CN117819452A

CN117819452A - High-precision self-identification storage device and control method for environmental tritium sample bottle status

Info

Publication number: CN117819452A
Application number: CN202410087223.XA
Authority: CN
Inventors: 毛传林; 王贻垚; 邹霖; 姜大巍; 朱迪超; 康雅鑫; 李斯豪; 郑秀红; 俞瑶琼
Original assignee: Zhejiang Hengda Instruments Co ltd
Current assignee: Zhejiang Hengda Instruments Co ltd
Priority date: 2024-01-22
Filing date: 2024-01-22
Publication date: 2024-04-05

Abstract

The present invention discloses a high-precision self-identification storage device and control method for the state of an environmental tritium sample bottle, which is characterized in that it also includes a clamping mechanism connected to a rack for clamping the sample bottle and a monitoring mechanism connected to the clamping mechanism for monitoring whether the sample bottle cap is tightened, the clamping mechanism includes a clamping frame connected to the rack, and the monitoring mechanism includes a proximity switch connected to the clamping frame for sensing whether the rotating frame rotates to determine whether the sample bottle cap is tightened. The invention has a high degree of automation and does not require manual control. At the same time, it detects whether the bottle cap is tightened, whether the bottle cap is accurately installed, and whether there is a tilt. If there is a tilt, it controls the disassembly and re-testing until the bottle cap is accurately and tightly installed on the sample bottle to avoid leakage.

Description

High-precision self-identification storage device for environmental tritium sample bottle state and control method

Technical Field

The invention relates to environmental tritium sample bottle processing and conveying, in particular to a high-precision self-identification storage device and a control method for the state of an environmental tritium sample bottle.

Background

Tritium is a radioactive substance with a half-life of 12.6 years. The tritium in the air eventually forms mostly tritium water-steam which enters the water cycle with normal water, thus exposing the human to radiation. In the environment protection work, monitoring the content of tritium in water and air is widely regarded internationally, and in the existing tritium monitoring method, an indirect measurement method is obviously superior to other methods, and the principle is that an air tritium water sample is prepared by a condensation air method, the water sample is brought back to a laboratory, tritium sample purification is carried out by an artificial distillation concentration method, then the water sample and scintillation liquid are quantified to sample bottles according to a certain proportion, and finally the sample bottles are put into an instrument one by one for analysis.

The existing detecting instrument is characterized in that when detecting each time, sample water and scintillation liquid are injected into a sample bottle after the sample bottle is manually taken, then the sample bottle is uniformly mixed and weighed, after the sample bottle is placed into the detecting instrument for detection, the sample bottle is taken out for storage after the detection is finished, but the efficiency of the mode is low, the work before each detection needs to be manually operated, the work is carried out in a monitoring room for a long time for radiation, the health of an operator is affected, therefore, an automatic device for operating the sample bottle is required, so that the operator only needs to fill the empty sample bottle regularly and take the stored sample bottle, the sample bottle needs to be disassembled when being processed, the sample water and scintillation liquid are injected after the bottle cap is disassembled, then the bottle cap is installed on the sample bottle, but the problem that the bottle cap is not screwed or is obliquely installed on the sample bottle due to the position deviation of the bottle cap often occurs when the bottle cap is screwed, the problem that the sample bottle cap is sealed is caused, and leakage easily occurs. Therefore, a high-precision self-identification storage device and a control method for the state of the environmental tritium sample bottle are provided.

Disclosure of Invention

The invention aims to solve the problems and provides a high-precision self-identification storage device and a control method for the state of an environmental tritium sample bottle.

In order to achieve the aim, the invention provides a high-precision self-identification storage device for the state of an environmental tritium sample bottle, which comprises a control system, a rack and a manipulator connected to the rack, wherein the manipulator is connected with a rotator, and the rotator is connected with a clamp for clamping the sample bottle; the device is characterized by further comprising a clamping mechanism which is connected to the frame and used for clamping the sample bottle and a monitoring mechanism which is connected to the clamping mechanism and used for monitoring whether the sample bottle cap is screwed up or not, wherein the clamping mechanism comprises a clamping frame which is connected to the frame, a rotating frame which is movably connected to the clamping frame, a tension spring which is arranged on the rotating frame and the clamping frame and is used for limiting the position of the rotating frame and playing a resetting role after rotating, a clamp holder which is connected to the rotating frame and a clamping jaw which is arranged on the clamp holder, and the monitoring mechanism comprises a proximity switch which is connected to the clamping frame and used for sensing whether the rotating frame rotates to judge whether the sample bottle cap is screwed up or not.

Further preferably, the sample bottle further comprises a laser sensor arranged on the clamping device for detecting whether the sample bottle cap is accurately mounted on the sample bottle.

Further preferably, the device further comprises a stacking rack which is arranged on the rack and used for stacking a plurality of sample bottles, and a bottle cover feeding mechanism which is used for stacking bottle covers and automatically feeding the bottle covers; the bottle cap feeding mechanism comprises a bottle cap feeding frame connected to the frame, a driving motor arranged on the bottle cap feeding frame, a screw rod movably arranged on the bottle cap feeding frame and connected with the driving motor, a nut seat arranged on the screw rod and a bottle cap tray arranged on the nut seat; the bottle cap feeding frame is also provided with a second inductor for detecting the bottle cap; and a bottle cap stacking cylinder is also arranged on the bottle cap feeding frame, and one end of a bottle cap tray stretches into the stacking cylinder and is used for driving the bottle cap to move up and down in the bottle cap stacking cylinder.

Further preferably, the sample bottle shaking machine further comprises a shaking mechanism arranged on the frame and used for shaking the sample bottle evenly.

Further preferably, the shaking mechanism comprises a shaking instrument arranged on the frame and a protective frame arranged on the shaking instrument and having a limiting and protecting effect on the position of the sample bottle; the device also comprises a driving frame connected to the frame, a driving shaft movably arranged on the driving frame, a motor arranged on the frame and connected with the driving shaft, a guide rod arranged on the driving frame, a driving seat slidably arranged on the guide rod and a reset spring arranged on the guide rod and used for driving the driving seat to reset; the driving shaft is provided with a guide chute, the driving seat is provided with a pulley matched with the guide chute, and the guide chute is divided into a driving section and a resetting section.

Further preferably, the shaking mechanism comprises a second rotator connected to the frame and a second clamping device arranged on the second rotator.

Further preferably, the device further comprises a storage mechanism arranged on the rack and used for automatically stacking and storing the detected sample bottles; the storage mechanism comprises a storage drawer which is arranged on the rack and can be pulled out, a throwing opening which is arranged on the rack and communicated with the storage drawer and used for throwing sample bottles, a guide plate which is arranged in the storage drawer and used for guiding the stacked sample bottles so that a plurality of sample bottles are orderly arranged in the storage drawer, a pusher which is arranged on the rack and corresponds to the storage drawer in position, and a pushing block which is connected to the pusher and used for pushing the sample bottles to move in the storage drawer.

Further preferably, a discharging channel is formed in the storage drawer through a guide plate, and sensors for sensing the sample bottles are arranged at the inlet end, the tail end and the middle section of the discharging channel; a plurality of elastic pieces for limiting the position of the sample bottle and preventing the sample bottle from toppling when moving under the action of pushing force are further arranged in the discharging channel of the storage drawer, and a concave table matched with the elastic pieces is arranged at the bottom of the sample bottle; the spring plate is also provided with a ball; the middle section inductor department still be provided with righting structure, righting structure contain one end through hinge movable mounting righting board on the storage drawer, install and be used for driving the righting board to act and right the driver that the sample bottle that will empty was right in storage drawer bottom.

Further preferably, the device further comprises a weighing device connected to the frame for weighing the sample bottles.

When the conveying device is used, the conveying device comprises:

a. firstly, working parameters of a manipulator, a clamping mechanism, a shaking mechanism, a weighing device and a storage mechanism are set; setting a standard deviation value in a control system when the bottle cap is twisted or not;

b. the control system controls the manipulator to move to the clamping mechanism and then take points on the clamping device, the laser sensor is used for measuring the distance after taking the points, then a plurality of points are taken in the same way and are used for measuring the distance, the measured data are sent to the control system and then are compared through calculation to obtain a difference value, and the difference value at the moment is an inclination deviation value existing in the clamping mechanism and is used as a compensation value when whether a follow-up bottle cap is screwed or not;

c. the control system controls the manipulator to drive the clamping device to clamp the sample bottles from the stacking tray, and then controls the clamping device to drive the clamping jaw to clamp the sample bottles after the sample bottles are placed on the clamping mechanism;

d. after the clamp holder clamps the sample bottle, the sample water and the scintillation liquid are injected into the sample bottle through other equipment or the control system controls the rotator to act so as to drive the clamp to rotate, the bottle cap of the sample bottle is driven to rotate when the clamp rotates, and the sample water and the scintillation liquid are injected into the sample bottle through other equipment after the bottle cap is unscrewed from the sample bottle;

e. after injection, the manipulator clamps the bottle cap and moves the bottle cap to the sample bottle, then the rotator is controlled to start, the rotator drives the clamp and the bottle cap to rotate reversely, the bottle cap is arranged on the sample bottle when rotating, when the rotator drives the bottle cap to rotate in the screwing process of the bottle cap, the whole rotating frame is driven to rotate when the rotating force of the rotator driving the bottle cap to rotate is larger than the tension force of the tension spring, after the rotating frame rotates and contacts with the proximity switch arranged on the clamping frame, the proximity switch sends a signal to the control system, and the control system controls the rotator to stop acting, so that the bottle cap is judged to be screwed at the moment;

f. then the manipulator releases the bottle cap and moves upwards for a set distance, then the laser sensor is used for taking points on the bottle cap and measuring distance, one point is moved after finishing the distance measurement, a plurality of points are taken on the bottle cap in the same way and measured distance is measured, then measured data are sent to the control system, and the control system compares the measured data difference values; the measured data difference value is combined with the compensation value to obtain an accurate data difference value;

g. if the measured accurate data difference value is within the set standard difference value, the bottle cap is accurately arranged on the sample bottle; if the measured data difference exceeds the standard difference, the bottle cap is installed askew, and the bottle cap needs to be installed again;

h. the control system controls the manipulator to unscrew the bottle cap and then reinstallate the bottle cap, and multipoint distance measurement comparison is carried out again after the bottle cap is installed until the bottle cap is accurately installed on the sample bottle;

i. if the detection is wrong again, temporarily judging that the secondary bottle cap is in a problem, re-grabbing a bottle cap from an automatic bottle cap feeding mechanism after the bottle cap is unscrewed for re-installation, entering the next working procedure after the bottle cap is installed, if the detection is failed, judging that the sample bottle is in a problem at the moment, placing the sample bottle on an empty stacking rack after grabbing the sample bottle by a manipulator, and grabbing the sample bottle at the next working position for operation; if the problem of unqualified detection still occurs, the control system controls the whole equipment to stop and sends a signal to an operator to inform the operator that the equipment fails and the equipment needs to be checked and maintained on site;

j. after the detection is qualified, the control system grabs the sample bottle, then places the sample bottle on the shaking mechanism, and then shakes the solution in the sample bottle through the shaking mechanism;

k. after the shaking is finished, the manipulator grabs the sample bottle and then places the sample bottle on a weighing device for weighing, after the weighing is finished, the manipulator grabs the sample bottle and then sends the sample bottle to a detection mechanism for detection, and after the detection is finished, the manipulator drops the sample bottle into a storage drawer through a throwing port;

when a sensor at the inlet of a discharging channel in the storage drawer senses a sample bottle, a signal is sent to a control system, the control system controls a pusher to start, the pusher drives a pushing block to move forwards, and the sample bottle at the outlet is moved forwards by a station along the discharging channel;

m, under the stacking of a plurality of sample bottles, when a sensor arranged at the middle section of the discharging channel senses the sample bottles, a signal is sent to a control system to inform the control system of the stacking quantity of the sample bottles in the storage drawer and the stacking quantity of the residual sample bottles, at the moment, the control system knows the quantity of the stored sample bottles in the storage drawer after receiving the signal sent by the sensor at the middle section, then compares the quantity of the stored sample bottles with the pushing frequency of the pusher, if the pushing frequency is consistent, the phenomenon that the sample bottles do not topple is indicated, and the operation of the next procedure is carried out;

n, if the sample bottles are inconsistent, the phenomenon of toppling occurs, the control system controls the driver to start, the driver drives the righting plate to overturn, righting work is carried out on the sample bottle at the forefront end during overturning, and normal work is continued after righting;

a sensor arranged at the tail end of the discharging channel senses the sample bottle and then sends a signal to the control system to inform the control system that the sample bottle in the storage drawer is full, and the sample bottle cannot be put in later; and meanwhile, the control system sends a signal to an operator to inform the operator that the sample bottles in the storage drawer need to be processed.

The invention has the beneficial effects that: through this device's setting, automatic take of carrying out the sample bottle, transport, the dismouting of sample bottle lid, whether screw up and install accurately when installing the sample bottle lid and carry out automated inspection, shake even to the solution in the sample bottle, weigh and automatic carry out automatic orderly arrangement storage to the sample bottle that accomplishes the detection, degree of automation is high, need not the manual work and control, simultaneously whether screw up and the bottle lid installation is accurate through the bottle lid, whether have the slope to detect, if there is the state of slope then control again to dismantle and detect, until the bottle lid is accurate and the installation of screwing up on the sample bottle, avoid taking place the problem of leakage.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic view of the structure of the clamping mechanism in the present invention;

FIG. 3 is a schematic view of a part of the structure of the manipulator according to the present invention;

FIG. 4 is a schematic view of a portion of the storage mechanism of the present invention;

FIG. 5 is a schematic view of the structure of the storage mechanism according to the present invention;

FIG. 6 is a schematic view of a partial cross-sectional structure of a spring plate according to the present invention;

FIG. 7 is a schematic cross-sectional view of the centering mechanism of the present invention;

FIG. 8 is a schematic view of another embodiment of a shaking mechanism according to the present invention;

FIG. 9 is a schematic structural view of a bottle cap feeding mechanism in the invention;

FIG. 10 is a schematic view of another view angle structure of the feeding mechanism of the bottle cap according to the present invention;

FIG. 11 is a schematic partial structure of another embodiment of a shaking apparatus according to the present invention;

FIG. 12 is a schematic partial structure of another embodiment of a shaking apparatus according to the present invention;

fig. 13 is a schematic diagram of a control flow in the present invention.

Legend description: 1. a frame; 2. a manipulator; 3. a rotator; 4. a clamp; 41. a laser sensor; 5. a clamping mechanism; 51. a clamping frame; 52. a rotating frame; 53. a tension spring; 54. a holder; 55. a clamping jaw; 56. a proximity switch; 6. a monitoring mechanism; 7. a stacking rack; 71. a bottle cap feeding mechanism; 72. a bottle cap feeding frame; 73. a driving motor; 74. a screw rod; 75. a nut seat; 76. a bottle cap tray; 77. a second sensor; 78. a bottle cap stacking cylinder; 81. shaking up the instrument; 82. a protective frame; 83. a second rotator; 84. a second clamping device; 85. a drive rack; 86. a drive shaft; 87. a motor; 88. a guide rod; 89. a driving seat; 810. a return spring; 811. a guide chute; 812. a pulley; 813. a drive section; 814. a reset section; 9. a storage mechanism; 91. a storage drawer; 92. a delivery port; 93. a guide plate; 94. a pusher; 95. a pushing block; 96. an inductor; 97. a spring plate; 98. a ball; 99. a righting plate; 910. a driver; 10. a weighing device.

Detailed Description

The high-precision self-identification storage device and the control method for the state of the environmental tritium sample bottle are further described below by referring to the attached drawings.

Referring to fig. 1-13, the high-precision self-identification storage device and the control method for the state of the environmental tritium sample bottle comprise a control system, a rack 1 and a manipulator 2 connected to the rack 1, wherein the manipulator 2 is connected with a rotator 3, and the rotator 3 is connected with a clamp 4 for clamping the sample bottle; the device is characterized by further comprising a clamping mechanism 5 which is connected to the frame 1 and used for clamping a sample bottle and a monitoring mechanism 6 which is connected to the clamping mechanism 5 and used for monitoring whether the sample bottle cap is screwed or not, wherein the clamping mechanism 5 comprises a clamping frame 51 which is connected to the frame 1, a rotating frame 52 which is movably connected to the clamping frame 51, a tension spring 53 which is arranged on the rotating frame 52 and the clamping frame 51 and is used for limiting the position of the rotating frame 52 and resetting the rotating frame after rotating, a clamp holder 54 which is connected to the rotating frame 52 and a clamping jaw 55 which is arranged on the clamp holder 54, and the monitoring mechanism comprises a proximity switch 56 which is connected to the clamping frame 51 and used for sensing whether the rotating frame 52 rotates to judge whether the sample bottle cap is screwed or not; the rotator can adopt a rotary cylinder or a motor; the clamping device and the clamping device can adopt a clamping cylinder;

through the arrangement of the device, the sample bottle is automatically taken, transported, disassembled and assembled, whether the sample bottle cap is screwed up or not and whether the sample bottle cap is accurately and automatically detected during the assembly of the sample bottle cap, solutions in the sample bottle are uniformly shaken and weighed, and the sample bottle after the detection is automatically and orderly arranged and stored, so that the degree of automation is high, manual control is not needed, meanwhile, whether the bottle cap is screwed up or not and whether the bottle cap is accurately assembled or not is detected, and whether the bottle cap is inclined or not is detected is controlled to be disassembled and detected again until the bottle cap is accurately and tightly assembled on the sample bottle if the bottle cap is inclined;

by arranging the rotating frame 52, the tension springs 53 connecting the rotating frame 52 and the clamping frame 51 and the proximity switch 56, the position of the rotating frame 52 is limited by pulling the rotating frame 52 to two sides through the tension springs 53 at two sides, when the rotating force applied to the sample bottle when the bottle cap is screwed is smaller than the tension force of the tension springs 53, the rotating frame 52 cannot rotate, when the force applied to the sample bottle when the bottle cap is rotated due to screwing in the rotating process is larger than the tension force of the tension springs 53, the rotating frame 52 overcomes the tension force of the tension springs 53 to rotate, once the rotating frame is contacted with the proximity switch 56, the proximity switch 56 sends a signal to a control system, and the control system judges that the bottle cap is screwed at the moment and controls the rotator to stop acting.

In one embodiment, the sample bottle further comprises a laser sensor 41 arranged on the clamping device 4 for detecting whether the sample bottle cap is accurately mounted on the sample bottle;

firstly, a manipulator 2 drives a laser sensor 41 to take points on a clamp 4, the laser sensor 41 is used for ranging after taking the points, then a plurality of points are taken in the same way and are used for ranging, the measured data are sent to a control system and are compared through calculation to obtain a difference value, and the difference value at the moment is an inclination deviation value existing in the clamping mechanism 5 and is used as a compensation value when whether a follow-up bottle cap is screwed or not to be detected;

after the bottle cap is screwed up, taking a point on the bottle cap through a laser sensor 41 arranged on the clamp 4 and measuring the distance, moving after finishing the distance measurement of one point, taking a plurality of points on the bottle cap in the same way and measuring the distance, transmitting the measured data to a control system, comparing the measured data by the control system to obtain a difference value, compensating the obtained difference value by combining a compensation value to obtain a final accurate difference value, comparing the accurate difference value with a set standard difference value, judging whether the bottle cap is screwed up or not, if the difference value exceeds the standard difference value, indicating that the bottle cap is inclined, re-installing, controlling the manipulator 2 to unscrew the bottle cap, re-screwing up in the screwing up process, detecting whether the bottle cap is screwed up again or not after screwing up, and judging that the bottle cap is accurately screwed up on the sample bottle after the detected difference value is within the standard difference value;

if the same bottle cap and the same sample bottle are twisted and distorted continuously twice in the detection process, the bottle cap or the sample bottle is determined to have the problem of non-adaptation; at the moment, after replacing one bottle cap, carrying out installation detection again, if the bottle cap is detected to be qualified, carrying out the next process, if the bottle cap is still detected to be unqualified, judging that the sample bottle has a problem, taking the sample bottle from the clamping mechanism 5 by the manipulator 2, then placing the sample bottle on the empty stacking rack 7 for temporary storage, and then taking a new sample bottle again for operation; if the problem still exists after the detection, the control system controls the whole equipment to stop and sends a signal to an operator, so that the operator is informed of the problem to be checked on site and the maintenance.

In one embodiment, the device further comprises a stacking rack 7 arranged on the rack 1 for stacking a plurality of sample bottles; and a cap feeding mechanism 71 for stacking caps and automatically feeding the caps; the bottle cap feeding mechanism 71 comprises a bottle cap feeding frame 72 connected to the frame 1, a driving motor 73 arranged on the bottle cap feeding frame 72, a screw rod 74 movably arranged on the bottle cap feeding frame 72 and connected with the driving motor 73, a nut seat 75 arranged on the screw rod 74 and a bottle cap tray 76 arranged on the nut seat 75; the bottle cap feeding frame 72 is also provided with a second sensor 77 for detecting the bottle caps; a bottle cap stacking cylinder 78 is also arranged on the bottle cap feeding frame 72, and one end of a bottle cap tray 76 extends into the stacking cylinder 78 and is used for driving the bottle cap to move up and down in the bottle cap stacking cylinder 78; the stacking frame 7 is used for stacking a plurality of empty sample bottles and sample bottles with problems in subsequent screwing detection, and an operator only needs to place the sample bottles on the stacking frame 7 and take the sample bottles with problems out at regular intervals;

when the bottle cap feeding mechanism 71 is used for feeding, the driving motor 73 drives the screw rod 74 to rotate, the screw rod 74 drives the nut seat 75 to rotate, the nut seat 75 drives the bottle cap tray 76 mounted on the nut seat 75 to act, when the second sensor 77 arranged on the top of the bottle cap feeding frame 72 and used for detecting a bottle cap senses the bottle cap, a signal is sent to the control system, the control system controls the driving motor 73 to stop acting, meanwhile, a signal that the bottle cap is in place is obtained, and when the bottle cap needs to be taken, the mechanical arm 2 can be directly controlled to grasp the bottle cap.

In one embodiment, the device also comprises a shaking mechanism which is arranged on the frame 1 and used for shaking the sample bottle; through shaking the setting of mechanism, be used for shaking the scintillation liquid and the sample water in the sample bottle.

In one embodiment, the shaking mechanism comprises a shaking instrument 81 arranged on the frame 1 and a protective frame 82 arranged on the shaking instrument 81 and having a limiting and protecting effect on the position of the sample bottle; the device also comprises a driving frame 85 connected to the frame 1, a driving shaft 86 movably arranged on the driving frame 85, a motor 87 arranged on the frame 1 and connected with the driving shaft 86, a guide rod 88 arranged on the driving frame 85, a driving seat 89 slidably arranged on the guide rod 88 and a reset spring 810 arranged on the guide rod 88 and used for driving the driving seat 89 to reset; the driving shaft 86 is provided with a guide chute 811, the driving seat 89 is provided with a pulley 812 matched with the guide chute 811, and the guide chute 811 is divided into a driving section 813 and a resetting section 814; when shaking up, the shaking up instrument 81 can directly drive the sample bottle to vibrate so as to shake up the solution in the sample bottle;

the shaking instrument 81 can drive the sample bottle to vibrate and simultaneously drive the driving shaft 86 to rotate through the motor 87, the driving shaft 86 forms thrust to the pulley 812 through the guide chute 811 in the rotating process so that the pulley 812 moves along the guide chute 811, when the shaking instrument 81 is positioned at the driving section 813, the driving seat 89 and the shaking instrument 81 move forwards, and after the shaking instrument 81 is positioned at the resetting section 814, the driving seat 89 and the shaking instrument 81 are driven to move backwards through the elastic force of the reset spring 810, so that the shaking instrument 81 is driven to reciprocate forwards and backwards in the continuous rotating process of the motor 87, and the shaking instrument 81 can shake the solution in the sample bottle more uniformly in a matched manner.

In one embodiment, the shaking mechanism comprises a second rotator 83 connected to the frame 1 and a second clamp 84 installed on the second rotator 83; after the sample bottle is clamped by the second clamping device 84, the sample bottle is driven to shake back and forth by the second rotating device 83 to perform shaking-up work; the second rotator 83 may be a rotary cylinder or a motor; the second clamp 84 may employ a clamp cylinder.

In one embodiment, the device further comprises a storage mechanism 9 arranged on the rack 1 and used for automatically stacking and storing the detected sample bottles; the storage mechanism 9 comprises a storage drawer 91 which is arranged on the machine frame 1 and can be pulled out, a throwing port 92 which is arranged on the machine frame 1 and is communicated with the storage drawer 91 and is used for throwing sample bottles, a guide plate 93 which is arranged in the storage drawer 91 and is used for guiding the stacked sample bottles to enable a plurality of sample bottles to be orderly arranged in the storage drawer 91, a pusher 94 which is arranged on the machine frame 1 and corresponds to the position of the storage drawer 91, and a pushing block 95 which is connected with the pusher 94 and is used for pushing the sample bottles to move in the storage drawer 91; a discharging channel is formed in the storage drawer 91 through a guide plate 93, and sensors 96 for sensing sample bottles are arranged at the inlet end, the tail end and the middle section of the discharging channel; a plurality of elastic pieces 97 for limiting the position of the sample bottle and preventing the sample bottle from toppling when moving under the action of pushing force are also arranged in the discharging channel of the storage drawer 91, and a concave table matched with the elastic pieces 97 is arranged at the bottom of the sample bottle; the spring plate 97 is also provided with a ball 98; the middle section sensor 96 is also provided with a centralizing structure, and the centralizing structure comprises a centralizing plate 99 with one end movably arranged on the storage drawer 91 through a hinge and a driver 910 arranged at the bottom of the storage drawer 91 and used for driving the centralizing plate 99 to act so as to centralize the toppled sample bottle; the pusher 94 and the driver 910 may employ air cylinders or electric pushers or push electromagnets;

through the arrangement of the elastic sheet 97 and the concave table on the sample bottle, when the sample bottle is arranged in the discharging channel, the elastic sheet 97 is clamped at the concave table through the elastic force of the elastic sheet to limit the position of the sample bottle, meanwhile, the ball 98 is arranged on the elastic sheet 97, when the sample bottle is pushed, the sample bottle contacts with the elastic sheet 97 and applies extrusion force to the elastic sheet 97 to drive the sample bottle to shrink downwards until the elastic sheet 97 is clamped at the concave table through the reset force of the elastic sheet 97 after the sample bottle moves forwards by one station after no extrusion force is applied; through the arrangement of the ball 98, the resistance of the elastic sheet 97 to the movement of the sample bottle is reduced, the phenomenon that the sample bottle at the forefront end is toppled due to the resistance of the bottom in the forward pushing process because the forefront sample bottle is not blocked by the elastic sheet is avoided, and the toppling of the sample bottle only occurs on the forefront sample bottle, and the follow-up sample bottles are blocked by the forefront sample bottle, so that the toppling cannot occur easily;

the storage mechanism 9 is used for automatically storing the sample bottles which are detected, and the sample bottles are automatically arranged and stored in the discharge channel during storage;

by arranging the sensors 96 at the inlet end, the middle section and the tail end of the discharging channel, when the sensors 96 at the inlet end sense the sample bottles and then send signals to the control system, the control system controls the pusher 94 to start, the pusher 94 drives the pushing block 95 to push the sample bottles to move forwards along the discharging channel for one station, and the sample bottles arranged in the discharging channel are pushed to move forwards for one station; when the sensor 96 at the middle section senses the sample bottles, a signal is sent to the control system, at the moment, the control system knows the number of the sample bottles stored in the storage drawer 91 after receiving the signal sent by the sensor at the middle section, then compares the number with the pushing frequency of the pusher 94, if the number of the sample bottles is consistent, the phenomenon that the sample bottles topple is not generated, if the number of the sample bottles are inconsistent, the phenomenon that the sample bottles topple is generated, the control system controls the driver 910 to start, the driver 910 drives the righting plate 99 to overturn, the righting work is carried out on the sample bottles at the forefront end during the overturning, and the normal work is continued after the righting;

when the sensor 96 arranged at the tail end senses the sample bottles and then sends a signal to the control system, the control system is informed that the sample bottles in the storage drawer 91 are full at the moment, the sample bottles can not be put into the storage drawer 91 any more, and meanwhile, the control system sends a signal to an operator, and the operator is informed that the sample bottles are full at the moment and need to be extracted.

In one embodiment, the device further comprises a weighing device 10 connected to the frame 1 for weighing the sample bottles; the weight of the sample bottle is weighed by the weighing machine 10 and the data is sent to the control system for storage.

The invention works as follows: firstly, working parameters of a manipulator 2, a clamping mechanism 5, a shaking mechanism, a weighing device 10 and a storage mechanism 9 are set; setting a standard deviation value in a control system when the bottle cap is twisted or not;

the control system controls the manipulator 2 to move to the clamping mechanism and then take points on the clamping device 4, the laser sensor 41 is used for ranging after taking the points, then a plurality of points are taken in the same way and the distance is measured, the measured data are sent to the control system and then are compared by calculation to obtain a difference value, and the difference value at the moment is the inclination deviation value of the clamping mechanism 5 and is used as a compensation value when whether a follow-up bottle cap is screwed up or not;

the control system controls the manipulator 2 to drive the clamping device 4 to clamp the sample bottles from the stacking rack 7, then the sample bottles are placed on the clamping mechanism 5, and then the clamping device 54 is controlled to drive the clamping jaws to clamp the sample bottles;

after the clamp holder 54 clamps the sample bottle, the sample water and the scintillation liquid are injected into the sample bottle through other equipment or the control system controls the rotator 3 to act so as to drive the clamp 4 to rotate, the bottle cap of the sample bottle is driven to rotate when the clamp 4 rotates, and the sample water and the scintillation liquid are injected into the sample bottle through other equipment after the bottle cap is unscrewed from the sample bottle;

after injection, the manipulator 2 clamps the bottle cap and moves the bottle cap to the sample bottle, then the rotator 3 is controlled to start, the rotator 3 drives the clamp 4 and the bottle cap to rotate reversely, the bottle cap is arranged on the sample bottle during rotation, in the screwing process of the bottle cap, when the rotator 3 drives the rotating force of the bottle cap to act on the sample bottle, the rotating force of the sample bottle is larger than the pulling force of the tension spring 53, the whole rotating frame 52 is driven to rotate, the rotating frame 52 contacts with the proximity switch 56 arranged on the clamping frame 51 during rotation, the proximity switch 56 sends a signal to the control system, the control system controls the rotator 3 to stop acting, and the bottle cap is judged to be screwed at the moment;

then the manipulator 2 releases the bottle cap and moves upwards for a set distance, then the laser sensor 41 is used for taking points on the bottle cap and measuring distance, one point is moved after finishing the distance measurement, a plurality of points are taken on the bottle cap in the same way and measured distance is measured, then measured data are sent to the control system, and the control system compares the measured data difference values; the measured data difference value is combined with the compensation value to obtain an accurate data difference value;

if the measured accurate data difference value is within the set standard difference value, the bottle cap is accurately arranged on the sample bottle; if the measured data difference exceeds the standard difference, the bottle cap is installed askew, and the bottle cap needs to be installed again;

the control system controls the manipulator 2 to unscrew the bottle cap and then reinstall the bottle cap, and after the bottle cap is installed, multipoint distance measurement and comparison are carried out again until the bottle cap is accurately installed on the sample bottle;

if the detection twisting appears again, the bottle cap is temporarily judged to have a problem, after the bottle cap is unscrewed, a bottle cap is grabbed again from the bottle cap feeding mechanism 71 for reinstallation, after the bottle cap is installed, the next procedure is carried out after the detection is passed, if the detection is failed, the problem of the sample bottle is judged at the moment, the sample bottle is placed on the empty stacking rack 7 after being grabbed by the manipulator 2, and then the sample bottle at the next station is grabbed for operation; if the problem of unqualified detection still occurs, the control system controls the whole equipment to stop and sends a signal to an operator to inform the operator that the equipment fails and the equipment needs to be checked and maintained on site;

after the detection is qualified, the control system grabs the sample bottle, then places the sample bottle on the shaking mechanism, and then shakes the solution in the sample bottle through the shaking mechanism;

after the shaking is finished, the manipulator 2 grabs the sample bottles and then places the sample bottles on the weighing device 10 for weighing, after the weighing is finished, the manipulator 2 grabs the sample bottles and then sends the sample bottles to the detection mechanism for detection, and after the detection is finished, the manipulator 2 drops the sample bottles into the storage drawer 91 through the dropping opening 92;

when the sensor 96 at the inlet of the discharging channel in the storage drawer 91 senses the sample bottle and then sends a signal to the control system, the control system controls the pusher 94 to start, the pusher 94 drives the pushing block 95 to move forward, and the sample bottle at the outlet is moved forward by one station along the discharging channel;

after stacking a plurality of sample bottles, when the sensor 96 arranged at the middle section of the discharging channel senses the sample bottles, a signal is sent to the control system to inform the control system of the number of stacked sample bottles in the storage drawer 91 and the number of remaining stacked sample bottles; at this time, after receiving the signal sent by the sensor 96 at the middle section, the control system knows the number of the sample bottles stored in the storage drawer 91 at this time, and then compares the number of pushing times with the pushing times of the pusher 94, wherein each pushing time indicates that one sample bottle is pushed into the stack, and if the pushing times are consistent, the sample bottle does not fall down, and the next procedure is performed;

if the two sample bottles are inconsistent, the phenomenon of toppling of the sample bottles is indicated, and as the front end of the sample bottle at the forefront end is not provided with a blocking object for preventing toppling of the sample bottle, if the sample bottle topples, the sample bottle at the forefront end is only detected, the control system controls the driver 910 to start after toppling is detected, the driver 910 drives the righting plate 99 to overturn, and the righting operation is carried out on the sample bottle at the forefront end during overturning, and the normal operation is continued after the righting;

until the sensor 96 arranged at the tail end of the discharging channel senses the sample bottle, a signal is sent to the control system to inform the control system that the sample bottle in the storage drawer 91 is full, and the sample bottle cannot be put in later; at the same time the control system sends a signal to the operator informing him that the sample bottles in the storage drawer 91 need to be processed.

The scope of protection of the present invention is not limited to the above embodiments and variations thereof. Conventional modifications and substitutions by those skilled in the art based on the content of the present embodiment fall within the protection scope of the present invention.

Claims

1. A high-precision self-identification and storage device for environmental tritium sample bottle status, comprising a control system, a frame (1), and a manipulator (2) connected to the frame (1), the manipulator (2) being connected to a rotator (3), the rotator (3) being connected to a clamp (4) for clamping the sample bottle; the device is characterized in that it also comprises a clamping mechanism (5) connected to the frame (1) for clamping the sample bottle and a monitoring mechanism (6) connected to the clamping mechanism (5) for monitoring whether the sample bottle cap is tightened, the clamping mechanism (5) comprising a clamp connected to the frame (1) The invention comprises a clamping frame (51), a rotating frame (52) movably connected to the clamping frame (51), a tension spring (53) arranged on the rotating frame (52) and the clamping frame (51) for limiting the position of the rotating frame (52) and restoring the rotating frame (52) after rotation, a clamp (54) connected to the rotating frame (52), and a clamping claw (55) arranged on the clamp (54), wherein the monitoring mechanism comprises a proximity switch (56) connected to the clamping frame (51) and installed thereon for sensing whether the rotating frame (52) is rotating to judge whether the cap of the sample bottle is tightened.

2. The high-precision self-identification and storage device for the state of an environmental tritium sample bottle according to claim 1, characterized in that it also includes a laser sensor (41) arranged on the clamp (4) for detecting whether the sample bottle cap is accurately installed on the sample bottle.

3. The high-precision self-identification and storage device for environmental tritium sample bottle status according to claim 1 is characterized in that it also includes a stacking rack (7) arranged on the frame (1) for stacking a plurality of sample bottles and a bottle cap feeding mechanism (71) for stacking bottle caps and automatically feeding the bottle caps; the bottle cap feeding mechanism (71) includes a bottle cap feeding rack (72) connected to the frame (1), a driving motor (73) installed on the bottle cap feeding rack (72), and a motor (73) movably installed on the bottle cap feeding rack (72). 2) and connected to the driving motor (73), a screw rod (74) mounted on the screw rod (74) and a nut seat (75) mounted on the screw rod (74), and a bottle cap tray (76) mounted on the nut seat (75); the bottle cap loading rack (1) is also provided with a second sensor (77) for detecting the bottle caps; the bottle cap loading rack (72) is also provided with a bottle cap stacking cylinder (78), and one end of the bottle cap tray (76) extends into the stacking cylinder (78) to drive the bottle caps to move up and down in the bottle cap stacking cylinder (78).

4. The high-precision self-identification and storage device for environmental tritium sample bottle status according to claim 1, characterized in that it also includes a shaking mechanism arranged on the rack (1) for shaking the sample bottle.

5. The high-precision self-identification and storage device for the state of an environmental tritium sample bottle according to claim 4, characterized in that: the shaking mechanism comprises a shaker (81) arranged on the frame (1) and a protection frame (82) arranged on the shaker (81) for limiting and protecting the position of the sample bottle; it also comprises a drive frame (85) connected to the frame (1), a drive shaft (86) movably mounted on the drive frame (85), a motor (87) mounted on the frame (1) and connected to the drive shaft (86), a guide rod (88) arranged on the drive frame (85), a drive seat (89) slidably mounted on the guide rod (88), and a reset spring (810) mounted on the guide rod (88) for driving the drive seat (89) to reset; the drive shaft (86) is provided with a guide groove (811), the drive seat (89) is provided with a pulley (812) adapted to the guide groove (811), and the guide groove (811) is divided into a drive section (813) and a reset section (814).

6. The high-precision self-identification and storage device for the state of an environmental tritium sample bottle according to claim 4, characterized in that the shaking mechanism comprises a second rotator (83) connected to the frame (1) and a second clamp (84) installed on the second rotator (83).

7. The high-precision self-identification and storage device for environmental tritium sample bottle status according to claim 1, characterized in that it also includes a storage mechanism (9) arranged on the rack (1) for automatically stacking and storing the sample bottles after the test is completed; the storage mechanism (9) includes a pull-out storage drawer (91) arranged on the rack (1), a delivery port (92) arranged on the rack (1) and connected to the storage drawer (91) for delivering the sample bottles, a guide plate (93) arranged in the storage drawer (91) for guiding the stacked sample bottles so that a plurality of sample bottles are neatly arranged in the storage drawer (91), a pusher (94) arranged on the rack (1) corresponding to the position of the storage drawer (91), and a push block (95) connected to the pusher (94) for pushing the sample bottles to move in the storage drawer (91).

8. The high-precision self-identification and storage device for the state of environmental tritium sample bottles according to claim 7 is characterized in that: a discharge channel is formed in the storage drawer (91) through a guide plate (93), and the entrance end, tail end and middle section of the discharge channel are all provided with sensors (96) for sensing the sample bottles; the discharge channel of the storage drawer (91) is also provided with a plurality of springs (97) for limiting the position of the sample bottles to prevent the sample bottles from tipping over when moving under the action of a driving force, and the bottom of the sample bottles is provided with a concave table adapted to the springs (97); a ball (98) is also provided on the springs (97); a straightening structure is also provided at the middle section sensor (96), and the straightening structure includes a straightening plate (99) one end of which is movably mounted on the storage drawer (91) through a hinge, and a driver (910) installed at the bottom of the storage drawer (91) for driving the straightening plate (99) to move and straighten the tipped sample bottles.

9. The high-precision self-identification and storage device for environmental tritium sample bottle status according to claim 1, characterized in that it also includes a weighing device (10) connected to the frame (1) for weighing the sample bottle.

10. The high-precision self-identification and storage device control method for environmental tritium sample bottle status according to any one of claims 1 to 9, characterized in that the control method is as follows:

a. First, set the working parameters of the manipulator, clamping mechanism, shaking mechanism, weighing device, and storage mechanism;

b. The control system controls the manipulator to drive the clamp to pick up the sample bottle from the stacking tray and place it on the clamping mechanism, and then controls the clamp to drive the clamp to clamp the sample bottle;

c. After the clamper clamps the sample bottle, the control system controls the rotator to drive the clamper to rotate. When the clamper rotates, the bottle cap of the sample bottle is driven to rotate. After the bottle cap is unscrewed from the sample bottle, the sample water and scintillation fluid are injected into the sample bottle through other equipment;

d. After the injection is completed, the manipulator grabs the bottle cap and moves it to the sample bottle, then controls the rotator to start, and the rotator drives the clamp and the bottle cap to reverse. The bottle cap is installed on the sample bottle during rotation. During the tightening process of the bottle cap, when the force of the rotator driving the bottle cap to rotate is greater than the tension of the tension spring, the entire rotating frame is driven to rotate. When the rotating frame rotates, it contacts the proximity switch set on the clamping frame, and the proximity switch sends a signal to the control system. The control system controls the rotator to stop and determines that the bottle cap has been tightened at this time;

e. Then the robot loosens the bottle cap and moves upward to a set distance, then uses a laser sensor to pick a point on the bottle cap and measure the distance. After one point is measured, it moves, and picks several points on the bottle cap in the same way and measures the distance. The measured data is sent to the control system, and the control system compares the measured data differences;

f. If the measured data difference is within the set difference standard, it means that the bottle cap is accurately installed on the sample bottle; if the measured data difference exceeds the difference standard, it means that the bottle cap is installed crookedly and needs to be reinstalled;

g. The control system controls the manipulator to unscrew the bottle cap and reinstall it. After the installation is completed, multi-point distance measurement and comparison are performed again until the bottle cap is accurately installed on the sample bottle;

h. Then the control system grabs the sample bottle and places it on the shaking mechanism, and then the solution in the sample bottle is shaken by the shaking mechanism;

i. After the shaking is completed, the robot grabs the sample bottle and places it on the weighing machine for weighing. After the weighing is completed, the robot grabs the sample bottle and sends it to the testing agency for testing. After the test is completed, the robot puts the sample bottle into the storage drawer through the delivery port;

j. When the sensor at the entrance of the discharge channel in the storage drawer senses the sample bottle, it sends a signal to the control system, and the control system controls the pusher to start, and the pusher drives the push block to move forward, and the sample bottle at the outlet moves forward one station along the discharge channel;

k. When a number of sample bottles are stacked, when the sensor disposed in the middle of the discharge channel senses the sample bottle, a signal is sent to the control system to inform the control system of the number of sample bottles stacked in the storage drawer and the number of remaining stacks;

l. Until the sensor set at the end of the discharge channel senses the sample bottle and sends a signal to the control system, informing the control system that the storage drawer is full of sample bottles and no more sample bottles can be placed in it; at the same time, the control system sends a signal to the operator, informing the operator that the sample bottles in the storage drawer need to be processed.