A system and working method for fast automatic fixed quantity weighing of samples

Abstract

The application relates to the technical field of sample inspection detection equipment, and particularly discloses a system for realizing rapid automatic fixed-amount sample weighing and a working method, which comprises 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 disc, target sample bottles are vertically placed in target sample bottle placing grooves through limiting structures, the solid sample library comprises a solid sample seat and a sampling spoon placing rack, the solid sample seat is provided with solid bottle placing grooves, solid bottles are placed in the solid bottle placing grooves, sampling spoon placing grooves are provided with sampling spoons, a first robot takes the sampling spoons to place samples in the solid bottles into target sample bottles, the liquid sample library comprises a liquid sample seat and a peristaltic pump, the liquid sample seat is provided with liquid bottle placing grooves, the peristaltic pump pumps liquid in liquid bottles into target sample bottles, and a second robot is installed between the liquid sample seat and the peristaltic pump; the application has comprehensive functions, high automation, high sampling accuracy and improved sample weighing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sample inspection detection equipment, in particular to a system for automatically weighing a fixed amount of sample and a working method. BACKGROUND

[0002] In the laboratory of the inspection detection field, weighing a sample is the most common and necessary operation step. As long as quantitative analysis experimental testing work is carried out, weighing an accurate quantitative sample is the primary step to ensure the accuracy of subsequent analysis test data. At present, an electronic balance is generally used to weigh a sample in a laboratory, such as an electronic balance with a 0.1 mg sensitivity commonly used in a laboratory, which generally has the advantages of internal calibration, overload alarm, weighing unit conversion, data saving and printing, windproof stability, and friendly interface. The weighing technology of the electronic balance itself has been relatively mature.

[0003] In the geological laboratory of the natural resource system and the inspection detection laboratory of the environmental protection system, there is often a situation that a large number of analysis test samples are processed every day, and the average number of analysis test samples processed every day is several hundred or even several thousand. Analysis elements and matching analysis methods are also many, such as 76 elements in geochemical mapping sample analysis testing, which requires 16 analysis methods. Each sample must be weighed 16 times, and the total number of weighing samples in the geological laboratory every day is several thousand to tens of thousands. According to the current calculation of 700 samples weighed by each person every day, dozens of people are needed to weigh samples without stopping for a working day. For example, the detection index of soil in agriculture and environmental protection has dozens of items, which requires multiple analysis methods to complete, and the same number of samples needs to be weighed (i.e., a sample needs to be weighed multiple times for multiple element or item analysis testing, which is limited by the current technical level and process, and can only be completed by multiple analysis methods. The sample must be weighed multiple times), resulting in a large amount of weighing work in the laboratory. In addition to weighing solid samples, sometimes liquid samples also need to be weighed, such as the concentration unit of standard solution in isotope ratio analysis, which is ng / g or μg / kg. The final liquid standard configuration needs to be accurately weighed, and the multi-element isotope series standard configuration also occupies a large amount of manpower. However, the above operation is relatively mechanical. After a long time, the operator is prone to fatigue and operational errors, which reduces work efficiency. In actual work, an automatic weighing system that can quickly and accurately weigh solid powder or liquid samples is particularly needed to complete the weighing task with high quality and high efficiency. When a large number of analysis tasks arrive, the weighing workload of dozens of people can be saved.

[0004] In the prior art, the weighing of samples still relies on traditional manual operation, and the operation is performed according to the weighing laboratory operation procedures of the electronic balance. The following problems and deficiencies exist:

[0005] 1. Sample cross-contamination. Because of the same weighing method, different weighing personnel or the same weighing personnel using the same weighing spoon multiple times can cause potential cross-contamination between samples, affecting the quality of subsequent analysis and testing.

[0006] 2. High error rate. Because it is a manual operation, errors such as mismatched sample and vessel numbers often occur when personnel are fatigued, directly causing rework.

[0007] 3. When weighing a fixed amount of sample, it is difficult to determine and verify the accuracy of the sample weighing on-site; when weighing a variable amount of sample, the data is generally recorded manually one by one and cannot be automatically stored in real time, which is inefficient and sometimes leads to clerical errors.

[0008] 4. The entire weighing process requires manual supervision. Operators must maintain a double-arm support position, which is easy to cause fatigue, high labor intensity, difficulty in continuous production, and low production efficiency.

[0009] 5. When weighing liquid samples, sometimes the liquid sample is toxic, which may be harmful to the sample weighers.

[0010] 6. The entire sample weighing process relies entirely on manual operation, resulting in high labor costs and low economic efficiency. The large number of personnel required for sample weighing also increases the difficulty and cost of personnel management.

[0011] For the reasons mentioned above, there is an urgent need for a device that can automatically weigh fixed quantities of samples (solid powders and liquids) to free up personnel from subsequent testing and analysis work, thereby improving work efficiency and quality.

[0012] Both patents (ZL202020000991.4 and ZL202011238713.3) design a vibration-type fully automatic intelligent sample weighing instrument. While it can achieve automatic weighing, it also has fatal flaws. First, the vibration caused during sampling may adversely affect the accuracy of the weighing, as weighing requires a horizontal, vibration-free environment. Second, if the samples have similar particle sizes, and their specific gravity (density) differs significantly, fixed-volume weighing cannot be achieved. Furthermore, they cannot achieve quantitative sampling of liquid samples. Therefore, this paper proposes a system and method for rapid, automatic, fixed-volume sample weighing to address the inaccuracies of existing fixed-volume weighing equipment and its inability to weigh liquid samples. Summary of the Invention

[0013] In view of the problems in the prior art, the present application aims to provide a system and working method for realizing fast automatic fixed-amount sample weighing, which can be widely applied in agriculture, geological prospecting, mining industry, manufacturing industry, scientific research and technical service industry, water conservancy environment and public facility management industry and education industry, and is particularly suitable for testing and detecting chemical laboratories of geological and mining, environmental protection, agriculture, metallurgy, forestry, medicine, food, building materials and education systems, and the full-automatic intelligent sample weighing instrument can be used for quantitatively weighing small amounts of solid powder samples and liquid samples.

[0014] The technical solution adopted by the present application to solve its technical problems is: a system for realizing fast automatic fixed-amount sample weighing, comprising 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 disc, a plurality of container positioning seats are installed on the rotating disc, a target sample bottle placing groove is arranged on the container positioning seat, and a target sample bottle is vertically placed in the target sample bottle placing groove through limiting structure;

[0015] The solid sample library comprises a solid sample seat and a sampling spoon placing rack, the solid sample seat is provided with a plurality of groups of solid sample seats installed on a workbench, a solid bottle placing groove is arranged on the solid sample seat, a solid bottle is placed in the solid bottle placing groove, a solid sample is stored in the solid bottle, a plurality of sampling spoon placing grooves with different diameters are arranged on the sampling spoon placing rack, a sampling spoon is placed in the sampling spoon placing groove, a first robot is installed between the solid sample library and the sampling spoon placing rack, and the first robot takes the sampling spoon to place the sample in the solid bottle into a target sample bottle;

[0016] The liquid sample library comprises a liquid sample seat and a peristaltic pump, the liquid sample seat is provided with a plurality of groups of liquid sample seats installed on a workbench, a liquid bottle placing groove is arranged on the liquid sample seat, a liquid bottle is placed in the liquid bottle placing groove, a liquid sample is stored in the liquid bottle, and the peristaltic pump draws the liquid sample in the liquid bottle into a target sample bottle; a second robot is installed between the liquid sample seat and the peristaltic pump;

[0017] A weighing mechanism is arranged in the middle of the workbench, the weighing mechanism comprises an electronic balance and a weighing container seat, the weighing container seat is placed on the electronic balance, a container placing groove is arranged on the weighing container seat, the first robot places the target sample bottle into the container placing groove, and after the weighing is completed, the target sample bottle is taken out and placed into the original target sample bottle placing groove; the second robot places the target sample bottle into the container placing groove, and after the weighing is completed, the target sample bottle is taken out and placed into the original target sample bottle placing groove.

[0018] Specifically, a rotating seat is installed at the bottom of the rotating disc, an outer ring of a bearing is connected to the rotating seat, the outer ring of the bearing is provided with a gear ring, the gear ring is engaged with a gear, the gear is installed on a motor shaft of a motor, the motor is installed on a support frame, the motor drives the rotating disc to rotate, at least four auxiliary rollers are arranged at the bottom of the rotating disc, the auxiliary rollers roll on the support frame, and the auxiliary rollers support and assist the rotating disc to rotate;

[0019] The inner ring of the bearing is mounted on the support frame, and the middle part of the support frame is mounted on the workbench.

[0020] Specifically, four sets of annular protruding card seats are mounted on the upper part of the rotating disc, the container positioning seat is provided with a clamping groove at the bottom, the clamping groove is matched and mounted on the protruding card seat, and the container positioning seat is fixedly mounted on the protruding card seat through bolts.

[0021] Specifically, the limiting structure comprises a limiting clamp block, a limiting spring and a limiting groove, four limiting grooves are arranged in the target sample bottle placing groove, the lower part of the limiting clamp block is rotationally connected in the limiting groove through a pin shaft, the upper part of the limiting clamp block is connected with the limiting spring on the inner side, the other end of the limiting spring is fixedly mounted on the inner wall of the limiting groove, the outer side of the limiting clamp block protrudes out of the limiting groove, and the limiting clamp block positions the target sample bottle.

[0022] Specifically, the sampling spoon comprises a spoon body, a spoon rod and a clamping rod, the spoon body is mounted at the bottom of the spoon rod, the clamping rod is mounted at the upper part of the spoon rod, the spoon body is provided with 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 placing grooves with different diameters.

[0023] Specifically, the peristaltic pump is provided with a liquid inlet pipe and a liquid outlet pipe, the liquid inlet pipe is connected with a liquid bottle, and the liquid outlet pipe is connected with the target sample bottle placed on the electronic balance.

[0024] One side of the liquid sample library is provided with a pure water pool, and the pure water pool is placed on the workbench.

[0025] Specifically, the first robot and the second robot adopt similar structures, and the first robot and the second robot are both provided with a mechanical arm, a robot seat, a clamping jaw, a clamping jaw cylinder, a rotating motor, a mounting plate and a camera, the rotating motor is mounted on the upper part of the mounting plate, the motor shaft of the rotating motor penetrates through the mounting plate to be connected with the clamping jaw cylinder, the rotating motor controls the rotation of the clamping jaw cylinder, the clamping jaw cylinder adopts a finger cylinder, two fingers of the clamping jaw cylinder are mounted with the clamping jaw, the clamping jaw adopts an arc structure, the mounting plate is mounted at the execution end of the mechanical arm, the camera is mounted on the lower part of the mounting plate, the lower part of the mechanical arm is mounted on the robot seat, and the robot seat is mounted on the workbench.

[0026] The first robot is provided with a blowing nozzle on the clamping jaw cylinder fixing plate, the gas outlet of the blowing nozzle is directed to the spoon body, the blowing nozzle is connected with the gas source pipeline of the clamping jaw cylinder through a gas conveying pipe, an electric control valve is mounted on the gas conveying pipe of the blowing nozzle, and the electric control valve controls the working of the blowing nozzle.

[0027] Specifically, the container positioning seat is provided with an indicating lamp and a number, and the indicating lamp and the number are used for camera identification.

[0028] Specifically, the workbench is further provided with a waste sample container and a waste liquid pool.

[0029] A working method of a system for quickly and automatically fixed-amount weighing samples, comprising the following steps:

[0030] 1) Manipulate the system to set the parameters for adding samples to the target sample bottles, and add different samples to the target sample bottles with different numbers;

[0031] 2) Solid sample weighing: the first robot controls the gripper to pick up the target sample bottle of the set solid sample, and places it from the target sample bottle placement slot to the container placement slot. The camera on the first robot identifies the container positioning seat number corresponding to the target sample bottle placement slot;

[0032] 3) The first robot controls the gripper to pick up a 10mg spoon body from the corresponding solid bottle to pour the solid sample into the target sample bottle. Then, according to the required sample quantity, replace the spoon body until the target weight of the solid sample is met. After the skin is removed on the electronic balance, the display meets the weight requirement. Then, the first robot controls the gripper to pick up the target sample bottle from the container placement slot and place it in 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 complete. After the rotating disc is rotated to the sampling area, the operator removes it, completing the solid sample sampling. The same solid sample is added in sequence;

[0033] 4) Before adding different solid samples or before the first robot places the sampling spoon in the sampling spoon placement slot, control the sampling spoon to move to the waste sample container. The air blowing nozzle blows air to the spoon body to blow the residue in the spoon body into the waste sample container;

[0034] 5) Liquid sample weighing: the second robot controls the gripper to pick up the target sample bottle of the set liquid sample, and places it from the target sample bottle placement slot to the container placement slot. The camera on the second robot identifies the container positioning seat number corresponding to the target sample bottle placement slot;

[0035] 6) The second robot controls the gripper to place 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 the liquid sample in the liquid bottle to be extracted into the target sample bottle until the target weight of the liquid sample is met. The electronic balance displays that the weight requirement is met. Then, the gripper of the second robot extracts the liquid outlet pipe and places it in the waste liquid pool. Then, the gripper places the liquid inlet pipe into the pure water pool. The peristaltic pump controls the liquid sample in the liquid outlet pipe to flow into the waste liquid pool for emptying;

[0036] 7) The second robot control gripper takes the target sample bottle from the container placement groove and places it into the original target sample bottle placement groove, the camera assists in positioning the container positioning seat, the indicator light on the completed container positioning seat is turned on, indicating that the sample filling is complete, reminding the operator to take it away after the rotating disc is rotated to the sampling area, completing the liquid sample sampling, and sequentially filling the same liquid sample;

[0037] 8) Before filling different liquid samples, the second robot control 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, the liquid sample enters the waste liquid pool, then the liquid sample fills the entire delivery pipeline, and the gripper places the liquid outlet pipe into the target sample bottle in the container placement groove.

[0038] The present application has the following beneficial effects:

[0039] The system and working method for realizing rapid automatic fixed-quantity sample weighing designed by the present application adopt double mechanical arms, and use the same electronic balance to realize automatic sample weighing of fixed samples and automatic sample weighing of liquid samples, so that the functions are comprehensive, the degree of automation is high, and the sample weighing efficiency is improved.

[0040] The system and working method for realizing rapid automatic fixed-quantity sample weighing designed by the present application adopt multiple measuring spoons in cooperation with an electronic balance for solid sample sampling, so that the sampling speed is faster and the sampling accuracy is higher, and adopt a peristaltic pump for liquid sample sampling, and an emptying device is arranged, so that the sampling accuracy is high. DETAILED DESCRIPTION

[0041] Figure 1 is a top view of the system for realizing rapid automatic fixed-quantity sample weighing.

[0042] Figure 2 is a top view of the container positioning seat.

[0043] Figure 3 is a sectional view of the limiting structure.

[0044] Figure 4 is a side view of the sampling spoon.

[0045] Figure 5 is a structural schematic view of the first robot.

[0046] Figure 6 is a structural schematic view of the gripper.

[0047] In the figure: 1-target sample mechanism, 101-container positioning seat, 102-rotating disc, 103-protruding clamping seat, 104-limiting clamping block, 105-limiting spring, 106-limiting groove, 107-pivot shaft, 108-target sample bottle placement groove;

[0048] 2-Solid sample storage, 201-Solid sample holder, 202-Solid bottle placement slot, 203-Sampling spoon placement rack, 204-Sampling spoon placement slot, 205-Spoon body, 206-Spoon handle, 207-Clamping rod;

[0049] 3-Liquid sample storage, 301-Liquid sample holder, 302-Liquid bottle placement tank, 303-Peristaltic pump, 304-Inlet pipe, 305-Outlet pipe, 306-Pure water tank;

[0050] 4-First robot, 401-Mechanical arm, 402-Robot base, 403-Gripper, 404-Gripper cylinder, 405-Rotary motor, 406-Mounting plate, 407-Camera, 408-Air nozzle;

[0051] 5-Second robot; 6-Weighing mechanism; 601-Electronic balance; 602-Weighing container base; 603-Container placement slot; 7-Waste sample container; 8-Waste liquid pool. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] like Figures 1-6 As shown, a system for rapid and automatic fixed-volume 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 slot 108. Several container positioning seats 101 are installed on the rotating disk 102, and the container positioning seats 101 are provided with target sample bottle placement slots 108. Target sample bottles are vertically placed in the target sample bottle placement slots 108 by means of the limiting structure. The target sample bottles are manually pre-placed into the target sample bottle placement slots 108, and the corresponding numbers of the container positioning seats 101 for placing the target sample bottles are preset on the operating system.

[0054] A rotating seat is installed at the bottom of the rotating disk 102. The outer ring of the bearing is connected to the rotating seat. The outer ring of the bearing is provided with a toothed ring. The toothed ring meshes with a gear. The gear is installed on the motor shaft of the motor. The motor is installed on the 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 support and assist the rotating disk 102 in rotating.

[0055] The inner ring of the bearing is mounted on a support frame, and a worktable is mounted in the middle of the support frame.

[0056] Four sets of annular protruding card seats 103 are installed on the upper part of the rotating disc 102, and the bottom of the container positioning seat 101 is provided with a clamping groove which is matched and installed on the protruding card seat 103, and the container positioning seat 101 is fixedly installed on the protruding card seat 103 through bolts.

[0057] The limiting structure includes a limiting clamp block 104, a limiting spring 105 and a limiting groove 106, four limiting grooves 106 are arranged in the target sample bottle placing groove 108, the lower part of the limiting clamp block 104 is rotationally connected in the limiting groove 106 through a pin shaft, the inner side of the upper part of the limiting clamp block 104 is connected with 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 clamp block 104 protrudes out of the limiting groove 106, and when the target sample bottle is placed in the target sample bottle placing groove 108, the four limiting clamp blocks 104 are pressed, so that the limiting spring 105 is compressed, and the reset elastic force of the limiting spring 105 supports the limiting clamp block 104 to position the target sample bottle.

[0058] The solid sample library 2 includes a solid sample seat 201, a solid bottle placing groove 202, a sampling spoon and a sampling spoon placing rack 203, the solid sample seat 201 is arranged in multiple groups on a workbench, the solid bottle placing groove 202 is arranged on the solid sample seat 201, the solid bottle placing groove 202 is arranged with a solid bottle, the solid bottle is arranged with a solid sample, and the sampling spoon placing rack 203 is arranged with multiple sampling spoon placing grooves 204 with different diameters, and the sampling spoon placing grooves 204 are arranged with sampling spoons.

[0059] 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, the clamping rod 207 is installed at the upper part of the spoon rod 206, the spoon body 205 is arranged 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 body 205 is arranged in the sampling spoon placing groove 204 with different diameters.

[0060] The first robot 4 is installed between the solid sample library 2 and the sampling spoon placing rack 203, the first robot 4 takes the sampling spoon to place the sample in the solid bottle into the target sample bottle.

[0061] The liquid sample library 3 includes a liquid sample seat 301 and a peristaltic pump 303, the liquid sample seat 301 is arranged in multiple groups on a workbench, the liquid bottle placing groove 302 is arranged on the liquid sample seat 301, the liquid bottle placing groove 302 is arranged with a liquid bottle, the liquid bottle is arranged with a liquid sample, and the peristaltic pump 303 pumps the liquid in the liquid bottle into the target sample bottle. One side of the liquid sample library 3 is provided with a pure water pool 306, and the pure water pool 306 is placed on the workbench.

[0062] The peristaltic pump 303 is provided with an inlet pipe 304 and an outlet pipe 305, the inlet pipe 304 is connected to a liquid bottle, and the outlet pipe 305 is connected to a target sample bottle placed on the electronic balance 601.

[0063] A second robot 5 is installed between the liquid sample seat 301 and the peristaltic pump 303.

[0064] The first robot 4 and the second robot 5 adopt similar structures (the first robot 4 is provided with a blowing nozzle 408 more than the second robot 5), the first robot 4 and the second robot 5 are both NB4 type robots, and the first robot 4 and the second robot 5 are both provided with a mechanical arm 401, a robot seat 402, a clamping jaw 403, a clamping cylinder 404, a rotary motor 405, a mounting plate 406, and a camera 407, the rotary motor 405 is installed on the upper part of the mounting plate 406, the motor shaft of the rotary motor 405 penetrates through the mounting plate 406 to connect the clamping cylinder 404, the rotary motor 405 controls the rotation of the clamping cylinder 404, the clamping cylinder 404 adopts a finger cylinder, two fingers of the clamping cylinder 404 are installed with the clamping jaw 403, the clamping jaw 403 adopts an arc structure, the mounting plate 406 is installed on the execution end of the mechanical arm 401, the camera 407 is installed on 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 mechanical arm 401 is installed on the robot seat 402, and the robot seat 402 is installed on the workbench.

[0065] A blowing nozzle 408 is installed on the fixed plate of the clamping cylinder 404 of the first robot 4, the gas outlet of the blowing nozzle 408 faces the spoon body 205, the blowing nozzle 408 is connected to the gas source pipeline of the clamping cylinder 404 through a gas conveying pipe, an electric control valve is installed on the gas conveying pipe of the blowing nozzle 408, and the electric control valve controls the operation of the blowing nozzle 408.

[0066] 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 placing groove 603 is arranged on the weighing container seat 602, the first robot 4 places the target sample bottle into the container placing groove 603, takes out the target sample bottle after weighing is completed, and then places the target sample bottle into the original target sample bottle placing groove 108, and the second robot 5 places the target sample bottle into the container placing groove 603, takes out the target sample bottle after weighing is completed, and then places the target sample bottle into the original target sample bottle placing groove 108.

[0067] The container positioning seat 101 is provided with an indicating lamp and a number, and the indicating lamp and the number are used for identification by the camera 407.

[0068] A waste sample container 7 and a waste liquid pool 8 are also placed on the workbench.

[0069] A working method of a system for realizing fast automatic fixed-amount weighing of samples includes the following steps:

[0070] 1. The system is used to set the parameters of adding sample in the target sample bottle, and different samples are added in the target sample bottles with different numbers.

[0071] 2. The solid sample is weighed 29 mg: the first robot 4 controls the clamp 403 to clamp the target sample bottle of the set solid sample, and places the target sample bottle from the target sample bottle placing groove 108 into the container placing groove 603. The camera 407 on the first robot 4 identifies the number of the container positioning seat 101 corresponding to the target sample bottle placing groove 108.

[0072] 3. The first robot 4 controls the clamp 403 to clamp the 10 mg spoon body to take the solid sample from the corresponding solid bottle and pour it into the target sample bottle. The 10 mg spoon body is used again for operation. Then the first robot 4 controls the clamp 403 to replace the 8 mg spoon body for sampling operation. Then the first robot 4 controls the clamp 403 to replace the 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, until the target weight of the solid sample is met. After the skin is removed on the electronic balance 601, the display meets the weight requirement. Then the first robot 4 controls the clamp 403 to clamp the target sample bottle from the container placing groove 603 and place it into the original target sample bottle placing groove 108. The camera 407 assists in positioning the position of the container positioning seat 101. The indicator light on the container positioning seat 101 after placement is on, indicating that the sample addition is complete, reminding the operator to take it away after the rotating disc 102 is rotated to the sampling area, completing the solid sample sampling. The same solid sample is added in sequence.

[0073] 4. Before adding different solid samples or before the first robot 4 places the sampling spoon into the sampling spoon placing groove 204, the sampling spoon is controlled to move into the waste sample container 7. The air blowing head 408 blows air to the spoon body 205 to blow the residues in the spoon body 205 into the waste sample container 7.

[0074] 5. Liquid sample weighing: the second robot 5 controls the clamp 403 to clamp the target sample bottle of the set liquid sample, and places the target sample bottle from the target sample bottle placing groove 108 into the container placing groove 603. The camera 407 on the second robot 5 identifies the number of the container positioning seat 101 corresponding to the target sample bottle placing groove 108.

[0075] 6. The second robot 5 controls the gripper 403 to place the inlet pipe 304 into the corresponding liquid bottle, and then the gripper 403 places the outlet pipe 305 into the target sample bottle in the container placement slot 603. The peristaltic pump 303 drives and controls the liquid sample in the liquid bottle to be drawn into the target sample bottle until the liquid sample meets the target weight. After the electronic balance 601 tare, it shows that the weight meets the requirements. Then the gripper 403 of the second robot 5 pulls out the outlet pipe 305 and places it into the waste liquid pool 8. Then the gripper 403 places the inlet pipe 304 into the pure water pool 306. The peristaltic pump 303 controls the liquid sample in the outlet pipe 305 to flow into the waste liquid pool 8 for emptying.

[0076] 7. The second robot 5 controls the gripper 403 to remove the target sample bottle from the container placement slot 603 and place it into the original target sample bottle placement slot 108. The camera 407 assists in positioning the container positioning seat 101. The indicator light on the container positioning seat 101 after placement lights up, indicating that the sample filling is complete. This reminds the operator to remove the sample after the rotary table 102 rotates to the sampling area, thus completing one liquid sample sampling. The same liquid sample is added in a cyclical manner.

[0077] 8. Before adding different liquid samples, the second robot 5 controls the gripper 403 to place the inlet pipe 304 into the corresponding liquid bottle. At this time, the outlet pipe 305 is still in the waste liquid pool 8. After 5 seconds, a liquid sample enters the waste liquid pool 8, and the liquid sample fills the entire delivery pipeline. The gripper 403 then places the outlet pipe 305 into the target sample bottle in the container placement slot 603.

[0078] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0079] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A system for implementing fast automatic fixed mass weighing of a sample, characterized by, The target sample mechanism, the solid sample library and the liquid sample library, the target sample mechanism is equipped with a container positioning seat and a rotating disc, a plurality of container positioning seats are installed on the rotating disc, a target sample bottle placing groove is arranged on the container positioning seat, and a target sample bottle is vertically placed in the target sample bottle placing groove through a limiting structure; The solid sample library includes a solid sample seat and a sampling spoon placing rack, the solid sample seat is installed on the workbench in multiple groups, the solid sample seat is provided with a solid bottle placing groove, the solid bottle placing groove is used for placing a solid bottle, the solid bottle is used for storing a solid sample, the sampling spoon placing rack is provided with a plurality of sampling spoon placing grooves with different diameters, the sampling spoon placing grooves are used for placing sampling spoons, a first robot is installed between the solid sample library and the sampling spoon placing rack, the first robot takes the sampling spoon to place the sample in the solid bottle into a target sample bottle, and the liquid sample library includes a liquid sample seat and a peristaltic pump. The liquid sample seat is installed on the workbench in multiple groups, the liquid sample seat is provided with a liquid bottle placing groove, the liquid bottle placing groove is used for placing a liquid bottle, the liquid bottle is used for storing a liquid sample, and the peristaltic pump is used for pumping 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.

2. The system for quickly and automatically taring a sample for dosing according to claim 1, wherein, The middle part of the workbench is provided with a weighing mechanism, the weighing mechanism includes an electronic balance and a weighing container seat, the weighing container seat is placed on the electronic balance, a container placing groove is arranged on the weighing container seat, the first robot places the target sample bottle into the container placing groove, and after weighing is completed, the target sample bottle is taken out and placed into the original target sample bottle placing groove. The bottom of the rotating disc is provided with a rotating seat, the outer ring of a bearing is connected to the rotating seat, the outer ring of the bearing is provided with a gear ring, the gear ring is engaged 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 disc to rotate, and at least four auxiliary rollers are arranged on the bottom of the rotating disc.

3. The system for achieving fast automatic fixed mass weighing of a sample according to claim 2, wherein, The inner ring of the bearing is installed on the support frame, and the middle part of the support frame is provided with a workbench.

4. The system for quickly and automatically taring a sample of claim 1, wherein, The upper part of the rotating disc is provided with four groups of annular protruding clamping seats, the bottom of the container positioning seat is provided with a clamping groove, the clamping groove is matched and installed on the protruding clamping seat, the container positioning seat is fixedly installed on the protruding clamping seat through bolts.

5. The system for quickly and automatically taring a sample of claim 1, wherein, The limiting structure includes a limiting clamp block, a limiting spring and a limiting groove, four limiting grooves are arranged in the target sample bottle placing groove, the lower part of the limiting clamp block is rotationally 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, 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 out of the limiting groove, and the limiting clamp block positions the target sample bottle.

6. The system for quickly and automatically taring a sample of claim 1, wherein, 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, the upper part of the spoon rod is provided with the clamping rod, the spoon body is provided with 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 placing grooves with different diameters. The peristaltic pump is provided with an inlet pipe and an outlet pipe, the inlet pipe is connected to the liquid bottle, and the outlet pipe is connected to the target sample bottle placed on the electronic balance. One side of the liquid sample library is provided with a pure water tank, and the pure water tank is placed on the workbench.

7. The system for quickly and automatically taring a sample of claim 1, wherein, The first robot and the second robot adopt similar structures, and the first robot and the second robot are each provided with a mechanical 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 portion of the mounting plate, the motor shaft of the rotary motor penetrates through the mounting plate to connect 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 provided with the gripper, the gripper adopts an arc structure, the mounting plate is mounted on the execution end of the mechanical arm, the lower portion of the mounting plate is provided with the camera, the lower portion of the mechanical arm is mounted on the robot base, and the robot base is mounted on a workbench; A blowing nozzle is mounted on the gripper cylinder fixing plate of the first robot, the gas outlet of the blowing nozzle faces the spoon body, the blowing nozzle is connected with the gas source pipeline of the gripper cylinder through a gas conveying pipe, an electric control valve is mounted on the gas conveying pipe of the blowing nozzle, and the electric control valve controls the operation of the blowing nozzle.

8. The system for quickly and automatically taring a sample of claim 1, wherein, The container positioning seat is provided with an indicating lamp and a number, and the indicating lamp and the number are used for camera identification.

9. The system for quickly and automatically taring a sample of claim 1, wherein, The workbench is further provided with a waste sample container and a waste liquid pool.

10. The method of claim 1-9, wherein the method further comprises: The method comprises the following steps: 1) The parameters of adding sample into the target sample bottle in the system are set, different numbers of target sample bottles are added with different samples; 2) solid sample weighing: the first robot controls the gripper to clamp the target sample bottle of the set solid sample, clamps the target sample bottle from the target sample bottle placing groove and places it into the container placing groove, the camera on the first robot identifies the number of the container positioning seat corresponding to the target sample bottle placing groove; 3) the first robot controls the gripper to clamp the 10mg spoon body to take the solid sample from the corresponding solid bottle and pour it into the target sample bottle, then the spoon body is replaced according to the required sample quantity until the target weight of the solid sample is met, the electronic balance shows the weight requirement after peeling, then the first robot controls the gripper to clamp the target sample bottle from the container placing groove and place it into the original target sample bottle placing groove, the camera assists in positioning the position of the container positioning seat, the indicating lamp on the completed container positioning seat is turned on, indicating that the sample adding is completed, prompting the operator to take it away after the rotating disc is rotated to the sampling area, completing the solid sample sampling, and sequentially adding the same solid sample; 4) before adding different solid samples or before the first robot places the sampling spoon into the sampling spoon placing groove, the sampling spoon is controlled to move into the waste sample container, the blowing nozzle blows air to the spoon body to blow the residues in the spoon body into the waste sample container; 5) liquid sample weighing: the second robot controls the gripper to clamp the target sample bottle of the set liquid sample, clamps the target sample bottle from the target sample bottle placing groove and places it into the container placing groove, the camera on the second robot identifies the number of the container positioning seat corresponding to the target sample bottle placing groove; 6) The second robot controls the clamping jaw to place the inlet tube into the corresponding liquid bottle, and then the clamping jaw places the outlet tube into the target sample bottle in the container placement groove. The peristaltic pump drives the liquid sample in the liquid bottle to be extracted into the target sample bottle until the target weight of the liquid sample is met. The electronic balance displays the weight requirement. Then the second robot's clamping jaw extracts the outlet tube and places it into the waste liquid pool. Then the clamping jaw places the inlet tube into the pure water pool. The peristaltic pump controls the liquid sample in the outlet tube to flow into the waste liquid pool for emptying; 7) The second robot controls the clamping jaw to clamp the target sample bottle from the container placement groove and place it into the original target sample bottle placement groove. The camera assists in positioning the position of the container positioning seat. The indicator light on the completed container positioning seat is turned on, indicating that the sample filling is complete. After the rotating disc is rotated to the sampling area, the operator removes it, and the liquid sample sampling is completed. The same liquid sample is filled in sequence; 8) Before filling different liquid samples, the second robot controls the clamping jaw to place the inlet tube into the corresponding liquid bottle. At this time, the outlet tube is still in the waste liquid pool. After 5 seconds, the liquid sample enters the waste liquid pool. Then the clamping jaw places the outlet tube into the target sample bottle in the container placement groove.

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