Laboratory standard sample bottle automatic weighing and data recording system

Abstract

The invention discloses a laboratory standard sample bottle automatic weighing and data recording system, which comprises an operation table, an analytical balance, a manipulator and a controller, and is characterized in that a fixing plate is arranged on the operation table, and a plurality of bottle grooves numbered in sequence are formed in the fixing plate; the analytical balance is mounted in a positioning groove of the operation table; the fixed end of the manipulator is mounted on the operating table; the controller comprises a memory and a processor; the memory stores the positions of the bottle grooves and the analytical balance relative to the fixed end of the manipulator; and the processor is electrically connected with the manipulator and the analysis balance and is used for sequentially placing the sample bottles in the bottle grooves on the analysis balance according to a numbering sequence according to the positions of the bottle grooves and the analysis balance relative to the fixed end of the manipulator, which are stored in the memory. The automatic weighing device has the beneficial effects that the weight of each sample bottle can be automatically obtained, the weight data can be automatically recorded, and the batch weighing working efficiency and the result accuracy of a laboratory can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of laboratory automated weighing and data entry, and in particular to an automatic weighing and data recording system for laboratory standard sample bottles. Background Art

[0002] The operation process of many scientific research experiments includes the operation of accurately weighing batches of standard glass sample bottles / injection bottles (or sample bottles containing test substances) using high-precision analytical balances. At present, this type of weighing work in most experiments still uses manual weighing and manual recording methods. The conventional weighing and data recording operation process includes: preparing paper recording forms, the experimenter places the target sample bottle to be tested on the analytical balance, reads the data displayed on the weighing instrument after the data is stable, records the weighing data on the form, repeats the weighing and recording process as required, and after all the samples in the same batch are weighed and recorded, the data recorded on the paper form is manually entered into the computer.

[0003] At present, due to the advancement of technology, laboratories have higher and higher requirements for batch weighing efficiency and result accuracy. When encountering large batches of samples and requiring repeated weighing to take the average value to ensure the accuracy of the weighing results, the conventional manual weighing plus manual recording and inputting of weighing results is not only a huge workload, time-consuming and labor-intensive, but also the manual weighing process is mechanical and cumbersome, and the manual recording and inputting of data are prone to errors, which ultimately affects the timeliness of the experimental work and the accuracy of the results. Summary of the invention

[0004] The purpose of the present invention is to overcome the above technical deficiencies and propose a laboratory standard sample bottle automatic weighing and data recording system to achieve automatic weighing of the target object and automatic recording of data. It has the advantages of liberating manpower, intelligent work, accurate weighing, and small error.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: The present invention provides a laboratory standard sample bottle automatic weighing and data recording system, comprising: An operating table, wherein a fixed plate is provided on the operating table, and a plurality of bottle slots numbered in sequence are provided on the fixed plate; An analytical balance installed in a positioning slot of the operating table; A manipulator, the fixed end of which is mounted on the operating table; and A controller, the controller comprising a memory and a processor, the memory storing the positions of each of the bottle slots and the analytical balance relative to the fixed end of the manipulator; the processor being electrically connected to the manipulator and the analytical balance, and being used to place the sample bottles in each of the bottle slots on the analytical balance in sequence according to the positions of each of the bottle slots and the analytical balance relative to the fixed end of the manipulator stored in the memory.

[0006] In some embodiments, a transparent acrylic windshield is provided around the periphery of the operating table.

[0007] In some embodiments, the acrylic windshield is provided with a sliding door on a side close to the fixing plate.

[0008] In some embodiments, the inner diameter of the bottle groove is consistent with the outer diameter of the sample bottle.

[0009] In some embodiments, a lifting rod is provided on one side of the fixing plate.

[0010] In some embodiments, a gravity sensor is provided at the bottom of the fixing plate. When the automatic weighing program is started, the gravity sensor is used to determine whether the target sample bottle is placed on the fixing plate and transmit a signal to the controller to control the unlocking and locking of the manipulator.

[0011] In some embodiments, the robot includes a robot arm and a robot gripper module, the robot gripper module includes a moving part and a robot claw head, the fixed end of the moving part is installed on the robot arm, the robot claw head is connected to the movable end of the moving part, the moving part can drive the robot claw head to move to a preset position, and the robot claw head can be opened and closed.

[0012] In some embodiments, the controller has a display.

[0013] In some embodiments, before the robot arm is unlocked, the number of target sample bottles to be weighed, the number of weighing times and the order are set according to experimental requirements in the operation interface of the display.

[0014] In some embodiments, each motion posture, weighing posture and initial posture of the manipulator are set according to the spatial position.

[0015] Compared with the prior art, the laboratory standard sample bottle automatic weighing and data recording system provided by the present invention has the following beneficial effects: when in use, the sample bottles containing samples are sequentially inserted into the various bottle slots on the fixed plate, and then the processor is started. The processor places the sample bottles in the various bottle slots on the analytical balance in the order of numbers according to the positions of the various bottle slots and the analytical balance relative to the fixed end of the manipulator stored in the memory, and after obtaining the weight of the sample bottle weighed by the analytical balance, the sample bottle on the analytical balance is placed back into the original bottle slot. Thus, the weight of each sample bottle can be automatically obtained, and the weight data can be automatically recorded, which can improve the efficiency of laboratory batch weighing and the accuracy of the results. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a laboratory standard sample bottle automatic weighing and data collection device provided for the implementation example of this application; Figure 2 A top view of a fixed plate and a gravity sensor in a laboratory standard sample bottle automatic weighing and data device provided in an embodiment of the present application; Figure 3 Schematic diagram of a mechanical gripper module in a laboratory standard sample bottle automatic weighing and data device provided for the implementation example of this application Figure 4 A schematic diagram of the communication between various modules in a laboratory standard sample bottle automatic weighing and data device provided for the implementation example of this application; Figure 5 A motion flow chart of a manipulator provided for an implementation example of this application; Figure 6 A flow chart of a method for automatic weighing and data recording of a laboratory standard sample bottle provided for an implementation example of this application; Explanation of the accompanying drawings: 1-operating table, 11-fixed plate, 111-bottle slot, 112-lifting rod, 12-acrylic wind shield, 121-sliding door, 13-gravity sensor, 14-positioning slot, 2-analytical balance, 3-manipulator, 31-mechanical arm, 32-mechanical gripper module, 321-moving part, 322-mechanical claw head, 4-controller, 41-display, 5-sample bottle. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] See also Figure 1 and Figure 2 , Figure 1The schematic diagram of the structure of the laboratory standard sample bottle automatic weighing and data recording system in one embodiment of the present invention, the laboratory standard sample bottle automatic weighing and data recording system comprises an operating table 1, an analytical balance 2, a manipulator 3 and a controller 4; The operating table 1 is provided with a fixed plate 11, and the fixed plate 11 is provided with a plurality of bottle slots 111 which are numbered sequentially; The analytical balance 2 is installed in the positioning slot 14 of the operating table 1; the analytical balance is used to automatically weigh the target sample bottle 5, wherein the stabilization time of the analytical balance 2 is 3-5 seconds.

[0019] The fixed end of the manipulator 3 is installed on the operating table 1 ; the manipulator 3 is used to place the target sample bottle 5 on the analytical balance 2 , and the analytical balance 2 weighs the weight of the target sample bottle 5 and transmits the weighing result to the controller 4 .

[0020] The controller 4 includes a memory and a processor, and the memory stores the positions of each of the bottle slots 111 and the fixed end of the analytical balance 2 relative to the manipulator 3; the processor is electrically connected to the manipulator 3 and the analytical balance 2, and is used to place the sample bottles in each of the bottle slots 111 on the analytical balance 2 in sequence according to the positions of each of the bottle slots 111 and the fixed end of the analytical balance 2 relative to the manipulator 3 stored in the memory, and after obtaining the weight of the sample bottle 5 weighed by the analytical balance 2, put the sample bottle 5 on the analytical balance 2 back into the original bottle slot 111.

[0021] When in use, the sample bottles containing samples are inserted into the respective bottle slots 111 on the fixed plate 11 in sequence, and then the processor is started. The processor places the sample bottles in the respective bottle slots 111 on the analytical balance 2 in sequence according to the numbering order according to the positions of the respective bottle slots 111 and the analytical balance 2 relative to the fixed end of the manipulator 3 stored in the memory, and after obtaining the weight of the sample bottle 5 weighed by the analytical balance 2, the sample bottle 5 on the analytical balance 2 is placed back into the original bottle slot 111, so that the weight of each sample bottle can be automatically obtained and the weight data can be automatically recorded, which can improve the efficiency of laboratory batch weighing and the accuracy of the results. In addition, since the positions of the respective bottle slots 111 and the analytical balance 2 relative to the fixed end of the manipulator 3 are stored in the memory, it is convenient for the manipulator 3 to grab the sample bottle 5, and there is no need to use complex visual recognition equipment to identify the position of the sample bottle 5, thereby reducing the equipment cost.

[0022] In one embodiment, see Figure 1 The periphery of the operating table 1 is provided with a transparent acrylic wind shield 12. The transparent wind shield is used to reduce air flow disturbance during weighing, so as to facilitate the experimenter to check the state of the operating table.

[0023] In one embodiment, see Figure 1 The acrylic windshield 12 is provided with a sliding door 121 on one side close to the fixing plate 11 , so as to facilitate the experimenter to take and place the target sample bottle 5 .

[0024] In one embodiment, see Figure 1 and Figure 2 The inner diameter of the bottle groove 111 is consistent with the outer diameter of the sample bottle 5 , so that the bottle groove 111 can accurately fix the position of the sample bottle 5 .

[0025] In one embodiment, see Figure 1 and Figure 2 The bottle slots 111 are numbered in ascending order along one side of the long side of the fixed plate 11, and all the motion postures of the manipulator 3 are preset according to the positions of each bottle slot 111. For example, the position of bottle slot No. 1 is preset to the manipulator motion posture 1, and the position of bottle slot No. 2 is preset to the manipulator motion posture 2. Similarly, the preset manipulator motion posture 50 is determined by the position of bottle slot No. 50.

[0026] In one embodiment, see Figure 1 and Figure 2 A lifting rod 112 is provided on one side of the fixing plate 11 to facilitate the experimenter to take and place the fixing plate 11.

[0027] In one embodiment, see Figure 1 and Figure 2 A gravity sensor 13 is provided at the bottom of the fixed plate 11. When the automatic weighing program is turned on, the gravity sensor 13 is used to determine whether the target sample bottle is placed on the fixed plate 11, and transmit a signal to the controller 4 to control the unlocking and locking of the manipulator to ensure that the weighing of the device is effective and avoid empty weighing. Specifically: After the experimenter manually starts the automatic weighing program, if the target sample bottle is not placed in each bottle slot of the fixed plate 11, the pressure detected by the gravity sensor is the preset initial pressure, and the manipulator will be in a locked state at this time. Even if the start icon is clicked, the program cannot run; if the target sample bottle is placed in the bottle slot of the fixed plate 11, the pressure detected by the gravity sensor is greater than the preset initial pressure, and the gravity sensor triggers the manipulator unlocking condition. At this time, the experimenter clicks the start weighing icon, and the weighing program can run normally. After the last target sample bottle is weighed and put back into the corresponding numbered bottle slot, the controller issues an alarm signal, the experimenter takes out the fixed plate 11, the gravity sensor loses pressure, and transmits a signal to the controller, triggering the manipulator locking condition.

[0028] The controller 4 and the gravity sensor 13 can communicate via RS232 (Recommended Standard 232).

[0029] In one embodiment, see Figure 1 and Figure 3 The manipulator 3 includes a manipulator arm 31 and a manipulator gripper module 32. The manipulator gripper module 32 includes a moving part 321 and a mechanical claw head 322. The fixed end of the moving part 321 is mounted on the manipulator arm 31. The mechanical claw head 322 is connected to the movable end of the moving part 321. The moving part 321 can drive the mechanical claw head 322 to move to a preset position. The mechanical claw head 322 can be opened and closed to achieve the grasping and releasing of the target sample bottle 5. Figure 4 The robot arm 31 and the robot claw head 322 can communicate via RS485 (Recommended Standard 485).

[0030] In one embodiment, see Figure 1 and Figure 2 The memory stores the start, pause and end weighing programs, through which the number of target sample bottles to be weighed in the same batch and the number of weighing times for a single target sample bottle can be set, the manipulator can be unlocked and locked, the preset weighing program can be issued to the manipulator, and the weighing can be started. When the preset number of target sample bottles are all weighed and the data is entered, the weighing program is paused, the manipulator returns to the initial position, and an alarm signal is issued to remind the experimenter to proceed to the next step.

[0031] Specifically, the controller 4 has a display 41. When the program is run, the display 41 displays an operation interface with icons such as start, pause, end and settings. When necessary, the system can be paused by clicking the pause icon with the mouse, the system can continue to work by clicking start, and the system can terminate operation by clicking end. The controller 4 can communicate with the analytical balance 2 via RS232 (Recommended Standard 232) to achieve transmission of weighing results.

[0032] Please refer to Figure 5In specific use, after receiving the preset weighing program issued by the controller 4, the manipulator 3 moves from the initial posture to the motion posture 1, controls the mechanical gripper module to grab the target sample bottle, carries the target sample bottle to the weighing posture, reaches the position for weighing on the analytical balance, controls the mechanical gripper module to release the target sample bottle, waits for 8 seconds, during which the weighing data of the analytical balance is stable, sends the first set of weighing data to the controller 4, and the controller 4 controls the mechanical gripper module to grab the target sample bottle, waits for 8 seconds again until the analytical balance returns to zero, controls the mechanical gripper module to release the target sample bottle, and completes the weighing and reception of the next set of data. , complete the preset number of repeated weighings according to the experimental requirements, and after receiving the last set of weighing data, control the mechanical gripper module to grab the target sample bottle and move to motion posture 1. When returning to the position of bottle slot No. 1 on the sample bottle rack, control the mechanical gripper module to release the target sample bottle. After pausing for one second, the manipulator moves from motion posture 1 to motion posture 2, that is, the position of the target sample bottle in bottle slot No. 2 on the fixed plate 11, and starts weighing the next target sample bottle. Repeat the steps of weighing the target sample bottles in sequence. When the preset number of target sample bottles is weighed and the data entry is completed, the weighing program is suspended, and an alarm signal is issued to remind the experimenter to proceed to the next step. Among them, see Figure 4 , the computer 2 and the robot 3 can communicate via TCP / IP (Transmission Control Protocol / Internet Protocol).

[0033] Preferably, the weighing quantity, number of times and order of the target sample bottles can also be modified. The specific method includes: before the manipulator is unlocked, in the operation interface of the display 41, the number of target sample bottles to be weighed, the number of weighing times and the order are set according to the experimental requirements, wherein the upper limit of the weighing quantity is determined by the number of bottle slots, the number of weighing times can be set according to the experimental requirements, and the weighing order defaults to weighing from the smallest to the largest bottle slot number, so in the preparation work, the experimenter is required to place the target sample bottles in sequence from bottle slot No. 1.

[0034] Specifically, each motion posture, weighing posture and initial posture of the manipulator are set according to the spatial position, specifically including: On the operating table, the spatial positions of each bottle slot and the analytical balance of the fixed plate 11 placed in the positioning slot relative to the fixed part of the manipulator are fixed. When the movable end of the manipulator moves to each target sample bottle position, the motion posture with the shortest time is unique and fixed. Accordingly, the corresponding motion posture is set according to the relative position of each bottle slot and the manipulator in space, and the manipulator is controlled to move accurately, so as to facilitate the subsequent grasping and releasing of the target sample bottle. The number of set motion postures is consistent with the number of bottle slots of the fixed plate 11. Similarly, the weighing posture is set according to the spatial position of the fixed end of the manipulator and the analytical balance. The initial posture is the posture with the shortest path or the shortest motion time when the manipulator moves to each preset posture. Preferably, the manipulator receives the setting content and controls the manipulator to execute the predetermined weighing steps according to the setting content. The manipulator is also used to receive instructions for unlocking, locking, starting, suspending and ending operation issued by the controller, wherein when the manipulator receives the end operation instruction issued by the controller, the manipulator is controlled to execute the step of restoring to the initial position.

[0035] Preferably, when the controller issues an instruction to terminate the operation of the system, when it is determined that the mechanical gripper module of the manipulator is in a state of not grasping the target sample bottle, the manipulator is controlled to execute the step of restoring the initial posture; when it is determined that the mechanical gripper module of the manipulator is in a state of grasping the target sample bottle, the manipulator is controlled to execute the corresponding motion posture; after completing the step of putting the target sample bottle back into the original bottle slot, the manipulator is controlled to restore the initial posture.

[0036] In this embodiment, the sample bottle is a 5 ml glass sample bottle.

[0037] See 6, Figure 6 A flow chart of a method for automatic weighing and data recording of a laboratory standard sample bottle provided in an embodiment of the present application. The method for automatic weighing and data recording of a laboratory sample container provided in an embodiment of the present application comprises: Step S100, start the controller 4, the analytical balance 2 and the weighing program; Step S110, placing a certain number of target sample bottles 5 in the bottle slots 111 on the fixing plate 11, and unlocking the manipulator 3; Step S120, setting the number and number of target sample bottles to be weighed on the display 41 according to the experimental requirements; Step S130, click Start to issue a preset motion instruction to the manipulator 3, and the system officially starts running; Step S140, after the manipulator 3 moves from the initial position to the movement position 1, it grabs the first target sample bottle 5; Step S150, the manipulator 3 carries the first target sample bottle 5 to a weighing position, and releases the first target sample bottle 5 to be weighed on the analytical balance 2; Step S160, wait for 8 seconds, during which the analytical balance 2 automatically transmits data to the controller 4 stably, and then the manipulator 3 grabs the first target sample bottle 5; Step S170, wait for 8 seconds until the analytical balance 2 returns to zero, and the manipulator 3 releases the first target sample bottle 5 to complete the weighing and receiving of the next set of data; Step S180, completing the preset number of repeated weighings according to the experimental requirements, and after receiving the last set of weighing data, controlling the mechanical claw head 322 to grab the first target sample bottle 5, and the manipulator 3 carries the first target sample bottle 5 to the first motion posture, and releases the first target sample bottle 5 into the corresponding bottle slot of the fixed plate 11; Step S190: After pausing for one second, the manipulator 3 moves from the first motion posture to the second motion posture, and starts weighing the next target sample bottle 5; Step S200, repeat the weighing steps of the target sample bottles 5 in sequence, and suspend the weighing procedure when the preset number of target sample bottles 5 is weighed and the data entry is completed; Step S210: the robot 3 returns to the initial position, sends out a warning signal, and ends the program.

[0038] In summary, the system can automatically obtain the weight of each sample bottle and automatically record the weight data, which can improve the efficiency of laboratory batch weighing and the accuracy of the results. In addition, since the positions of each of the bottle slots 111 and the analytical balance 2 relative to the fixed end of the manipulator 3 are stored in the memory, the manipulator 3 can easily grab the sample bottle 5, and there is no need to use complex visual recognition equipment to identify the position of the sample bottle 5, thereby reducing equipment costs.

[0039] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A laboratory standard sample bottle automatic weighing and data recording system, characterized in that: include: An operating table, wherein a fixed plate is provided on the operating table, and a plurality of bottle slots numbered in sequence are provided on the fixed plate; An analytical balance installed in a positioning slot of the operating table; A manipulator, wherein a fixed end of the manipulator is mounted on the operating table; as well as, A controller, the controller comprising a memory and a processor, the memory storing the positions of each of the bottle slots and the analytical balance relative to the fixed end of the manipulator; the processor being electrically connected to the manipulator and the analytical balance, and being used to place the sample bottles in each of the bottle slots on the analytical balance in sequence according to the positions of each of the bottle slots and the analytical balance relative to the fixed end of the manipulator stored in the memory.

2. The laboratory standard sample bottle automatic weighing and data recording system according to claim 1, characterized in that: A transparent acrylic windshield is arranged on the periphery of the operating table.

3. The laboratory standard sample bottle automatic weighing and data recording system according to claim 2, characterized in that: The acrylic windshield is provided with a sliding door on one side close to the fixing plate.

4. The laboratory standard sample bottle automatic weighing and data recording system according to claim 1, characterized in that: The inner diameter of the bottle groove is consistent with the outer diameter of the sample bottle.

5. The laboratory standard sample bottle automatic weighing and data recording system according to claim 1, characterized in that: A lifting rod is arranged on one side of the fixing plate.

6. The laboratory standard sample bottle automatic weighing and data recording system according to claim 1, characterized in that: A gravity sensor is provided at the bottom of the fixing plate. When the automatic weighing program is started, the gravity sensor is used to determine whether the target sample bottle is placed on the fixing plate and transmit a signal to the controller to control the unlocking and locking of the manipulator.

7. The laboratory standard sample bottle automatic weighing and data recording system according to claim 1, characterized in that: The robot includes a robot arm and a robot gripper module. The robot gripper module includes a moving part and a robot claw head. The fixed end of the moving part is installed on the robot arm. The robot claw head is connected to the movable end of the moving part. The moving part can drive the robot claw head to move to a preset position, and the robot claw head can be opened and closed.

8. The laboratory standard sample bottle automatic weighing and data recording system according to claim 1, characterized in that: The controller has a display.

9. The laboratory standard sample bottle automatic weighing and data recording system according to claim 1, characterized in that: Before the robot is unlocked, the number of target sample bottles to be weighed, the weighing times and the order are set according to the experimental requirements on the operation interface of the display.

10. The laboratory standard sample bottle automatic weighing and data recording system according to claim 1, characterized in that: Each motion posture, weighing posture and initial posture of the manipulator are matched and set according to the spatial position.

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