An automatic weighing system and weighing method for solid particles or powder materials

Abstract

The invention relates to an automatic weighing system and weighing method for solid particles or powder materials. The automatic weighing system comprises a weighing device, a source sample container, a target sample container and a robot. The weighing device comprises a sample input end, a weighing unit and a sample output end. The sample input end is arranged on one side of the weighing unit, and the sample output end is arranged on the other side of the weighing unit. The robot is used to send the source sample container to the sample input end of the weighing device and replace the source sample container in the sample input end, and is also used to send the target sample container to the sample output end of the weighing device and replace the target sample container in the sample output end. The weighing unit is used to quantitatively pour the particles or powder materials in the source sample container at the sample input end into the target sample container at the sample output end. Compared with the prior art, the invention can realize batch weighing of solid particles or powder samples during detection, and is automated and has high weighing efficiency.

Description

[Technical field]

[0001] The invention relates to the technical field of automated equipment, in particular to an automatic weighing system and a weighing method for solid particles or powder materials. [Background Technology]

[0002] In the food, chemical and inspection industries, when testing granular or powdered products, samples need to be accurately packaged. In these industries, when large quantities of multi-type samples need to be packaged and weighed, the traditional method is to manually sample and weigh. However, the large workload and low efficiency have increasingly failed to meet the needs.

[0003] The existing operation that replaces manual work is realized by a sample divider, specifically, solid particles or powdered materials are first placed in the sample divider, and then evenly divided into other containers through the sample divider. Although this type of sample divider can ensure the sampling accuracy, the sample needs to contact the sample divider during the sampling process. If the sample divider is used to divide other samples, cross contamination will occur. At this time, the sample divider needs to be cleaned before the next sample is sampled, which will lead to low sampling efficiency.

[0004] Secondly, when testing sample performance in the laboratory, since the original sample used for testing is often small in quantity, any contamination of the sample will affect the accuracy of the test result, and the use of traditional sample splitters will not only cause sample loss during transfer, but also cause contamination during the transfer process. Therefore, the existing sample splitters are not applicable. [Summary of the invention]

[0005] The purpose of the present invention is to solve the above-mentioned shortcomings and provide an automatic weighing system for solid particles or powder materials, which can realize batch weighing of solid particles or powder samples during detection, and has automatic operation and high weighing efficiency, avoiding contamination and sample loss caused by other equipment or personnel contacting the sample during the weighing process.

[0006] In order to achieve the above-mentioned purpose, an automatic weighing system for solid particles or powder materials is designed, comprising a weighing device 5, a source sample container 6, a target sample container 7 and a robot, wherein the weighing device 5 comprises a sample input end 13, a weighing unit 14 and a sample output end 15, wherein the sample input end 13 is arranged on one side of the weighing unit 14, and the sample output end 15 is arranged on the other side of the weighing unit 14, the robot is used to deliver the source sample container 6 to the sample input end 13 of the weighing device 5 and replace the source sample container 6 in the sample input end 13, and at the same time to deliver the target sample container 7 to the sample output end 15 of the weighing device 5 and replace the target sample container 7 in the sample output end 15, and the weighing unit 14 is used to quantitatively pour the particles or powder materials in the source sample container 6 at the sample input end 13 into the target sample container 7 at the sample output end 15.

[0007] Furthermore, the sample weighing device 5, source sample container 6, target sample container 7 and robot are all arranged on a workbench 2, the workbench 2 is installed on a frame 1, a frame 3 is provided on the workbench 2, the frame 3 is a transparent glass frame structure, the sample weighing device 5, source sample container 6, target sample container 7 and robot are all arranged in the frame 3, and an operating door 4 is provided on the front side of the frame 3.

[0008] Further, the source sample container 6 is arranged on a source container rack 10, the source container rack 10 is arranged on a source container rack positioning plate 23, the source container rack positioning plate 23 is arranged on the workbench 2 on the sample input end 13 side of the sample weighing device 5, the target sample container 7 is arranged on a target container rack 11, the target container rack 11 is arranged on a target container rack positioning plate 24, the target container rack positioning plate 24 is arranged on the workbench 2 on the sample output end 15 side of the sample weighing device 5.

[0009] Furthermore, it also includes a source container warehouse 8 and a target container warehouse 9, which are both arranged on the workbench 2 and arranged on the periphery of the sample weighing device 5. A plurality of source container racks 10 are arranged in the source container warehouse 8, and a plurality of target container racks 11 are arranged in the target container warehouse 9. The source sample containers 6 and the target sample containers 7 are arranged in the form of arrays on the source container rack 10 and the target container rack 11, respectively. The robot transports the source container rack 10 containing the source sample containers 6 to the source container rack positioning plate 23, and transports the target container rack 11 containing the target sample containers 7 to the target container rack positioning plate 24.

[0010] Furthermore, a barcode scanner 25 is provided on one side of the source container rack positioning plate 23, and the barcode scanner 25 is electrically connected to the background controller. After the robot grabs the source sample container 6, it scans and identifies the code through the barcode scanner 25 and sends it to the sample input end 13 of the sample weighing device 5. The barcode scanner 25 sends the scanned data to the background controller.

[0011] Furthermore, a label printing device 26 is provided on one side of the target container rack positioning plate 24, and the label printing device 26 is electrically connected to the background controller. The label printing device 26 is used to label the target sample container 7. After weighing, the target sample container 7 is grabbed by the robot and sent to the label printing device 26 for labeling.

[0012] Further, the robot includes a first robot 21 and a second robot 22, the first robot 21 is located between the sample weighing device 5 and the source container warehouse 8 and the target container warehouse 9, the first robot 21 is used to transport the source container rack 10 to the source container rack positioning plate 23, and transport the target container rack 11 to the target container rack positioning plate 24, and send the source sample container 8 on the source container rack 10 to the sample input end 13 of the sample weighing device 5, the second robot 22 is located between the sample weighing device 5 and the print labeler 26 and the target container warehouse 9, the second robot 22 is used to send the target sample container 7 on the target container rack 11 to the sample output end 14 of the sample weighing device 5, and send the target sample container 7 to the print labeler 26 for labeling.

[0013] Furthermore, the first robot 21 adopts a multi-section robotic arm, and the robotic arm has six to ten degrees of freedom. The front end of the robotic arm of the first robot 21 is provided with a container rack gripper 27 and a container gripper 28. The container rack gripper 27 is used to carry the source container rack 10 and the target container rack 11. The container gripper 28 is used to take and place the source sample container 6. The container gripper 28 is a rotatable gripper to align the mark on the source sample container 6 with the scanner 25 for scanning. The second robot 22 is a four-axis rotating robot. The front end of the robotic arm of the second robot 22 is provided with a telescopic gripper 29, and the telescopic gripper 29 is used to grab the target sample container 7.

[0014] Further, the sample weighing unit 14 includes a vibrating mechanism 16, a dumping mechanism 17 and a sample weighing mechanism 18, the dumping mechanism 17 is connected to one side of the vibrating mechanism 16 through a rotating shaft 30, the other side of the dumping mechanism 17 is a sample input end 13, the sample weighing mechanism 18 is located on the other side of the vibrating mechanism 16, the other side of the sample weighing mechanism 18 is a sample output end 15, the dumping mechanism 17 is used to vertically fix the source sample container 6, the rotating shaft 30 is driven by a driving mechanism 31, the dumping mechanism 17 is driven by the driving mechanism 31 to rotate toward the sample weighing mechanism 18 side, the dumping mechanism 17 rotates to the top of the vibrating mechanism 16 and is in contact with the vibrating mechanism 16. The vibrating mechanism 16 cooperates with the source sample container 6 to make the source sample container 6 horizontal. The weighing mechanism 18 is used to vertically set the target sample container 7. The weighing mechanism 18 includes a balance 19 and a container seat 20 arranged on the balance 19. The target sample container 7 is vertically set on the container seat 20. When the source sample container 6 is in a horizontal state, it corresponds to the container mouth of the target sample container 7. The vibrating mechanism 16 drives the pouring mechanism 17 to vibrate, so that the particles or powder samples in the source sample container 6 fall into the target sample container 7. The balance 19 is used to monitor the sample weight so that the weight of the particles or powder falling into the target sample container 7 is a predetermined value.

[0015] The present invention also provides a weighing method of an automatic weighing system for solid particles or powder materials, comprising the following steps:

[0016] 1) placing a source container rack 10 in the source container compartment 8, placing a source sample container 6 containing a sample on the source container rack 10, placing a target container rack 11 in the target container compartment 9, placing an empty target sample container 7 on the target container rack 11;

[0017] 2) The first robot 21 carries the source container rack 10 from the source container warehouse 8 to the source container rack positioning plate 23, and the first robot 21 carries the target container rack 11 from the target container warehouse 9 to the target container rack positioning plate 24;

[0018] 3) The first robot 21 grabs a source sample container 6 from the source container rack 10 on the source container rack positioning plate 23, moves to the position of the barcode scanner 25 to scan the barcode, and the scanned data is sent to the background controller;

[0019] 4) After the code scanning is completed, the first robot 21 delivers the source sample container 6 to the sample input end 13 of the sample weighing device 5;

[0020] 5) The second robot 22 grabs a target sample container 7 from the target container rack 11 on the target container rack positioning plate 24 and delivers it to the sample output end 15 of the sample weighing device 5;

[0021] 6) The background controller drives the sample weighing device 5 to quantitatively pour the material in the source sample container 6 into the target sample container 7;

[0022] 7) The second robot 22 delivers the target sample container 7 to the printer labeler 26, and the printer labeler 26 obtains the printing information from the background server and prints and labels the target sample container 7;

[0023] 8) The second robot 22 delivers the target sample container 7 to the target container rack 11;

[0024] 9) The first robot 21 delivers the source sample container 6 to the source container rack 10;

[0025] 10) Repeat steps 3) to 9). When all the source sample containers 6 on the source container rack 10 are used up, the first robot 21 replaces the source container rack 10 from the source container warehouse 8 to the source container rack positioning plate 23. When all the target sample containers 7 on the target container rack 11 are used up, the first robot 21 replaces the target container rack 11 from the target container warehouse 9 to the target container rack positioning plate 24.

[0026] Compared with the prior art, the present invention has a novel structure and a reasonable design, and can realize batch weighing, automatic sampling and labeling of solid particles or powder materials during detection, and can be fully automated, which significantly improves the weighing efficiency. At the same time, the weighing process is controlled by the system, and the weighing is accurate. During the weighing process, no other equipment or personnel contact the sample, and no pollution or sample loss will be caused. In addition, the present invention also provides an automatic weighing method, which can realize automatic sampling and weighing of particles or powder materials during detection, realize automated operation, and improve weighing efficiency, and is worthy of popularization and application. [Drawings]

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 yes Figure 1 A structural diagram in which the frame on the workbench is removed;

[0029] Figure 3 It is a schematic diagram of the structure of a source container bin or a target container bin of the present invention;

[0030] Figure 4 is a schematic structural diagram of a source container rack or a target container rack of the present invention;

[0031] Figure 5 It is a view from one perspective of the arrangement position of the weighing device of the present invention;

[0032] Figure 6 is a view from another perspective of the arrangement position of the weighing device of the present invention;

[0033] Figure 7 It is a schematic diagram of the principle of the weighing device of the present invention;

[0034] Figure 8 is a schematic structural diagram of a first robot of the present invention;

[0035] Fig. 9 is a schematic structural diagram of a second robot of the present invention;

[0036] In the figure: 1, frame 2, workbench 3, frame 4, operating door 5, sample weighing device 6, source sample container 7, target sample container 8, source container bin 9, target container bin 10, source container rack 11, target container rack 12, installation position 13, sample input end 14, sample weighing unit 15, sample output end 16, vibration mechanism 17, dumping mechanism 18, sample weighing mechanism 19, balance 20, container seat 21, first robot 22, second robot 23, source container rack positioning plate 24, target container rack positioning plate 25, code scanner 26, printer labeler 27, container rack gripper 28, container gripper 29, telescopic gripper 30, rotating shaft 31, driving mechanism. [Specific implementation method]

[0037] The present invention is further described below in conjunction with the accompanying drawings:

[0038] See attached Figure 1 , Attachment Figure 2 , Attachment Figure 5 And attached Figure 6 The automatic weighing system of the present invention is installed on a workbench 2 of a frame 1. A frame 3 is arranged on the workbench 2. The frame 3 is a transparent glass frame structure. The automatic weighing system is relatively sealed and arranged in the frame 3. The transparent frame structure is convenient for observation during operation. An operating door 4 is arranged on the frame 3 for input and output of samples and other components. A sample weighing device 5, a source sample container 6, a target sample container 7 and a robot are arranged on the workbench 2. The background controller controls the robot to send the source sample container 6 and the target sample container 7 to the sample input end 13 and the sample output end 15 of the sample weighing device 5. The sample weighing device 5 transfers the granules or powder materials in the source sample container 6 to the target sample container 7 according to the predetermined weighing quantity. Among them, the source sample container 6 and the target sample container 7 are generally test tubes or sample bottles.

[0039] A source container bin 8 and a target container bin 9 are arranged on the workbench 2. The source container bin 8 and the target container bin 9 are used to place a source container rack 10 and a target container rack 11. The source sample containers 6 are arranged in an array on the source container rack 10; similarly, the target sample containers 7 are also arranged in an array on the target container rack 11. In general, the source container rack 10 and the target container rack 11 have the same structure and the same number of sample containers, which is convenient for arrangement and replacement. Two layers of array holes are set on the source container rack 10 and the target container rack 11 to facilitate the arrangement of sample containers and the grabbing of robots.

[0040] See attached Figure 3 and attached Figure 4 The source container bin 8 and the target container bin 9 are arranged at the periphery of the sample weighing device 5, and the robot is arranged between the sample weighing device 5 and the container bin, so as to facilitate the movement of the sample container in the container bin between the container bin and the sample weighing device 5. The container bin can be arranged in multiple layers, and each layer is provided with a sample container installation position 12, and the sample container is positioned in the installation position 12 and is securely installed. There can be multiple target container bins 9, and they are arranged corresponding to the source container bin 8, so that different target sample containers 7 of various specifications can be placed.

[0041] See attached Figure 5 To Attachment Figure 7 The sample weighing device 5 includes a sample input terminal 13, a sample weighing unit 14 and a sample output terminal 15. The sample input terminal 13 is arranged on one side of the sample weighing unit 14, and the sample output terminal 15 is arranged on the other side of the sample weighing unit 14. The sample weighing device 5 adopts the overturning vibration principle to overturn the material in the source sample container 6 and vibrate it, and then slowly drops it into the target sample container 7. The sample weighing unit 14 includes a vibrating mechanism 16, a dumping mechanism 17 and a sample weighing mechanism 18. The dumping mechanism 17 is connected to one side of the vibrating mechanism 16 through a rotating shaft 30, and the sample weighing mechanism 18 is located on the other side of the vibrating mechanism 16. One side of the dumping mechanism 17 is a sample input end 13, and one side of the sample weighing mechanism 18 is a sample output end 15. The dumping mechanism 17 is used to vertically fix the source sample container 6. The rotating shaft 30 is driven by a driving mechanism 31 to rotate toward one side of the sample weighing mechanism 18. The dumping mechanism 17 rotates to the top of the vibrating mechanism 16 and cooperates with the vibrating mechanism 16 to make the source sample container 6 horizontal. The sample weighing mechanism 18 is used to vertically place the target sample container 7. The sample weighing mechanism 18 includes a balance 19 and a container seat 20 arranged on the balance 19. The target sample container 7 is placed on the container seat 20. When the source sample container 6 is horizontal, the container mouths of the source sample container 6 and the target sample container 7 correspond. The vibrating mechanism 16 drives the dumping mechanism 17 to vibrate, so that the particles or powder materials in the source sample container 6 fall into the target sample container 7. The balance 19 is used to monitor the sample weight so that the weight of the material falling into the target sample container 7 is a predetermined value. The specific details of the sample weighing device 5 can be found in the patent "Automatic Sampling and Weighing Device and Method for Particle or Powder Samples" previously applied by the second applicant of the present invention.

[0042] In the present invention, a plurality of sample weighing devices 5 can be provided, and they work alternately side by side, and the first robot 21 and the second robot 22 alternately carry the source sample container 6 and the target sample container 7 to the plurality of sample weighing devices 5. A source container rack positioning plate 23 is provided on the workbench 2 on the side of the sample input end 13 of the sample weighing device 5, and a target container rack positioning plate 24 is provided on the workbench 2 on the side of the sample output end 15 of the sample weighing device 5. The container positioning plate is used to position the container rack, so as to facilitate the robot to position and take and place the sample container. The container rack positioning plate can also be provided in plurality to meet the requirements of continuous operation.

[0043] In the present invention, a barcode scanner 25 is provided on one side of the source container rack positioning plate 23, and the barcode scanner 25 is electrically connected to the background controller. Before weighing the sample, the identification code on the source sample container 6 is scanned and saved in the database of the background controller to establish a corresponding sample chain, so as to facilitate the labeling of the target sample container 7 after weighing the sample. A printer labeler 26 is provided on one side of the target container rack positioning plate 24, and the printer labeler 26 is electrically connected to the background controller. After the target sample container 7 is weighed, the printer labeler 26 obtains the relevant information of the source sample container 6 from the background controller, integrates the sample information of the target sample container 7, forms labeling data, and labels the target sample container 7. The printer labeler 26 can use a commercially available machine or a "test tube printer labeler" patented by the second applicant of the present invention in the early stage.

[0044] Two robots are arranged between the sample weighing device 5 and the container bin: a first robot 21 and a second robot 22. The first robot 21 is located between the sample weighing device 5 and the source container bin 8 and the target container bin 9. The first robot 21 is used to transport the source container rack 10 to the source container rack positioning plate 23, to transport the target container rack 11 to the target container rack positioning plate 24, and to deliver the source sample container 6 on the source container rack 10 to the sample input end 13 of the sample weighing device 5. The second robot 22 is located on one side of the sample weighing device 5 and the print labeler 26. The second robot 22 is used to deliver the target sample container 7 from the target container rack 11 to the sample output end 15 of the sample weighing device 5, and to deliver the target sample container 7 to the print labeler 26 and to transport it back to the target container rack 11.

[0045] See attached Figure 8 The first robot 21 uses a multi-section mechanical arm with six to ten degrees of freedom. A container rack gripper 27 and a container gripper 28 are arranged at the front end of the mechanical arm of the first robot 21. The container rack gripper 27 is used to carry the container rack, and the container gripper 28 is used to take and place the container test tube. The container gripper 28 also has a rotation function, which is convenient for aligning the mark on the source sample container 6 with the scanner for scanning. See the attached Fig. 9The second robot 22 is a four-axis rotating robot, which is arranged between the sample weighing device 5 and the printer labeler 26, and works back and forth between the sample weighing device 5, the printer labeler 26 and the target container rack positioning plate 24. The front end of the mechanical arm of the second robot 22 is a telescopic gripper 29 for grabbing the sample container.

[0046] The present invention is described in detail below by the automatic weighing process method:

[0047] 1) Arrange a source container rack 10 in the source container compartment 8, and place a source sample container 6 containing a sample on the source container rack 10; arrange a target container rack 11 in the target container compartment 9, and place an empty target sample container 7 on the target container rack 11; after the system is initialized, the background controller performs quantitative settings on the symmetrical sample device 5 according to the operating instructions, and then starts the equipment.

[0048] 2) The first robot 21 carries the source container rack 10 from the source container warehouse 8 to the source container rack positioning plate 23 , and the first robot 21 carries the target container rack 11 from the target container warehouse 9 to the target container rack positioning plate 24 .

[0049] 3) The first robot 21 grabs a source sample container 6 from the source container rack 10 on the source container rack positioning plate 23, moves to the position of the barcode scanner 25 to scan the barcode, and the scanned data is sent to the background controller.

[0050] 4) After the code scanning is completed, the first robot 21 delivers the source sample container 6 to the sample input end 13 of the sample weighing device 5;

[0051] 5) The second robot 22 grabs a target sample container 7 from the target container rack 11 on the target container rack positioning plate 24 and delivers it to the sample output end 15 of the sample weighing device 5 .

[0052] 6) The background controller drives the sample weighing device 5 to quantitatively pour the material in the source sample container 6 into the target sample container 7. The sample separation process can be specifically referred to the patent "Automatic sample separation and weighing device and weighing method for granular or powder samples".

[0053] 7) The second robot 22 delivers the target sample container 7 to the printer labeler 26. The printer labeler 26 obtains printing information from the background server and prints and labels the target sample container 7. The printing and labeling process can be specifically referred to the patent "Test Tube Printing Labeler".

[0054] 8) The second robot 22 delivers the target sample container 7 to the target container rack 11 .

[0055] 9) The first robot 21 delivers the source sample container 6 to the source container rack 10 .

[0056] 10) Repeat step 3) to step 9), when all the source sample containers 6 on the source container rack 10 are used up, the first robot 21 replaces the source container rack 10 from the source container warehouse 8 to the source container rack positioning plate 23, and when all the target sample containers 7 on the target container rack 11 are used up, the first robot 21 replaces the target container rack 11 from the target container warehouse 9 to the target container rack positioning plate 24. Until all the container racks in the source container warehouse 8 or the target container warehouse 9 are used up, it is necessary to replenish the container racks in the container warehouse.

[0057] In the sample weighing process, a plurality of sample weighing devices 5 may be provided, and steps 4) to 9) are performed alternately on the plurality of sample weighing devices 5 .

[0058] In the embodiment of the present invention, there are three sample weighing devices 5, and the robots operate the three sample weighing devices 5 alternately. After the first robot 21 arranges the source sample container 6 for the first sample weighing device 5, the second robot 22 processes the target sample container 7. At this time, the first robot 21 estimates the operation time of the first sample weighing device 5 and arranges the source sample container 6 for the second sample weighing device 5 at an appropriate time. When the second robot 22 processes the target sample container 7 of the second sample weighing device 5, the first robot 21 arranges the source sample for the third sample weighing device 5, and then circulates to the first sample weighing device 5, and the operations are performed in sequence, thereby maximizing efficiency.

[0059] The present invention is not limited to the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention shall be equivalent replacement methods and shall be included in the protection scope of the present invention.

Claims

1. An automatic weighing system for solid particles or powder materials, characterized in that: The invention comprises a sample weighing device (5), a source sample container (6), a target sample container (7) and a robot. The sample weighing device (5) comprises a sample input end (13), a sample weighing unit (14) and a sample output end (15). The sample input end (13) is arranged on one side of the sample weighing unit (14), and the sample output end (15) is arranged on the other side of the sample weighing unit (14). The robot is used to deliver the source sample container (6) to the sample input end (13) of the sample weighing device (5) and replace the source sample container (6) in the sample input end (13). The robot is also used to deliver the target sample container (7) to the sample output end (15) of the sample weighing device (5) and replace the target sample container (7) in the sample output end (15). ), the sample weighing unit (14) is used to quantitatively pour the granular or powdered material in the source sample container (6) at the sample input end (13) into the target sample container (7) at the sample output end (15); the sample weighing unit (14) comprises a vibrating mechanism (16), a pouring mechanism (17) and a sample weighing mechanism (18); the pouring mechanism (17) is connected to one side of the vibrating mechanism (16) via a rotating shaft (30); the other side of the pouring mechanism (17) is the sample input end (13); the sample weighing mechanism (18) is located on the other side of the vibrating mechanism (16); the other side of the sample weighing mechanism (18) is the sample output end (15); the pouring mechanism (17) is used to vertically fix the source sample container (6); the rotating shaft ( The tipping mechanism (17) is driven by the driving mechanism (31) to rotate toward the side of the sample weighing mechanism (18). The tipping mechanism (17) is rotated to the top of the vibration mechanism (16) and cooperates with the vibration mechanism (16) to make the source sample container (6) in a horizontal state. The sample weighing mechanism (18) is used to vertically set the target sample container (7). The sample weighing mechanism (18) includes a balance (19) and a container seat (20) arranged on the balance (19). The target sample container (7) is vertically arranged on the container seat (20). When the source sample container (6) is in a horizontal state, it corresponds to the container mouth of the target sample container (7). The vibration mechanism (16) drives the tipping mechanism (17) to rotate toward the side of the sample weighing mechanism (18). The mechanism (17) vibrates to make the particles or powder sample in the source sample container (6) fall into the target sample container (7); the balance (19) is used to monitor the sample weight so that the weight of the particles or powder falling into the target sample container (7) is a predetermined value; the sample weighing device (5), the source sample container (6), the target sample container (7) and the robot are all arranged on a workbench (2); the workbench (2) is mounted on a frame (1); a frame (3) is arranged on the workbench (2); the frame (3) is a transparent glass frame structure; the sample weighing device (5), the source sample container (6), the target sample container (7) and the robot are all arranged in the frame (3); an operating door (4) is arranged on the front side of the frame (3);The source sample container (6) is arranged on a source container rack (10), the source container rack (10) is arranged on a source container rack positioning plate (23), the source container rack positioning plate (23) is arranged on a workbench (2) on the side of a sample input end (13) of a sample weighing device (5), the target sample container (7) is arranged on a target container rack (11), the target container rack (11) is arranged on a target container rack positioning plate (24), the target container rack positioning plate (24) is arranged on the workbench (2) on the side of a sample output end (15) of the sample weighing device (5); and the device further comprises a source container bin (8) and a target container bin (9), the source container bin (8) ) and the target container bin (9) are both arranged on the workbench (2) and arranged on the periphery of the sample weighing device (5); a plurality of source container racks (10) are arranged in the source container bin (8); a plurality of target container racks (11) are arranged in the target container bin (9); the source sample containers (6) and the target sample containers (7) are arranged in an array on the source container rack (10) and the target container rack (11), respectively; the robot transports the source container rack (10) containing the source sample containers (6) to the source container rack positioning plate (23), and transports the target container rack (11) containing the target sample containers (7) to the target container rack positioning plate (24). ; 2. The automatic weighing system according to claim 1, characterized in that: A barcode scanner (25) is provided on one side of the source container rack positioning plate (23), and the barcode scanner (25) is electrically connected to a background controller. After the robot grabs the source sample container (6), the barcode scanner (25) scans and identifies the barcode, and sends the barcode to the sample input end (13) of the sample weighing device (5). The barcode scanner (25) sends the scanned data to the background controller.

3. The automatic weighing system according to claim 2, characterized in that: A label printing device (26) is provided on one side of the target container rack positioning plate (24). The label printing device (26) is electrically connected to a background controller. The label printing device (26) is used to label the target sample container (7). After weighing, the target sample container (7) is grasped by a robot and sent to the label printing device (26) for labeling.

4. The automatic weighing system according to claim 3, characterized in that: The robot comprises a first robot (21) and a second robot (22), wherein the first robot (21) is located between the sample weighing device (5) and the source container bin (8) and the target container bin (9), and the first robot (21) is used to transport the source container rack (10) to the source container rack positioning plate (23), and to transport the target container rack (11) to the target container rack positioning plate (24), and to deliver the source sample container (6) on the source container rack (10) to the sample input end (13) of the sample weighing device (5), and the second robot (22) is located between the sample weighing device (5) and the print labeler (26) and the target container bin (9), and the second robot (22) is used to deliver the target sample container (7) on the target container rack (11) to the sample output end (15) of the sample weighing device (5), and to deliver the target sample container (7) to the print labeler (26) for labeling.

5. The automatic weighing system according to claim 4, characterized in that: The first robot (21) adopts a multi-section robotic arm, the robotic arm having six to ten degrees of freedom, the front end of the robotic arm of the first robot (21) is provided with a container rack gripper (27) and a container gripper (28), the container rack gripper (27) is used to carry a source container rack (10) and a target container rack (11), the container gripper (28) is used to take and place a source sample container (6), the container gripper (28) is a rotatable gripper so as to align the mark on the source sample container (6) with the barcode scanner (25) for scanning, the second robot (22) is a four-axis rotary robot, the front end of the robotic arm of the second robot (22) is provided with a telescopic gripper (29), the telescopic gripper (29) is used to grab the target sample container (7).

6. A weighing method of an automatic weighing system for solid particles or powder materials according to any one of claims 1 to 5, characterized in that: The following steps are involved: 1) arranging a source container rack (10) in a source container compartment (8), arranging a source sample container (6) containing a sample on the source container rack (10), arranging a target container rack (11) in a target container compartment (9), and arranging an empty target sample container (7) on the target container rack (11); 2) the first robot (21) carries a source container rack (10) from a source container bin (8) to a source container rack positioning plate (23), and the first robot (21) carries a target container rack (11) from a target container bin (9) to a target container rack positioning plate (24); 3) The first robot (21) grabs a source sample container (6) from the source container rack (10) on the source container rack positioning plate (23), moves to the position of the barcode scanner (25) to scan the barcode, and the scanned data is sent to the background controller; 4) After the code scanning is completed, the first robot (21) delivers the source sample container (6) to the sample input end (13) of the sample weighing device (5); 5) The second robot (22) grabs a target sample container (7) from the target container rack (11) on the target container rack positioning plate (24) and delivers it to the sample output end (15) of the sample weighing device (5); 6) The background controller drives the sample weighing device (5) to pour the material in the source sample container (6) into the target sample container (7) in a quantitative manner; 7) The second robot (22) delivers the target sample container (7) to the printing and labeling device (26), and the printing and labeling device (26) obtains printing information from the background server and prints and labels the target sample container (7); 8) The second robot (22) delivers the target sample container (7) to the target container rack (11); 9) The first robot (21) delivers the source sample container (6) to the source container rack (10); 10) Repeat steps 3) to 9), when all the source sample containers (6) on the source container rack (10) are used up, the first robot (21) replaces the source container rack (10) from the source container bin (8) to the source container rack positioning plate (23), and when all the target sample containers (7) on the target container rack (11) are used up, the first robot (21) replaces the target container rack (11) from the target container bin (9) to the target container rack positioning plate (24).

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