Sample grinding preparation integrated system and control method thereof

Abstract

The invention provides a sample grinding preparation integrated system and a control method thereof, and belongs to the technical field of grinding. The system comprises a grinding bottle, an opening and closing device arranged on a grinding bottle opening and closing station, a grinding platform arranged on a grinding station, a material mixing and dividing device arranged on a dividing station and a sub-packaging and sub-packaging device arranged on a sub-packaging and sub-packaging station. The cleaning device is arranged at the cleaning station; and the manipulator can grab or place articles on each station. According to the device, devices with corresponding functions are arranged on different stations, meanwhile, the switching operation of the different stations is completed in cooperation with the mechanical arm, the opening and closing device can be used for opening and closing the grinding bottle, and the grinding platform is used for grinding samples in the grinding bottle; before and after grinding, the sample can be subjected to division operation through the material mixing division device and the division bagging device, and the grinding bottle and the grinding rod are cleaned through the cleaning device, so that the full-process automatic operation of sample grinding is realized.

Description

Technical Field

[0001] This application relates to the technical field of grinding, and particularly relates to a sample grinding and preparation integrated system and a control method thereof. Background Art

[0002] In many fields such as manufacturing, mineral analysis, medicine, and chemical industry, the grinding of samples is a very common and important operation. At the same time, in the actual production process, after the grinding operation is completed, it is usually accompanied by operations such as the reduction and bagging of the ground samples, as well as the cleaning of the grinding bottles and pestles after grinding.

[0003] In the prior art, most of the operations such as grinding, reduction, bagging, and cleaning of the above samples require manual participation, and a system for fully automated operation cannot be formed, resulting in low production efficiency and difficulty in controlling product quality.

[0004] In view of this, it is necessary to provide a sample grinding and preparation integrated system and a control method thereof to solve the above problems. Summary of the Invention

[0005] In view of the technical problems existing in the background art, this application provides a sample grinding and preparation integrated system and a control method thereof, which can automatically perform operations such as grinding, reduction, bagging of samples, and cleaning of grinding pestles and bottles, realizing fully automated operation of the entire process of sample grinding.

[0006] In a first aspect, an embodiment of this application provides a sample grinding and preparation integrated system, including a grinding bottle, an opening and closing device arranged at the opening and closing station of the grinding bottle, a grinding platform arranged at the grinding station, a mixing and reduction device arranged at the reduction station, a reduction and bagging device arranged at the reduction and bagging station, a cleaning device arranged at the cleaning station, and a manipulator capable of grasping or placing items at each station.

[0007] In the technical solution of the embodiment of this application, by arranging devices with corresponding functions at different stations and cooperating with the manipulator to complete the switching operations of different stations, the opening and closing device can be used to open and close the grinding bottle, and the grinding platform can be used to grind the samples in the grinding bottle. Before grinding, the sample can be reduced by the mixing and reduction device, and after grinding, the sample can be reduced and bagged by the reduction and bagging device. The grinding bottle and pestle after grinding can be cleaned by the cleaning device, realizing automatic grinding, reduction, and bagging of the sample, and being able to clean the grinding bottle and pestle for repeated use.

[0008] In some embodiments, the grinding bottle includes a bottle body and a bottle cap; a receiving cavity for receiving a grinding rod and a sample is provided in the bottle body, and an installation groove is provided on the inner wall of the bottle body; the bottle cap includes a cap body, an installation rod, and a first telescopic mechanism connecting the cap body and the installation rod; the telescopic direction of the first telescopic mechanism is perpendicular to the cap body; when the installation rod is flush with the installation groove in the height direction, the end of the installation rod can be screwed into or out of the installation groove, and the first telescopic mechanism is used to apply an upward force to the installation rod.

[0009] In this embodiment, the bottle body and the bottle cap are engaged through the installation groove and the installation rod. After pressing the installation rod to make it flush with the installation groove, the end of the installation rod can be screwed into or out of the installation groove by rotating the installation rod, so as to realize the closing or opening of the grinding bottle. Based on the grinding bottle provided by the embodiments of the present application, the opening and closing of the grinding bottle can be realized only through two operations of pressing and rotating, which is not only simple and efficient, but also will not loosen due to simple rotation after closing, effectively avoiding the loosening and material leakage of the grinding bottle on the grinding platform when rotating after closing.

[0010] In some embodiments, the opening and closing device includes a bottle body clamping device and a bottle cap screwing device; the bottle body clamping device is used to fix the bottle body, and the bottle cap screwing device is used to drive the installation rod to perform downward pressing and rotating movements, so that the end of the installation rod is screwed into or out of the installation groove; the bottle cap screwing device includes a bottle cap clamping device, a rotating mechanism connected to the bottle cap clamping device, and a lifting mechanism connected to the rotating mechanism.

[0011] In this embodiment, by setting a bottle body clamping device to fix the bottle body and a bottle cap screwing device to screw the bottle cap, the lifting mechanism can be used to drive the rotating mechanism and the bottle cap clamping mechanism to lift as a whole, and the bottle cap clamping mechanism can clamp the bottle cap. Then, the rotating mechanism is used to drive the bottle cap clamping mechanism and the installation rod in the bottle cap to rotate, so that the end of the installation rod enters the installation groove, and the closing operation can be completed; when opening the bottle, the lifting mechanism is used to press down the installation rod, and then the rotating mechanism is used to drive the installation rod to rotate in the reverse direction, so that the end of the installation rod can be screwed out of the installation groove, and the opening operation is completed. The above closing operation and opening operation can be automated, and the operation process is simple and easy to control. After closing, the bottle body and the bottle cap can be reliably sealed.

[0012] In some embodiments, a groove is provided on the bottom sidewall of the bottle body of the grinding bottle, and the bottle body clamping device further includes a bottle body positioning mechanism; the bottle body positioning mechanism includes a positioning groove provided at the opening and closing station of the grinding bottle for accommodating the bottle body and a clamping component for engaging with the groove; a rotating mechanism is provided at the bottom of the positioning groove for driving the bottom surface of the positioning groove to rotate around the axis; the clamping component includes a telescopic part and a fixing part arranged in sequence along the radial direction of the bottle body, the telescopic part is located on the side close to the positioning groove, the telescopic part is slidably connected to a first sliding groove extending along the radial direction of the bottle body, and a positioning spring that expands and contracts along the radial direction of the bottle body is provided between the telescopic part and the fixing part; a convex block extending in the direction of the bottle body is provided on the side of the telescopic part close to the positioning groove for engaging with the groove.

[0013] In this embodiment, by moving the telescopic part along the radial direction of the bottle body, the convex block can enter or exit the groove on the sidewall of the bottle body, so as to position the circumferential rotation angle of the bottle body, effectively improving the stability of the clamping process.

[0014] In some embodiments, the grinding platform includes a driving rubber roller, a driven rubber roller and a bracket; the driving rubber roller is horizontally installed on the bracket in a rotatable manner; the driven rubber rollers are respectively horizontally arranged on both sides of the driving rubber roller; during grinding, the grinding bottle is placed between the driving rubber roller and the driven rubber roller, and by using the frictional forces between the grinding bottle and the driving rubber roller and the driven rubber roller respectively, the driving rubber roller rotates to drive the grinding bottle and the driven rubber roller to rotate synchronously, realizing grinding.

[0015] In this embodiment, the structure of the grinding platform is reasonably designed and streamlined. By using the cooperation between the driving rubber roller and the driven rubber roller and the action of frictional force, based on the rotation of the driving rubber roller, the synchronous linkage rotation between the driven rubber roller and the grinding bottle is driven, so as to grind the sample in the grinding bottle by rotation, significantly improving the grinding efficiency on the premise of reducing production costs.

[0016] In some embodiments, the mixing and dividing device includes a support frame, and a mixing unit and a dividing unit arranged on the support frame from top to bottom; the dividing unit includes a dividing chamber and a second rotation driving mechanism connected to the dividing chamber, the dividing chamber includes a material receiving cavity and m dividing cavities arranged below the material receiving cavity, the raw materials to be mixed enter the dividing unit after being mixed by the mixing unit, and evenly enter the m dividing cavities from the material receiving cavity to obtain m evenly divided materials. After discharging m - 1 evenly divided materials, the second rotation driving mechanism drives the dividing chamber to periodically flip, and discharges m - 1 evenly divided materials again, repeating the flipping and discharging steps until a divided material of 1 / m n is obtained.

[0017] In this embodiment, by setting up a mixing unit, the raw materials to be mixed are uniformly mixed to obtain a mixed material, which facilitates subsequent reduction division; by setting up a reduction division unit that periodically flips, multiple reduction divisions of the mixed sample can be achieved without completely discharging the mixed material; and during the periodic flipping process, the mixed material can be further mixed evenly through periodic rotation; at the same time, the reduction division unit occupies a relatively small space.

[0018] In some embodiments, the reduction division and bagging station includes a reduction division part and a bagging part. The bagging part includes a bag taking station, a bagging station, and a palletizing station arranged in sequence. The reduction division part is located above the bagging station; the reduction division and bagging device includes: a reduction division mechanism arranged at the reduction division part and a bagging mechanism arranged at the bagging part. The bagging mechanism includes a bag placing mechanism, a bag taking mechanism, and a conveying mechanism arranged at the bag taking station, a blanking mechanism arranged at the bagging station, a storage box pushing part, a storage box conveying part, and a storage box palletizing part arranged at the palletizing station;

[0019] Among them, the bag placing mechanism is used to hold sample bags; the bag taking mechanism is used to clamp a sample bag from the bag placing mechanism, place it at the bagging station, and seal the sample bag after bagging is completed; the conveying mechanism is used to convey the sample bag to the palletizing station; the storage box pushing part is used to push an empty storage box to the storage box conveying part; the storage box conveying part is used to convey the storage box to the storage box palletizing part for palletizing.

[0020] In this embodiment, by integrating and designing the reduction division part, the bag taking station, the bagging station, and the palletizing station, processes such as automatic reduction division, automatic bag taking, automatic bagging, automatic conveying, and automatic palletizing can be achieved, realizing fully automated bagging and palletizing operations of automatic sample bags. Compared with the prior art, the production efficiency is significantly improved, and the bagging quantity is controllable, effectively solving the problems of low automation degree, high manual labor intensity, and low production efficiency existing in the existing process using the manual bag opening and bagging method.

[0021] In some embodiments, the cleaning station includes a grinding bottle cleaning station, a grinding rod cleaning station, and a sample recovery station; the cleaning device includes: an ultrasonic cleaning mechanism or a vibration cleaning mechanism arranged at the grinding bottle cleaning station, a vibration cleaning table arranged at the grinding rod cleaning station, and a sample recovery mechanism arranged at the sample recovery station.

[0022] In this embodiment, by integrating and combining the grinding bottle cleaning structure and the grinding rod cleaning structure, the cleaning operations of the grinding bottle and the grinding rod can be carried out synchronously, with the advantages of high working efficiency and wide function integration degree, effectively overcoming the technical limitations in the prior art that the cleaning device can only perform single cleaning operations, or has a complex structure design and a cumbersome cleaning process.

[0023] In some embodiments, the vibration cleaning table includes a vibration table provided with an inclined vibration slideway and a sample debris receiving cylinder located below the vibration table; a sample debris transmission channel communicating with the sample debris receiving cylinder is arranged inside the vibration table.

[0024] In this embodiment, while achieving efficient cleaning of the grinding rod, it is also possible to achieve full and damage-free recovery of sample debris, effectively overcoming the problem of difficult sample recycling caused by using water medium for cleaning in conventional grinding rod cleaning devices in the prior art.

[0025] Second, an embodiment of the present application provides a control method for a sample grinding and preparation integrated system, including the following steps:

[0026] Controlling the mixing and quartering device to perform a quartering operation on the sample;

[0027] Putting a part of the sample and the grinding rod after the quartering operation into a grinding bottle, then placing the grinding bottle at the grinding bottle opening and closing station, and controlling the opening and closing device to perform a lid closing operation on the grinding bottle;

[0028] Placing the grinding bottle with the lid closed at the grinding station, and controlling the grinding platform to perform a grinding operation on the sample;

[0029] Placing the grinding bottle that has completed the grinding operation at the grinding bottle opening and closing station, and controlling the opening and closing device to perform an opening operation on the grinding bottle;

[0030] Separating the sample and the grinding rod from the opened grinding bottle, and controlling the cleaning device to clean the grinding bottle and the grinding rod; placing the separated sample at the quartering and bagging station, and controlling the quartering and bagging device to perform a quartering and bagging process on the sample.

[0031] In the technical solution of the embodiment of the present application, the opening and closing of the grinding bottle, the grinding, quartering, bagging of the sample, and the cleaning process of the grinding bottle and the grinding rod can all be automated by corresponding devices, and the transfer of items between stations can also be carried out by a manipulator, thereby realizing the full-process automated operation of sample grinding.

[0032] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically given below. Description of the Drawings

[0033] To more clearly illustrate the technical solution of this application, the accompanying drawings used in this application will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0034] Figure 1 It is a schematic structural diagram of the integrated system for sample grinding preparation in the embodiment of this application;

[0035] Figure 2 It is a schematic structural diagram of the grinding bottle in the embodiment of this application;

[0036] Figure 3 It is a schematic structural diagram of the bottle body in the embodiment of this application;

[0037] Figure 4 It is a schematic structural diagram of the bottle cap in the embodiment of this application;

[0038] Figure 5 It is a schematic structural diagram of the mounting rod in the embodiment of this application;

[0039] Figure 6 It is a schematic structural diagram of the opening and closing device in the embodiment of this application;

[0040] Figure 7 It is a schematic structural diagram of the bottle cap screwing device in the embodiment of this application;

[0041] Figure 8 It is a schematic structural diagram of the bottle cap clamping device in the embodiment of this application;

[0042] Figure 9 It is a schematic structural diagram of the lifting mechanism in the embodiment of this application;

[0043] Figure 10 It is a schematic structural diagram of the bottle body clamping device in the first perspective in the embodiment of this application;

[0044] Figure 11 It is a schematic main structural diagram of the bottle body clamping device in the second perspective in the embodiment of this application;

[0045] Figure 12 It is a schematic structural diagram of the bottle body positioning mechanism in the embodiment of this application;

[0046] Figure 13 It is a schematic structural diagram of the grinding platform in the embodiment of this application;

[0047] Figure 14 It is a schematic structural diagram when the grinding bottle is placed on the grinding platform for grinding in the embodiment of this application;

[0048] Figure 15It is a partial structural schematic diagram of the grinding platform in the embodiment of the present application;

[0049] Figure 16 It is a structural schematic diagram of the mixing and quartering device in the embodiment of the present application;

[0050] Figure 17 It is a structural schematic diagram of the mixing unit in the embodiment of the present application;

[0051] Figure 18 It is a structural schematic diagram of the quartering unit in the embodiment of the present application;

[0052] Figure 19 It is a perspective view of the quartering chamber in the embodiment of the present application;

[0053] Figure 20 It is a structural schematic diagram of the quartering chamber in the embodiment of the present application;

[0054] Figure 21 It is a structural schematic diagram of the bagging mechanism in the quartering and bagging device in the third perspective in the embodiment of the present application;

[0055] Figure 22 It is a structural schematic diagram of the bagging mechanism in the quartering and bagging device in the fourth perspective in the embodiment of the present application;

[0056] Figure 23 It is a structural schematic diagram of the quartering mechanism in the quartering and bagging device in the embodiment of the present application;

[0057] Figure 24 It is an overall structural schematic diagram of the cleaning device in the embodiment of the present application;

[0058] Figure 25 It is an internal structural schematic diagram of the cleaning device in the embodiment of the present application;

[0059] Figure 26 It is a structural schematic diagram of the vibrating cleaning table in the fifth perspective in the embodiment of the present application;

[0060] Figure 27 It is a structural schematic diagram of the vibrating cleaning table in the sixth perspective in the embodiment of the present application.

[0061] Explanation of reference numerals:

[0062] 1. Grinding bottle; 11. Bottle body; 111. Tank body; 1111. Mounting hole; 112. Limit projection; 113. Grinding rod; 12. Bottle cap; 121. Mounting rod; 1211. Mounting part; 1212. Sleeve; 1213. Mounting pin; 12131. Guide hole; 1214. Second spring; 1215. Guide pin; 122. Cover body; 123. Telescopic rod; 124. First spring;

[0063] 2. Opening and closing device; 21. Bottle cap clamping device; 211. Pressing plate; 212. Clamping plate; 2121. Avoidance part; 2122. Pressure sensor; 221. Rotating motor; 222. First fixing structure; 223. First connecting plate; 23. Lifting mechanism; 231. Telescopic cylinder; 232. Second connecting plate; 233. Second fixing structure; 234. Lifting guide rod; 235. Lifting guide slider; 236. Lifting limit rod; 24. Bottle body clamping device; 2411. First base; 2412. Second base; 2421. First bottle body clamping part; 2422. Second bottle body clamping part; 2431. Driving gear; 2432. First rack; 2433. Second rack; 2441. First connecting piece; 2442. Second connecting piece; 2451. First guide rod; 2452. First guide slider; 2453. First mounting seat; 2461. Second guide rod; 2462. Second guide slider; 2463. Second mounting seat; 247. Bottle body positioning mechanism; 2471. Positioning groove; 2472. Limiting block; 2473. Telescopic part; 24731. Convex block; 24732. Fixed column; 2474. Fixed part; 2475. First chute; 2476. Positioning spring; 2477. Second chute; 2478. Positioning slider; 2479. Moving bracket; 25. Opening and closing workbench;

[0064] 3. Grinding platform; 31. Bracket; 32. Driven rubber roller; 321. Rubber roller mounting frame; 33. Even roller; 331. Even roller drive belt; 34. Odd roller; 341. Odd roller drive belt; 35. Baffle; 351. Baffle mounting part; 352. In-position sensor;

[0065] 4. Mixing and quartering device; 41. Support frame; 42. Mixing unit; 421. Mixing chamber; 4211. Feeding cavity; 4212. Mixing cavity; 422. First rotary drive mechanism; 4221. First rotating shaft; 4222. First drive motor; 4223. First driving gear; 4224. First driven gear; 423. First solenoid valve; 424. Rotary valve; 43. Quartering unit; 431. Receiving cavity; 432. Quartering cavity; 433. Second rotary drive mechanism; 4331. Second rotating shaft; 4332. Second drive motor; 4333. Second driving gear; 4334. Second driven gear; 434. Guide channel; 4341. Guide plate; 4342. Guide groove; 4343. Partition plate; 435. Second solenoid valve; 44. Delivery channel; 45. Connecting rod; 46. Collection unit; 461. Collection bag; 462. Transport bin; 47. First limiting block; 48. Second limiting block;

[0066] 5. Bagging and dividing device; 51. Bag-taking station; 511. Bag placing box; 512. Pressing rod; 513. Mechanical clamp; 514. Suction cup; 515. Guide rail; 516. Conveying mechanism; 52. Bagging station; 521. Feeding mechanism; 53. Palletizing station; 531. Storage box pushing part; 5311. Pushing mechanism; 5312. Storage mechanism; 5313. Pushing port; 532. Storage box conveying part; 533. Storage box palletizing part; 5331. Conveying ramp; 5332. Palletizing mechanism; 54. Dividing mechanism; 541. Feed hopper; 542. First dividing structure; 543. Second dividing structure; 544. Third dividing structure;

[0067] 6. Cleaning device; 61. Grinding bottle cleaning station; 611. Cleaning unit; 612. Brush mechanism; 613. Sample debris temporary storage box; 62. Grinding rod cleaning station; 621. Feeding unit; 622. Vibration cleaning table; 62211. Upper section vibration slideway; 62212. Middle section vibration friction slideway; 62213. Lower section vibration air knife slideway; 6222. Hollow structure; 6223. First sample debris transmission channel; 6224. Second sample debris transmission channel; 6225. Third sample debris transmission channel; 62251. Head end of the third sample debris transmission channel; 62252. Tail end of the third sample debris transmission channel; 6226. Sample debris containing cylinder; 6227. Drum; 6228. Grinding rod guiding channel; 623. Grinding rod recycling unit; 6231. Buffer part; 6232. Opening and closing baffle; 6233. Rotary table; 63. Sample recycling mechanism; 64. Cleaning control unit; 65. Installation cabinet; 66. Dust extraction pipe;

[0068] 7. Manipulator;

[0069] 81. Oven; 82. Weighing device; 83. Crushing device; 84. Locker;

[0070] 91. Integrated control cabinet; 92. Manipulator control cabinet; 93. Industrial control computer. Detailed implementation manners

[0071] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0072] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion.

[0073] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is more than two, unless otherwise specifically defined.

[0074] Referring to "embodiment" herein means that the specific features, structures or characteristics described in connection with the embodiment may be included in at least one embodiment of the present application. The phrase appearing at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0075] In the description of the embodiments of the present application, the term "a plurality of" means more than two (including two). Similarly, "a plurality of groups" means more than two groups (including two groups), and "a plurality of sheets" means more than two sheets (including two sheets).

[0076] In the description of the embodiments of the present application, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the embodiments of the present application.

[0077] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may also be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0078] To achieve fully automated operation of the entire process of sample grinding, the present application provides a sample grinding and preparation integrated system and its control method. By respectively arranging automated operation devices with corresponding functions at different workstations and cooperating with a manipulator to complete the switching operation between different workstations, the sample grinding and preparation integrated system can automatically perform processes such as sample grinding, sample reduction, bagging, and cleaning of grinding rods and grinding bottles, effectively improving production efficiency, and the quality of the ground products is more stable and controllable.

[0079] Please refer to Figure 1 , in the first aspect, an embodiment of the present application provides a sample grinding and preparation integrated system, including a grinding bottle 1, an opening and closing device 2 arranged at the grinding bottle opening and closing workstation, a grinding platform 3 arranged at the grinding workstation, a mixing and sample reduction device 4 arranged at the sample reduction workstation, a sample reduction and bagging device 5 arranged at the sample reduction and bagging workstation, a cleaning device 6 arranged at the cleaning workstation, and a manipulator 7 capable of grasping or placing items at each workstation.

[0080] Among them, the specific structure of the manipulator 7 can be selected from existing manipulator products according to needs, as long as it can perform operations such as grasping and placing corresponding items at each workstation according to instructions. The present application does not limit this. In addition, when the manipulator 7 fails, the corresponding operation can also be replaced by manual labor to ensure the normal operation of the system. To facilitate the manipulator 7 to pick up and place items at each workstation, the number of manipulators 7 can be set to one, two, or more according to needs. Preferably, the manipulator 7 is arranged in the middle, and each workstation is evenly arranged around the manipulator 7.

[0081] In order to more effectively control the integrated system for sample grinding preparation, a corresponding control mechanism can also be set up. For example, in an embodiment of the present application, an integrated control cabinet 91, a manipulator control cabinet 92, and an industrial control computer 93 are set up. Among them, the industrial control computer 93 is electrically connected or communicatively connected to the integrated control cabinet 91 and the manipulator control cabinet 92 respectively. The integrated control cabinet 91 is electrically connected or communicatively connected to the automation devices at each station respectively. The manipulator control cabinet 92 is electrically connected or communicatively connected to the manipulator 7, so as to realize the transmission of corresponding data and the reception of instructions. The specific structure and connection method of the corresponding control mechanism can also be adjusted according to actual needs, as long as it can realize the control of the manipulator 7 and the corresponding devices at other stations. The present application is not limited thereto. In addition, corresponding devices can also be supplemented according to other needs during the grinding process. For example, in some embodiments of the present application, since the sample needs to be dried, weighed, crushed, etc. before grinding, the integrated system for sample grinding preparation provided in this embodiment further includes an oven 81, a weighing device 82, and a crushing device 83. Their specific structures and placement positions can be selected according to actual needs, as long as they can be used for drying, weighing, and crushing the sample, and are convenient for the manipulator 7 to pick up and place. The present application is not limited thereto. In order to facilitate the picking up and placing of items, a storage cabinet 84 can also be set up to store grinding bottles 1, samples, grinding rods 113, etc. The specific structure of the storage cabinet 84 can be set according to needs. The present application is not limited thereto.

[0082] Further, in the embodiment of the present application, as Figure 2 shown, the grinding bottle 1 includes a bottle body 11 and a bottle cap 12; the bottle body 11 has a receiving cavity for accommodating the grinding rod 113 and the sample, and an installation groove is provided on the inner wall of the bottle body 11; the bottle cap 12 includes a cap body 122, an installation rod 121, and a first telescopic mechanism connecting the cap body 122 and the installation rod 121; the telescopic direction of the first telescopic mechanism is perpendicular to the cap body 122; when the installation rod 121 is flush with the installation groove in the height direction, the end of the installation rod 121 can be screwed into or out of the installation groove, and the first telescopic mechanism is used to apply an upward force to the installation rod 121. With such a setting, the connection method between the bottle body 11 and the bottle cap 12 in the grinding bottle 1 is not a conventional threaded connection, but the bottle body 11 and the bottle cap 12 are snap-connected at a specific position through the installation groove and the installation rod 121. After pressing the installation rod 121 to make it flush with the installation groove, the end of the installation rod 121 can be rotated to be screwed into or out of the installation groove to realize the closing or opening of the grinding bottle 1. In this way, not only can the tightening degree be accurately controlled to simply and efficiently realize opening and closing, but also the loosening and leakage of materials of the grinding bottle 1 after closing can be avoided when it rotates on the grinding platform 3.

[0083] Further, in the embodiment of the present application, as Figure 3As shown in the figure, the inner wall of the accommodating cavity of the bottle body 11 protrudes outward to form a limiting protrusion 112 for carrying the bottle cap 12. The cap body 122 of the bottle cap 12 can be directly placed on the limiting protrusion 112. The installation groove provided on the inner wall of the bottle body 11 is located above the limiting protrusion 112, and its height is determined according to the position of the installation rod 121 above the cap body 122, so that the installation rod 121 can be aligned with the installation groove in the vertical direction after being pressed. Among them, the number of installation grooves is preferably two, and the two installation grooves are symmetrically arranged with respect to the center of the bottle body 11. Each installation groove includes a groove body 111 and an installation hole 1111. The groove body 111 extends along the circumferential direction of the bottle body 11 and its depth gradually increases. The installation hole 1111 is provided on the side where the depth of the groove body 111 is the largest. With such a setting, the direction in which the depth of the groove body 111 gradually increases is the direction of closing the cap, and vice versa is the direction of opening the cap. When the end of the installation rod 121 enters the groove body 111 and rotates along the direction of closing the cap, the end of the installation rod 121 gradually extends and completely extends out at the installation hole 1111, so that the installation rod 121 is engaged with the installation groove to complete the operation of closing the cap. More preferably, when the end of the installation rod 121 completely extends out, its end is still located within the installation hole 1111 and does not extend outside the bottle body 11, that is: when the end of the installation rod 121 is located within the installation hole 1111, the overall length of the installation rod 121 is neither less than the overall length corresponding to the position where its end is at the maximum depth of the groove body 111 nor greater than the diameter of the outer wall of the bottle body 11. In this way, it is convenient to screw the installation rod 121 out of the installation groove and does not affect the rotation of the grinding bottle 1 on the grinding platform 3.

[0084] Further, in the embodiment of the present application, as Figure 4 shown, the first telescopic mechanism includes a first spring 124 connecting the installation rod 121 and the cap body 122 and a telescopic rod 123 provided in the middle of the top surface of the cap body 122; wherein, the telescopic directions of the first spring 124 and the telescopic rod 123 are both perpendicular to the top surface of the cap body 122. The installation portion 1211 in the middle of the installation rod 121 is connected to the telescopic end of the telescopic rod 123. The first spring 124 is sleeved outside the telescopic rod 123, and both ends of the first spring 124 are connected to the bottom surface of the installation portion 1211 and the top surface of the cap body 122 respectively. When the end of the installation rod 121 is engaged with the installation groove, the first spring 124 is in a compressed state, which is used to apply an upward force to the installation rod 121 to push the installation rod 21 upward as much as possible to improve the sealing degree of closing the cap.

[0085] Specifically, in order to further improve the firmness after the lid is closed while ensuring convenient opening and closing, in some embodiments of the present application, the mounting hole 1111 includes a communicating portion that communicates with the groove body 111 along the circumferential direction of the bottle body 11 and a top portion provided at the top of the communicating portion. The top portion is not in communication with the groove body 111 in the circumferential direction of the bottle body 11. With such a setting, by using the bottle cap screwing device to press down the mounting rod 121, the end portion of the mounting rod 121 is located in the groove body 111, and then it is rotated along the lid-closing direction into the communicating portion of the mounting hole 1111. After removing the bottle cap screwing device, the first spring 124 can be used to push the mounting rod 121 upward, so that the end portion of the mounting rod 121 enters the top portion of the mounting hole 1111. Since the top portion is not in communication with the groove body 111 in the circumferential direction of the bottle body 11, the mounting rod 121 cannot be separated from the mounting groove only by rotation, thereby realizing the firm clamping of the bottle body 11 and the bottle cap 12. When opening the lid, only need to use the bottle cap screwing device to press down the mounting rod 121, so that its end portion moves down from the top portion of the mounting hole 1111 to the communicating portion, and then rotate along the lid-opening direction, the end portion of the mounting rod 121 can be gradually separated from the mounting groove, and the bottle body 11 and the bottle cap 12 are loosened to complete the lid-opening operation.

[0086] Further, please refer to Figure 4 、 Figure 5, in some embodiments of the present application, the mounting rod 121 includes a mounting portion 1211, a sleeve 1212, and a mounting pin 1213. The mounting portion 1211 is connected to the telescopic end of the telescopic rod 123. The sleeves 1212 are symmetrically arranged on both sides of the mounting portion 1211. The mounting pins 1213 are arranged at one end of the sleeves 1212 far from the mounting portion 1211. A second spring 1214 is arranged between the sleeves 1212 and the mounting pins 1213 for enabling the mounting pins 1213 to axially expand and contract along the sleeves 1212. A guide pin 1215 is arranged radially in the sleeves 1212. A guide hole 12131 is axially arranged in the mounting pins 1213 along the sleeves 1212. The guide pin 1215 is located in the guide hole 12131. With such an arrangement, the mounting pins 1213 can expand and contract relative to the sleeves 1212 to adapt to different depths in the mounting grooves. When the end of the mounting pin 1213 abuts against the inner wall of the bottle body 11, the second spring 1214 is in a compressed state, continuously applying an outward force to the mounting pin 1213 to urge it to axially extend outward along the sleeves 1212. As the mounting pin 1213 rotates in the mounting groove in the direction of closing the lid, the second spring 1214 gradually elongates, driving the mounting pin 1213 to gradually extend outward. When the mounting pin 1213 rotates into the mounting hole 1111, the second spring 1214 elongates to its natural length, and at this time, the overall length of the mounting rod 121 is the longest. If the lid needs to be opened, rotate the mounting rod 121 in the direction of opening the lid, and the inner wall of the groove body 111 can be used to push the mounting pin 1213 to contract inward along the direction of the guide hole 12131, thereby compressing the second spring 1214. When the mounting rod 121 is screwed out of the mounting groove, the overall length of the mounting rod 121 is the shortest, and at this time, the overall length of the mounting rod 121 is the diameter of the inner wall of the bottle body 11.

[0087] Further, in some embodiments of the present application, since the overall length of the mounting rod 121 in the natural state is greater than the inner diameter of the bottle body 11, in order to conveniently place the cover body 122 on the limiting protrusion 112 again after removing the bottle cap 12 and enable the mounting rod 121 to enter the bottle body 11, it is preferably to set the side of the end of the mounting pin 1213 away from the sleeve 1212 facing the cover body 122 as an inclined surface. With such a setting, when placing the bottle cap 12, after the inclined surface of the mounting pin 1213 contacts the inner wall edge of the bottle body 11, it will contract inward and squeeze the second spring 1214, so that the overall length of the mounting pin 1213 is shortened and it enters the bottle body 11, ensuring that the bottle cap 12 can be normally placed on the limiting protrusion 112. On this basis, automatic capping can be achieved by rotational engagement. Moreover, based on the setting of this inclined surface, the overall length of the mounting rod 121 corresponding to the second spring 1214 in the natural length can be greater than the inner diameter of the bottle body 11 corresponding to the deepest part of the groove body 111, so that when the mounting pin 1213 is located in the mounting hole 1111, the overall length of the mounting rod 121 is greater than the overall length corresponding to when the mounting pin 1213 is exactly located at the deepest part of the groove body 111. When the mounting rod 121 is rotated in the capping direction, it can be further elongated when the mounting pin 1213 is screwed into the mounting hole 1111. At this time, regardless of whether the mounting hole 1111 is provided with a top portion that is not circumferentially connected to the groove body 111, the mounting pin 1213 cannot be directly unscrewed from the mounting hole 1111 by reverse rotation, effectively improving the clamping fastness between the bottle body 11 and the bottle cap 12 in the capped state. When it is necessary to open the cap, after clamping the mounting rod 121, by further pressing down on the mounting rod 121, an upward force can be applied to the inclined surface of the mounting pin 1213 by the bottom surface of the mounting hole 1111, thereby pushing the mounting pin 1213 to squeeze the second spring 1214 inward, shortening the overall length of the mounting rod 121. When the overall length of the mounting rod 121 is shortened to the inner diameter of the bottle body 11 corresponding to the deepest part of the groove body 111, then rotate the mounting rod 121 in the uncapping direction, and the mounting rod 121 can be unscrewed from the mounting hole 1111 to complete the uncapping operation.

[0088] Further, please refer to Figure 6 、 Figure 7, in some embodiments of the present application, the opening and closing device 2 includes a bottle body clamping device 24 and a bottle cap screwing device; the bottle body clamping device 24 is used to fix the bottle body 11, and the bottle cap screwing device is used to drive the mounting rod 121 to perform downward pressing and rotating movements so that the end of the mounting rod 121 is screwed into or out of the mounting groove; the bottle cap screwing device includes a bottle cap clamping device 21, a rotating mechanism connected to the bottle cap clamping device 21, and a lifting mechanism 23 connected to the rotating mechanism. Among them, the opening and closing device 2 is arranged on the opening and closing workbench 25, and a number of grinding bottle opening and closing stations are arranged on the opening and closing workbench 25, and each station corresponds to a set of opening and closing devices 2. The number of corresponding stations and opening and closing devices 2 can be set according to actual needs. Specifically, the bottle body clamping device 24 is arranged on the tabletop of the opening and closing workbench 25 and includes two bottle body clamping parts located on both sides of the grinding bottle opening and closing station. The placement space formed between the two bottle body clamping parts for accommodating the grinding bottle 1 is the grinding bottle opening and closing station. The bottle cap screwing device is vertically arranged on one side of the bottle body clamping device 24. Among them, the bottle cap clamping device 21 is located directly above the grinding bottle opening and closing station, and the lifting mechanism 23 and the rotating mechanism are respectively used to drive the bottle cap clamping device 21 to perform lifting and rotation. With such an arrangement, when the grinding bottle 1 is placed on the grinding bottle opening and closing station, the grinding bottle 1 can be clamped by the bottle body clamping parts, and the lifting mechanism 23 is used to drive the bottle cap clamping device 21 to descend to the position where the bottle cap 12 is located. Through the cooperation of the lifting mechanism 23 and the rotating mechanism, the mounting rod 121 in the bottle cap 12 can be clamped and driven to rotate so that the end of the mounting rod 121 is disengaged from or enters the mounting groove, realizing automatic opening and closing of the bottle cap.

[0089] Furthermore, as Figure 8As shown, in some embodiments of the present application, the bottle cap clamping device 21 includes a pressing plate 211 connected to the rotating mechanism and two clamping plates 212 spaced apart at the bottom of the pressing plate 211. A receiving space for receiving the mounting rod 121 is formed by surrounding between the two clamping plates 212 and the pressing plate 211. When the two clamping plates 212 are respectively abutted against both sides of the mounting rod 121, the clamping of the mounting rod 121 is completed. Preferably, a pressure sensor 2122 is provided on the inner wall of the clamping plate 212 to detect whether the clamping plate 212 is abutted against the mounting rod 121. Among them, the shape of the clamping plate 212 can be determined according to the shape of the mounting rod 121. In some embodiments of the present application, since a mounting portion 1211 is provided in the middle of the mounting rod 121 and sleeves 1212 are provided on both sides of the mounting portion 1211, and the clamping plate 212 is mainly used to clamp the sleeves 1212 in the mounting rod 121 and then drive the mounting rod 121 to rotate. Therefore, an avoidance portion 2121 for avoiding the mounting portion 1211 is provided at a position corresponding to the mounting portion 1211 in the middle of the clamping plate 212. The shape of the avoidance portion 2121 can be exactly the same as that of the mounting portion 1211 or can be adjusted as needed, as long as the cavity formed between the avoidance portions 2121 of the two clamping plates 212 can completely accommodate the mounting portion 1211. The pressure sensor 2122 can also be provided in the avoidance portion 2121, as long as the mounting portion 1211 can squeeze the pressure sensor 2122 in the clamping state. The positions of both sides of the clamping plate 212 corresponding to the sleeves 1212 of the mounting rod 121 are the sleeve clamping portions. In the clamping state, the sleeve clamping portions of the two clamping plates 212 are respectively located on both sides of the sleeve 1212. When the two clamping plates 212 rotate driven by the rotating mechanism, the sleeve clamping portion can be abutted against the sleeve 1212 and drive the sleeve 1212 to rotate around the central axis of the bottle body 11.

[0090] In addition, in the embodiments of the present application, the two clamping plates 212 only need to be located on both sides of the mounting rod 121 and be able to drive the mounting rod 121 to rotate. After the opening operation, the manipulator 7 can be used to take out the bottle cap 12 so as to load the sample and the grinding rod 113 into the bottle body 11. If it is necessary to clamp the bottle cap 12 with the clamping plate 212 and drive it to rise after opening, a driving mechanism can be additionally provided to control the two clamping plates 212 to approach or separate from each other according to needs. The present application is not limited thereto.

[0091] Further, as Figure 7As shown, in some embodiments of the present application, the rotation mechanism includes a rotation motor 221 connected to the bottle cap clamping device 21, a first fixing structure 222 for fixing the rotation motor 221, and a first connecting plate 223 for connecting the first fixing structure 222 and the lifting mechanism 23. Among them, the output shaft of the rotation motor 221 is connected to the pressing plate 211 of the bottle cap clamping device 21, and this output shaft is on the same straight line as the central axis of the bottle body 11, and is used to make the bottle cap clamping device 21 drive the mounting rod 121 to rotate around the central axis of the bottle body 11. Moreover, the output shaft of this rotation motor 221 can rotate forward and backward to complete the operations of opening and closing the bottle cap.

[0092] Furthermore, please refer to Figure 7 、 Figure 9 In some embodiments of the present application, the lifting mechanism 23 includes a second fixing structure 233 arranged on the opening and closing workbench 25, a telescopic cylinder 231 arranged on the second fixing structure 233 and telescoping in the vertical direction, and a second connecting plate 232 for connecting the telescopic end of the telescopic cylinder 231 and the first connecting plate 223. In this way, the rotation mechanism and the bottle cap clamping device 21 can be driven to lift through the telescopic movement of the telescopic cylinder 231. More preferably, in order to ensure the stability of the lifting process, a lifting guide rod 234 is also arranged on the second fixing structure 233. The axial direction of this lifting guide rod 234 is the same as the telescopic direction of the telescopic cylinder 231. A lifting guide slider 235 is arranged on the lifting guide rod 234, and the lifting guide slider 235 is connected to the first connecting plate 223. With this setting, when the telescopic cylinder 231 drives the first connecting plate 223 to move, it can ensure that it moves along the axial direction of the lifting guide rod 234. Among them, the number of the lifting guide rods 234 can be set as required, preferably two, and the two lifting guide rods 234 are symmetrically arranged on both sides of the telescopic cylinder 231, further improving the stability of the lifting process. More preferably, a lifting limit rod 236 is also arranged at the lower part of the second fixing structure 233, and the lifting limit rod 236 is located below the second connecting plate 232; when the second connecting plate 232 descends to abut against the top of the lifting limit rod 236, the second connecting plate 232 no longer continues to descend, and at this time the bottle cap clamping device 21 reaches the preset working height. With this setting, it is convenient to accurately control the descending position of the bottle cap clamping device 21 to effectively clamp the bottle cap 12.

[0093] Furthermore, please refer to Figure 10 、 Figure 11, in some embodiments of the present application, the bottle clamping device 24 includes a bottle clamping structure, a driving mechanism, a support structure, and a bottle positioning structure 247. Among them, the bottle clamping structure includes a first base 2411 and a second base 2412 respectively arranged on both sides of the grinding bottle opening and closing station. A first bottle clamping portion 2421 is arranged in the middle of the first base 2411, and a second bottle clamping portion 2422 is arranged in the middle of the second base 2412. With such an arrangement, by driving and supporting the first base 2411 and the second base 2412, the first bottle clamping portion 2421 and the second bottle clamping portion 2422 can be driven to stably translate, so as to clamp the bottle 11. Preferably, the opposite side walls of the first bottle clamping portion 2421 and the second bottle clamping portion 2422 are arranged as a profiling structure matching the outer wall shape of the bottle 11, so as to effectively clamp the bottle 11.

[0094] More specifically, in some embodiments of the present application, the driving mechanism includes a driving gear 2431 and a first rack 2432 and a second rack 2433 meshing with the driving gear 2431. Among them, the driving gear 2431 is driven by a motor that can rotate forward and backward. The first rack 2432 is arranged on the upper part of the driving gear 2431 and is connected to the first base 2411. The second rack 2433 is arranged on the lower part of the driving gear 2431 and is connected to the second base 2412. With such an arrangement, when the driving gear 2431 rotates, it can drive the first rack 2432 and the second rack 2433 to move in opposite directions, and then make the first bottle clamping portion 2421 on the first base 2411 and the second bottle clamping portion 2422 on the second base 2412 approach or move away from each other, so as to clamp or release the bottle 11. Further, in some embodiments of the present application, since the first base 2411 and the second base 2412 are at the same height, while the first rack 2432 and the second rack 2433 are at different heights, in order to improve the connection stability, a first connecting member 2441 is provided to connect the first rack 2432 and the first base 2411, and a second connecting member 2442 is provided to connect the second rack 2433 and the second base 2412.

[0095] In some embodiments of the present application, the support structure includes a first support mechanism disposed on one side close to the driving mechanism and a second support mechanism disposed on the side away from the driving mechanism. Among them, the first support mechanism includes a first guide rod 2451, a first guide slider 2452 disposed on the first guide rod 2451, and a first mounting seat 2453 for fixing the first guide rod 2451. Preferably, two first mounting seats 2453 are provided, symmetrically disposed at both ends of the first guide rod 2451 respectively, for supporting the first guide rod 2451; preferably, two first guide sliders 2452 are also provided, respectively connected to the first base 2411 and the second base 2412; the axial direction of the first guide rod 2451 is parallel to the moving directions of the first rack 2432 and the second rack 2433. Similarly, the second support mechanism includes a second guide rod 2461, a second guide slider 2462 disposed on the second guide rod 2461, and a second mounting seat 2463 for fixing the second guide rod 2461. Preferably, two second mounting seats 2463 are provided, symmetrically disposed at both ends of the second guide rod 2461 respectively, for supporting the second guide rod 2461; preferably, two second guide sliders 2462 are also provided, respectively connected to the first base 2411 and the second base 2412; the axial direction of the second guide rod 2461 is parallel to the moving directions of the first rack 2432 and the second rack 2433. With such a setting, when the first rack 2432 and the second rack 2433 drive the first base 2411 and the second base 2412 to translate respectively, the end of the first base 2411 and the second base 2412 close to the driving mechanism will translate along the first guide rod 2451 under the action of the first guide slider 2452, and the end of the first base 2411 and the second base 2412 away from the driving mechanism will translate along the second guide rod 2461 under the action of the second guide slider 2462, so as to ensure that the first base 2411 and the second base 2412 approach or move away from each other stably as a whole, thereby improving the clamping effect on the bottle body 11.

[0096] Further, please refer to Figure 12, in some embodiments of the present application, a groove is provided on the side wall at the bottom of the bottle body 11. The bottle body positioning mechanism 247 includes a positioning groove 2471 provided at the grinding bottle opening and closing station for accommodating the bottle body 11 and a clamping component for clamping with the groove. Among them, the size of the positioning groove 2471 is consistent with the size of the bottom of the bottle body 11 so as to place the bottle body 11 in the positioning groove 2471; a rotating mechanism for driving the bottom surface of the positioning groove 2471 to rotate around the axis is provided at the bottom of the positioning groove 2471. The clamping component is provided outside the positioning groove 2471 and includes a telescopic part 2473 and a fixing part 2474 arranged along the radial direction of the bottle body 11. The telescopic part 2473 is arranged on the side close to the positioning groove 2471. The telescopic part 2473 is slidably connected with a first chute 2475 extending along the radial direction of the bottle body 11. A positioning spring 2476 that expands and contracts along the radial direction of the bottle body 11 is provided between the telescopic part 2473 and the fixing part 2474. A convex block 24731 extending towards the direction where the bottle body 11 is located is provided on the side of the telescopic part 2473 close to the positioning groove 2471 for clamping with the groove on the side wall of the bottle body 11. More specifically, when the positioning spring 2476 is in a natural elongation state, the convex block 24731 can be clamped with the groove of the bottle body 11; when the telescopic part 2473 moves in the direction close to the fixing part 2474 so that the convex block 24731 is located outside the radial direction of the positioning groove 2471, the positioning spring 2476 is in a compressed state.

[0097] In the above manner, when the bottle body 11 needs to be placed, the telescopic part 2473 is moved towards the fixed part 2474 by an external force, so that the convex block 24731 is located outside the radial direction of the positioning groove 2471, and then the bottle body 11 can be stably placed into the positioning groove 2471. Then, the external force compressing the telescopic part 2473 is removed, and the positioning spring 2476 in the compressed state can continuously apply a force towards the bottle body 11 to the telescopic part 2473. By rotating the bottle body 11, when it just rotates to the position where the groove is opposite to the convex block 24731, the convex block 24731 enters the groove under the action of the positioning spring 2476 and engages with the groove, thereby realizing the fixation of the bottle body 11. Among them, the rotation of the bottle body 11 can be manually rotated by a human or a manipulator, and more preferably, the bottle body 11 is driven to rotate by a rotating mechanism arranged at the bottom of the positioning groove 2471. With such a setting, the grinding bottle is placed in the positioning groove 2471, and the rotating mechanism can drive the grinding bottle to rotate automatically. When the groove at the bottom of the bottle body of the grinding bottle just rotates to the position corresponding to the convex block 24731, the convex block 24731 can be engaged with the groove, thereby positioning the direction of the bottle body 11 while fixing it. On this basis, the bottle body clamping device 24 provided in this application can also be used in cooperation with the bottle cap screwing device. Through the direction positioning of the bottle body 11, the corresponding structure on the bottle cap 12 can always be kept in the same position, so that the bottle cap screwing device can accurately position the bottle cap 12, and then drive the bottle cap 12 to rotate to realize the unscrewing or screwing of the bottle cap 12.

[0098] Furthermore, in some embodiments of the present application, several limiting blocks 2472 are further provided outside the positioning groove 2471. When the bottle body 11 is located in the positioning groove 2471, the inner wall of the limiting block 2472 contacts the outer wall of the bottle body 11 to prevent the bottle body 11 from shifting outwards. Even further, the bottle body positioning mechanism 247 further includes a moving assembly for driving the telescopic part 2473 to perform telescopic movement. The moving assembly is arranged on one side of the telescopic part 2473 and includes a second chute 2477 extending in a direction perpendicular to the first chute 2475 and a positioning slider 2478 slidably connected to the second chute 2477; a fixing column 24732 is provided at the top of the telescopic part 2473, and one end of the positioning slider 2478 close to the fixing column 24732 is provided with an inclined surface facing the fixed part 2474. When the positioning slider 2478 slides to the end of the second chute 2477 close to the fixing column 24732, the inclined surface abuts against the fixing column 24732, and the convex block 24731 is located outside the radial direction of the positioning groove 2471.

[0099] Through the above method, when it is necessary to place or remove the bottle body 11, the positioning slider 2478 is moved along the second slide groove 2477 until the inclined surface of the positioning slider 2478 contacts the fixed column 24732, and then the positioning slider 2478 is continued to be moved in the direction close to the fixed column 24732. The inclined surface can be used to apply a force toward the fixed part 2474 to the fixed column 24732, and then the fixed column 24732 can be used to drive the telescopic part 2473 and the protrusion 24731 thereon to move toward the direction of the fixed part 2474, thereby realizing compression of the telescopic part 2473 to ensure that the protrusion 24731 is located radially outside the positioning groove 2471, which is convenient for freely placing or removing the bottle body 11. When the bottle body 11 needs to be fixed, the positioning slider 2478 is moved in a direction away from the fixing column 24732, and the telescopic portion 2473 can move the protrusion 24731 toward the bottle body 11 under the action of the positioning spring 2476, so as to engage with the groove of the side wall of the bottle body 11, thereby fixing the bottle body 11.

[0100] More specifically, in the embodiments of the present application, the number of the engaging components can be adjusted according to actual needs, and the number of the moving components is consistent with the number of the engaging components, so that each engaging component can be controlled separately. Preferably, in some embodiments of the present application, two groups of engaging components are symmetrically arranged along the radial direction of the bottle body 11, and the two groups of moving components are arranged on the same side of the engaging components. The positioning sliders 2478 in the two groups of moving components are connected by the moving bracket 2479. Pushing the moving bracket 2479 along the extension direction of the second slide groove 2477 can simultaneously drive the positioning sliders 2478 in the two groups of moving components to move synchronously, thereby driving the two groups of engaging components to move synchronously, thereby achieving efficient positioning of the bottle body 11. Among them, the movement of the moving bracket 2479 can be performed manually or by the manipulator 7, or a corresponding moving mechanism can be set to drive the moving bracket 2479 to move horizontally along the extension direction of the second slide groove 2477. The specific method can be selected according to the actual situation, and the present application is not limited thereto.

[0101] For further information, see Figure 13 - 14 In some embodiments of the present application, the grinding platform 3 includes an active rubber roller, a driven rubber roller 32, a bracket 31 and a driving motor (not shown in the figure); the active rubber roller is rotatably mounted horizontally on the bracket 31, and one end of the active rubber roller is provided with a transmission belt; the driven rubber rollers 32 are respectively arranged horizontally on both sides of the active rubber roller; when grinding, the grinding bottle 1 is placed between the active rubber roller and the driven rubber roller 32, and the friction between the grinding bottle 1 and the active rubber roller and the driven rubber roller 32 is utilized, and the rotation of the active rubber roller drives the grinding bottle 1 and the driven rubber roller 32 to rotate in conjunction to achieve grinding.

[0102] Specifically, two driven rubber rollers 32 are horizontally arranged between two adjacent active rubber rollers. Driven by a driving motor, the conveyor belt drives the active rubber rollers to rotate. The active rubber rollers and the driven rubber rollers 32 are respectively rotatably and horizontally installed on the bracket 31 through rubber roller mounting brackets 321. The driving motor is arranged inside the bracket 31, and the rotation speed of the conveyor belt can be regulated through the driving motor, thereby regulating the grinding rotation rate. Preferably, the diameters of the active rubber rollers and the driven rubber rollers 32 are the same, and the diameter of the active rubber roller is less than or equal to the diameter of the grinding bottle 1.

[0103] Further, in some embodiments of the present application, the active rubber rollers include an odd roller 34 and an even roller 33 arranged to rotate in the same direction; two driven rubber rollers 32 are arranged between the adjacent odd roller 34 and even roller 33. With such an arrangement, the grinding bottle 1 is driven to rotate by the rubber rollers. The active rubber rollers and the driven rubber rollers 32 are arranged at a predetermined interval. The driving motor rotates the odd roller 34 at an odd position and the even roller 33 at an even position of the two conveyor belts in the same direction, enabling the odd roller 34 and the even roller 33 to rotate in the same direction. By placing the grinding bottle 1 between the odd roller 4 and the even roller 3, the frictional force can be cleverly utilized to achieve the linkage rotation between the rubber rollers and the grinding bottle 1. For example, Figure 14 In the illustrated embodiment, a total of six rubber rollers and five grinding bottles 1 are provided. Among them, an odd roller 34 and an even roller 33 arranged to rotate in the same direction are respectively provided at the second rubber roller and the fifth rubber roller. By driving the odd roller conveyor belt 341 and the even roller conveyor belt 331 by the driving motor respectively, the odd roller 34 and the even roller 33 are driven to rotate respectively. By utilizing the effective frictional force between the grinding bottle 1 and the odd roller 34, the even roller 33, and the driven rubber roller 32 respectively, the rotation of the odd roller 34 and the even roller 33 drives the grinding bottle 1 and the driven rubber roller 32 to perform linkage rotation, realizing the effective rotation and grinding of five rows of grinding bottles 1.

[0104] Please refer to Figure 15 , in some embodiments of the present application, the grinding platform 3 further includes a plurality of groups of baffles 35 arranged at intervals in the length direction of the rubber rollers; the baffles 35 are sleeved on the rubber rollers without contact and fixedly installed on the bracket 31. With such an arrangement, it can prevent the grinding bottle 1 from moving longitudinally in the length direction of the rubber rollers, and more grinding bottles 1 can be placed above each rubber roller. More specifically, a baffle mounting portion 351 is provided at the lower end of the baffle 35, and the baffle 35 is fixedly connected to the bracket 31 through the baffle mounting portion 351. The interval distance between two adjacent groups of baffles 35 can be adjusted and installed according to the specific size and length of the grinding bottle 1. Further, an in-position sensor 352 is also provided on the baffle 35, which is used to detect the rotation and grinding condition of the grinding bottle 1 between the two groups of baffles 35 and issue an alarm when it detects that there is no grinding bottle 1 between the baffles 35, thereby reminding the staff.

[0105] Further, please refer toFigure 16 , in some embodiments of the present application, the mixing and quartering device 4 includes a support frame 41, and a mixing unit 42 and a quartering unit 43 arranged on the support frame 41 from top to bottom; the quartering unit 43 includes a quartering chamber and a second rotation driving mechanism 433 connected to the quartering chamber, the quartering chamber includes a material receiving chamber 431 and m quartering chambers 432 arranged below the material receiving chamber 431; the raw materials to be mixed enter the quartering unit 43 after being mixed by the mixing unit 42, and evenly enter the m quartering chambers 432 from the material receiving chamber 431 to obtain m evenly divided materials. After discharging m - 1 evenly divided materials, the second rotation driving mechanism 433 drives the quartering chamber to perform periodic flipping, and discharges the m - 1 evenly divided materials again, repeating the flipping and discharging steps until 1 / m n of the quartered material. Wherein, the discharge port of the mixing unit 42 is arranged directly above the material receiving chamber 431. m is the number of quartering chambers, specifically an integer greater than or equal to 2, and n is the number of quartering times, specifically an integer greater than or equal to 1.

[0106] In the above manner, one or more ground samples can be put into the mixing unit 42 for mixing, and the obtained mixed material is then quartered one or more times by the quartering unit 43 to complete the quartering operation. Specifically, during the quartering process, the mixed material discharged from the mixing unit 42 enters different quartering chambers 432 through the material receiving chamber 431, and the mixed material is evenly divided into m parts to obtain 1 / m of the quartered material, that is, the quartered material in each quartering chamber 432 is 1 / m of the mass of the mixed material, which is one quartering; by setting the second rotation driving mechanism 433, it can drive the material receiving chamber 431 and the quartering chambers 432 to perform periodic flipping. When it is necessary to further quarter 1 / m of the quartered material, first discharge m - 1 evenly divided materials, and then the second rotation driving mechanism 433 drives the material receiving chamber 431 and the quartering chambers 432 to flip a cycle, and discharge the m - 1 evenly divided materials again, continuously repeating the flipping and discharging, that is, performing periodic flipping and discharging. After a total of n quarterings, 1 / m n of the quartered material can be obtained. At this time, the quartered material in each quartering chamber 32 is 1 / m of the mass of the mixed material n . In actual production, quartering can be performed one or more times according to production needs. Among them, the periodic flipping is a 360° rotation back to the original position, or a 180° rotation and then back to the original position along the original path. By setting the quartering unit 43 in the present application, multiple quarterings of the mixed sample can be realized without completely discharging the mixed material; and during the periodic flipping process, the mixed material can be further mixed by periodic rotation; at the same time, the quartering unit 43 of the present application occupies a small space.

[0107] Further, in some embodiments of the present application, a conveying channel 44 is provided between the mixing unit 42 and the dividing unit 43, which is used to gather the mixed material discharged from the mixing unit 42 and then input it into the dividing unit 43, so as to prevent textile raw materials from spilling and generating dust. A connecting rod 45 is provided between the conveying channel 44 and the support frame 41, which is used to fix the conveying channel 44 on the support frame 41. Among them, the size of the feed inlet of the conveying channel 44 is greater than or equal to the size of the discharge outlet of the mixing unit 42, and the size of the discharge outlet of the conveying channel 44 is less than or equal to the size of the feed inlet of the dividing unit 43.

[0108] Further, in some embodiments of the present application, a collecting unit 46 is provided below the dividing unit 43. The collecting unit 46 includes collecting bags 461 respectively arranged directly below the discharge outlets of the respective dividing chambers 432 and a transport bin 462 for accommodating the collecting bags 461. The transport bin 462 can transport the divided material collected by the collecting bags 461 to corresponding positions for storage, so as to facilitate subsequent operations.

[0109] Further, please refer to Figure 17 , in some embodiments of the present application, the first rotary drive mechanism 422 includes a first rotating shaft 4221 and a first drive assembly; the first rotating shaft 4221 is arranged between the mixing chamber 421 and the support frame 41; a bearing is provided between the first rotating shaft 4221 and the support frame 41, that is, a bearing is provided at the part where the first rotating shaft 4221 contacts the support frame 41, and the first rotating shaft 4221 is fixedly connected to the mixing chamber 421; the drive assembly includes a first drive motor 4222, a first driving wheel 4223 and a first driven wheel 4224; the first drive motor 4222 is arranged on the support frame 41, the first driving wheel 4223 is connected to the output shaft of the first drive motor 4222, the first driven wheel 4224 is sleeved on the first rotating shaft 4221 and meshed with the first driving wheel 4223, and the first driven wheel 4224 is fixedly connected to the first rotating shaft 4221. With such a setting, the first drive motor 4222 can be used to drive the first driving wheel 4223 to rotate, thereby driving the first driven wheel 4224 to rotate, and further driving the first rotating shaft 4221 to rotate, so as to realize the periodic rotation of the mixing chamber 421, and thus realize the uniform mixing of the raw materials. Among them, first limit blocks 47 are arranged at both ends of the first rotating shaft 4221, which are used to prevent the first rotating shaft 4221 from falling off during the rotation process, improving the safety of the device.

[0110] More specifically, in some embodiments of the present application, the mixing chamber 421 includes at least two feeding chambers 4211 and a mixing chamber 4212 disposed below the feeding chambers 4211. Through the rotating mixing unit 42, the raw materials enter the mixing chamber 4212 from the feeding chambers 4211, and then enter different feeding chambers 4211 from the mixing chamber 4212, continuously repeating the rotating process to achieve uniform mixing of the raw materials. Among them, a rotary valve 424 is provided at the feeding port end of the feeding chamber 4211 for opening or closing the feeding port of the feeding chamber 4211; a first solenoid valve 423 for controlling the automatic opening and closing of the discharge port of the mixing chamber 4212 is provided at the discharge port end of the mixing chamber 4212. When the mixing chamber 421 reaches a preset number of rotation circles or a preset rotation time, the first solenoid valve 423 opens to achieve discharging.

[0111] Further, please refer to Figure 18 , in some embodiments of the present application, the second rotation driving mechanism 433 includes a second rotating shaft 4331 and a second driving assembly for driving the second rotating shaft 4331 to rotate; the second rotating shaft 4331 is disposed between the quartering chamber and the support frame 41; a bearing is provided between the second rotating shaft 4331 and the support frame 41, that is, a bearing is provided at the part where the second rotating shaft 4331 contacts the support frame 41. More specifically, the second driving assembly includes a second driving motor 4332, a second driving wheel 4333, and a second driven wheel 4334; the second driving motor 4332 is disposed on the support frame 41, the second driving wheel 4333 is connected to the output shaft of the second driving motor 4332, the second driven wheel 4334 is sleeved on the second rotating shaft 4331 and meshed with the second driving wheel 4333, and the second driven wheel 4334 is fixedly connected to the second rotating shaft 4331. With such a setting, the second driving motor 4332 can drive the second driving wheel 4333 to rotate, thereby driving the second driven wheel 4334 to rotate, and further driving the second rotating shaft 4331 to rotate, realizing the periodic flipping of the quartering chamber, so as to achieve multiple equal divisions of the mixed material. Among them, second limit blocks 48 are provided at both ends of the second rotating shaft 4331 to prevent the second rotating shaft 4331 from falling off during the rotation process, improving the safety of the device.

[0112] Further, please refer to Figure 19, in some embodiments of the present application, a guiding channel 434 is provided between the material receiving cavity 431 and the reducing cavity 432 to enable the mixture to enter different reducing cavities 432 evenly and smoothly. More specifically, the guiding channel 434 includes a plurality of guiding plates 4341 and guiding grooves 4342 provided between the guiding plates 4341. With this arrangement, when the mixture enters the reducing cavity 432 through the material receiving cavity 431, the guiding plates 4341 can disperse the mixture in different guiding grooves 4342 and enter the corresponding reducing cavities 432 below through the guiding grooves 4342, improving the dispersion uniformity of the mixture when entering different reducing cavities 432 and achieving the equal distribution of the mixture. Among them, the number of reducing cavities 432 is preferably two, and a second solenoid valve 435 is provided at the discharge port end of each reducing cavity 432 to electrically control the opening and closing of the discharge port of the reducing cavity 432.

[0113] Further, please refer to Figure 20 , when the guiding plate 4341 is parallel to the front surface of the reducing cavity 432, a partition plate 4343 perpendicular to the guiding plate 4341 can also be provided in the guiding channel. The partition plate 4343 extends from the side wall shared by adjacent reducing cavities 432 to the discharge port end of the material receiving cavity 431, and the number of partition plates 4343 is the same as the number of reducing cavities 432. With this arrangement, the partition plate 4343 can divide the guiding channel 434 into the same number of spaces as the number of reducing cavities 432, further achieving the equal distribution of the mixture.

[0114] Further, please refer to Figure 21 - 22 , in some embodiments of the present application, the reducing and bagging station includes a reducing part and a bagging part. The bagging part includes a bag taking station 51, a bagging station 52, and a palletizing station 53 arranged in sequence, and the reducing part is located above the bagging station 52; the reducing and bagging device 5 includes: a reducing mechanism 54 provided in the reducing part and a bagging mechanism provided in the bagging part. The bagging mechanism includes a bag placing mechanism, a bag taking mechanism, and a conveying mechanism 516 provided in the bag taking station 51, a blanking mechanism 521 provided in the bagging station 52, and a bagging support for supporting the sample bag, a storage box pushing part 531, a storage box conveying part 532, and a storage box palletizing part 533 provided in the palletizing station 53.

[0115] Among them, the bag placing mechanism is used to accommodate sample bags; the bag taking mechanism is used to clamp a sample bag from the bag placing mechanism and place it at the bagging station 52, and then seal the sample bag after bagging is completed; the conveying mechanism is used to convey the sample bag to the palletizing station 53. The blanking mechanism 521 includes a blanking hopper arranged directly above the opening of the sample bag and a support frame for supporting the blanking hopper; a blanking valve is arranged at the lower end of the blanking hopper to further control the amount of sample bagged. The storage box pushing part 531 is used to push an empty storage box to the storage box conveying part 532, and the storage box conveying part 532 is used to convey the storage box to the storage box palletizing part 533 for palletizing.

[0116] In the above manner, the sample bag can be clamped by the bag taking mechanism and placed at the bagging station 52, and then the quartered sample is poured into the blanking mechanism 21, so that the sample falls into the sample bag through the blanking mechanism. After sealing, it is conveyed to the palletizing station 53 by the conveying mechanism for palletizing work, realizing automatic bagging and palletizing of the quartered sample.

[0117] Further, in some embodiments of the present application, the bag placing mechanism includes a bag placing box 511 and a pressing rod 512. Among them, the bag placing box 511 is used to vertically store sample bags, and a bag taking opening is provided at the head for easy suction by the bag taking mechanism; the pressing rod 512 is arranged at the tail of the bag placing box 511 and can reciprocate relative to the bag placing box 511 for flattening the sample bags. In some embodiments of the present application, one end of the pressing rod 512 is fixed, and a pressing plate (not marked in the figure) is arranged at the other end, and is press-fitted with the tail of the bag placing box 511 through the pressing plate. Among them, the pressing rod 512 is preferably a hydraulic rod structure, which can provide a certain pressing force for the bag placing box 511, so that the sample bags can be flattened and stacked neatly.

[0118] Further, in some embodiments of the present application, the bag-taking mechanism is arranged at the front end of the bag-placement mechanism, and includes a main body portion, a mechanical clamp 513, a suction cup 514, and a guide rail 515. A conveying mechanism 516 is arranged at the bottom of the main body portion and is slidably connected to the main body portion. The conveying mechanism 516 is preferably a conveyor belt or a slide rail structure. More specifically, the mechanical clamps 513 are symmetrically and oppositely arranged on both sides of the suction cup 514. A driving portion mechanism for controlling the grasping and clamping of the mechanical clamps 513 and the suction of the suction cup 514 is arranged inside the main body portion. The track direction of the guide rail 515 is parallel to the conveying mechanism. The main body portion, the mechanical clamps 513, and the suction cup 514 can move integrally along the guide rail 515, so that the mechanical clamps 513 and the suction cup 514 can move and perform corresponding operations between the bag-taking station 51 and the bag-placement station 52. The specific working method is as follows: at the bag-taking station 51, the suction cup 514 first moves towards the bag-placement box 511, and sucks out the sample bag from the bag-placement box 511 through the bag-taking opening; then the mechanical clamps 513 clamp both sides of the sample bag sucked by the suction cup 514; after that, both the mechanical clamps 513 and the suction cup 514 move along the guide rail 515 to the bag-placement station 52. The mechanical clamps 513 place the clamped sample bag on the bag-placement bracket, fix one side of the sample bag, and then use the suction cup 514 to suck the other side of the sample bag and move it outwards, so as to open the sample bag. Then the sample is placed into the blanking mechanism 521, and the sample is blanked into the opened sample bag. After that, the suction cup 514 is used to drive the other side of the sample bag to press inwards, seal the sample bag, and finally the mechanical clamps 513 are used to clamp the sealed sample bag and move it onto the transmission mechanism 516, and the sample bag is conveyed to the palletizing station 53. Among them, the two bag openings of the sample bag are preferably connected by means of glue, magnetic attraction, snap fit, etc., so as to open it by pulling forcefully and seal it by pressing forcefully. If the sample bag needs to be sealed more effectively by other means, a corresponding sealing device can also be additionally provided, and the present application is not limited thereto.

[0119] Further, in some embodiments of the present application, the storage box pushing part 531 includes a storage mechanism 5312 and a pushing mechanism 5311 arranged adjacent to each other. The storage mechanism 5312 is used for stacking and accommodating empty storage boxes; the storage box conveying part 532 includes a storage box conveying groove and a pushing rod. The storage box conveying groove is used for accommodating storage boxes and receiving the filled and sealed sample bags conveyed by the bag taking mechanism; the storage box palletizing part 533 includes a conveying ramp 5331, a palletizing mechanism 5332 and a transfer port. Among them, a push rod is arranged on the pushing mechanism 5311. The storage mechanism 5312 has an open top and a pushing port 5313 is arranged at the bottom. The push rod pushes the storage box through the pushing port 5313 to the storage box conveying part 532. The top of the storage mechanism 5312 is open, and after the storage boxes are continuously pushed, it is used for placing new storage boxes. The storage box conveying groove is arranged below the conveying mechanism 516 and is perpendicular to the conveying mechanism 516. The pushing rod is used to push the storage box filled at the front end in the storage box conveying groove to the side close to the conveying ramp 5331 at the rear end of the storage box conveying groove. After the storage boxes in the storage box conveying groove are filled and arranged, the storage boxes are slid to the storage box palletizing part 533 through the conveying ramp 5331. The storage boxes slid to the palletizing mechanism 5332 through the conveying ramp 5331 are subjected to transfer processing through the transfer port. The upper end and the lower end of the conveying ramp 5331 are respectively provided with a storage box conveying groove and a palletizing mechanism 5332, and the conveying ramp 5331 is arranged on the side of the rear end of the storage box conveying groove.

[0120] In the above manner, the storage box pushing part 531 pushes the empty storage box to the storage box conveying part. The conveying mechanism 516 transports the filled and sealed sample bags to the upper part of the storage box conveying groove 532. Several bags of sample bags are placed into the storage box one by one through the manipulator 7 until the storage box is full. Then, the storage box filled at the front end in the storage box conveying groove is pushed to the side close to the conveying ramp 5331 at the rear end of the storage box conveying groove. After a predetermined number of storage boxes are pushed, the above storage boxes are pushed to the conveying ramp 5331 through the manipulator 7 or other pushing structures to realize the sliding of the storage boxes.

[0121] Further, please refer to Figure 23 , in some embodiments of the present application, the quartering mechanism 54 includes a feed hopper 541 and a multi-stage quartering assembly communicated with the discharge end of the feed hopper 541. The first-stage quartering assembly includes one quartering structure, the second-stage quartering assembly includes two quartering structures, and so on. The nth-stage quartering assembly includes 2 n-1A sample reduction structure. Each sample reduction structure includes two discharge ports of a feed port for evenly dividing the sample into two parts. The discharge ports of the last-stage sample reduction assembly are all connected to the blanking mechanism 521 for conveying the reduced sample to the blanking mechanism 521. Corresponding valves are provided in each sample reduction structure to control the quality of the finally output sample after reduction. More specifically, in some embodiments of the present application, two-stage sample reduction assemblies are adopted. The first-stage sample reduction assembly includes a first sample reduction structure 542, and the second-stage sample reduction assembly includes a second sample reduction structure 543 and a third sample reduction structure 544. Among them, the feed port of the first sample reduction structure 542 is connected to the outlet of the feed hopper 541, and the two discharge ports of the first sample reduction mechanism are respectively connected to the feed ports of the second sample reduction structure 543 and the third sample reduction structure 544. The discharge ports of the second sample reduction structure 543 and the third sample reduction structure 544 are both connected to the feed port of the blanking mechanism 521. In other embodiments of the present application, the number of sample reduction structures can be adjusted according to needs, and the present application is not limited thereto.

[0122] Further, in the present application, after grinding is completed, the grinding rod 113 can be taken out of the grinding bottle 1 by the manipulator 7, or the sample and the grinding rod 113 in the grinding bottle 1 can be separated by the cleaning device 6. Specifically, please refer to Figure 24 - 25 , in some embodiments of the present application, the cleaning station includes a grinding bottle cleaning station 61, a grinding rod cleaning station 62, and a sample recovery station; the cleaning device includes: an ultrasonic cleaning mechanism or a vibration cleaning mechanism provided at the grinding bottle cleaning station 61, a vibration cleaning table 622 provided at the grinding rod cleaning station 62, and a sample recovery mechanism 63 provided at the sample recovery station. More preferably, the cleaning device 6 further includes a cleaning control unit 64 for controlling the corresponding cleaning mechanism and the vibration cleaning table 622, an installation cabinet 65 for installing and forming the devices at each station, and dust extraction ducts 66 respectively provided on the back of each station to prevent dust pollution from affecting the cleaning work. By placing the sample and the grinding rod 113 in the grinding bottle 1 at the grinding rod cleaning station 62, the grinding rod 113 can be separated from the sample. After separation, the obtained grinding rod 113 enters the grinding rod recovery unit 623, and the sample enters the sample recovery mechanism 63. The collected sample can be transferred to the sample reduction and bagging device 5 for sample reduction and bagging processing.

[0123] Specifically, in some embodiments of the present application, the ultrasonic cleaning mechanism or the vibration cleaning mechanism includes a cleaning unit 611 and a sample debris temporary storage box 613. Among them, the cleaning unit 611 includes a cleaning tabletop and a driving motor, and a brush mechanism 612 is arranged on the cleaning tabletop. More preferably, the brush mechanism 612 includes elastic brushes arranged on the outside and circumferentially arranged, and a high-pressure gas part arranged on the inside. When working, the high-pressure gas part jets high-pressure gas to the outside circumference through the air outlet on the brush mechanism 612. Based on this, the bottle body 11 of the grinding bottle 1 is sleeved and placed on the outer circumference of the brush mechanism 612 with the opening facing downwards, and the inner wall of the bottle is efficiently cleaned by vibration or ultrasonic waves and rotating the brush mechanism 612. The bottle cap 12 of the grinding bottle 1 is placed on the outside of the brush mechanism 612 on the cleaning tabletop with the inner side facing downwards and is cleaned under the action of vibration or ultrasonic waves. The sample debris remaining in the bottle body 11 and the bottle cap 12 will fall onto the cleaning tabletop. The cleaning tabletop is provided with a hollow part, and this hollow part is communicated with the sample debris temporary storage box 613, so that the sample debris remaining in the bottle body 11 and the bottle cap 12 is collected into the sample debris temporary storage box 613.

[0124] Furthermore, in some embodiments of the present application, a feeding unit 621, a vibration cleaning table 622 and a grinding rod recovery unit 623 are arranged at the grinding rod cleaning station 62. Among them, the vibration cleaning table 622 is an inclined plane, which is used to make the grinding rod 113 slide in the inclined direction while being vibration-cleaned and collect the sample debris on the grinding rod; the feeding unit 621 is arranged directly above the upper end of the inclined plane of the vibration cleaning table 622 and is used for feeding the grinding rod 113 to be cleaned; the grinding rod recovery unit 623 is arranged at the lower end of the inclined plane of the vibration cleaning table 622 and is used for recovering the grinding rod 113 after cleaning. More specifically, the grinding rod recovery unit 623 includes a buffer part 6231 and a recovery part; an openable and closable opening and closing baffle 6232 is arranged at the bottom of the buffer part 6231; the recovery part is arranged below the opening and closing baffle 6232; the recovery part includes a rotating table 6233, and the cleaned bottle body 11 can be placed on the rotating table. In this way, when the bottle body 11 is filled with the grinding rods 113, the rotating table 6233 rotates to convey the next bottle body 11. During the rotation process, the opening and closing baffle 6232 is closed until the new bottle body 11 rotates to directly below the opening and closing baffle 6232, then the opening and closing baffle 6232 is opened, and the collection of the grinding rods 113 continues. In this way, the opening and closing of the opening and closing baffle 6232 and the rotation of the bottle body 11 can be mutually coordinated to realize the automatic continuous collection of the grinding rods.

[0125] Furthermore, please refer to Figure 25 - 26, in some embodiments of the present application, the vibration cleaning table 622 includes a vibration table provided with an inclined vibration slideway, a sample debris receiving cylinder 6226 located below the vibration table, a roller 6227, and a grinding rod guiding channel 6228 provided at the end of the inclined vibration slideway. Among them, the vibration table further includes a motor for driving the vibration of the inclined vibration slideway. The inclined vibration slideway includes an upper section vibration slideway 62211, a middle section vibration friction slideway 62212, and a lower section vibration air knife slideway 62213 arranged in sequence from high to low along the inclined direction. The grinding rod 113 vibrates on the surface of the inclined vibration slideway and also slides along the inclined direction, for vibrating and cleaning the grinding rod 113. A hollow structure 6222 is provided at the bottom of each slideway. The hollow structure 6222 is located above the sample debris transmission channel, so that the sample debris on the grinding rod 113 can fall into the sample debris transmission channel after vibrating off.

[0126] More specifically, the roller 6227 is arranged along the inclined direction on both the upper and lower sides of the middle section vibration friction slideway 62212. The rollers 6227 are arranged at intervals above and below the middle section vibration friction slideway 62212, so that the roller 6227 can directly contact the grinding rod 113 and also abut and rub against the continuously rolling roller 6227 during the vibration and sliding process, thereby further removing the sample debris on the grinding rod 113 through the two acting forces of vibration and friction. Among them, the roller 6227 includes an upper roller and a lower roller respectively arranged on the upper and lower sides of the surface of the middle section vibration friction slideway 62212. The upper roller and the lower roller are arranged at intervals up and down and abut against the upper and lower surfaces of the middle section vibration friction slideway 62212 for rolling. The surface of the roller 6227 can also be provided with bristles for further cleaning the sample debris on the surface of the grinding rod 113.

[0127] In some embodiments of the present application, a sample debris transmission channel communicating with the sample debris receiving cylinder 6226 is further provided inside the shaking table, which is used to conduct the sample debris washed off from the grinding rod 113 on the inclined shaking slide into the sample debris receiving cylinder 6226. More specifically, the sample debris transmission channel is composed of a first sample debris transmission channel 6223, a second sample debris transmission channel 6224, and a third sample debris transmission channel 6225. Among them, the first sample debris transmission channel 6223 is arranged below the upper shaking slide 62211. Some sample debris on the grinding rod 113 on the upper shaking slide 62211 falls off due to vibration and thus directly drops into the first sample debris transmission channel 6223. Then, the sample debris is introduced into the interior of the sample debris receiving cylinder 6226 through the first sample debris transmission channel 6223 to complete the first collection operation of the sample debris; the second sample debris transmission channel 6224 is arranged below the roller 6227 and is used to collect the sample debris falling from the middle shaking friction slide 62212; the third sample debris transmission channel 6225 is arranged at a predetermined angle. The first end 62251 of the third sample debris transmission channel is arranged below the lower shaking air knife slide 62213, and the second end 62252 of the third sample debris transmission channel is communicated with the sample debris receiving cylinder 6226.

[0128] In the above manner, the grinding rod 113 can slide down along the inclined shaking slide, and at the same time, under the action of vibration, the sample debris attached to the surface of the grinding rod 114 is separated from the grinding rod 113. The separated sample debris falls into the sample debris receiving cylinder 6226 through the sample debris transmission channel for collection, and the grinding rod 113 is introduced into the grinding rod recovery unit 623 through the grinding rod guiding channel 6228.

[0129] In a second aspect, the present application also provides a control method for a sample grinding and preparation integrated system, including the following steps:

[0130] Controlling the mixing and quartering device 4 to perform a quartering operation on the sample;

[0131] Loading a part of the sample after the quartering operation and the grinding rod 113 into the grinding bottle 1, then placing the grinding bottle 1 containing the sample and the grinding rod 113 at the grinding bottle opening and closing station, and controlling the opening and closing device 2 to perform a capping operation on the grinding bottle 1;

[0132] Placing the capped grinding bottle 1 at the grinding station and controlling the grinding platform 3 to perform a grinding operation on the sample;

[0133] Placing the grinding bottle 1 that has completed the grinding operation at the grinding bottle opening and closing station and controlling the opening and closing device 2 to perform an uncapping operation on the grinding bottle 1;

[0134] Separate the sample and the grinding rod 113 from the grinding bottle 1 after opening the lid, and control the cleaning device 6 to clean the grinding bottle 1 and the grinding rod 113; place the separated sample at the bagging and sub-packaging station, and control the bagging and sub-packaging device 5 to perform bagging and sub-packaging on the sample.

[0135] During the above process, the placement and removal operations of the grinding bottle 1, the grinding rod 113, and the sample can all be carried out by the manipulator 7 to achieve the automated operation of the entire sample grinding process. If the manipulator 7 malfunctions, corresponding operations can also be temporarily replaced by manual labor to ensure the normal operation of the system.

[0136] More specifically, in some embodiments of the present application, the operation process of the integrated system for sample grinding preparation specifically includes:

[0137] S1. Place the sample to be processed in the sample box, and then place the sample box containing the sample in the oven 81 for drying.

[0138] S2. Take out the sample box from the oven 81 and transfer it to the weighing device 82 for weighing.

[0139] S3. Transfer the weighed sample to the crushing device 83 for coarse crushing and medium crushing, and weigh the crushed sample again.

[0140] S4. Pour the sample into the mixing and sub-packaging device 4 for mixing and sub-packaging.

[0141] S5. Pour a part of the sub-packaged sample into the grinding bottle 1 equipped with the grinding rod 113, and then weigh it. The other part is poured into the sample box and put back into the oven 81.

[0142] S6. Place the grinding bottle 1 containing the sample and the grinding rod 113 at the grinding bottle opening and closing station, and control the opening and closing device 2 to close the lid of the grinding bottle 1.

[0143] S7. Place the grinding bottle 1 with the lid closed on the grinding station, and control the grinding platform 3 to grind the sample.

[0144] S8. Place the grinding bottle 1 that has completed the grinding operation at the grinding bottle opening and closing station, and control the opening and closing device 2 to open the lid of the grinding bottle 1.

[0145] S9. Transfer the grinding bottle 1 after opening the lid to the cleaning station, transfer the sample and the grinding rod 113 in the grinding bottle 1 to the grinding rod cleaning station 62 to separate the sample and the grinding rod 113, and complete the cleaning of the grinding rod 113; the grinding bottle 1 is placed at the grinding bottle cleaning station 61 to clean the grinding bottle 1.

[0146] S10. Transfer the separated sample to the sub-packaging bagging station, and control the sub-packaging bagging device 5 to bag it.

[0147] Through the above method, the full-process automated operation of sample grinding can be achieved.

[0148] Further, in the embodiment of the present application, when controlling the opening and closing device 2 to perform the lid closing or opening operation on the grinding bottle 1, the following steps are specifically included:

[0149] Control the bottle body clamping device 24 to fix the bottle body 11 at the grinding bottle opening and closing station;

[0150] Locate the mounting rod 121, and use the bottle cap clamping device 21 to clamp the mounting rod 121;

[0151] Control the rotating mechanism to drive the bottle cap clamping device 21 and the mounting rod 121 to rotate in the lid opening or closing direction, so that the end of the mounting rod 121 disengages from or enters the mounting groove.

[0152] Furthermore, in the above steps, the method of locating the mounting rod 21 and using the bottle cap clamping device 30 to clamp the mounting rod 21 includes one of the following three methods:

[0153] (1) Control the lifting mechanism 23 to drive the bottle cap clamping device 21 to descend to a preset working height, and then control the rotating mechanism to drive the bottle cap clamping device 21 to rotate until the clamping plate 212 in the bottle cap clamping device 21 is located on both sides of the mounting rod 121;

[0154] (2) Use visual recognition technology or angle sensing technology to identify the angle of the mounting rod 121, then control the rotating mechanism to drive the bottle cap clamping device 21 to rotate to the same angle as the mounting rod 121, and control the lifting mechanism 23 to drive the bottle cap clamping device 21 to descend to a preset working height, so that the clamping plate 212 is located on both sides of the mounting rod 121;

[0155] (3) Locate the angle of the bottle body 11, determine the angle of the mounting rod 121 according to the position of the mounting groove, then control the rotating mechanism to drive the bottle cap clamping device 21 to rotate to the same angle as the mounting rod 121, and control the lifting mechanism 23 to drive the bottle cap clamping device 21 to descend to a preset working height, so that the clamping plate 212 is located on both sides of the mounting rod 121.

[0156] In the above three methods, the preset working height refers to the height of the bottle cap clamping device 21 when the mounting rod 121 is flush with the mounting groove and the clamping plates 212 in the bottle cap clamping device 21 are located on both sides of the mounting rod 121. Based on this, when the bottle cap clamping device 21 is lowered to the preset working height, as long as the two clamping plates 212 are respectively located on both sides of the mounting rod 121, the mounting rod 121 can be aligned with the mounting groove in the vertical direction. Under this condition, the mounting rod 121 can be rotated to be screwed into or out of the mounting groove, so as to complete the cap closing or opening operation.

[0157] Specifically, in the above three methods, method (1) does not require specific identification of the angle corresponding to the mounting rod 121, but only requires lowering the bottle cap clamping device 21 to a preset working height. At this time, the first spring 124 is in a compressed state and will continue to apply an upward force to the mounting rod 121. On this basis, it is only necessary to use the rotating mechanism to drive the clamping plate 212 to rotate continuously in any direction. When the clamping plate 212 is rotated to the same angle as the mounting rod 121, the mounting rod 121 can be pushed into the accommodating space between the two clamping plates 212 under the action of the first spring 124, and the pressure sensor 2122 in the clamping plate 212 can detect the corresponding pressure information, indicating that the clamping operation of the mounting rod 121 has been completed.

[0158] If method (2) is adopted, it is necessary to set up corresponding visual recognition equipment or angle sensing equipment to accurately identify the angle of the mounting rod 121, and then control the rotating mechanism to rotate the clamping plate 212 to the same angle, and then lower it to the preset working height under the action of the lifting mechanism 23. Among them, the visual recognition equipment or angle sensing equipment used can be selected from existing conventional equipment, and the existing recognition method can be used for angle recognition, and the present application is not limited to this.

[0159] Since the position of the mounting hole 1111 on the bottle body 11 is determined, when the position of the bottle body 11 is determined, the position of the mounting rod 121 in the closed state is determined. Based on this, method (3) is suitable for positioning the mounting rod 21 when opening the closed grinding bottle. The angle of the bottle body 11 needs to be determined in advance when using this method. For example, a groove can be set on the side wall of the bottle body 11, and a corresponding snap-fit assembly can be set at the grinding bottle opening and closing station, so that the protrusion 24731 in the snap-fit assembly can snap with the groove at a preset position to ensure that the bottle body 11 is stably placed according to the preset position and angle, so that the angle of the mounting rod 121 can be determined according to the fixed position of the bottle body 11, and then the rotating mechanism is controlled to rotate the clamping plate 212 to the same angle, and then it can be lowered to the preset working height under the action of the lifting mechanism 23.

[0160] Further, in some embodiments of the present application, the steps of controlling the mixing and quartering device 4 to perform quartering operations on the sample include:

[0161] Adding the sample into the mixing unit 42, and after mixing by the mixing unit 42, placing it into the receiving cavity 31 of the quartering unit 43;

[0162] When n = 1, that is, performing one quartering, the mixed material uniformly enters m quartering cavities 432 from the receiving cavity 431, and after discharging, m evenly divided materials are obtained;

[0163] When n ≥ 2, that is, performing multiple quarterings, after discharging m - 1 evenly divided materials, the second rotation driving mechanism 433 flips the receiving cavity 431 and the quartering cavities 432 for one cycle, discharges the m - 1 evenly divided materials again, and repeats the flipping and discharging steps until a quartered material of 1 / m n is obtained.

[0164] In summary, the present application provides a sample grinding and preparation integrated system and its control method, belonging to the technical field of grinding. The sample grinding and preparation integrated system includes a grinding bottle 1, an opening and closing device 2 arranged at the grinding bottle opening and closing station, a grinding platform 3 arranged at the grinding station, a mixing and quartering device 4 arranged at the quartering station, a quartering and bagging device 5 arranged at the quartering and bagging station, a cleaning device 6 arranged at the cleaning station, and a mechanical arm 7 capable of grasping or placing items at each station. The present application can open and close the grinding bottle 1 by using the opening and closing device 2, grind the sample in the grinding bottle 1 by using the grinding platform 3, perform quartering operations on the sample by using the mixing and quartering device 4 and the quartering and bagging device 5 respectively before and after grinding, and clean the grinding bottle 1 and the grinding rod 113 by using the cleaning device 6, realizing the full - process automated operation of sample grinding.

[0165] It should be noted that the present application is not limited to the above - mentioned embodiments. The above - mentioned embodiments are only examples, and embodiments with the same structure in essence as the technical idea and the same function and effect within the technical solution scope of the present application are all included in the technical scope of the present application. In addition, within the scope not departing from the gist of the present application, various deformations that can be thought of by those skilled in the art are applied to the embodiments, and other ways constructed by combining some constituent elements of the embodiments are also included in the scope of the present application.

Claims

1. An integrated system for preparing a ground sample, characterized in that, It includes a grinding bottle, an opening and closing device arranged at the opening and closing station of the grinding bottle, a grinding platform arranged at the grinding station, a mixing and dividing device arranged at the dividing station, a dividing and bagging device arranged at the dividing and bagging station, a cleaning device arranged at the cleaning station, and a manipulator capable of grasping or placing items at each station.

2. The integrated system for preparing a sample by grinding according to claim 1, wherein, The grinding bottle includes a bottle body and a bottle cap; a receiving cavity for accommodating a grinding rod and a sample is provided inside the bottle body, and an installation groove is provided on the inner wall of the bottle body; the bottle cap includes a cap body, an installation rod, and a first telescopic mechanism connecting the cap body and the installation rod; the telescopic direction of the first telescopic mechanism is perpendicular to the cap body; when the installation rod is flush with the installation groove in the height direction, the end of the installation rod can be screwed into or out of the installation groove, and the first telescopic mechanism is used to apply an upward force to the installation rod.

3. The integrated system for preparing a sample by grinding according to claim 2, wherein The opening and closing device includes a bottle body clamping device and a bottle cap screwing device; the bottle body clamping device is used to fix the bottle body, and the bottle cap screwing device is used to drive the installation rod to perform downward pressing and rotating movements so that the end of the installation rod is screwed into or out of the installation groove; the bottle cap screwing device includes a bottle cap clamping device, a rotating mechanism connected to the bottle cap clamping device, and a lifting mechanism connected to the rotating mechanism.

4. The integrated system for preparing a sample by grinding according to claim 3, wherein A groove is provided on the bottom side wall of the bottle body of the grinding bottle, and the bottle body clamping device further includes a bottle body positioning mechanism; the bottle body positioning mechanism includes a positioning groove arranged at the opening and closing station of the grinding bottle for accommodating the bottle body and a clamping component for clamping with the groove; a rotating mechanism for driving the bottom surface of the positioning groove to rotate around the axis is provided at the bottom of the positioning groove; the clamping component includes a telescopic part and a fixed part arranged in sequence along the radial direction of the bottle body, the telescopic part is located on the side close to the positioning groove, the telescopic part is slidably connected with a first chute extending along the radial direction of the bottle body, and a positioning spring extending and contracting along the radial direction of the bottle body is arranged between the telescopic part and the fixed part; a convex block extending towards the direction of the bottle body is provided on the side of the telescopic part close to the positioning groove for clamping with the groove.

5. The integrated system for preparing a sample by grinding according to claim 1, wherein, The grinding platform includes a driving rubber roller, a driven rubber roller, and a bracket; the driving rubber roller is horizontally installed on the bracket in a rotatable manner; The driven rubber rollers are respectively horizontally arranged on both sides of the driving rubber roller; during grinding, the grinding bottle is placed between the driving rubber roller and the driven rubber roller, and by using the frictional forces between the grinding bottle and the driving rubber roller and the driven rubber roller respectively, the driving rubber roller rotates to drive the grinding bottle and the driven rubber roller to rotate synchronously to achieve grinding.

6. The integrated system for preparing a sample by grinding according to claim 1, wherein The mixing and quartering device includes a support frame, and a mixing unit and a quartering unit which are arranged on the support frame from top to bottom; the quartering unit includes a quartering chamber and a second rotation driving mechanism connected to the quartering chamber, the quartering chamber includes a material receiving cavity and m quartering cavities arranged below the material receiving cavity, the raw materials to be mixed enter the quartering unit after being mixed by the mixing unit, and evenly enter the m quartering cavities from the material receiving cavity to obtain m evenly divided materials. After discharging m - 1 evenly divided materials, the second rotation driving mechanism drives the quartering chamber to periodically turn over, and discharges the m - 1 evenly divided materials again, and repeats the turning and discharging steps until a quartered material of 1 / m n is obtained.

7. The integrated system for preparing a ground sample according to claim 1, wherein, The dividing and bagging station includes a dividing part and a bagging part, the bagging part includes a bag taking station, a bagging station, and a stacking station arranged in sequence, and the dividing part is located above the bagging station; the dividing and bagging device includes: a dividing mechanism arranged at the dividing part and a bagging mechanism arranged at the bagging part, the bagging mechanism includes a bag placing mechanism, a bag taking mechanism, and a conveying mechanism arranged at the bag taking station, a blanking mechanism arranged at the bagging station, a storage box pushing part, a storage box conveying part, and a storage box stacking part arranged at the stacking station; Among them, the bag placing mechanism is used to accommodate sample bags; the bag taking mechanism is used to clamp sample bags from the bag placing mechanism, place them at the bagging station, and seal the sample bags after bagging is completed; the conveying mechanism is used to convey the sample bags to the palletizing station; the storage box pushing part is used to push the empty storage boxes to the storage box conveying part; the storage box conveying part is used to convey the storage boxes to the storage box palletizing part for palletizing.

8. The integrated system for preparing a ground sample according to claim 1, wherein The cleaning station includes a grinding bottle cleaning station, a grinding rod cleaning station and a sample recovery station; the cleaning device includes: an ultrasonic cleaning mechanism or a vibration cleaning mechanism arranged at the grinding bottle cleaning station, a vibration cleaning table arranged at the grinding rod cleaning station, and a sample recovery mechanism arranged at the sample recovery station.

9. The integrated system for preparing a ground sample according to claim 8, wherein, The vibration cleaning table includes a vibration table provided with an inclined vibration slideway and a sample debris receiving cylinder located below the vibration table; a sample debris transmission channel communicating with the sample debris receiving cylinder is arranged inside the vibration table.

10. A control method for an integrated system for preparing a ground sample according to any one of claims 1-9, characterized in that, It includes the following steps: Control the mixing and quartering device to perform quartering operation on the sample; Put the quartered part of the sample and the grinding rod into the grinding bottle, then place the grinding bottle at the grinding bottle opening and closing station, and control the opening and closing device to perform the lid closing operation on the grinding bottle; Place the lid-closed grinding bottle at the grinding station, and control the grinding platform to perform grinding operation on the sample; Place the ground grinding bottle at the grinding bottle opening and closing station, and control the opening and closing device to perform the lid opening operation on the grinding bottle; Separate the sample and the grinding rod from the opened grinding bottle, and control the cleaning device to clean the grinding bottle and the grinding rod; place the separated sample at the quartering and bagging station, and control the quartering and bagging device to perform quartering and bagging treatment on the sample.

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