Robot for water quality detection

Abstract

The utility model discloses a robot for detecting water quality, which comprises an operating platform, and a single robotic arm, a cover opening and closing device, a reagent liquid pumping device, an oscillation device, a material positioning device, a pipetting transition device and a recovery device which are arranged on the surface of the operating platform, the material positioning device comprises a microwell plate positioning unit, a sample bottle positioning unit and a pipette nozzle positioning unit; a pipette and a clamping jaw are arranged at the tail end of the single mechanical arm. The water quality pretreatment device has the beneficial effects that by arranging the single robotic arm, the cover opening and closing device and other matched devices for the water quality pretreatment process, the manual intervention requirement is obviously reduced, and technical support is provided for large-scale and high-precision water quality detection.

Description

Technical Field

[0001] This utility model relates to the field of water quality testing equipment technology, and in particular to a robot for water quality testing. Background Technology

[0002] In water quality testing, sample pretreatment (such as adding liquid, mixing, dilution, and pipetting) is a crucial step affecting testing efficiency and accuracy. Traditional manual operations are time-consuming, have low repeatability, and are prone to sample contamination. Especially when facing large-scale testing needs, human error can significantly reduce data reliability. Utility Model Content

[0003] To address the aforementioned problems, this invention proposes a robot for water quality testing, aiming to improve the accuracy of water quality sample pretreatment and enhance the consistency of testing tasks.

[0004] To solve the above-mentioned technical problems, the technical solution of this utility model is as follows:

[0005] A robot for water quality testing includes an operating table, and a single robotic arm, a cap opening and closing device, a reagent pump device, a shaking device, a material positioning device, a pipetting and transfer device, and a recovery device mounted on the surface of the operating table. The material positioning device includes a microplate positioning unit, a sample vial positioning unit, and a pipette tip positioning unit. The end of the single robotic arm is provided with a pipette and a gripper.

[0006] The single robotic arm drives the gripper to pick up the sample bottle from the sample bottle positioning unit and transfer it sequentially to the cap opening and closing device, the reagent pump device, and the oscillation device for processing. Then, the sample bottle is transferred to the pipetting transition device. The single robotic arm drives the pipette to move above the pipette tip positioning unit and autonomously insert a tip. The pipette moves close to the pipetting transition device, inserts into the sample bottle, and quantitatively moves the sample to the microplate positioning unit. Finally, the tip is sent to the recovery device.

[0007] In some embodiments, both the pipette and the gripper are detachable.

[0008] In some embodiments, the opening and closing device includes a clamping base and a support column, wherein a vertical electric cylinder is provided on the side of the support column near the clamping base, and a cap screwdriver is provided at the bottom end of the vertical electric cylinder.

[0009] In some embodiments, at least two sets of the reagent pump device are provided.

[0010] In some embodiments, the oscillation device includes an oscillator and a fixing block mounted on the surface of the oscillator, the fixing block having a sample vial fixing hole at its center.

[0011] The beneficial effects of this utility model are as follows: by setting up a single robotic arm and supporting devices such as a cover opening and closing device for the water quality pretreatment process, it provides technical support for the large-scale and high-precision water quality testing. Attached Figure Description

[0012] Figure 1 The three-dimensional model of the water quality testing robot disclosed in this utility model embodiment Figure 1 ;

[0013] Figure 2 The three-dimensional model of the water quality testing robot disclosed in this utility model embodiment Figure 2 ;

[0014] Figure 3 for Figure 2 A magnified view of the area along line A;

[0015] The components are: 1-operating table, 2-single robotic arm, 3-cap opening and closing device, 4-reagent pump device, 5-oscillation device, 6-material positioning device, 7-pipette transfer device, 8-recovery device, 201-pipette, 202-gripper, 301-clamping base, 302-support column, 303-vertical electric cylinder, 304-capping device, 501-oscillator, 502-fixing block, 503-sample vial fixing hole, 601-microplate positioning unit, 602-sample vial positioning unit, 603-pipette nozzle positioning unit. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this utility model clearer and more explicit, the content of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining this utility model and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this utility model are shown in the accompanying drawings, not all of them.

[0017] This embodiment proposes a robot for water quality testing, such as... Figure 1 As shown, it includes an operating table 1, and a single robotic arm 2, a lid opening and closing device 3, a reagent pumping device 4, a shaking device 5, a material positioning device 6, a liquid transfer device 7, and a recovery device 8 mounted on the surface of the operating table 1.

[0018] In the aforementioned device, the single robotic arm 2 serves as the core of the water quality testing robot. Its main tasks include grasping sample bottles and extracting samples from the bottles. Therefore, as... Figure 1As shown, the end of the single robotic arm 2 is equipped with a pipette 201 and a gripper 202. More preferably, both the pipette 201 and the gripper 202 are detachable, allowing users to easily replace the pipette 201 or grippers 202 of different sizes. For specific grasping tasks of the single robotic arm 2, a camera and a LiDAR can be installed at the end of the single robotic arm 2. Through the fusion of visual and LiDAR data, the required pre-processing devices can be accurately located, and the robotic arm can be controlled to reach and grasp the corresponding materials. Alternatively, a purely vision-based approach can be used to achieve the task flow. The specific control scheme for the single robotic arm 2 is not a contribution of this utility model; existing technologies can be referenced, and it will not be described in detail here.

[0019] In water pretreatment tasks, it is necessary to position batches of sample vials and pipette tips. Additionally, the pretreated samples need to be placed into the same set of microplates. In one example, such as... Figure 2 As shown, the material positioning device 6 includes a microplate positioning unit 601, a sample vial positioning unit 602, and a pipette tip positioning unit 603. In this embodiment, the microplate positioning unit 601 is a rectangular groove to prevent the microplate from shifting during the task. Its size is set according to the size of the microplate (Type 96 microplate). A microplate is a laboratory instrument mainly used in biochemical experiments. It has multiple transparent recesses for experimental detection and analysis under various conditions. After the task is completed, each recess of the microplate is filled with pre-treated sample, and then it is sent to the experimental instrument for detection by the user or a conveying mechanism. The sample vial positioning unit 602 is used to fix the standard sample vials provided by the user. The vials are filled with sample liquid to be pre-treated, and their positions must not be moved before processing. Similarly, the pipette tip positioning unit 603 is used to fix batches of pipette tips. For each sample vial, a new tip needs to be used to prevent cross-contamination of samples and affect experimental accuracy.

[0020] The following provides a complete pretreatment process. Specifically, the single robotic arm 2 drives the gripper 202 to pick up the sample bottle from the sample bottle positioning unit 602 and transfer it sequentially to the cap opening and closing device 3, the reagent pump device 4, and the shaking device 5 for processing. Then, the sample bottle is transferred to the pipetting transition device 7. The single robotic arm 2 drives the pipette 201 to move above the pipette tip positioning unit 603 and autonomously insert a pipette tip. The pipette 201 moves close to the pipetting transition device 7, inserts into the sample bottle, and quantitatively moves the sample to the microplate positioning unit 601. Finally, the pipette tip is sent to the recovery device 8.

[0021] In this embodiment, by setting up a single robotic arm 2 and a cover-opening and closing device 3, and other supporting devices for the water pretreatment process, technical support is provided for the large-scale and high-precision water quality testing. The system adopts a standardized and replicable automated process, significantly reducing the need for manual intervention.

[0022] The aforementioned opening and closing device 3 can be any device capable of opening the sample bottle cap. In one example, such as... Figure 3 As shown, the cap opening and closing device 3 includes a clamping base 301 and a support column 302. A vertical electric cylinder 303 is located on the side of the support column 302 near the clamping base 301, and a capper 304 is located at the bottom of the vertical electric cylinder 303. For example, in the cap opening task, the single robotic arm 2 drives the gripper 202 to place the sample bottle onto the clamping base 301, which then fixes the bottle body. The vertical electric cylinder 303 then drives the capper 304 to clamp the cap of the sample bottle, and finally, the capper 304 removes the cap. In a more specific example, the capper 304 includes a pair of horizontal grippers, each with a pair of separate circular rotating heads on its side. When the horizontal grippers move towards each other, the two sets of circular rotating heads clamp the cap of the sample bottle. Finally, all the circular rotating heads rotate in the same direction, using friction to unscrew the cap. The cap closing process is the reverse of the cap opening process.

[0023] The reagent pump device 4 described above can be any injection device. In a preferred embodiment, the reagent pump device 4 is configured with at least two sets. For example, it can be loaded with sodium hydroxide for adjusting the pH value and deionized water for diluting the water sample, etc. There is no limitation here, and the specific configuration depends on the needs of the task.

[0024] In one example, such as Figure 3 As shown, the aforementioned oscillation device 5 includes an oscillator 501 and a fixing block 502 mounted on the surface of the oscillator 501. The fixing block 502 has a sample vial fixing hole 503 at its center for fixing the sample vial after reagent injection. Furthermore, the fixing block 502 is detachable, making it easy to adapt to sample vials of different diameters.

[0025] The above embodiments are merely illustrative of the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made based on the substance of the content of this utility model should be covered within the scope of protection of this utility model.

Claims

1. A robot for water quality detection, characterized by, The device includes an operating table, and a single robotic arm, a cap opening and closing device, a reagent pumping device, a shaking device, a material positioning device, a pipetting and transfer device, and a recovery device mounted on the surface of the operating table. The material positioning device includes a microplate positioning unit, a sample vial positioning unit, and a pipette tip positioning unit. The end of the single robotic arm is equipped with a pipette and grippers. The single robotic arm drives the gripper to pick up the sample bottle from the sample bottle positioning unit and transfer it sequentially to the cap opening and closing device, the reagent pump device, and the oscillation device for processing. Then, the sample bottle is transferred to the pipetting transition device. The single robotic arm drives the pipette to move above the pipette tip positioning unit and autonomously insert a tip. The pipette moves close to the pipetting transition device, inserts into the sample bottle, and quantitatively moves the sample to the microplate positioning unit. Finally, the tip is sent to the recovery device.

2. The robot for water quality detection according to claim 1, wherein Both the pipette and the gripper are detachable.

3. The robot for water quality detection according to claim 1, wherein The opening and closing device includes a clamping base and a support column, wherein a vertical electric cylinder is provided on the side of the support column near the clamping base, and a cap screwdriver is provided at the bottom end of the vertical electric cylinder.

4. The robot for water quality testing as described in claim 1, characterized in that, The reagent pump device is configured with at least two sets.

5. The robot for water quality testing as described in claim 1, characterized in that, The oscillation device includes an oscillator and a fixing block mounted on the surface of the oscillator, wherein a sample bottle fixing hole is provided at the center of the fixing block.

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