A density detection device for high temperature gas-cooled reactor coated particles

Abstract

The present invention relates to a density detection device for high-temperature gas-cooled reactor coated particles, which uses an automated mechanism to realize the automatic pipetting, dripping, oscillating mixing, waste liquid dumping, and test tube cleaning of organic reagents in the density detection process of each layer of coated particles; an industrial camera is used to observe the suspension state of the coated particles, and the suspension result is determined by detecting a network model until the calibration state range is reached; the system calculates and converts the density value of the coated particles based on the density of the added organic reagent and the reagent volume. The present invention realizes batch and automatic detection of the density of high-temperature gas-cooled reactor coated particles, with reasonable distribution of each process, no redundant actions and beat bottlenecks, and high acquisition efficiency. The integrated design of oscillation, static standing, and image acquisition during the detection process makes the entire device more compact; the batch oscillation that integrates zeros into a whole fully utilizes instruments such as vortex mixers, while greatly shortening the time spent on oscillating individual sample tubes one by one.

Description

Technical Field

[0001] The present invention relates to the technical field of high temperature gas-cooled reactor fuel element manufacturing, and in particular to a density detection device for high temperature gas-cooled reactor coated particles. Background Art

[0002] High-Temperature Gas-Cooled Reactors (HTGRs) are advanced reactors that use helium as a coolant, graphite as a reflector material, neutron moderator, and fuel element structural material. The quality of the fuel pellet coating plays a crucial role in the safe operation of HTGRs. The coating consists of multiple layers, from the inside out, including a loose pyrolytic carbon layer, an inner dense pyrolytic carbon layer, a silicon carbide layer, and an outer dense pyrolytic carbon layer. The density of each layer is directly related to the safe operation of the reactor. Therefore, accurate and timely online density measurement of each layer of the coating pellets is a key research topic in the nuclear fuel field.

[0003] The density of coated particles can be determined by the heavy liquid suspension method. The heavy liquid suspension method measures the density of each layer of coated particles based on the principle that when solid particles are suspended in liquid, the two have the same density. During measurement, two solutions with different and known densities are selected, respectively called heavy liquid ρ heavy and light liquid ρ light. The two solutions can be evenly mixed with each other without changing the volume, and do not chemically react with the sample to be measured. During measurement, first take a small amount of each layer of sample of the coated particles and put it into the bottom of the sample tube. Use a precision pipette to titrate the heavy liquid and light liquid into the sample tube, and adjust the ratio of the two. After shaking and standing, observe the state of the sample to be measured in the solution. When the sample to be measured is suspended in the solution and there is no adhesion to the tube wall, tube bottom, or agglomeration, the titration end point is reached. At this time, the sample to be measured has reached a suspended state, and there are:

[0004] F 浮 =G 样

[0005] F 浮 =ρ 液 ·g·V 排

[0006] G 样 =ρ 样 ·g·V 样

[0007] V 排 =V 样

[0008] Combining the above formulas, we have:

[0009]

[0010] Therefore, the density of the sample being tested can be calculated based on the volume of the added heavy liquid and light liquid.

[0011] At present, the actual application of coated particle density detection is still in the manual titration measurement stage, which has low production efficiency and operational safety hazards. Therefore, an online automated solution and device is urgently needed. Summary of the Invention

[0012] The present invention provides a density detection device for high-temperature gas-cooled reactor coated particles. The device adopts an automated mechanism to realize the automatic pipetting, dripping, oscillation mixing, waste liquid dumping and test tube cleaning of organic reagents in the density detection process of each layer of coated particles; an industrial camera is used to observe the suspension state of the coated particles, and the suspension result is determined by a detection network model until the calibration state range is reached; the system calculates and converts the density of the coated particles into a density value based on the density and reagent volume of the added organic reagent.

[0013] A density detection device for high-temperature gas-cooled reactor coated particles includes a sample tube, a loading unit, a preliminary titration unit, a supplementary titration unit, and a unloading unit; a cleaning unit is further provided below the unloading unit, and the unloading unit can be lowered into the cleaning unit;

[0014] The preliminary titration unit includes a titration translation module, a mobile titration platform is provided on the mobile titration module, a test tube slot for placing sample tubes is provided on the mobile titration platform, a titration mechanism is provided on one side of the mobile titration platform, a plurality of preliminary titration heads are installed on the titration mechanism, and the plurality of preliminary titration heads are located above the mobile titration platform; the liquid inlet end of the preliminary titration head is connected to the pipette line;

[0015] The supplementary titration unit includes a vortex mixer, an industrial camera, and a plurality of supplementary titration heads. The industrial camera is arranged on the side of the vortex mixer, and the lens is aimed at the sample tube placement of the vortex mixer. The plurality of supplementary titration heads are movably arranged above the vortex mixer; the liquid inlet end of the supplementary titration head is connected to the pipette line;

[0016] A sample turnover unit is provided at the top of the rack. The sample turnover unit includes a combination module and a movable fixture. The movable fixture is provided on the combination module and is responsible for completing the transfer of sample tubes between various units.

[0017] Furthermore, the device also includes a reagent supply unit, which includes a plurality of reagent bottles, and the plurality of reagent bottles are respectively connected to the preliminary titration unit and the supplementary titration unit through pipetting pipelines; and a syringe pump is provided on the pipetting pipeline.

[0018] Furthermore, the device includes a two-layer frame, the cleaning unit is arranged on the lower layer of the frame; the loading unit, preliminary titration unit, supplementary titration unit, and unloading unit are arranged on the lower layer of the frame.

[0019] Furthermore, the loading unit includes a fixed positioning block and a loading sample rack for placing sample tubes, and the loading sample rack is placed in the area defined by the positioning block.

[0020] Furthermore, in the preliminary titration unit, the test tube slots on the movable titration platform are evenly distributed along the movement direction of the movable titration platform, and three preliminary titration heads are provided on the titration mechanism. The three preliminary titration heads are evenly distributed along the movement direction of the movable titration platform, and the spacing between the evenly distributed preliminary titration heads is the same as the spacing between the test tube slots; the titration mechanism also includes a first cylinder, a fixed plate, and a pipetting pipeline; one end of the first cylinder is connected to the fixed plate, and the three preliminary titration heads are fixed to the fixed plate.

[0021] Furthermore, in the supplementary titration unit, a mobile manipulator is provided above the vortex mixer, the mobile manipulator is installed on the side wall of the frame, and the supplementary titration head is arranged on the mobile manipulator; the vortex mixer is provided with two rows of test tube slots for placing sample tubes, and a light box is provided between the two rows of test tube slots; the vortex mixer also includes a foam rack, which is provided with positioning holes corresponding to the test tube slots of the vortex mixer.

[0022] The mobile manipulator is provided with three second cylinders arranged side by side, and each of the three second cylinders is connected to a supplementary titration head.

[0023] Furthermore, the supplementary titration unit includes two vortex mixers, and the capacity of each vortex mixer for sample tubes is the same as the capacity of the mobile titration platform.

[0024] Furthermore, the blanking unit includes a blanking sample rack, a support plate and a clamping mechanism; the clamping mechanism is arranged above the blanking sample rack and is used to clamp the sample tube; the blanking sample rack is placed on the support plate.

[0025] Furthermore, the cleaning unit includes a lifting mechanism, a rotating mechanism, a spray head, and a cleaning agent supply system;

[0026] The rotating mechanism is installed on the lifting mechanism, and the rotating mechanism includes a motor, a rotating shaft connected to the motor at one end, and the other end of the rotating shaft is connected to the supporting plate; the lifting mechanism drives the unloading sample rack to move downward to below the spray head; the rotating shaft drives the unloading sample rack to rotate and dump the waste liquid;

[0027] The spray head is connected to a telescopic mechanism and can be telescopically moved in the horizontal direction; the spray head is provided with a plurality of needles arranged in an array, and the arrangement of the needles corresponds to the arrangement of the sample tubes in the blanking sample rack; the liquid inlet end of the spray head is connected to the cleaning agent supply system.

[0028] Furthermore, the industrial camera is connected to the main control system, and the industrial camera transmits the captured image to the main control system, and the main control system recognizes and detects the image; the main control system uses the trained detection network model to identify whether the sample titration is completed. For samples that have not been titrated, the main control system issues a command to control the preliminary titration head to titrate the unfinished sample again;

[0029] For the sample that has completed titration, the density of the sample is calculated based on the amount of reagent consumed in the titration;

[0030] The detection network model includes any one of an artificial neural network, a convolutional neural network, a RBF neural network, a BP neural network, and a YOLO network.

[0031] Compared with the existing technology, the present invention realizes batch and automatic detection of the density of high-temperature gas-cooled reactor coating particles. The distribution of each process is reasonable, there are no redundant actions and beat bottlenecks, and the detection uses professional cameras with high collection efficiency.

[0032] The integrated design of oscillation, static state and image acquisition during the detection process minimizes the mechanical space and makes the entire equipment more compact; the batch oscillation that integrates parts into a whole fully utilizes instruments such as vortex mixers, while greatly shortening the time spent on oscillating individual sample tubes one by one, thereby improving operational efficiency; the dual-station operation mode can alternately supplement titration for sample tubes on two vortex mixers, maximizing the utilization of the mobile manipulator and reducing the idle rate of key equipment.

[0033] This device concentrates the main operating units on the upper operating platform, which can ensure the operational stability of key operating processes such as titration, oscillation, static state and image acquisition; the sample turnover unit and mobile manipulator are installed on the top or side rack, which can fully utilize the space advantage to facilitate the placement and titration of sample tubes, optimize the logistics sequence and avoid excessive interference, and greatly reduce the complexity of the structure, making the equipment more compact.

[0034] This device utilizes a centralized sample tube cleaning unit. The entire system adopts a sunken structure and centralized cleaning, ensuring that reagents and cleaning fluids do not spill onto the work surface during cleaning, maintaining a clean and hygienic operating area. The cleaning area of ​​this system features a centralized collection system and a waste liquid collection port. The waste liquid recovery port connects to the user's reservoir or special drain, facilitating waste liquid collection and disposal, ensuring safety and environmental protection. Sample tubes are automatically transferred from the unloading unit to the cleaning unit for cleaning. The cleaning unit can clean large batches of sample tubes at once, achieving extremely high cleaning efficiency.

[0035] The system is equipped with a protective cover and a waste gas recovery interface on the top, which can be connected to the user's on-site ventilation equipment to promptly remove volatile toxic and harmful gases from the reagents to prevent them from spreading to the surrounding environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic structural diagram of a density detection device for high-temperature gas-cooled reactor coated particles according to the present invention;

[0037] Figure 2 It is a structural diagram of the combined module and the mobile fixture of the present invention;

[0038] Figure 3 This is a schematic structural diagram of the feeding unit of the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of the preliminary titration unit of the present invention;

[0040] Figure 5 Schematic diagram of the titration mechanism structure of the preliminary titration unit of the present invention;

[0041] Figure 6 This is a schematic diagram of the structure of the supplementary titration unit of the present invention;

[0042] Figure 7 A schematic diagram of the structure of a vortex mixer for supplementing the titration unit of the present invention;

[0043] Figure 8 This is a schematic diagram of the structure of a mobile manipulator for supplementing the titration unit of the present invention;

[0044] Figure 9 It is a structural schematic diagram of the clamping mechanism of the present invention;

[0045] Figure 10 It is a structural schematic diagram of the blanking unit of the present invention;

[0046] Figure 11 Schematic diagram of the structure of the cleaning unit of the present invention;

[0047] Figure 12 This is a schematic diagram of the structure of the shower head of the cleaning unit of the present invention.

[0048] Explanation of symbols: 1-reagent bottle, 2-syringe pump, 3-loading unit, 31-loading sample rack, 32-positioning block, 4-preliminary titration unit, 41-titration translation module, 42-mobile titration platform, 43-titration mechanism, 431-first cylinder, 432-fixed plate, 433-preliminary titration head, 434-pipette line, 5-supplementary titration unit, 51-vortex mixer (511-vortex mixer A, 512-vortex mixer B), 52-industrial camera, 53-supplementary step drop Fixed head, 54-light box, 6-mobile manipulator, 61-second cylinder, 7-combination module, 71-X-axis module, 72-Y-axis module, 73-Z-axis module, 74-mobile fixture, 8-unloading sample rack, 81-clamping mechanism, 811-plate, 812-pneumatic clamp, 813-clamping finger, 82-pallet, 9-cleaning unit, 91-lifting mechanism, 92-rotating mechanism, 93-spray head, 94-waste liquid recovery interface, 10-cleaning agent supply system, 11-sample tube. DETAILED DESCRIPTION

[0049] like Figure 1 As shown, the density detection device for high-temperature gas-cooled reactor coated particles provided by the present invention includes a sample tube and a rack arranged in two layers, the lower layer of the rack is provided with a reagent supply unit and a cleaning unit; the upper layer of the rack is provided with a loading unit, a preliminary titration unit, a supplementary titration unit, and a unloading unit; the top of the upper layer of the rack is provided with a sample turnover unit, the sample turnover unit includes a combination module and a mobile clamp, the mobile clamp is provided on the combination module, and is responsible for completing the transfer of the sample tube between each unit.

[0050] The combination module is built up by three linear modules, such as Figure 2 As shown, the Y-axis module is installed on the X-axis module, and the Z-axis module is installed on the Y-axis module. A mobile fixture is installed on the Z-axis module. The mobile fixture uses a pneumatic gripper. The three modules cooperate with each other to enable the mobile fixture to move along the X, Y, and Z axes, thereby transferring the sample tube.

[0051] The reagent supply unit consists of three reagent bottles containing isobutanol, bromoform, and diiodomethane, respectively. These bottles are connected to the preliminary titration unit and the supplementary titration unit via pipette lines. The pipette lines are made of polytetrafluoroethylene, Teflon coating, or other materials resistant to the three organic reagents used. The preliminary titration unit and the supplementary titration unit each have three burette heads, each connected to a pipette line, for a total of six pipette lines. Each pipette line is equipped with a high-precision microsyringe pump to supply reagents to each of the six burette heads. This solution specifically uses the Hamilton PSD / 6 high-precision microsyringe pump.

[0052] like Figure 3As shown, the loading unit includes fixed positioning blocks and a loading sample rack for placing sample tubes. The sample rack consists of two parts: a lower base made of polytetrafluoroethylene and an upper support plate made of a transparent, lightweight material resistant to the reagents used, allowing for easy observation of the sample tubes. The upper and lower parts are arranged with positioning holes arranged in an array for positioning the sample tubes. The loading sample rack is placed within the positions defined by the positioning blocks. In this embodiment, there are four positioning blocks, corresponding to the four corners of the loading sample rack, and the loading sample rack is placed within the rectangular area formed by the four positioning blocks.

[0053] The mobile fixture sequentially transfers the sample tubes from the loading sample rack to the preliminary titration unit. Preliminary titration involves the system controlling the pipette to add a fixed amount of light and heavy liquid to the sample tubes based on pre-configured information (i.e., the sample information, including the sample tube position, type, and number, as well as the corresponding heavy and light liquid information, and the initial dosing reagent type and volume).

[0054] like Figure 4 As shown, the preliminary titration unit includes a titration translation module, a mobile titration platform is provided on the titration mobile module, a test tube slot for placing sample tubes is provided on the mobile titration platform, and the test tube slots are evenly distributed along the moving direction of the mobile titration platform; a titration mechanism is provided on one side of the titration mobile platform, such as Figure 5 As shown, the titration mechanism includes a first cylinder, a fixed plate, and a pipette line; one end of the first cylinder is connected to the fixed plate, and three preliminary titration heads are fixed to the fixed plate, so that the three preliminary titration heads are located above the titration movable platform and are evenly distributed along the movement direction of the movable titration platform; the liquid inlet ends of the three preliminary titration heads are respectively connected to three reagent bottles through pipette lines; the spacing between the evenly distributed preliminary titration heads is the same as the spacing between the test tube slots.

[0055] The titration translation module drives the mobile titration stage in stepwise motion, each time moving the distance between adjacent sample tubes. The mobile fixture moves the sample tubes sequentially into the test tube slot (as the test tube slot moves forward, the mobile fixture moves the sample tubes to the same position each time). Simultaneously, the initial titration head titrates the sample tube that arrives below it. The spacing between adjacent titration heads matches the spacing between adjacent sample tubes on the transfer stage, so each time the transfer stage moves one spacing, it can simultaneously complete the light or heavy solution titration of two tubes.

[0056] After the sample tubes on the mobile titration table have completed the initial titration, the mobile fixture transfers all sample tubes to the supplementary titration unit. Supplementary titration is a titration process involving multiple additions of reagents. After each titration, the process involves shaking, standing, visual sampling, result judgment, and re-titration as needed until the coated particles reach an ideal suspension state (the titration endpoint is when there are no abnormal phenomena such as adhesion to the tube wall, tube bottom, or agglomeration).

[0057] like Figure 6As shown, the supplementary titration unit includes a vortex mixer (the vortex mixer includes a foam rack), an industrial camera and multiple supplementary titration heads. The vortex mixer is provided with two rows of test tube slots for placing sample tubes. The vortex mixer is used to provide an oscillation source for the sample tubes to accelerate the mixing between the coated particles and the organic reagent. Figure 7 As shown, a light box is provided between the two rows of test tube slots to provide a light source for facilitating image acquisition; an industrial camera is provided on the side of the vortex mixer and the lens is aimed at the sample tube placement of the vortex mixer to acquire images. Specifically, the industrial camera of this embodiment adopts a 2D area array camera;

[0058] A mobile manipulator is provided above the vortex mixer. Figure 8 As shown, the supplementary titration head is arranged on the mobile manipulator; three second cylinders are arranged side by side on the mobile manipulator, and the three second cylinders are respectively connected to a supplementary titration head, and the liquid inlet ends of the three supplementary titration heads are respectively connected to three reagent bottles through pipetting pipelines; during operation, the mobile manipulator first moves the corresponding titration head to the top of the sample tube to be titrated, and the second cylinder drives the supplementary titration head downward, inserts the supplementary titration head into the sample tube, and then completes the titration.

[0059] Because the supplementary titration speed is significantly slower than the preliminary titration, the supplementary titration unit designed in this scheme includes two vortex mixers. The capacity of each vortex mixer for sample tubes is the same as that of the mobile titration table, that is, the capacity of the supplementary titration station is twice that of the preliminary titration station.

[0060] In order to shorten the overall operation time, this solution allows multiple processes to be processed in parallel as much as possible, and can make full use of key devices such as mobile fixtures and mobile manipulators to improve equipment utilization.

[0061] Specifically, the mobile fixture places the sample tubes on the mobile titration table. Every time a sample tube is placed, the transfer table steps forward and moves horizontally by the distance of one tube. The preliminary titration head then performs preliminary titration on the sample tube below it at the same time. At this time, loading and preliminary titration are carried out simultaneously.

[0062] When the mobile fixture has transferred all sample tubes to Vortex Mixer A, Vortex Mixer A begins oscillation, resting, and image acquisition. Simultaneously, the mobile fixture continues transferring sample tubes to Vortex Mixer B. While Vortex Mixer B is oscillating, resting, and acquiring images, the mobile manipulator at the supplementary titration station begins its first supplementary titration of the sample tubes on Vortex Mixer A. Once Vortex Mixer A completes its titration, and Vortex Mixer B has completed the aforementioned steps, the supplementary titration manipulator begins its first supplementary titration of the sample tubes on Vortex Mixer B, and so on.

[0063] Multiple industrial cameras are provided, each observing three sample tubes. The cameras are connected to a main control system and transmit the captured images to the main control system, which performs image recognition and detection. The main control system uses a trained detection network model to identify whether the sample titration is complete. The detection network model can adopt any one of an artificial neural network, a convolutional neural network, an RBF neural network, a BP neural network, and a YOLO network.

[0064] After the sample tube that has undergone preliminary titration is inserted into the vortex mixer, it is shaken and allowed to stand. Then, an industrial camera is aligned with the sample tube for image acquisition and identification detection. For samples that have not yet completed the titration, the main control system issues a command to control the supplementary titration head to titrate the incomplete sample again. Only one reagent is used for each titration. The main control system specifies the reagent for the next titration based on the image recognition results (such as particles sinking to the bottom or floating on the top layer) and controls the corresponding titration head. Titration and identification detection are repeated until the sample reaches the ideal suspension state. Each titration should be separated by a certain time to allow the sample to fully shake and stand to ensure the accuracy of the collected image. For samples that have completed the titration, the density of the sample is calculated based on the amount of reagent consumed in the titration. If a sample still does not reach the titration endpoint after multiple supplementary titrations (such as 5 times), it can be titrated manually.

[0065] The sample tubes that have been tested are transferred to the unloading unit by the mobile fixture.

[0066] like Figure 9 As shown, the blanking unit includes a blanking sample rack, a support plate and a clamping mechanism; the clamping mechanism is arranged above the blanking sample rack and is used to clamp each sample tube; the blanking sample rack is placed on the support plate.

[0067] like Figure 10 As shown, the clamping mechanism uses two plates with waist-shaped holes distributed on them. The two plates overlap each other, and the sample tube is inserted into the waist-shaped holes. A pneumatic clamp is set on the side of the two plates. One end of the pneumatic clamp is installed on the support plate, and the other end, i.e., the clamp finger, is fixed to the plate. The two clamp fingers of the pneumatic clamp are one long and one short. The long clamp finger is connected and fixed to the upper plate, and the short clamp finger is connected and fixed to the lower plate. When the clamp performs a closing movement, it drives the two plates to move toward each other to clamp the sample tube; the arc surface where the waist-shaped hole on the plate contacts the sample tube is covered with anti-slip material.

[0068] The cleaning unit includes a lifting mechanism, a rotating mechanism, a spray head, and a cleaning agent supply system;

[0069] like Figure 11As shown, the rotating mechanism is installed on the lifting mechanism, which includes a motor, a rotating shaft connected to the motor at one end, and the other end of the rotating shaft connected to the support plate; the lifting mechanism drives the unloading sample rack to move downward from the upper layer to under the spray head of the cleaning unit; the rotating shaft drives the unloading sample rack to rotate (180°) to dump the waste liquid;

[0070] The cleaning unit also includes a bin body for separating the spraying area. The lifting mechanism is installed on the side wall of the bin body, and the motor part of the rotating mechanism is arranged on the outside of the bin body to avoid being wetted by the cleaning agent; an inlet and outlet are opened on the side wall of the bin body, and a telescopic mechanism is arranged on the outside of the inlet and outlet. The telescopic mechanism is connected to the spray head in the bin body to control its telescopic in and out to avoid the up and down movement of the unloading sample rack; specifically, when the unloading sample rack descends, the spray head is driven to retract (from the inlet and outlet) by the telescopic mechanism to avoid the unloading sample rack, and then the telescopic mechanism drives the spray head to extend and move to the top of the unloading sample rack to perform spraying.

[0071] like Figure 12 As shown, the spray head is provided with a number of needles arranged in an array. The arrangement of the needles corresponds to the arrangement of the sample tubes in the blanking sample rack, which enables the simultaneous addition of ethanol to multiple sample tubes at one time, resulting in high cleaning efficiency. The liquid inlet end of the spray head is connected to the cleaning agent supply system (ethanol barrel), specifically using ethanol as the cleaning agent, and the ethanol barrel is equipped with an alcohol pump.

[0072] All cleaning actions are completed in the bottom cleaning chamber. The cleaned coated particles and organic reagents are discharged to the waste liquid storage or special sewage through the waste liquid recovery interface, which is convenient for storage and treatment and avoids environmental pollution.

Claims

1. A density detection device for high temperature gas-cooled reactor coated particles, comprising a sample tube, characterized in that: The machine also includes a loading unit, a preliminary titration unit, a supplementary titration unit, a loading unit, and a frame; in an initial state, the cleaning unit is below the loading unit, and the loading unit can be lowered into the cleaning unit; The preliminary titration unit includes a titration translation module, a movable titration platform is provided on the titration translation module, a test tube slot for placing sample tubes is provided on the movable titration platform, a titration mechanism is provided on one side of the movable titration platform, a plurality of preliminary titration heads are installed on the titration mechanism, and the plurality of preliminary titration heads are located above the movable titration platform; the liquid inlet end of the preliminary titration head is connected to the pipette line; The supplementary titration unit includes a vortex mixer, an industrial camera, and a plurality of supplementary titration heads. The industrial camera is arranged on the side of the vortex mixer, and the lens is aimed at the sample tube placement of the vortex mixer. The plurality of supplementary titration heads are movably arranged above the vortex mixer; the liquid inlet end of the supplementary titration head is connected to the pipette line; A sample turnover unit is provided at the top of the rack, and the sample turnover unit includes a combination module and a mobile fixture; the mobile fixture is provided on the combination module and is responsible for completing the transfer of sample tubes between various units; The blanking unit includes a blanking sample rack, a support plate and a clamping mechanism; the clamping mechanism is arranged above the blanking sample rack and is used to clamp each sample tube; the blanking sample rack is placed on the support plate; The cleaning unit includes a lifting mechanism, a rotating mechanism, a spray head and a cleaning agent supply system; The rotating mechanism is installed on the lifting mechanism, and the rotating mechanism includes a motor and a rotating shaft connected to the motor at one end, and the other end of the rotating shaft is connected to the supporting plate; the lifting mechanism drives the unloading sample rack to move downward and move to the bottom of the spray head; the rotating shaft drives the unloading sample rack to rotate and dump the waste liquid; The spray head is connected to a telescopic mechanism and can be telescopically moved in the horizontal direction; a plurality of needles arranged in an array are provided on the spray head, and the arrangement of the needles corresponds to the arrangement of the sample tubes in the cleaning unit; the liquid inlet end of the spray head is connected to the cleaning agent supply system.

2. The density detection device for high temperature gas-cooled reactor coated particles according to claim 1, characterized in that: It also includes a reagent supply unit, which includes a plurality of reagent bottles, which are respectively connected to the preliminary titration unit and the supplementary titration unit through pipetting pipelines; and a syringe pump is provided on the pipetting pipeline.

3. The density detection device for high temperature gas-cooled reactor coated particles according to claim 1, characterized in that: The device comprises a two-layer frame, wherein the cleaning unit is arranged on the lower layer of the frame; the loading unit, the preliminary titration unit and the supplementary titration unit are arranged on the upper layer of the frame; and the loading unit is located on the upper layer of the frame in an initial state.

4. The density detection device for high temperature gas-cooled reactor coated particles according to claim 1, characterized in that: The loading unit includes a fixed positioning block and a loading sample rack for placing sample tubes. The loading sample rack is placed in an area defined by the positioning block.

5. The density detection device for high temperature gas-cooled reactor coated particles according to claim 1, characterized in that: In the preliminary titration unit, the test tube slots on the movable titration platform are evenly distributed along the movement direction of the movable titration platform. The titration mechanism is provided with three preliminary titration heads, which are evenly distributed along the movement direction of the movable titration platform, and the spacing between the evenly distributed preliminary titration heads is the same as the spacing between the test tube slots. The titration mechanism also includes a first cylinder, a fixed plate and a pipetting pipeline; one end of the first cylinder is connected to the fixed plate, and the three preliminary titration heads are fixed to the fixed plate.

6. The density detection device for high temperature gas-cooled reactor coated particles according to claim 1, characterized in that: In the supplementary titration unit, a mobile manipulator is provided above the vortex mixer, and the supplementary titration head is provided on the mobile manipulator; the vortex mixer is provided with two rows of test tube slots for placing sample tubes, and a light box is provided between the two rows of test tube slots; the vortex mixer also includes a foam rack, and the foam rack is provided with positioning holes corresponding to the test tube slots of the vortex mixer; The mobile manipulator is provided with three second cylinders arranged side by side, and each of the three second cylinders is connected to a supplementary titration head.

7. The density detection device for high temperature gas-cooled reactor coated particles according to claim 1, characterized in that: The supplementary titration unit comprises two vortex mixers, and the capacity of each vortex mixer for sample tubes is the same as the capacity of the mobile titration platform.

8. The density detection device for high temperature gas-cooled reactor coated particles according to claim 1, characterized in that: The industrial camera is connected to the main control system, and the industrial camera transmits the captured image to the main control system, and the main control system recognizes and detects the image; the main control system uses the trained detection network model to identify whether the sample titration is complete. For samples that have not been titrated, the main control system issues an instruction to control the preliminary titration head to titrate the incomplete sample again; For the sample that has completed titration, the density of the sample is calculated based on the amount of reagent consumed in the titration; The detection network model is any one of an artificial neural network, a convolutional neural network, a RBF neural network, a BP neural network, and a YOLO network.

Images