Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a liquid collection and detection device for a special robot and a robot, which can collect, detect and analyze various leaked liquids.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the liquid collection and detection device for the special robot comprises a rotary table, a plurality of sample bottles arranged on the rotary table, a liquid collection mechanism for collecting sample liquid and conveying the sample liquid to each sample bottle, and a detection mechanism arranged on one side of the rotary table;
the rotary table is used for rotating the sample bottle to be detected within the detection range of the detection mechanism;
the detection mechanism is used for detecting components of the liquid in the sample bottle to be detected.
In the liquid collection and detection device for the special robot, the detection mechanism comprises a mounting seat and a Raman spectrometer arranged on the mounting seat; and the position of the sample bottle to be detected, which is right opposite to the detection head of the Raman spectrometer, is transparent.
In the liquid collection and detection device for the special robot, a clamping assembly is arranged at the top of the mounting seat, and the Raman spectrometer is clamped and fixed on the mounting seat through the clamping assembly.
In the liquid collection and detection device for the special robot, a baffle is arranged between each two sample bottles and is used for separating each sample bottle so as to avoid mutual interference of scattered light.
In the liquid collection and detection device for the special robot, the liquid collection mechanism comprises a plurality of sampling pipes, the plurality of sampling pipes are respectively used for conveying liquid to each sample bottle, and a liquid pump is arranged between each sampling pipe and the corresponding sample bottle.
In the liquid collection and detection device for the special robot, a flow sensor is arranged on a liquid conveying pipeline of each sample bottle.
In the liquid collection and detection device for the special robot, the rotary table comprises a base, a rotary shaft vertically arranged on the base, a tray and a positioning plate sleeved on the rotary shaft, and a motor for driving the rotary shaft to rotate; the positioning plate is arranged above the tray, and a plurality of positioning holes matched with the sample bottles are formed in the circumferential direction; the sample bottles pass through the corresponding positioning holes, and the bottoms of the sample bottles are pressed on the tray.
In the liquid collection and detection device for the special robot, the edge of the positioning hole is provided with a rubber ring, and the inner diameter of the rubber ring is smaller than the outer diameter of the sample bottle.
In the liquid collection and detection device for the special robot, a quick connector mounting plate is arranged at the upper part of the rotating shaft, and a plurality of quick connectors are arranged on the quick connector mounting plate; the lower end of the quick connector is connected with the corresponding sample bottle through a first connecting pipe, and the upper end of the quick connector is connected with the liquid collecting mechanism through a second connecting pipe.
A robot comprises a mobile robot body and a liquid collection and detection device arranged on the mobile robot body; the liquid collecting and detecting device is the liquid collecting and detecting device for the special robot.
Advantageous effects
According to the liquid collection and detection device for the special robot and the robot, disclosed by the invention, various leaked liquids can be collected and stored in each sample bottle through the liquid collection mechanism, then each sample bottle is rotated to the detection range of the detection mechanism through the rotary table, and the detection mechanism is used for detecting the components of the liquid in the sample bottle; therefore, the liquid collecting and detecting device for the special robot and the robot can collect, detect and analyze various leaked liquids.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The following disclosure provides embodiments or examples for implementing different configurations of the present invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.
Referring to fig. 1, the liquid collection and detection device for a special robot provided by the invention comprises a rotary table 1, a plurality of sample bottles 2 arranged on the rotary table, a liquid collection mechanism 3 for collecting sample liquid and conveying the sample liquid to each sample bottle 2, and a detection mechanism 4 arranged on one side of the rotary table 1;
The rotary table 1 is used for rotating the sample bottle 2 to be detected within the detection range of the detection mechanism 4;
the detection mechanism 4 is used for detecting components of the liquid in the sample bottle 2 to be detected.
During operation, various leaked liquids can be collected and stored in each sample bottle 2 through the liquid collection mechanism 3, then each sample bottle 2 is rotated into the detection range of the detection mechanism 4 through the rotary table 1, and the detection mechanism 4 detects the components of the liquid in the sample bottle; therefore, the liquid collecting and detecting device for the special robot can collect, detect and analyze various leaked liquids. After the liquid collection and detection device for the special robot is applied to the mobile robot, one mobile robot can collect samples of various leaked liquids, compared with the prior art, the liquid collection and detection device does not need to use one robot for collecting each leaked liquid, can reduce equipment configuration cost, can detect components of collected samples in real time, does not return to a command center, can detect the components, and is favorable for improving working efficiency.
In some embodiments, see fig. 1, the liquid collection and detection device for a special robot further comprises a bottom plate 5, and the rotary table 1 and the detection mechanism 4 are both arranged on the bottom plate 5 so as to ensure that the relative positions of the rotary table 1 and the detection mechanism 4 are fixed.
In this embodiment, see fig. 2, the detection mechanism 4 comprises a mounting seat 4.1, and a raman spectrometer 4.2 arranged on the mounting seat 4.1; the sample bottle 2 to be detected is transparent to the position of the detection head of the raman spectrometer 4.2.
The sample bottle 2 may be transparent only to the detection head of the raman spectrometer 4.2, or may be transparent throughout the bottle wall. For example, the sample bottle 2 is a glass bottle, and the surface of the glass bottle is coated with a shading coating except for the position facing the detection head of the raman spectrometer 4.2, so that the detection of the liquid in the sample bottle 2 by the raman spectrometer 4.2 is not affected, and the interference of the scattering spectrum of the liquid in other sample bottles 2 on the spectrum of the liquid in the detected sample bottle 2 can be prevented.
In some embodiments, see fig. 2, the top of the mounting seat 4.1 is provided with a clamping assembly 4.3, and the raman spectrometer 4.2 is clamped and fixed on the mounting seat 4.1 by the clamping assembly 4.3. The Raman spectrometer 4.2 is fixed through the clamping assembly 4.3, and the Raman spectrometer 4.2 is convenient to assemble and disassemble and convenient to maintain.
Specifically, the clamping assembly 4.3 includes a sliding rail 4.4 fixed at the top of the mounting seat 4.1, a fixed clamping block 4.5 fixed at one end of the sliding rail 4.4, a sliding block 4.6 slidably disposed at the other end of the sliding rail 4.4, a movable clamping block 4.7 fixedly connected with the sliding block 4.6, and a locking bolt 4.8 connected between the fixed clamping block 4.5 and the movable clamping block 4.7. The raman spectrometer 4.2 can be clamped by placing the raman spectrometer 4.2 between the fixed clamping block 4.5 and the movable clamping block 4.7 and tightening the locking bolt 4.8. In order to protect the raman spectrometer 4.2, an elastic cushion may be further provided on the side of the fixed clamp block 4.5 and the movable clamp block 4.7 facing the raman spectrometer 4.2.
In some embodiments, see fig. 4, a baffle 6 is disposed between each sample bottle 2, the baffle 6 being used to separate each sample bottle 2 from each other to avoid stray light interfering with each other. In particular, for the sample bottle 2 with the transparent whole bottle wall, the baffle 6 is particularly necessary, so that the detection precision can be improved.
In this embodiment, as shown in fig. 1 and 3, the liquid collecting mechanism 3 includes a plurality of sampling tubes 3.1, the plurality of sampling tubes 3.1 are respectively used for conveying liquid to each sample bottle 2, and one liquid pump 3.2 is arranged between each sampling tube 3.1 and the corresponding sample bottle 2. Because the sampling tube 3.1 and the liquid pump 3.2 are independent, cross contamination between the sample liquids of each sample bottle 2 can be avoided. In other embodiments, only one sampling tube 3.1 and one liquid pump 3.2 may be provided, the liquid pump 3.2 is connected to each sample bottle 2 through a plurality of pipelines, and each pipeline is provided with an electromagnetic valve and a back flushing device for cleaning the pipeline. During operation, the sample bottle 2 to be used is selected by controlling the on-off of each electromagnetic valve, and a back flushing device is used for cleaning the pipeline before each sample bottle switching, so that cross contamination among all sample liquids is avoided.
Preferably, the liquid pump 3.2 is a peristaltic pump. In peristaltic pumps, fluid is isolated in the pump tube and does not contact the pump body, so that the pump body is not polluted, and the peristaltic pump has the advantages of replaceable pump tube, reversible fluid, dryable rotation and the like.
Further, the liquid delivery lines of the respective sample bottles 2 are each provided with a flow sensor 3.3. The volume of the collected sample liquid can be detected in real time through the flow sensor 3.3, so that the liquid pump 3.2 is controlled to stop working when the sampling amount reaches the requirement, and the condition of insufficient liquid collection amount or excessive collection is prevented.
The flow sensor 3.3 may be disposed between the liquid pump 3.2 and the sampling tube 3.1, or may be disposed between the liquid pump 3.2 and the second connection tube 3.4 (the second connection tube 3.4 is a connection tube for connecting the liquid pump 3.2 and the corresponding sample bottle 2).
The flow sensor 3.3 is preferably a non-contact flow sensor, such as an ultrasonic flow wave sensor, to prevent sample fluid from corroding the flow sensor.
Because the liquid collection and detection device is applied to a special robot, when the liquid collection and detection device is used, the inlet end of the sampling tube 3.1 is generally fixed at the tail end of a mechanical arm of the robot, and in order to facilitate the arrangement of the sampling tubes 3.1, all the sampling tubes 3.1 can be arranged into one strand in a spiral winding mode, as shown in fig. 3.
In addition, in some embodiments, the liquid collection mechanism 3 further includes a base plate 3.5, and the liquid pump 3.2 and the flow sensor 3.3 are fixed on the base plate 3.5, as shown in fig. 3.
In the present embodiment, as shown in fig. 4, the rotary table 1 includes a base 1.1, a rotary shaft 1.2 vertically disposed on the base 1.1, a tray 1.3 and a positioning plate 1.4 sleeved on the rotary shaft 1.2, and a motor 1.5 for driving the rotary shaft 1.2 to rotate; the positioning plate 1.4 is arranged above the tray 1.3, and a plurality of positioning holes matched with the sample bottles 2 are formed along the circumferential direction; the sample bottles 2 pass through the corresponding positioning holes, and the bottoms of the sample bottles 2 are pressed on the tray 1.3. When the device works, the motor 1.5 drives the rotating shaft 1.2 to rotate, so that the tray 1.3 and the positioning plate 1.4 are driven to rotate, and the target sample bottle 2 is opposite to the detection mechanism 4.
In some preferred embodiments, see fig. 4, the rim of the positioning hole is provided with a rubber ring having an inner diameter smaller than the outer diameter of the sample bottle 2. After the sample bottle 2 is placed in the positioning hole, the sample bottle 2 can squeeze the rubber ring, so that the sample bottle 2 is clamped in the positioning hole, and the sample bottle 2 is prevented from falling off.
In some embodiments, see fig. 4, a quick connector mounting plate 1.7 is arranged at the upper part of the rotating shaft 1.2, and a plurality of quick connectors 1.8 are arranged on the quick connector mounting plate 1.7; the lower end of the quick connector 1.8 is connected with the corresponding sample bottle 2 through a first connecting pipe 1.9, and the upper end is connected with the liquid collecting mechanism 3 through a second connecting pipe 3.4. The relative fixed relation between the first connecting pipe 1.9 and the sample bottle 2 can be ensured through the quick connector mounting plate 1.7, the first connecting pipe 1.9 can be prevented from being swung too much to separate from the sample bottle 2 in the running process of the robot, and the first connecting pipe 1.9 can be prevented from being pulled to separate from the sample bottle 2 when the rotary table 1 rotates; in order to avoid the second connecting tube 3.4 from being wound, the rotation shaft 1.2 can be limited to rotate within a range of +/-180 degrees during operation.
In other embodiments, as shown in fig. 6, a movable plate 7 may be further disposed above the mounting plate 1.7, and a driving device 9 (such as a cylinder, a hydraulic cylinder, an electric telescopic rod, etc.) for driving the movable plate 7 to move up and down; the movable plate 7 is provided with a connecting plug 8 at the position opposite to the upper end of each quick connector 1.8, the connecting plug 8 is matched with the quick connector 1.8 and can be inserted into the upper end of the quick connector 1.8, the first connecting pipe 1.9 is connected with the lower end of the quick connector 1.8, and the second connecting pipe 3.4 is connected with the upper end of the connecting plug 8. When the movable plate 7 moves upwards, the connecting plug 8 leaves the quick connector 1.8, and at the moment, the rotary table 1 can rotate freely, so that the second connecting pipe 3.4 cannot be wound. A fixing bracket 10 may be provided, and the drive device 9 may be arranged on the fixing bracket 10.
In this embodiment, the raman spectrometer 4.2 is opposite to the position between the tray 1.3 and the positioning plate 1.4, and the baffle 6 is arranged between the tray 1.3 and the positioning plate 1.4; referring to fig. 5, the baffle 6 includes a retainer ring portion 6.1 fitted over the rotation shaft 1.2, and baffle plate portions 6.2 uniformly provided on the outer peripheral surface of the retainer ring portion 6.1 in the circumferential direction; the baffle portions 6.2 extend radially and the sample bottles 2 are arranged between two adjacent baffle portions 6.2 (see fig. 1).
In some preferred embodiments, see fig. 4, a decelerator 1.10 is provided between the motor 1.5 and the rotating shaft 1.2 to improve the accuracy of the rotation angle control.
In order to reduce the weight, the shaft 1.2 can be provided as a hollow shaft, as shown in fig. 4.
Referring to fig. 7, the present invention further provides a robot, including a mobile robot body 100, and a liquid collection and detection device 200 disposed on the mobile robot body 100; the liquid collection and detection device 200 is the liquid collection and detection device for the special robot.
The mobile robot body 100 includes a mechanical arm 101, and an inlet end of a sampling tube 3.1 of the liquid collection and detection device 200 is fixed at an end of the mechanical arm 101.
In summary, although the present invention has been described with reference to the preferred embodiments, it is not limited thereto, and various modifications and variations can be made by those skilled in the art without departing from the spirit and scope of the present invention.