System for rapidly and automatically weighing samples in fixed quantity and working method

Abstract

The invention relates to the technical field of sample inspection and detection equipment, and particularly discloses a system and a working method.The system comprises a target sample mechanism, a solid sample library and a liquid sample library, and the target sample mechanism is provided with a container positioning seat and a rotating disc; a target sample bottle is vertically placed in the target sample bottle placing groove through a limiting structure; the solid sample library comprises a solid sample seat and a sampling spoon placement frame, a solid bottle placement groove is formed in the solid sample seat, a solid bottle is placed in the solid bottle placement groove, a sampling spoon is placed in the sampling spoon placement groove, and the first robot takes the sampling spoon to place a sample in the solid bottle into a target sample bottle; the liquid sample library comprises a liquid sample seat and a peristaltic pump, a liquid bottle placing groove is formed in the liquid sample seat, liquid in a liquid bottle is pumped into a target sample bottle by the peristaltic pump, and a second robot is mounted between the liquid sample seat and the peristaltic pump; the device is comprehensive in function, high in automation degree, high in sampling accuracy and capable of improving the sample weighing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of sample inspection and testing equipment, and particularly relates to a system and working method for realizing rapid and automatic fixed-quantity weighing of samples. Background Art

[0002] In laboratories in the field of inspection and testing, weighing samples is the most common and necessary operation step in the laboratory. As long as quantitative analysis experimental testing work is carried out, accurately weighing a quantitative sample is the primary step to ensure the accuracy of subsequent analysis and testing data. Currently, in laboratories, electronic balances are generally used to weigh samples. For example, the commonly used electronic balance with a sensitivity of 0.1 mg in laboratories generally has functions and advantages such as internal calibration, overload alarm, weighing unit conversion, data storage and printing, wind protection and stability, and user-friendly interface. Currently, the weighing technology of electronic balances themselves has developed relatively maturely.

[0003] In geological laboratories of the natural resources system and inspection and testing laboratories of the environmental protection system, there is often a situation where the number of daily analysis and testing samples is large. On average, hundreds or even thousands of analysis and testing samples can be processed every day. There are also many analysis elements and supporting analysis methods. For example, for geochemical mapping sample analysis and testing of 76 elements, 16 analysis methods need to be supported. Each sample needs to be weighed separately 16 times. In total, thousands to tens of thousands of sample weighing workloads are generated in geological laboratories every day. Calculated according to the current situation of each person weighing 700 samples per day, dozens of people are required to keep weighing continuously in a working day. Another example is that there are dozens of detection indicators for soil in agriculture and environmental protection, and multiple analysis methods need to be supported to complete the task. Similarly, the same amount of sample weighing is required (that is: one sample is analyzed and tested for multiple elements or items. Due to the current technical level and process limitations, only multiple analysis methods can be used to complete the analysis and testing task of this sample, and this sample must be weighed separately multiple times), resulting in a large sample weighing workload in the laboratory. In addition to quantitatively weighing solid samples, sometimes liquid samples also need to be weighed. For example, the concentration unit of the standard solution in isotope ratio analysis is ng / g or μg / kg. The liquid standard configuration finally requires accurate quantitative mass, and a large amount of manpower will also be occupied when configuring multi-element isotope series standards. However, the above operations are relatively mechanical. Over time, it is easy for operators to become fatigued and make operational mistakes, resulting in a decline in work efficiency. In actual work, there is a particularly urgent need for an automatic weighing system that can quickly and accurately quantitatively weigh solid powders or liquid samples to complete the sample weighing task with high quality and high efficiency. When a large number of analysis tasks come, the weighing workload of dozens of people can be saved.

[0004] In the prior art, weighing samples still mostly relies on traditional pure manual operation and is carried out according to the operating procedures of the electronic balance in the laboratory. There are the following problems and deficiencies: 1. Sample cross - contamination. Due to the same amount of weighing, potential cross - contamination between samples may be caused by different sample - weighing personnel or the same sample - weighing personnel using the same sample - weighing spoon multiple times, which affects the quality of subsequent analysis and testing.

[0005] 2. High error rate. Since it is manual operation, incorrect operations such as mis - matching sample numbers and utensils often occur when personnel are fatigued, directly resulting in rework.

[0006] 3. When weighing samples with a fixed amount, it is difficult to judge and verify the accuracy of sample weighing on - site one by one; when weighing samples with an unfixed amount, data is generally recorded manually one by one and cannot be automatically stored immediately, with low efficiency and sometimes clerical errors.

[0007] 4. The entire sample - weighing process requires manual attendance. The operator must maintain a state of holding with both arms, which is prone to fatigue, with high labor intensity, difficult for continuous production, and low production efficiency.

[0008] 5. When weighing liquid samples, sometimes the liquid samples are toxic and harmful to the health of the sample - weighing personnel.

[0009] 6. The entire sample - weighing process is completely dependent on manual operation, with high labor costs and low economic benefits. Because a large number of sample - weighing personnel are required, the difficulty and cost of personnel management both increase.

[0010] Due to the above reasons, there is an urgent need for a device that can automatically weigh samples with a fixed amount (solid powder and liquid) to liberate sample - weighing personnel for subsequent test and analysis work, so as to improve work efficiency and quality.

[0011] Patents (ZL202020000991.4 and ZL202011238713.3) have both designed vibrating fully - automatic intelligent sample - weighing instruments. Although they can achieve automatic weighing, they also have fatal defects. First, the vibration caused during vibration sampling may have an adverse impact on the accuracy of accurate weighing in the weighing part because sample weighing requires a horizontal and vibration - free environment. Second, in addition to similar particle sizes, if the specific gravity (density) between samples varies greatly, fixed - amount sample weighing cannot be achieved. Moreover, they cannot achieve quantitative sampling of liquid samples. Therefore, a system and working method for realizing rapid and automatic fixed - amount weighing of samples are designed to solve the problems of insufficient accuracy of existing fixed - amount sample - weighing equipment and the inability to weigh liquid samples. Summary of the Invention

[0012] Aiming at the problems existing in the prior art, the purpose of the present invention is to provide a system and working method for realizing rapid automatic fixed - quantity weighing of samples, which can be widely applied to agriculture, geological prospecting, mining, manufacturing, scientific research and technical services, water conservancy, environment and public facilities management industries, and education. It is particularly suitable for inspection and testing chemical laboratories in systems such as geology and minerals, environmental protection, agriculture, metallurgy, forestry, medicine, food, building materials, and education. This fully automatic intelligent sample weighing instrument can be used to quantitatively weigh a small amount of solid powder samples and liquid samples.

[0013] The technical solution adopted by the present invention to solve its technical problems is: A system for realizing rapid automatic fixed - quantity weighing of samples includes a target sample mechanism, a solid sample library, and a liquid sample library. The target sample mechanism is provided with a container positioning seat and a rotating disk. A number of container positioning seats are installed on the rotating disk. The container positioning seat is provided with a target sample bottle placement groove, and a target sample bottle is vertically placed in the target sample bottle placement groove through a limiting structure. The solid sample library includes a solid sample seat and a sampling spoon placement rack. Multiple groups of solid sample seats are installed on the workbench. The solid sample seat is provided with a solid bottle placement groove, and a solid bottle is placed in the solid bottle placement groove. The solid bottle stores solid samples. The sampling spoon placement rack is provided with a plurality of sampling spoon placement grooves with different diameters, and sampling spoons are placed in the sampling spoon placement grooves. A first robot is installed between the solid sample library and the sampling spoon placement rack. The first robot takes a sampling spoon and places the sample in the solid bottle into the target sample bottle. The liquid sample library includes a liquid sample seat and a peristaltic pump. Multiple groups of liquid sample seats are installed on the workbench. The liquid sample seat is provided with a liquid bottle placement groove, and a liquid bottle is placed in the liquid bottle placement groove. The liquid bottle stores liquid samples. The peristaltic pump pumps the liquid in the liquid bottle into the target sample bottle. A second robot is installed between the liquid sample seat and the peristaltic pump. A weighing mechanism is arranged in the middle of the workbench. The weighing mechanism includes an electronic balance and a weighing container seat. The weighing container seat is placed on the electronic balance. The weighing container seat is provided with a container placement groove. The first robot places the target sample bottle into the container placement groove, weighs it, and then takes it out and places it back into the original target sample bottle placement groove. The second robot places the target sample bottle into the container placement groove, weighs it, and then takes it out and places it back into the original target sample bottle placement groove.

[0014] Specifically, a rotating seat is installed at the bottom of the rotating disk. The outer ring of a bearing is connected to the rotating seat. The outer ring of the bearing is provided with a toothed ring, and the toothed ring is engaged with a gear. The gear is installed on the motor shaft of the motor, and the motor is installed on the support frame. The motor drives the rotating disk to rotate. At least four auxiliary rollers are provided at the bottom of the rotating disk, and the auxiliary rollers roll on the support frame. The auxiliary rollers support and assist the rotation of the rotating disk. The inner ring of the bearing is installed on the support frame, and the workbench is installed in the middle of the support frame.

[0015] Specifically, four groups of annular convex clamping seats are installed on the upper part of the rotating disk. A clamping groove is provided at the bottom of the container positioning seat, and the clamping groove is adaptively installed on the convex clamping seat. The container positioning seat is fixedly installed on the convex clamping seat through bolts.

[0016] Specifically, the limiting structure includes a limiting clamping block, a limiting spring and a limiting groove. Four limiting grooves are provided in the target sample bottle placement groove. The lower part of the limiting clamping block is rotatably connected to the limiting groove through a pin shaft. The inner side of the upper part of the limiting clamping block is connected to the limiting spring, and the other end of the limiting spring is fixedly installed on the inner wall of the limiting groove. The outer side of the limiting clamping block protrudes from the limiting groove, and the limiting clamping block positions the target sample bottle.

[0017] Specifically, the sampling spoon includes a spoon body, a spoon rod and a clamping rod. The spoon body is installed at the bottom of the spoon rod, and the clamping rod is installed on the upper part of the spoon rod. The spoon body is set as a 1mg spoon body, a 2mg spoon body, a 3mg spoon body, a 5mg spoon body, an 8mg spoon body and a 10mg spoon body according to needs, and the spoon bodies are respectively placed in sampling spoon placement grooves with different diameters.

[0018] Specifically, the peristaltic pump is provided with a liquid inlet pipe and a liquid outlet pipe. The liquid inlet pipe is connected to a liquid bottle, and the liquid outlet pipe is connected to the target sample bottle placed on an electronic balance; A pure water pool is provided on one side of the liquid sample library, and the pure water pool is placed on the workbench.

[0019] Specifically, the first robot and the second robot adopt similar structures. Both the first robot and the second robot are provided with a robotic arm, a robot base, a gripper, a gripper cylinder, a rotating motor, a mounting plate and a camera. The rotating motor is installed on the upper part of the mounting plate, and the motor shaft of the rotating motor passes through the mounting plate and is connected to the gripper cylinder. The rotating motor controls the rotation of the gripper cylinder. The gripper cylinder adopts a finger cylinder, and two fingers of the gripper cylinder are installed with the gripper. The gripper adopts an arc-shaped structure. The mounting plate is installed at the execution end of the robotic arm, and the camera is installed at the lower part of the mounting plate. The lower part of the robotic arm is installed on the robot base, and the robot base is installed on the workbench; A blowing nozzle is installed on the gripper cylinder fixing plate of the first robot. The air outlet of the blowing nozzle faces the spoon body. The blowing nozzle is connected to the air source pipeline of the gripper cylinder through an air delivery pipe. An electric control valve is installed on the air delivery pipe of the blowing nozzle, and the electric control valve controls the operation of the blowing nozzle.

[0020] Specifically, an indicator light and a number are provided on the container positioning seat for identification by the camera.

[0021] Specifically, a waste sample container and a waste liquid pool are also placed on the workbench.

[0022] A working method of a system for realizing rapid automatic fixed-quantity weighing of samples includes the following steps: 1) Set the parameters for adding samples into the target sample bottles within the control system, and add different samples to the target sample bottles with different numbers. 2) Weighing of solid samples: The first robot controls the gripper to pick up the target sample bottle containing the set solid sample, pick up the target sample bottle from the target sample bottle placement slot and place it into the container placement slot, and the camera on the first robot identifies the container positioning seat number corresponding to the target sample bottle placement slot. 3) The first robot controls the gripper to pick up a 10mg spoon body, take solid sample from the corresponding solid bottle and pour it into the target sample bottle, then replace the spoon body according to the required sampling quantity until the solid sample reaches the target weight. After taring on the electronic balance and showing that it meets the weight requirement, the first robot controls the gripper to pick up the target sample bottle from the container placement slot and place it back into the original target sample bottle placement slot. The camera assists in positioning the position of the container positioning seat. The indicator light on the placed container positioning seat lights up, indicating that the sample addition is completed, reminding the operator to take it away after the turntable rotates to the sampling area, completing one solid sample sampling, and sequentially circulating to add the same solid sample. 4) Before adding different solid samples or before the first robot places the sampling spoon into the sampling spoon placement slot, control the sampling spoon to move into the waste sample container, and the air blowing nozzle blows air at the spoon body to blow the residue in the spoon body into the waste sample container. 5) Weighing of liquid samples: The second robot controls the gripper to pick up the target sample bottle containing the set liquid sample, pick up the target sample bottle from the target sample bottle placement slot and place it into the container placement slot, and the camera on the second robot identifies the container positioning seat number corresponding to the target sample bottle placement slot. 6) The second robot controls the gripper to place the liquid inlet pipe into the corresponding liquid bottle, then the gripper places the liquid outlet pipe into the target sample bottle in the container placement slot. The peristaltic pump drives to control the liquid sample in the liquid bottle to be pumped into the target sample bottle until the liquid sample reaches the target weight. When the electronic balance shows that it meets the weight requirement, the gripper of the second robot pulls out the liquid outlet pipe and places it into the waste liquid pool, then the gripper places the liquid inlet pipe into the pure water pool, and the peristaltic pump controls the liquid sample in the liquid outlet pipe to flow into the waste liquid pool for emptying. 7) The second robot controls the gripper to pick up the target sample bottle from the container placement slot and place it back into the original target sample bottle placement slot. The camera assists in positioning the position of the container positioning seat. The indicator light on the placed container positioning seat lights up, indicating that the sample addition is completed, reminding the operator to take it away after the turntable rotates to the sampling area, completing one liquid sample sampling, and sequentially circulating to add the same liquid sample. 8) Before adding different liquid samples, the second robot controls the gripper to place the liquid inlet pipe into the corresponding liquid bottle. At this time, the liquid outlet pipe is still in the waste liquid pool. After 5 seconds, if liquid sample enters the waste liquid pool, the liquid sample fills the entire conveying pipeline, and then the gripper places the liquid outlet pipe into the target sample bottle in the container placement slot.

[0023] The present invention has the following beneficial effects: The system and working method for realizing rapid and automatic fixed - quantity weighing of samples designed by the present invention adopt a double - robotic arm. Using the same electronic balance, it can not only realize automatic weighing of solid samples but also automatic weighing of liquid samples. It has comprehensive functions, a high degree of automation, and improves the weighing efficiency.

[0024] For the system and working method for realizing rapid and automatic fixed - quantity weighing of samples designed by the present invention, for solid sample sampling, a variety of measuring spoons are used in cooperation with an electronic balance, with a faster sampling speed and higher sampling accuracy. For liquid sample sampling, a peristaltic pump is used and drainage is set, with high sampling accuracy. Brief Description of the Drawings

[0025] Figure 1 It is a top view of the system for realizing rapid and automatic fixed - quantity weighing of samples.

[0026] Figure 2 It is a top view of the container positioning seat.

[0027] Figure 3 It is a cross - sectional view of the limiting structure.

[0028] Figure 4 It is a side view of the sampling spoon.

[0029] Figure 5 It is a schematic structural diagram of the first robot.

[0030] Figure 6 It is a schematic structural diagram of the jaw.

[0031] In the figure: 1 - target sample mechanism, 101 - container positioning seat, 102 - rotating disk, 103 - convex clamping seat, 104 - limiting clamping block, 105 - limiting spring, 106 - limiting groove, 107 - pin shaft, 108 - target sample bottle placement groove; 2 - solid sample library, 201 - solid sample seat, 202 - solid bottle placement groove, 203 - sampling spoon placement rack, 204 - sampling spoon placement groove, 205 - spoon body, 206 - spoon rod, 207 - clamping rod; 3 - liquid sample library, 301 - liquid sample seat, 302 - liquid bottle placement groove, 303 - peristaltic pump, 304 - inlet pipe, 305 - outlet pipe, 306 - pure water pool; 4 - first robot, 401 - robotic arm, 402 - robot seat, 403 - jaw, 404 - jaw cylinder, 405 - rotating motor, 406 - mounting plate, 407 - camera, 408 - air - blowing nozzle; 5 - Second robot; 6 - weighing mechanism, 601 - electronic balance, 602 - weighing container seat, 603 - container placement groove; 7 - waste sample container; 8 - waste liquid pool. Specific embodiments

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0033] As Figures 1 - 6 shown, a system for realizing rapid and automatic fixed - quantity weighing of samples includes a target sample mechanism 1, a solid sample library 2, a liquid sample library 3, a first robot 4, a second robot 5 and a weighing mechanism 6. The target sample mechanism 1 is provided with a container positioning seat 101, a rotating disk 102, a limiting structure and a target sample bottle placement groove 108. A number of container positioning seats 101 are installed on the rotating disk 102. The container positioning seat 101 is provided with a target sample bottle placement groove 108. A target sample bottle is vertically placed in the target sample bottle placement groove 108 through the limiting structure. The target sample bottle is pre - placed into the target sample bottle placement groove 108 manually, and the corresponding number of the container positioning seat 101 for placing the target sample bottle is preset on the operating system.

[0034] A rotating seat is installed at the bottom of the rotating disk 102. The outer ring of a bearing is connected to the rotating seat. A toothed ring is provided on the outer ring of the bearing. The toothed ring is meshed with a gear. The gear is installed on the motor shaft of a motor. The motor is installed on a support frame. The motor drives the rotating disk 102 to rotate. At least four auxiliary rollers are provided at the bottom of the rotating disk 102. The auxiliary rollers roll on the support frame, and the auxiliary rollers support and assist the rotation of the rotating disk 102.

[0035] The inner ring of the bearing is installed on the support frame, and a workbench is installed in the middle of the support frame.

[0036] Four groups of annular raised card seats 103 are installed on the upper part of the rotating disk 102. A card slot is provided at the bottom of the container positioning seat 101. The card slot is adaptively installed on the raised card seat 103. The container positioning seat 101 is fixedly installed on the raised card seat 103 by bolts.

[0037] The limiting structure includes a limiting clamping block 104, a limiting spring 105, and a limiting groove 106. There are four limiting grooves 106 in the target sample bottle placement groove 108. The lower part of the limiting clamping block 104 is rotatably connected in the limiting groove 106 through a pin shaft. The inner side of the upper part of the limiting clamping block 104 is connected to the limiting spring 105. The other end of the limiting spring 105 is fixedly installed on the inner wall of the limiting groove 106. The outer side of the limiting clamping block 104 protrudes from the limiting groove 106. When the target sample bottle is placed in the target sample bottle placement groove 108, it squeezes the four limiting clamping blocks 104, causing the limiting spring 105 to be compressed. The restoring elastic force of the limiting spring 105 supports the limiting clamping block 104 to position the target sample bottle.

[0038] The solid sample library 2 includes a solid sample seat 201, a solid bottle placement groove 202, a sampling spoon, and a sampling spoon placement rack 203. Multiple groups of the solid sample seats 201 are installed on the workbench. There is a solid bottle placement groove 202 on the solid sample seat 201. Solid bottles are placed in the solid bottle placement groove 202, and solid samples are stored in the solid bottles. There are multiple sampling spoon placement grooves 204 with different diameters on the sampling spoon placement rack 203, and sampling spoons are placed in the sampling spoon placement grooves 204.

[0039] The sampling spoon includes a spoon body 205, a spoon rod 206, and a clamping rod 207. The spoon body 205 is installed at the bottom of the spoon rod 206, and the clamping rod 207 is installed on the upper part of the spoon rod 206. The spoon body 205 is set as a 1mg spoon body, a 2mg spoon body, a 3mg spoon body, a 5mg spoon body, an 8mg spoon body, and a 10mg spoon body according to needs. The spoon bodies 205 are respectively placed in the sampling spoon placement grooves 204 with different diameters.

[0040] A first robot 4 is installed between the solid sample library 2 and the sampling spoon placement rack 203. The first robot 4 picks up the sampling spoon and places the sample in the solid bottle into the target sample bottle.

[0041] The liquid sample library 3 includes a liquid sample seat 301 and a peristaltic pump 303. Multiple groups of the liquid sample seats 301 are installed on the workbench. There is a liquid bottle placement groove 302 on the liquid sample seat 301. Liquid bottles are placed in the liquid bottle placement groove 302, and liquid samples are stored in the liquid bottles. The peristaltic pump 303 pumps the liquid in the liquid bottle into the target sample bottle. There is a pure water pool 306 on one side of the liquid sample library 3, and the pure water pool 306 is placed on the workbench.

[0042] The peristaltic pump 303 is provided with a liquid inlet pipe 304 and a liquid outlet pipe 305. The liquid inlet pipe 304 is connected to the liquid bottle, and the liquid outlet pipe 305 is connected to the target sample bottle placed on the electronic balance 601.

[0043] A second robot 5 is installed between the liquid sample seat 301 and the peristaltic pump 303.

[0044] The first robot 4 and the second robot 5 adopt similar structures (the first robot 4 is equipped with an air blowing nozzle 408 more than the second robot 5). Both the first robot 4 and the second robot 5 adopt robots of the RoboX NB4 model. The first robot 4 and the second robot 5 are both provided with a robotic arm 401, a robot base 402, a gripper 403, a gripper cylinder 404, a rotating motor 405, a mounting plate 406, and a camera 407. The rotating motor 405 is installed on the upper part of the mounting plate 406. The motor shaft of the rotating motor 405 passes through the mounting plate 406 and is connected to the gripper cylinder 404. The rotating motor 405 controls the rotation of the gripper cylinder 404. The gripper cylinder 404 adopts a finger cylinder. Two fingers of the gripper cylinder 404 are equipped with the gripper 403. The gripper 403 adopts an arc-shaped structure. The mounting plate 406 is installed at the execution end of the robotic arm 401. The camera 407 is installed at the lower part of the mounting plate 406. The camera 407 identifies the number on the container positioning seat 101. The lower part of the robotic arm 401 is installed on the robot base 402. The robot base 402 is installed on the workbench.

[0045] An air blowing nozzle 408 is installed on the fixed plate of the gripper cylinder 404 of the first robot 4. The air outlet of the air blowing nozzle 408 faces the spoon body 205. The air blowing nozzle 408 is connected to the air source pipeline of the gripper cylinder 404 through an air delivery pipe. An electric control valve is installed on the air delivery pipe of the air blowing nozzle 408 to control the operation of the air blowing nozzle 408.

[0046] A weighing mechanism 6 is arranged in the middle of the workbench. The weighing mechanism 6 includes an electronic balance 601 and a weighing container seat 602. The weighing container seat 602 is placed on the electronic balance 601. A container placement groove 603 is arranged on the weighing container seat 602. After the first robot 4 places the target sample bottle into the container placement groove 603 for weighing and then takes it out and places it back into the original target sample bottle placement groove 108, the second robot 5 places the target sample bottle into the container placement groove 603 for weighing and then takes it out and places it back into the original target sample bottle placement groove 108.

[0047] The container positioning seat 101 is provided with an indicator light and a number for the camera 407 to identify.

[0048] A waste sample container 7 and a waste liquid pool 8 are also placed on the workbench.

[0049] A working method of a system for realizing rapid automatic fixed-quantity weighing of samples includes the following steps: 1. Set the parameters for adding samples into the target sample bottle in the control system, and different samples are added to target sample bottles with different numbers.

[0050] 2. Weigh 29 mg of solid sample: The first robot 4 controls the gripper 403 to pick up the target sample bottle containing the set solid sample, take out the target sample bottle from the target sample bottle placement groove 108 and place it into the container placement groove 603. The camera 407 on the first robot 4 identifies the container positioning seat 101 number corresponding to the target sample bottle placement groove 108.

[0051] 3. The first robot 4 controls the gripper 403 to pick up a 10 mg spoon body, take a solid sample from the corresponding solid bottle and pour it into the target sample bottle. Then, use the 10 mg spoon body for operation again. Then, the first robot 4 controls the gripper 403 to replace it with an 8 mg spoon body for sampling operation. Then, the first robot 4 controls the gripper 403 to replace it with a 1 mg spoon body for sampling operation. The order of replacing the spoon body 205 is to select the spoon body 205 from large to small according to the required weight for comparison until the solid sample with the target weight is satisfied. After taring on the electronic balance 601 and showing that it meets the weight requirement, the first robot 4 controls the gripper 403 to take out the target sample bottle from the container placement groove 603 and place it into the original target sample bottle placement groove 108. The camera 407 assists in positioning the position of the container positioning seat 101. The indicator light on the placed container positioning seat 101 lights up, indicating that the sample filling is completed, reminding the operator to take it away after the turntable 102 rotates to the sampling area, completing one solid sample sampling, and filling the same solid sample in turn in a cycle.

[0052] 4. Before filling different solid samples or before the first robot 4 places the sampling spoon into the sampling spoon placement groove 204, control the sampling spoon to move to the waste sample container 7, and the air blowing nozzle 408 blows air at the spoon body 205 to blow the residue in the spoon body 205 into the waste sample container 7.

[0053] 5. Weigh liquid sample: The second robot 5 controls the gripper 403 to pick up the target sample bottle containing the set liquid sample, take out the target sample bottle from the target sample bottle placement groove 108 and place it into the container placement groove 603. The camera 407 on the second robot 5 identifies the container positioning seat 101 number corresponding to the target sample bottle placement groove 108.

[0054] 6. The second robot 5 controls the gripper 403 to place the liquid inlet pipe 304 into the corresponding liquid bottle, and then the gripper 403 places the liquid outlet pipe 305 into the target sample bottle in the container placement groove 603. The peristaltic pump 303 drives and controls the liquid sample in the liquid bottle to be pumped into the target sample bottle until the liquid sample with the target weight is satisfied. After taring on the electronic balance 601 and showing that it meets the weight requirement, the gripper 403 of the second robot 5 pulls out the liquid outlet pipe 305 and places it into the waste liquid pool 8. Then, the gripper 403 places the liquid inlet pipe 304 into the pure water pool 306, and the peristaltic pump 303 controls the liquid sample in the liquid outlet pipe 305 to flow into the waste liquid pool 8 for emptying.

[0055] 7. The second robot 5 controls the gripper 403 to pick up the target sample bottle from the container placement groove 603 and place it into the original target sample bottle placement groove 108. The camera 407 assists in positioning the position of the container positioning seat 101. The indicator light on the placed container positioning seat 101 lights up, indicating that the sample filling is completed, reminding the operator to take it away after the turntable 102 rotates to the sampling area, completing one liquid sample sampling, and sequentially circulating to fill the same liquid sample.

[0056] 8. Before filling different liquid samples, the second robot 5 controls the gripper 403 to place the liquid inlet pipe 304 into the corresponding liquid bottle. At this time, the liquid outlet pipe 305 is still in the waste liquid pool 8. After 5 seconds, if a liquid sample enters the waste liquid pool 8, the liquid sample fills the entire conveying pipeline, and then the gripper 403 places the liquid outlet pipe 305 into the target sample bottle in the container placement groove 603.

[0057] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

[0058] The technologies, shapes, and structures not detailedly described in the present invention are all well-known technologies.

Claims

1. A system for realizing rapid automatic weighing of samples in a fixed quantity, characterized in that, It includes a target sample mechanism, a solid sample library, and a liquid sample library. The target sample mechanism is provided with a container positioning seat and a rotating disk. A number of container positioning seats are installed on the rotating disk. The container positioning seat is provided with a target sample bottle placement groove, and a target sample bottle is vertically placed in the target sample bottle placement groove through a limiting structure; The solid sample library includes a solid sample seat and a sampling spoon placement rack. Multiple groups of solid sample seats are installed on the workbench. The solid sample seat is provided with a solid bottle placement groove, and a solid bottle is placed in the solid bottle placement groove. A solid sample is stored in the solid bottle. The sampling spoon placement rack is provided with a plurality of sampling spoon placement grooves with different diameters, and sampling spoons are placed in the sampling spoon placement grooves. A first robot is installed between the solid sample library and the sampling spoon placement rack. The first robot picks up a sampling spoon and places the sample in the solid bottle into the target sample bottle; The liquid sample library includes a liquid sample seat and a peristaltic pump. Multiple groups of liquid sample seats are installed on the workbench. The liquid sample seat is provided with a liquid bottle placement groove, and a liquid bottle is placed in the liquid bottle placement groove. A liquid sample is stored in the liquid bottle. The peristaltic pump pumps the liquid in the liquid bottle into the target sample bottle. A second robot is installed between the liquid sample seat and the peristaltic pump; A weighing mechanism is arranged in the middle of the workbench. The weighing mechanism includes an electronic balance and a weighing container seat. The weighing container seat is placed on the electronic balance. The weighing container seat is provided with a container placement groove. The first robot places the target sample bottle into the container placement groove, weighs it, and then takes it out and places it back into the original target sample bottle placement groove. The second robot places the target sample bottle into the container placement groove, weighs it, and then takes it out and places it back into the original target sample bottle placement groove.

2. The system for realizing rapid and automatic fixed - quantity weighing of samples according to claim 1, wherein, A rotating seat is installed at the bottom of the rotating disk. The outer ring of a bearing is connected to the rotating seat. The outer ring of the bearing is provided with a toothed ring, and the toothed ring is meshed with a gear. The gear is installed on the motor shaft of a motor, and the motor is installed on a support frame. The motor drives the rotating disk to rotate. At least four auxiliary rollers are provided at the bottom of the rotating disk, and the auxiliary rollers roll on the support frame. The auxiliary rollers support and assist the rotation of the rotating disk; The inner ring of the bearing is installed on the support frame, and the workbench is installed in the middle of the support frame.

3. The system for realizing rapid automatic fixed-quantity weighing of samples according to claim 2, characterized in that, Four groups of annular convex card seats are installed on the upper part of the rotating disk. A clamping groove is provided at the bottom of the container positioning seat, and the clamping groove is adaptively installed on the convex card seat. The container positioning seat is fixedly installed on the convex card seat through bolts.

4. The system for realizing rapid and automatic fixed - quantity weighing of samples according to claim 1, wherein, The limiting structure includes a limiting clamp block, a limiting spring, and a limiting groove. Four limiting grooves are provided in the target sample bottle placement groove. The lower part of the limiting clamp block is rotatably connected to the limiting groove through a pin shaft. The inner side of the upper part of the limiting clamp block is connected to the limiting spring, and the other end of the limiting spring is fixedly installed on the inner wall of the limiting groove. The outer side of the limiting clamp block protrudes from the limiting groove, and the limiting clamp block positions the target sample bottle.

5. The system for realizing rapid automatic fixed - quantity weighing of samples according to claim 1, characterized in that, The sampling spoon includes a spoon body, a spoon rod, and a clamping rod. The spoon body is installed at the bottom of the spoon rod, and the clamping rod is installed on the upper part of the spoon rod. The spoon body is set as a 1mg spoon body, a 2mg spoon body, a 3mg spoon body, a 5mg spoon body, an 8mg spoon body, and a 10mg spoon body as required, and the spoon bodies are respectively placed in sampling spoon placement grooves with different diameters.

6. The system for realizing rapid automatic fixed - quantity weighing of samples according to claim 1, wherein, The peristaltic pump is provided with a liquid inlet pipe and a liquid outlet pipe. The liquid inlet pipe is connected to the liquid bottle, and the liquid outlet pipe is connected to the target sample bottle placed on the electronic balance; A pure water pool is provided on one side of the liquid sample library, and the pure water pool is placed on the workbench.

7. The system for realizing rapid and automatic fixed - quantity weighing of samples according to claim 1, wherein, The first robot and the second robot adopt similar structures. Both the first robot and the second robot are provided with a robotic arm, a robot base, a gripper, a gripper cylinder, a rotary motor, a mounting plate, and a camera. The rotary motor is mounted on the upper part of the mounting plate. The motor shaft of the rotary motor passes through the mounting plate and is connected to the gripper cylinder. The rotary motor controls the rotation of the gripper cylinder. The gripper cylinder adopts a finger cylinder. Two fingers of the gripper cylinder are mounted with the gripper. The gripper adopts an arc-shaped structure. The mounting plate is mounted on the execution end of the robotic arm. The camera is mounted on the lower part of the mounting plate. The lower part of the robotic arm is mounted on the robot base, and the robot base is mounted on the workbench; A blowing nozzle is mounted on the gripper cylinder fixing plate of the first robot. The air outlet of the blowing nozzle faces the spoon body. The blowing nozzle is connected to the air source pipeline of the gripper cylinder through an air delivery pipe. An electric control valve is mounted on the air delivery pipe of the blowing nozzle to control the operation of the blowing nozzle.

8. The system for realizing rapid and automatic fixed - quantity weighing of samples according to claim 1, wherein, The container positioning seat is provided with an indicator light and a number for the camera to identify.

9. The system for realizing rapid and automatic fixed - quantity weighing of samples according to claim 1, wherein, A waste sample container and a waste liquid pool are also placed on the workbench.

10. The working method of the system for realizing rapid automatic fixed-quantity weighing of samples according to any one of claims 1-9, characterized in that, It includes the following steps: 1) Set the parameters for adding samples into the target sample bottles in the control system. Different target sample bottles with different numbers are added with different samples; 2) Solid sample weighing: The first robot controls the gripper to pick up the target sample bottle with the set solid sample, pick up the target sample bottle from the target sample bottle placement slot and place it into the container placement slot. The camera on the first robot identifies the number of the container positioning seat corresponding to the target sample bottle placement slot; 3) The first robot controls the gripper to pick up a 10mg spoon body, take the solid sample from the corresponding solid bottle and pour it into the target sample bottle. Then, change the spoon body according to the required sampling quantity until the solid sample with the target weight is satisfied. After taring on the electronic balance and showing that it meets the weight requirement, the first robot controls the gripper to pick up the target sample bottle from the container placement slot and place it back into the original target sample bottle placement slot. The camera assists in positioning the position of the container positioning seat. The indicator light on the placed container positioning seat lights up, indicating that the sample addition is completed, reminding the operator to take it away after the turntable rotates to the sampling area, completing one solid sample sampling, and successively circulating to add the same solid sample; 4) Before adding different solid samples or before the first robot places the sampling spoon into the sampling spoon placement slot, control the movement of the sampling spoon into the waste sample container, and the blowing nozzle blows air at the spoon body to blow the residue in the spoon body into the waste sample container; 5) Liquid sample weighing: The second robot controls the gripper to pick up the target sample bottle with the set liquid sample, pick up the target sample bottle from the target sample bottle placement slot and place it into the container placement slot. The camera on the second robot identifies the number of the container positioning seat corresponding to the target sample bottle placement slot; 6) The second robot-controlled gripper places the liquid inlet pipe into the corresponding liquid bottle, and then places the liquid outlet pipe into the target sample bottle in the container placement slot. The peristaltic pump drives and controls the extraction of the liquid sample in the liquid bottle into the target sample bottle until the liquid sample reaches the target weight. When the required weight is shown on the electronic balance, the gripper of the second robot withdraws the liquid outlet pipe and places it into the waste liquid pool. Then, the gripper places the liquid inlet pipe into the pure water pool, and the peristaltic pump controls the liquid sample in the liquid outlet pipe to flow into the waste liquid pool for emptying; 7) The second robot-controlled gripper picks up the target sample bottle from the container placement slot and places it into the original target sample bottle placement slot. The camera assists in positioning the position of the container positioning seat. The indicator light on the placed container positioning seat lights up, indicating that the sample filling is completed, reminding the operator to take it away after the turntable rotates to the sampling area, completing one liquid sample sampling, and sequentially circulating to fill the same liquid sample; 8) Before filling different liquid samples, the second robot-controlled gripper places the liquid inlet pipe into the corresponding liquid bottle. At this time, the liquid outlet pipe is still in the waste liquid pool. After 5 seconds, if a liquid sample enters the waste liquid pool, the liquid sample fills the entire pipeline, and then the gripper places the liquid outlet pipe into the target sample bottle in the container placement slot.

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