the dairy product testing station.

[0089] The embodiment of the present invention further provides a dairy product testing system, which includes a dairy product sampling station and any of the above dairy product testing stations. The control module 12 is also used to control the mobile base 17 to move back and forth between the second laboratory table 400 and the dairy product sampling station.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A dairy product packaging opening mechanism, characterized in that: include: A robotic arm, a control module and a vision module, wherein the robotic arm and the vision module are respectively connected to the control module for communication; A needle is provided at the end of the robotic arm; Among them, the visual module is used to obtain image information of the sample package; the control module is used to determine the target puncture position on the sample package based on the image information, and control the robotic arm to drive the needle to perform a puncture operation on the sample package from the target puncture position.

2. The dairy product packaging opening mechanism according to claim 1, characterized in that: Also includes; The suction module, the needle is a hollow tubular needle, the tail end of the needle is connected to the suction module, and the suction module is communicatively connected to the control module; the control module is also used to control the suction module to perform a sample suction operation after the puncture operation.

3. The dairy product packaging opening mechanism according to claim 2, characterized in that: Also includes: A code scanning module, the code scanning module is in communication with the control module and is used to obtain the sample identification code on the sample packaging; The control module is also used to determine the puncture depth according to the sample identification code, and control the robotic arm to drive the needle to move according to the puncture depth; and / or determine the sampling volume according to the sample identification code, and control the suction module to aspirate the sample according to the sampling volume.

4. The dairy product packaging opening mechanism according to claim 2, characterized in that: Also includes: a mobile base, the robotic arm is fixed to the mobile base, and the mobile base is communicatively connected with the control module; The control module is also used to control the movement of the mobile base.

5. The dairy product packaging opening mechanism according to claim 4, characterized in that: The movable base is provided with a first tray and a first sampling vessel, the first tray is provided with a receiving groove, and the first sampling vessel is limitedly set in the receiving groove; The control module is further configured to control the robotic arm to drive the needle to move to the corresponding first sampling vessel, and to control the suction module to release the sucked sample into the first sampling vessel.

6. A dairy product sampling station, characterized in that: include: A first laboratory table and a dairy product package opening mechanism as described in any one of claims 1 to 5, wherein the first laboratory table is used to place samples to be tested, and the dairy product package opening mechanism is used to perform the puncturing operation on the samples to be tested.

7. The dairy product sampling station according to claim 6, characterized in that: Also includes: A cleaning device, arranged on the first laboratory table; The control module is further configured to control the robotic arm to drive the needle to move to the cleaning device for a cleaning operation before the puncturing operation.

8. The dairy product sampling station according to claim 7, characterized in that: The cleaning device comprises: A water pump and a cleaning pool, wherein the cleaning pool is provided on the first experimental table and is provided with a water inlet and a drain, and the water inlet is connected to a water source through the water pump; During the cleaning operation, the control module is used to control the robotic arm to drive the needle to move into the cleaning pool for shaking cleaning, and to control the suction module to repeatedly suck water to clean the inner wall of the needle.

9. The dairy product sampling station according to claim 7, characterized in that: The cleaning device also includes: a wiping piece, arranged on the first laboratory table; After the cleaning operation, the control module is further configured to control the robotic arm to drive the needle to move to the wiping member for a drying operation.

10. The dairy product sampling station according to claim 9, characterized in that: The dairy product packaging opening mechanism further comprises: A gripper, the gripper being disposed at the end of the robotic arm and being in communication with the control module. The control module is further configured to control the robotic arm to drive the gripper to move to the wiping member, and to control the gripper to grasp and replace the wiping member; During the drying operation, the control module is used to control the robotic arm to move the needle to contact the wiper for drying, and to control the suction module to repeatedly suck air to dry the inner wall of the needle.

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