A solid powder adding method and system

Abstract

The invention discloses a solid powder adding method and system, the method comprises: placing a micropipette on a tip bracket, placing a raw material bottle containing solid powder raw materials on an analytical balance; calculating h0=m / (ρ*π*r*r), calculating ha=α*h0; adjusting the height of the filter element in the sample suction tube, and driving the tip fixing seat with a mechanical arm to insert into the micropipette, driving the micropipette to sample and add samples with the mechanical arm; calculating ρa=ma / (π*r*r*ha), hb=mb / (ρa*π*r*r); removing the micropipette connected to the tip fixing seat on the mechanical arm, adjusting the filter element in another micropipette to a distance of hb from the bottom of the sample suction tube, and driving the tip fixing seat with a mechanical arm to insert into the micropipette to complete the second adding. The invention can realize fast and efficient quantitative weighing and adding of solid powder, thereby improving the efficiency of experiments in related disciplines such as chemistry, biology, and environment.

Description

Technical Field

[0001] The invention relates to the technical field of solid-phase raw material sampling, and in particular to a solid powder sampling method and system. Background Art

[0002] In experiments in chemistry, biology, environment and other related disciplines, there are many experimental processes that require solid raw materials to participate in chemical reactions as reactants. The existing method is to use an analytical balance to manually weigh the solid raw materials, place them on weighing paper or weighing boats, and then transfer them to the reaction container. This process is complicated, time-consuming and labor-intensive, greatly increasing the workload of the experimenters, and the experimental efficiency is low. It is prone to experimental errors, and the weighing data is difficult to trace. Summary of the invention

[0003] The invention provides a solid powder adding method and system, which have the advantages of realizing rapid and efficient quantitative weighing and adding of solid powder, thereby improving the efficiency of experiments in chemistry, biology, environment and other related disciplines.

[0004] The technical solution of the present invention is as follows:

[0005] A solid powder sampling method, characterized in that it comprises the following steps:

[0006] S1: placing at least two micropipette tips on a tip holder, placing a test tube for experiment on the test tube holder, and placing a raw material bottle containing solid powder raw material on an analytical balance; the micropipette tip comprises a sample suction tube and a connection port arranged at one end of the sample suction tube, the tip holder is used to place the micropipette tip, and after the micropipette tip is placed on the tip holder, the connection port faces upward, the sample suction tube is a cylindrical hollow straight tube, and a filter element is placed in the sample suction tube that fits the inner wall of the sample suction tube;

[0007] S2: Calculate h0 = m / (ρ*π*r*r)

[0008] Wherein, m is the mass of the solid powder to be weighed and added, ρ is the empirical density of the solid powder to be added, and r is the inner wall radius of the sample suction tube;

[0009] Calculate ha = α * h0

[0010] Wherein, α is the first step sampling coefficient, and the value range of α is 0.5-0.7;

[0011] S3: Adjust the height of the filter element in the sample suction tube so that the height of the part of the sample suction tube below the filter element is ha, and use a mechanical arm to drive the tip holder to insert into the connection port of the micropipette tip; the bottom of the tip holder is set to a cone for insertion into the connection port of the micropipette tip, the tip holder is installed on a mechanical arm, and the tip holder is connected to an air intake pipe and an air exhaust pipe, and both the air intake pipe and the air exhaust pipe are provided with solenoid valves;

[0012] S4: Obtain the reading m1 of the analytical balance at this time, the robotic arm drives the micropipette tip to move to the raw material bottle, and inserts the bottom of the sample suction tube into the solid powder in the raw material bottle, the solenoid valve on the exhaust pipe is turned off, and the solenoid valve on the suction pipe is turned on. The sample suction tube sucks the solid powder until the part below the filter element in the sample suction tube is filled, and then the robotic arm drives the micropipette tip to leave the raw material bottle;

[0013] S5: Obtain the reading m2 of the analytical balance at this time, the mechanical arm drives the micropipette tip to move above the test tube, the solenoid valve on the exhaust pipe is opened, and the solenoid valve on the suction pipe is closed, and the solid powder in the micropipette tip is blown into the test tube to complete the sample addition;

[0014] S6: The mass of the solid powder added is ma = m1-m2, then the actual bulk density of the solid powder is

[0015] ρa=ma / (π*r*r*ha)

[0016] The remaining solid powder mass to be added is mb = m-ma, then the remaining solid powder height to be added is

[0017] hb=mb / (ρa*π*r*r);

[0018] S7: Remove the micropipette tip connected to the tip holder on the robotic arm, adjust the filter element in another micropipette tip to a distance of hb from the bottom of the sample suction tube, and use the robotic arm to drive the tip holder to insert it into the connecting port of the micropipette tip, turn off the solenoid valve on the exhaust pipe, turn on the solenoid valve on the suction pipe, and the sample suction tube absorbs the solid powder until the part below the filter element in the sample suction tube is filled, and then the robotic arm drives the micropipette tip to leave the raw material bottle; the robotic arm drives the micropipette tip to move to the top of the test tube, the solenoid valve on the exhaust pipe is turned on, and the solenoid valve on the suction pipe is turned off, and the solid powder in the micropipette tip is blown into the test tube to complete the sample addition.

[0019] Furthermore, in step S1, initially, the filter element is placed at the topmost position in the sample suction tube.

[0020] Furthermore, when adjusting the position of the filter element, a preset filter element pushing rod is clamped by a mechanical arm and inserted into the top of the micropipette tip to push the filter element, and the end of the filter element pushing rod has a pushing head.

[0021] Furthermore, in step S1, initially, the filter element is placed at the bottom of the sample suction tube.

[0022] Furthermore, when adjusting the position of the filter element, the micropipette tip is picked up by the tip fixing end on the mechanical arm, and the micropipette tip is driven to move so that a preset push rod is inserted into the sample suction tube from the bottom to push the filter element, and the push rod is arranged vertically.

[0023] Furthermore, α takes the value of 0.7.

[0024] Furthermore, in step S4 and step S7, when the robotic arm drives the micropipette tip to leave the raw material bottle, the bottom of the sample suction tube is photographed by a preset camera, and machine vision is used to identify whether there is a conical powder accumulation structure at the bottom of the sample suction tube. If so, the robotic arm drives the micropipette tip to move the bottom of the sample suction tube horizontally at the mouth of the raw material bottle to wipe off the solid powder on the edge and bottom of the sample suction tube.

[0025] Furthermore, after wiping off the solid powder on the edge and bottom of the sample suction tube, the bottom of the sample suction tube is photographed again by the camera, and machine vision is used to identify whether there is a concave structure at the bottom of the sample suction tube, and the volume of the structure is calculated and accumulated into the actual sample addition volume.

[0026] Furthermore, in step S4 and step S7, when the robotic arm drives the micropipette tip to leave the raw material bottle, the bottom of the sample suction tube is photographed by a preset camera, and machine vision is used to identify whether there is a conical powder accumulation structure at the bottom of the sample suction tube, and the volume of the conical powder accumulation structure is calculated, and the volume is accumulated into the actual sample addition volume.

[0027] A solid powder loading system comprises a working platform and at least one mechanical arm, wherein a pipette tip holder, a test tube holder and an analytical balance are placed on the working platform, at least two micropipettes are placed on the pipette tip holder, a test tube is placed on the test tube holder, a raw material bottle is placed on the analytical balance, a camera is arranged on one side of the analytical balance, the pipette tip holder, the test tube holder and the analytical balance are all within the operating range of the mechanical arm, and a pipette tip fixing seat and a filter element pushing rod are installed on the mechanical arm; the solid powder loading system is used to execute the solid powder loading method.

[0028] In summary, the beneficial effects of the present invention are:

[0029] 1. In the present invention, a quantitative solid powder is sucked by a micropipette, and the quantitative value is determined by the position of the filter element. The required quantitative value can be flexibly adjusted, and the solid powder raw material is sucked and added by the solenoid valve. The whole process is simple to control and easy to operate efficiently, thereby improving the efficiency of experiments in chemistry, biology, environment and other related disciplines;

[0030] 2. In the present invention, the addition of solid powder is achieved in two steps, thereby reducing the addition error caused by different bulk densities of solid powders. In the second step of adding, the amount of sample to be added is adjusted according to the actual bulk density of the solid powder obtained in the first step of adding, so that the sum of the two addition amounts is as close to the target value as possible, thereby improving the quantitative addition efficiency and the accuracy of quantitative addition;

[0031] 3. When sampling, use a camera to photograph the bottom of the sample suction tube, and use machine vision to identify whether there is a conical powder accumulation structure at the bottom of the sample suction tube. If the above situation exists, wipe off the excess solid powder to further improve the accuracy of sampling. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of the micropipette tip in the present invention;

[0033] Figure 2 It is a schematic diagram of the connection between the micropipette tip and the tip fixing seat in the present invention.

[0034] In the figure, 1. micropipette tip; 101. sample suction tube; 102. connection port; 2. filter element; 3. filter element push rod; 5. tip fixing seat; 6. tee; 7. exhaust pipe; 8. suction pipe; 9. solenoid valve. DETAILED DESCRIPTION

[0035] The specific implementation of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] Embodiment 1: A solid powder adding method comprises the following steps:

[0037] S1: Place at least two micropipette tips 1 on the tip holder, place the test tubes for the experiment on the test tube holder, and place the raw material bottle containing the solid powder raw material on the analytical balance. Figure 1 As shown, the micropipette tip 1 includes a sample suction tube 101 and a connecting port 102 arranged at one end of the sample suction tube 101. The tip holder is used to place the micropipette tip 1, and after the micropipette tip 1 is placed on the tip holder, the connecting port 102 faces upward. The sample suction tube 101 is a cylindrical hollow straight tube, and a filter element 2 is placed in the sample suction tube 101 to fit the inner wall of the sample suction tube 101.

[0038] In this embodiment, the tip rack, the test tube rack and the analytical balance are placed on the same workbench.

[0039] S2: Calculate h0 = m / (ρ*π*r*r)

[0040] Wherein, m is the mass of the solid powder to be weighed and sampled, ρ is the empirical density of the solid powder to be sampled, the empirical density is the empirical value of the density of the solid powder under normal conditions, which can usually be obtained by referring to reference books, and r is the inner wall radius of the sample suction tube 101.

[0041] The h0 value represents the material height required for sampling through the sample suction tube 101 when the density of the solid powder is the empirical density. Generally, due to the characteristics of solid powder such as being easily squeezed, the actual density of the solid powder is not equal to the empirical density.

[0042] Calculate ha = α * h0

[0043] Wherein, α is the first step sampling coefficient, and the value range of α is 0.5-0.7; in this embodiment, α is 0.7, then ha=0.7*h0.

[0044] S3: Adjust the height of the filter element 2 in the sample suction tube 101 so that the height of the part of the sample suction tube 101 below the filter element 2 is ha, and use the mechanical arm to drive the tip fixing seat 5 to insert into the connecting port 102 of the micropipette tip 1. When adjusting the position of the filter element 2, the mechanical arm clamps the preset filter element 2 push rod and inserts it from the top of the micropipette tip 1 to push the filter element 2. The end of the filter element 2 push rod has a push head. Therefore, initially, the filter element 2 is placed at the topmost position in the sample suction tube 101. The filter element 2 push rod is fixed on the mechanical arm or a clamp for clamping the filter element 2 push rod is set on the mechanical arm.

[0045] like Figure 2 As shown, the bottom of the tip holder 5 is configured to be conical for insertion into the connection port 102 of the micropipette tip 1, and the tip holder 5 is mounted on a robotic arm. The tip holder 5 is connected to an air intake pipe 8 and an air exhaust pipe 7, and the tip holder 5, the air intake pipe 8 and the air exhaust pipe 7 are connected via a tee 6, and both the air intake pipe 8 and the air exhaust pipe 7 are provided with an electromagnetic valve 9; the air intake pipe 8 is used to connect to a negative pressure device, and the air exhaust pipe 7 is used to connect to compressed gas.

[0046] The tip holder 5 and the filter element 2 push rod can be driven by the same mechanical arm, or each can be driven by a separate mechanical arm. The micropipette tip 1, analytical balance and test tube are all within the operating range of the mechanical arm.

[0047] S4: Obtain the reading m1 of the analytical balance at this time, the robotic arm drives the micropipette tip 1 to move into the raw material bottle, and inserts the bottom of the sample suction tube 101 into the solid powder in the raw material bottle, the solenoid valve 9 on the exhaust pipe 7 is turned off, and the solenoid valve 9 on the suction pipe 8 is turned on. The sample suction tube 101 absorbs the solid powder until the part below the filter element 2 in the sample suction tube 101 is filled, and then the robotic arm drives the micropipette tip 1 to leave the raw material bottle; when the robotic arm drives the micropipette tip 1 to leave the raw material bottle, the bottom of the sample suction tube 101 is photographed by a preset camera, and machine vision is used to identify whether there is a conical powder accumulation structure at the bottom of the sample suction tube 101. If so, the robotic arm drives the micropipette tip 1 to move the bottom of the sample suction tube 101 horizontally at the mouth of the raw material bottle to wipe out the solid powder on the edge and bottom of the sample suction tube 101.

[0048] S5: Obtain the reading m2 of the analytical balance at this time, the robotic arm drives the micropipette tip 1 to move above the test tube, the solenoid valve 9 on the exhaust pipe 7 is opened, and the solenoid valve 9 on the suction pipe 8 is closed, and the solid powder in the micropipette tip 1 is blown into the test tube to complete the first step of sample addition.

[0049] S6: The mass of the solid powder added is ma = m1-m2, then the actual bulk density of the solid powder is

[0050] ρa=ma / (π*r*r*ha)

[0051] The remaining solid powder mass to be added is mb = m-ma, then the remaining solid powder height to be added is

[0052] hb=mb / (ρa*π*r*r);

[0053] S7: remove the micropipette tip 1 connected to the tip holder 5 on the robot arm, adjust the filter element 2 in another micropipette tip 1 to a distance hb from the bottom of the sample suction tube 101, and use the robot arm to drive the tip holder 5 to insert it into the connection port 102 of the micropipette tip 1, the solenoid valve 9 on the exhaust pipe 7 is turned off, and the solenoid valve 9 on the suction pipe 8 is turned on. The sample suction tube 101 absorbs solid powder until the part below the filter element 2 in the sample suction tube 101 is filled, and then the robot arm drives the micropipette tip 1 to leave the raw material bottle; when the robot arm drives the micropipette tip 1 to leave the raw material bottle, the bottom of the sample suction tube 101 is photographed by a preset camera, and machine vision is used to identify whether there is a conical powder accumulation structure at the bottom of the sample suction tube 101. If so, the robot arm drives the micropipette tip 1 to move the bottom of the sample suction tube 101 horizontally at the mouth of the raw material bottle to wipe out the solid powder on the edge and bottom of the sample suction tube 101.

[0054] The robot arm drives the micropipette tip 1 to move above the test tube, the solenoid valve 9 on the exhaust pipe 7 is opened, and the solenoid valve 9 on the suction pipe 8 is closed, and the solid powder in the micropipette tip 1 is blown into the test tube to complete the sample addition.

[0055] Embodiment 2: A solid powder sampling method. Different from Embodiment 1, in this embodiment, when adjusting the position of the filter element, the micropipette tip is picked up by the fixed end of the tip on the robotic arm, and the micropipette tip is driven to move so that a preset push rod is inserted into the sample suction tube from the bottom to push the filter element, and the push rod is vertically arranged on the workbench.

[0056] Therefore, initially, the filter element is placed at the bottom of the sample aspiration tube.

[0057] Embodiment 3: A solid powder sampling method. Different from Embodiment 1, in this embodiment, after wiping off the solid powder on the edge and bottom of the sampling tube, the bottom of the sampling tube is photographed again by the camera, and machine vision is used to identify whether there is a concave structure at the bottom of the sampling tube, and the volume of the structure is calculated, and the volume is accumulated in the actual sampling volume.

[0058] Embodiment 4: A solid powder sampling method. Different from Embodiment 1, in this embodiment, in step S4 and step S7, when the robotic arm drives the micropipette tip to leave the raw material bottle, the bottom of the sample suction tube is photographed by a preset camera, and machine vision is used to identify whether there is a conical powder accumulation structure at the bottom of the sample suction tube, and the volume of the conical powder accumulation structure is calculated, and the volume is accumulated in the actual sampling volume.

[0059] Embodiment 5, a solid powder loading system, comprises a working platform and at least one robotic arm, on which a tip holder, a test tube holder and an analytical balance are placed, at least two micro tips are placed on the tip holder, a test tube holder is placed on the test tube holder, a raw material bottle is placed on the analytical balance, a camera is arranged on one side of the analytical balance, the tip holder, the test tube holder and the analytical balance are all within the operating range of the robotic arm, and a tip fixing seat and a filter element pushing rod are installed on the robotic arm; the solid powder loading system is used to execute the solid powder loading method described in embodiment 1.

[0060] The above is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A solid powder sampling method, characterized in that: The following steps are involved: S1: placing at least two micropipette tips on a tip holder, placing a test tube for experiment on the test tube holder, and placing a raw material bottle containing solid powder raw material on an analytical balance; the micropipette tip comprises a sample suction tube and a connection port arranged at one end of the sample suction tube, the tip holder is used to place the micropipette tip, and after the micropipette tip is placed on the tip holder, the connection port faces upward, the sample suction tube is a cylindrical hollow straight tube, and a filter element is placed in the sample suction tube that fits the inner wall of the sample suction tube; S2: Calculate h0=m / (ρ*π*r*r) Wherein, m is the mass of the solid powder to be weighed and added, ρ is the empirical density of the solid powder to be added, and r is the inner wall radius of the sample suction tube; Calculate ha = α * h0 Wherein, α is the first step sampling coefficient, and the value range of α is 0.5-0.7; S3: Adjust the height of the filter element in the sample suction tube so that the height of the part of the sample suction tube below the filter element is ha, and use a mechanical arm to drive the tip holder to insert into the connection port of the micropipette tip; the bottom of the tip holder is set to a cone for insertion into the connection port of the micropipette tip, the tip holder is installed on a mechanical arm, and the tip holder is connected to an air intake pipe and an air exhaust pipe, and both the air intake pipe and the air exhaust pipe are provided with solenoid valves; S4: Obtain the reading m1 of the analytical balance at this time, the robotic arm drives the micropipette tip to move to the raw material bottle, and inserts the bottom of the sample suction tube into the solid powder in the raw material bottle, the solenoid valve on the exhaust pipe is turned off, and the solenoid valve on the suction pipe is turned on. The sample suction tube sucks the solid powder until the part below the filter element in the sample suction tube is filled, and then the robotic arm drives the micropipette tip to leave the raw material bottle; S5: Obtain the reading m2 of the analytical balance at this time, the mechanical arm drives the micropipette tip to move above the test tube, the solenoid valve on the exhaust pipe is opened, and the solenoid valve on the suction pipe is closed, and the solid powder in the micropipette tip is blown into the test tube to complete the sample addition; S6: The mass of the solid powder added is ma=m1-m2, then the actual bulk density of the solid powder is ρa=ma / (π*r*r*ha) The remaining solid powder mass to be added is mb=m-ma, then the remaining solid powder height to be added is hb = mb / (ρa*π*r*r); S7: Remove the micropipette tip connected to the tip holder on the robotic arm, adjust the filter element in another micropipette tip to a distance of hb from the bottom of the sample suction tube, and use the robotic arm to drive the tip holder to insert it into the connecting port of the micropipette tip, turn off the solenoid valve on the exhaust pipe, turn on the solenoid valve on the suction pipe, and the sample suction tube absorbs the solid powder until the part below the filter element in the sample suction tube is filled, and then the robotic arm drives the micropipette tip to leave the raw material bottle; the robotic arm drives the micropipette tip to move to the top of the test tube, the solenoid valve on the exhaust pipe is turned on, and the solenoid valve on the suction pipe is turned off, and the solid powder in the micropipette tip is blown into the test tube to complete the sample addition.

2. The solid powder sampling method according to claim 1, characterized in that: In step S1, initially, the filter element is placed at the topmost position in the sample suction tube.

3. The solid powder sampling method according to claim 2, characterized in that: When adjusting the position of the filter element, a preset filter element push rod is clamped by the mechanical arm and inserted into the filter element from the top of the micropipette tip, and a push head is provided at the end of the filter element push rod.

4. The solid powder sampling method according to claim 1, characterized in that: In step S1, initially, the filter element is placed at the bottom of the sample suction tube.

5. The solid powder sampling method according to claim 4, characterized in that: When adjusting the position of the filter element, the micropipette tip is picked up by the tip fixing end on the mechanical arm, and the micropipette tip is driven to move so that a preset push rod is inserted into the sample suction tube from the bottom to push the filter element, and the push rod is arranged vertically.

6. The solid powder sampling method according to claim 1, characterized in that: The value of α is 0.

7.

7. The solid powder sampling method according to claim 1, characterized in that: In step S4 and step S7, when the robot arm drives the micropipette tip to leave the raw material bottle, the preset camera is used to photograph the bottom of the sample suction tube, and machine vision is used to identify whether there is a conical powder accumulation structure at the bottom of the sample suction tube. If so, the robot arm drives the micropipette tip to move the bottom of the sample suction tube horizontally at the mouth of the raw material bottle to wipe off the solid powder on the edge and bottom of the sample suction tube.

8. The solid powder sampling method according to claim 7, characterized in that: After wiping off the solid powder on the edge and bottom of the sample suction tube, the bottom of the sample suction tube is photographed again with a camera, and machine vision is used to identify whether there is a concave structure at the bottom of the sample suction tube, and the volume of the concave structure is calculated and accumulated into the actual sample addition volume.

9. The solid powder sampling method according to claim 1, characterized in that: In step S4 and step S7, when the robotic arm drives the micropipette tip to leave the raw material bottle, the preset camera is used to photograph the bottom of the sample suction tube, and machine vision is used to identify whether there is a conical powder accumulation structure at the bottom of the sample suction tube, and the volume of the conical powder accumulation structure is calculated, and the volume is accumulated into the actual sample addition volume.

10. A solid powder loading system, characterized in that: The invention comprises a working platform and at least one robotic arm, wherein a pipette tip holder, a test tube holder and an analytical balance are placed on the working platform, at least two micropipettes are placed on the pipette tip holder, a test tube is placed on the test tube holder, a raw material bottle is placed on the analytical balance, a camera is arranged on one side of the analytical balance, the pipette tip holder, the test tube holder and the analytical balance are all within the operating range of the robotic arm, and a pipette tip fixing seat and a filter element pushing rod are installed on the robotic arm; the solid powder loading system is used to execute the solid powder loading method described in any one of claims 1-3 and 6-9.

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