Automatic calorimetric system and working method

Abstract

The invention discloses an automatic calorimetric system and a working method, and relates to the field of coal quality analysis, the calorimetric system comprises a workbench, a sample adding device, an oxygen bomb processing device, a calorimetric device and a transfer manipulator, the oxygen bomb treatment device comprises a rack, a mounting mechanism, an oxygen bomb body spin-off mechanism, an oxygen bomb body transfer mechanism, an air-water cleaning mechanism and a liquid injection mechanism, and according to the calorimetric system, the sample adding device, the oxygen bomb treatment device and the calorimetric device are arranged on the workbench in the X-axis direction, the occupied area is small, and installation is easy and convenient; the oxygen bomb processing device integrates oxygen bomb splitting, cleaning, liquid injection, oxygen bomb combining and other functional parts, full-automatic processing of used oxygen bombs can be achieved, the whole process is automatically conducted through mechanical equipment, and the testing efficiency is high; the working method is carried out by using a calorimetric system and comprises an oxygen bomb treatment step, a sample adding step and a calorimetric analysis step.

Description

Technical Field

[0001] This application relates to the field of coal quality analysis, and in particular to an automated calorimetric system and its operating method. Background Technology

[0002] When performing calorimetric analysis on coal samples, there are manual and automatic operation methods, with automatic operation being the mainstream form of technological development.

[0003] In the prior art, Chinese patent CN205562582U discloses a coal quality analysis device. This device, arranged sequentially along the movement direction of the robotic arm, includes a sample transfer component (turntable), a weighing component, a crucible storage component, and an industrial analysis component. This patent has the following drawbacks: 1. The calorimetric process generally includes a pre-sample addition process, an oxygen bomb treatment process, and a calorimetric process. The oxygen bomb treatment process includes oxygen bomb disassembly, cleaning, liquid injection, and oxygen bomb assembly, etc. The analysis device in this patent cannot achieve fully automated testing of the above process; 2. The sample addition process includes coal sample bottle loading, shaking, unloading, and weighing, etc. This patent also cannot automate the sample addition process; 3. Coal samples are generally in the form of fine powder, and this patent cannot achieve uniform, small-batch, and accurate unloading. Summary of the Invention

[0004] This application provides an automated calorimetry system and its operating method, which can realize the automation of calorimetry analysis.

[0005] In a first aspect, this application provides an automated calorimetric system, including a worktable and a sample feeding device, an oxygen bomb treatment device, and a calorimetric device arranged at intervals along the X-axis on the worktable; a transfer robot is moved along the X-axis on the worktable. A sample feeding device for supplying a second sample container containing a test sample to the oxygen bomb treatment device; An oxygen bomb handling device includes a frame, a mounting mechanism, an oxygen bomb body separation mechanism, an oxygen bomb body transfer mechanism, a gas-water cleaning mechanism, and a liquid injection mechanism. The frame is mounted on a workbench. The mounting mechanism is located on the first side of the frame and is used to connect to the cover assembly of the oxygen bomb. The oxygen bomb body separation mechanism is located below the mounting mechanism and includes a first gripper, a first rotary drive assembly, and a first Z-axis motion assembly. The first gripper is connected to the first rotary drive assembly and is used to grip the oxygen bomb body. The first rotary drive assembly is connected to the first gripper and is used to drive the first gripper to rotate around the Z-axis. The first Z-axis motion assembly is connected to the first rotary drive assembly and, through the cooperation of the first rotary drive assembly and the first Z-axis motion assembly, separates the oxygen bomb body from the cover assembly. Alternatively, after the oxygen bomb body and the cover assembly are separated, the transfer robot transfers the second sample container onto the cover assembly. The oxygen bomb body transfer mechanism includes a second gripper, a second rotary drive assembly, and a first Y-axis motion assembly. The second gripper is connected to the second rotary drive assembly, and the second gripper and the first gripper are correspondingly arranged along the Y-axis direction. The second rotary drive assembly is used to drive the second gripper to rotate around the X-axis or Y-axis direction. The first Y-axis motion assembly is located on the second side of the frame and is connected to the second rotary drive assembly. A gas-liquid cleaning mechanism is located below the oxygen bomb body transfer mechanism and is used to spray gas or liquid to clean the oxygen bomb body. A liquid injection mechanism is located above the oxygen bomb body transfer mechanism and is used to inject liquid into the interior of the oxygen bomb body. The calorimeter is equipped with an oxygen bomb placement position. A transfer robot moves the oxygen bomb containing the test sample to the oxygen bomb placement position, and the calorimeter is used to perform calorimetric analysis.

[0006] Preferably, the sample dispensing device includes a main structure, a feeding turntable assembly, a bottle cap temporary storage assembly, a gripping assembly, a shaking sample dispensing assembly, and a weighing assembly; The feeding turntable assembly includes a first turntable drive mechanism and a first turntable. The first turntable drive mechanism is located at the bottom of the main structure, and the first turntable is connected to the first turntable drive mechanism. The first turntable has multiple first placement holes spaced apart around the Z-axis. The first turntable drive mechanism is used to drive the first turntable to rotate around the Z-axis. The bottle cap temporary storage assembly includes an extension frame connected to the main structure. The extension frame is provided with a first negative pressure cleaning hole and a second negative pressure cleaning hole along the X-axis. The first negative pressure cleaning hole is configured as a first bottle cap temporary storage position, and the second negative pressure cleaning hole is configured as a second bottle cap temporary storage position. The first negative pressure cleaning hole and the second negative pressure cleaning hole are connected to an external negative pressure generating device. The gripping assembly includes a first X-axis motion assembly, a second Z-axis motion assembly, a third rotary drive assembly, and a third gripper. The first X-axis motion assembly is connected to the main structure and is used to drive the third gripper to move in the X-axis direction above the first turntable, the bottle cap storage assembly, and the shaking and sample dispensing assembly. The second Z-axis motion assembly is connected to the first X-axis motion assembly. The third rotary drive assembly is connected to the second Z-axis motion assembly and is used to drive the third gripper to rotate around the Z-axis direction. The third gripper is connected to the third rotary drive assembly and is used to clamp the first sample container and the bottle cap. The shaking and sample dispensing assembly includes a mounting bracket, a fourth rotary drive assembly, and a fourth gripper for clamping the first sample container; the mounting bracket is disposed on the main structure, the fourth rotary drive assembly is disposed on the mounting bracket, the fourth gripper is connected to the fourth rotary drive assembly, and the fourth rotary drive assembly is used to drive the fourth gripper and the first sample container to rotate around the Y-axis. The weighing assembly includes a lifting mechanism, a second turntable drive mechanism, a second turntable, and a weighing mechanism. The lifting mechanism is located at the bottom of the main structure and is used to drive the second turntable drive mechanism to move in the Z-axis direction. The second turntable is located on the second turntable drive mechanism and is driven to rotate around the Z-axis direction by the second turntable drive mechanism. The second turntable has multiple second placement holes spaced apart around the Z-axis direction. The weighing mechanism is located below the second turntable, and the weighing mechanism corresponds to the second placement holes in the Z-axis direction.

[0007] Preferably, the shaking and sample dispensing assembly further includes a second Y-axis motion assembly, a guide post, an elastic element, and a vibrating element; the second Y-axis motion assembly is connected to the main structure, and the mounting bracket is connected to the second Y-axis motion assembly. The second Y-axis motion assembly is used to drive the fourth gripper and the first sample container to move along the Y-axis direction to above the second placement hole and directly below the third gripper; the guide post is connected to the mounting bracket, and the fourth rotation drive assembly slides with the guide post along the Z-axis direction; the elastic element is sleeved on the guide post, and both ends of the elastic element abut against the mounting bracket and the fourth rotation drive assembly respectively; the vibrating element is disposed on the fourth rotation drive assembly or the fourth gripper, and is used to drive the fourth gripper and the first sample container to vibrate.

[0008] Preferably, the sample addition device further includes a cleaning component, which includes a second X-axis motion component, a third Z-axis motion component, a fifth rotary drive component, a scraper, a third Y-axis motion component, and a negative pressure suction head. The second X-axis motion component is disposed on the main structure, the third Z-axis motion component is connected to the second X-axis motion component, the fifth rotary drive component is connected to the third Z-axis motion component, and the scraper is connected to the fifth rotary drive component. The main structure is provided with a third placement hole for placing the second sample container. The scraper is driven by the fifth rotary drive component to rotate around the Z-axis to clean the inner wall of the second sample container. The third Y-axis motion component is connected to the main structure, and the negative pressure suction head is disposed on the third Y-axis motion component. The negative pressure suction head is connected to an external negative pressure generating device and is used to remove the residue in the second sample container.

[0009] Preferably, the mounting mechanism includes a mounting plate and a fifth gripper; the mounting plate is disposed on the frame and has a mounting opening for attaching the cover assembly of the oxygen bomb; the fifth gripper is disposed on the mounting plate for clamping the cover assembly.

[0010] Preferably, the inside of the hanging opening is provided with a stepped surface to restrict the cover assembly from falling downwards. The inner wall of the hanging opening includes an arc-shaped inner wall and a straight inner wall. The outer periphery of the cover assembly is provided with an arc-shaped outer wall and a straight outer wall. When the cover assembly is hung in the hanging opening, the arc-shaped inner wall surrounds the arc-shaped outer wall, and the straight inner wall is parallel to the straight outer wall. The straight inner wall restricts the cover assembly from rotating.

[0011] Preferably, the air-water cleaning mechanism includes a water collection tank, a first sleeve, a second sleeve, a fourth Z-axis motion assembly, and a rotating multi-hole nozzle; The water collection tank is located directly below the liquid injection mechanism; the first sleeve passes through the water collection tank along the Z-axis, and the second sleeve is configured as a tube structure with one end closed. The second sleeve is coaxially slidably fitted onto the first sleeve; the fourth Z-axis motion component is located inside the first sleeve and connected to the second sleeve, and is used to drive the second sleeve to slide in the Z-axis direction; the rotating multi-hole nozzle is located at the closed end of the second sleeve, and the rotating multi-hole nozzle is connected to the external gas-water unit, which is used to provide gas or liquid to the rotating multi-hole nozzle for cleaning the oxygen bomb body.

[0012] Preferably, the injection mechanism includes a fifth Z-axis motion component and a syringe; the fifth Z-axis motion component is mounted on the frame; the fixed end of the syringe is connected to the frame or the fifth Z-axis motion component, the propelling end of the syringe is connected to the moving part of the fifth Z-axis motion component, and the outlet of the syringe faces downward along the Z-axis direction.

[0013] Preferably, the oxygen bomb treatment device further includes a wiping mechanism disposed on one side of the mounting mechanism along the Y-axis direction; the wiping mechanism includes a fourth Y-axis motion component, a sixth Z-axis motion component, and a wiping component, the fourth Y-axis motion component is connected to the frame, the sixth Z-axis motion component is connected to the fourth Y-axis motion component, and the wiping component is connected to the sixth Z-axis motion component, thereby driving the wiping component to wipe the ignition lens on the cover assembly.

[0014] Secondly, this application provides a method for operating a calorimetric system, the method of which includes oxygen bomb treatment, sample addition, and calorimetric analysis. Oxygen bomb handling includes oxygen bomb disassembly, oxygen bomb cleaning, oxygen bomb liquid injection, and oxygen bomb reassembly; Oxygen bomb disassembly: The oxygen bomb used in the last test is placed on the mounting mechanism by the transfer robot. The oxygen bomb body separation mechanism rotates the oxygen bomb body downwards and separates it from the oxygen bomb cover assembly. The transfer robot takes away the second sample container placed on the cover assembly and places it in the second sample container temporary storage position. Then the transfer robot places the second sample container containing the new sample on the cover assembly. Oxygen bomb cleaning: The oxygen bomb body transfer mechanism transfers the oxygen bomb body to the top of the gas-water cleaning mechanism. Then, the oxygen bomb body transfer mechanism rotates the oxygen bomb body so that the opening of the oxygen bomb body faces downward. The gas-water cleaning mechanism first sprays liquid to clean the inner wall of the oxygen bomb body. Then, the gas-water cleaning mechanism sprays gas to dry the inner wall of the oxygen bomb body. Finally, the oxygen bomb body is rotated so that the opening faces upward. Oxygen bomb liquid injection: The liquid injection mechanism injects a predetermined amount of liquid into the oxygen bomb body; Oxygen bomb assembly: The oxygen bomb body transfer mechanism transfers the injected oxygen bomb body to the oxygen bomb body spin-off mechanism, and the cover assembly and oxygen bomb body are reassembled together following the oxygen bomb disassembly steps described above. Calorimetric analysis: After the oxygen bomb is processed, the transfer robot will transfer the assembled oxygen bomb to the calorimetric device for calorimetric analysis. The sample addition process includes loading, grabbing, shaking, changing bottle caps, and unloading and weighing. Feeding: The feeding turntable assembly (202) rotates the first sample container (1) containing the sample to a position below the gripping assembly (204). Grasping: The gripping component transfers the first sample container to the shaking and dispensing component; Shake well: The shaking and sample dispensing component rotates the first sample container around the Y-axis to shake the sample well; Bottle cap switching: The gripping component and the shaking sample dispensing component work together to unscrew the first bottle cap on the first sample container and replace it with the second bottle cap; Feeding and weighing: The shaking and feeding component moves the first sample container to the top of the weighing component. The second sample container on the weighing component corresponds to the first sample container. The sample in the first sample container falls into the second sample container. The weighing component weighs the second sample container. After weighing, the transfer robot transfers the second sample container to the cover component.

[0015] The calorimetric system and working method of this application have at least the following beneficial effects: The calorimetric system of this application arranges the sample loading device, oxygen bomb processing device, and calorimetric device along the X-axis on the worktable, and then sets up a transfer robot that can move along the X-axis to realize a highly automated process of calorimetric work. It has a small overall footprint, is easy to install, and can be expanded along the X-axis as needed. When the transfer robot fails, it can be moved aside, and individual devices can be operated independently. The oxygen bomb processing device of this application integrates functional components such as oxygen bomb disassembly, cleaning, liquid injection, and oxygen bomb reassembly. It can realize fully automated processing of used oxygen bombs and prepare for liquid injection for the next test. After the oxygen bomb is disassembled, the transfer robot removes the used second sample container from the cap assembly and resuspends the new sample and the second sample container on the cap assembly. The oxygen bomb is then reassembled in accordance with the oxygen bomb disassembly action. The whole process is carried out automatically by mechanical equipment, resulting in high testing efficiency. Attached Figure Description

[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a top view of the calorimetric system of this application; Figure 2 This is an isometric drawing of the calorimetric system of this application; Figure 3 This is a vertical cross-sectional view of an oxygen bomb; Figure 4 This is a schematic diagram of the sample addition device; Figure 5 yes Figure 4 A schematic diagram of the first angle of the sample preparation device after the first outer shell is hidden; Figure 6 yes Figure 5 The front view; Figure 7 yes Figure 5 Top view; Figure 8 yes Figure 4 A schematic diagram of the sample adding device from a second angle after the first outer shell is concealed. Figure 9 yes Figure 8 Enlarged view of point D in the middle; Figure 10 This is a schematic diagram of the shaker and sample dispensing assembly; Figure 11 This is a schematic diagram of the second turntable drive mechanism and the second turntable. Figure 12 yes Figure 5 Enlarged view of point C in the middle; Figure 13 This is a schematic diagram of the oxygen bomb treatment device; Figure 14 yes Figure 13 A schematic diagram of the medium oxygen bomb treatment device after the second outer casing has been concealed. Figure 15 This is a structural diagram of the mounting mechanism and the wiping mechanism; Figure 16 This is a top view of the mounting mechanism and oxygen bomb; Figure 17 yes Figure 14 The diagram shows the structure behind part of the rack, which is hidden in the image. Figure 18 This is a vertical cross-sectional view of the oxygen bomb processing device after the second outer casing has been concealed. The attached figures are labeled as follows: 100. Workbench; 200. Sample dispensing device; 201. Main structure; 2011. Base; 2012. Support frame; 2013. First outer shell; 202. Feeding turntable assembly; 2021. First turntable drive mechanism; 2022. First turntable; 203. Bottle cap temporary storage assembly; 2031. Extension frame; 204. Gripping assembly; 2041. First X-axis motion assembly; 2042. Second Z-axis motion assembly; 2043. Third rotary drive assembly; 2044. Third gripper; 205. Shaking and dispensing assembly; 2051. Mounting bracket; 2052. Fourth rotary drive assembly ; 2053, Fourth gripper; 2054, Second Y-axis motion assembly; 2055, Guide post; 2056, Elastic element; 2057, Vibrating element; 2058, Powder receiving tray; 206, Weighing assembly; 2061, Lifting mechanism; 2062, Second turntable drive mechanism; 2063, Second turntable; 2064, Weighing mechanism; 207, Cleaning assembly; 2071, Second X-axis motion assembly; 2072, Third Z-axis motion assembly; 2073, Fifth rotary drive assembly; 2074, Scraper head; 2075, Third Y-axis motion assembly; 2076, Negative pressure slag suction head; 300. Oxygen bomb handling device; 301. Frame; 3011. Second outer shell; 302. Mounting mechanism; 3021. Mounting plate; 3022. Fifth gripper; 3023. Mounting opening; 3024. Arc-shaped inner wall; 3025. Straight inner wall; 303. Oxygen bomb body spinning mechanism; 3031. First gripper; 3032. First rotary drive assembly; 3033. First Z-axis motion assembly; 304. Oxygen bomb body transfer mechanism; 3041. Second gripper; 3042. Second rotary drive assembly; 3043, First Y-axis motion assembly; 305, Air-water cleaning mechanism; 3051, Water collection tank; 3052, First sleeve; 3053, Second sleeve; 3054, Fourth Z-axis motion assembly; 3055, Rotary multi-hole nozzle; 306, Liquid injection mechanism; 3061, Fifth Z-axis motion assembly; 3062, Injector; 307, Wiping mechanism; 3071, Fourth X-axis motion assembly; 3072, Sixth Z-axis motion assembly; 3073, Wiping component; 400. Calorimetric device; 500. Transfer robot; 501. Guide rail; 600. Control unit; 1. First sample container; 1a. First cap; 1b. Second cap; 1c. Discharge hole; 2. Second sample container; 3. Oxygen bomb; 31. Cover assembly; 311. Oxygen bomb cover; 312. Gas nozzle module; 313. Ignition lens; 314. Crucible holder; 315. Flange; 32. Oxygen bomb body; A1, First placement hole; A2, First bottle cap temporary storage location; A3, Second bottle cap temporary storage location; A4, Second placement hole; A5, Third placement hole; A6, Second sample container temporary storage location; P1, position of the first bottle cap temporary storage position; P2, position of the second bottle cap temporary storage position; P3, gripping position of the first turntable; P4, first working position of the fourth gripper; P5, second working position of the fourth gripper. Detailed Implementation

[0017] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0018] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0019] like Figure 1 As shown, this embodiment discloses an automated calorimetric system and its working method for automated calorimetric analysis of samples (coal samples). To facilitate understanding of the technical solution of this embodiment, the following directional definitions are made first: the horizontal direction is defined as the X-axis, the horizontal direction is defined as the Y-axis, and the height direction is defined as the Z-axis. The X-axis, Y-axis, and Z-axis intersect each other perpendicularly, forming a three-dimensional rectangular coordinate system.

[0020] like Figure 2 As shown, the calorimetric system includes a workbench 100, a sample loading device 200, an oxygen bomb processing device 300, a calorimetric device 400, and a transfer robot 500. The workbench 100 extends a certain length along the X-axis. The sample loading device 200, the oxygen bomb processing device 300, and the calorimetric device 400 are distributed at intervals along the X-axis on the workbench 100. The transfer robot 500 is disposed on the workbench 100 and can move relative to the workbench 100 in the X-axis direction. The transfer robot 500 is used to grasp sample containers and to transfer the oxygen bomb 3 between the sample loading device 200, the oxygen bomb processing device 300, and the calorimetric device 400. In this embodiment, the sample containers include a first sample container 1 and a second sample container 2. The first sample container 1 is configured as a coal sample bottle, and the mouth of the coal sample bottle is provided with a first cap 1a. The second sample container 2 is configured as a crucible.

[0021] like Figure 3As shown, the structure of the oxygen bomb 3 is similar to that in the prior art. To facilitate understanding of this embodiment, the structure of the oxygen bomb 3 is briefly described below. The oxygen bomb 3 includes a detachable cover assembly 31 and an oxygen bomb body 32. The detachable connection can be a threaded connection, a magnetic connection, or a snap-fit ​​connection, etc. (a threaded connection is preferred in this embodiment). The cover assembly 31 includes an oxygen bomb cover 311, a nozzle module 312, an ignition lens 313, and a crucible holder 314. The oxygen bomb cover 311 and the oxygen bomb body 32 are detachably connected. The nozzle module 312 is provided with a flange 315, which facilitates the cover assembly 31 being hung on the oxygen bomb processing device 300. The oxygen bomb body 32 is a cylindrical shape with one end closed and the other end open.

[0022] like Figure 2 As shown, a guide rail 501 is provided on the worktable 100, and the guide rail 501 extends along the X-axis direction. The transfer robot 500 moves in the X-axis direction through the guide rail 501. In some other embodiments, the transfer robot 500 can also move in the X-axis direction through a wheel mechanism. The execution end of the transfer robot 500 has a part that can clamp the sample container and the oxygen bomb 3. The transfer robot 500 drives the sample container and the oxygen bomb 3 to move in three-dimensional space. The transfer robot 500 is based on existing six-axis collaborative robots, SCARA robots, etc.

[0023] like Figure 4 and Figure 5 As shown, the sample addition device 200 is used for feeding coal samples or other samples, changing bottle caps, shaking, discharging, weighing, and scraping slag. It can realize automated operation. The sample addition device 200 includes a main structure 201, a feeding turntable assembly 202, a bottle cap temporary storage assembly 203, a gripping assembly 204, a shaking and adding assembly 205, a weighing assembly 206, and a cleaning assembly 207, as detailed below: like Figure 4 and Figure 5 As shown, the main structure 201 includes a base 2011 and a support frame 2012. The base 2011 is disposed on the table surface of the workbench 100, and the support frame 2012 is disposed on the base 2011. The outer side of the support frame 2012 is covered by a first outer shell 2013. In some preferred embodiments, the base 2011 is divided into two parts in the Y-axis direction. The first part is provided with the support frame 2012, and the second part is provided with a third placement hole (labeled A5) and a second sample container temporary storage position A6. The second part is configured as a detachable and replaceable component.

[0024] like Figure 6As shown, the feeding turntable assembly 202 includes a first turntable drive mechanism 2021 and a first turntable 2022. The first turntable drive mechanism 2021 is mounted on the base 2011, and the first turntable 2022 is horizontally positioned. The first turntable 2022 is coaxially connected to the output end of the first turntable drive mechanism 2021. The first turntable drive mechanism 2021 drives the first turntable 2022 to rotate around the Z-axis. The first turntable drive mechanism 2021 is based on existing motor drive mechanisms. Multiple first placement holes (labeled A1) are provided at the edge of the first turntable 2022. These holes are spaced apart along the circumference of the first turntable 2022. The first placement holes A1 are used to place the first sample container 1. Rotation of the first turntable 2022 causes the first sample container 1 to rotate to a position below the gripping assembly 204, facilitating the gripping assembly 204 to transfer the first sample container 1 to the shaking and adding assembly 205.

[0025] like Figure 7 As shown, the bottle cap temporary storage assembly 203 includes an extension frame 2031, which is connected to the middle of the support frame 2012. The extension frame 2031 extends a certain length along the X-axis. The extension frame 2031 is provided with a first negative pressure cleaning hole and a second negative pressure cleaning hole. The first negative pressure cleaning hole is configured as a first bottle cap temporary storage position (labeled A2), and the second negative pressure cleaning hole is configured as a second bottle cap temporary storage position (labeled A3). The first bottle cap temporary storage position A2 is used to temporarily buffer the first bottle cap 1a, and the second bottle cap temporary storage position A3 is used to temporarily buffer the second bottle cap 1b. The structure of the second bottle cap 1b is basically the same as that of the first bottle cap 1a. The difference is that the second bottle cap 1b is provided with a discharge hole 1c. The inner diameter of the discharge hole 1c is ten to twenty times the particle size of the coal powder. In this embodiment, the inner diameter of the discharge hole 1c is 2mm to 4mm, which can achieve small-volume uniform discharge and facilitate control of discharge accuracy. Before the first sample container 1 is loaded onto the first turntable 2022, the first bottle cap 1a is tightened at the bottle mouth of the first sample container 1. After the gripping component 204 transfers the first sample container 1 to the shaking and sample dispensing component 205, the gripping component 204 and the shaking and sample dispensing component 205 work together to unscrew the first bottle cap 1a. Then, the second bottle cap 1b, which is temporarily stored in the second bottle cap storage position A3, is assembled onto the first sample container 1. Subsequently, when the first sample container 1 is inverted, the sample in the first sample container 1 will fall out from the discharge hole 1c of the second bottle cap 1b.

[0026] In this preferred embodiment, both the first and second negative pressure cleaning holes are connected to an external negative pressure generating device (not shown) via negative pressure pipes. The negative pressure generating device creates negative pressure, causing the positions of the first and second negative pressure cleaning holes to generate adsorption force, thereby removing residual samples from the first bottle cap 1a and the second bottle cap 1b, achieving the purpose of cleaning the bottle caps. The first negative pressure cleaning hole is connected to one end of pipe one, and the second negative pressure cleaning hole is connected to one end of pipe two. The other ends of both pipe one and pipe two are connected to a vacuum switching valve (not shown), which is connected to the external negative pressure generating device. The vacuum switching valve controls the positions of the first and second negative pressure cleaning holes to generate negative pressure adsorption force.

[0027] like Figure 6 As shown, the gripping component 204 is disposed on the support frame 2012. The gripping component 204 is used to transfer the first sample container 1 and the two bottle caps (i.e., the first bottle cap 1a and the second bottle cap 1b) to various positions within the sample dispensing device 200. In other embodiments, the gripping component 204 may refer to existing multi-axis robotic arms.

[0028] like Figure 6 As shown, in this preferred embodiment, the gripping component 204 includes a first X-axis motion component 2041, a second Z-axis motion component 2042, a third rotary drive component 2043, and a third gripper 2044. The first X-axis motion component 2041 is located at the middle of the support frame 2012 and is used to drive the second Z-axis motion component 2042 to move in the X-axis direction. The second Z-axis motion component 2042 is used to drive the third rotary drive component 2043 to move in the Z-axis direction. The third rotary drive component 2043 is used to drive the third gripper 2044 to rotate around the Z-axis direction. When the third gripper 2044 rotates, it can tighten or loosen the bottle cap at the mouth of the first sample container 1. In this embodiment, the third rotary drive component 2043 is configured as a rotary motor, rotary cylinder, or other actuator with rotational capability, and the third gripper 2044 is based on existing cylinder fingers or other gripping components.

[0029] like Figure 7 As shown, the positions of the first bottle cap temporary storage position (labeled P1), the second bottle cap temporary storage position (labeled P2), the gripping position of the first turntable (labeled P3), and the clamping position of the shaking and sample dispensing component (i.e., the first working position P4 of the fourth gripper 2053) are arranged in a straight line along the X-axis. The first X-axis motion component 2041 of the gripping component 204 can drive the third gripper 2044 to move in the X-axis direction and move to directly above the above-mentioned position, so as to realize the gripping of the first sample container 1 by the third gripper 2044 and the transfer of the bottle cap.

[0030] like Figures 8 to 10As shown, the shaking and sample dispensing assembly 205 includes a mounting bracket 2051, a fourth rotation drive assembly 2052, and a fourth gripper 2053 for clamping the first sample container 1. The mounting bracket 2051 is directly or indirectly connected to the middle position of the support frame 2012. The fourth rotation drive assembly 2052 is disposed on the mounting bracket 2051. The fourth rotation drive assembly 2052 is used to drive the fourth gripper 2053 to rotate around the Y-axis. In this embodiment, the fourth rotation drive assembly 2052 is configured as an actuator with rotational capability, such as a rotary motor or a rotary cylinder. The fourth gripper 2053 is based on existing components with clamping capability, such as cylinder fingers.

[0031] like Figure 10 As shown, in some preferred embodiments, the shaking and sample dispensing assembly 205 further includes a second Y-axis motion assembly 2054, which is located at the middle of the support frame 2012. The mounting bracket 2051 is located on the second Y-axis motion assembly 2054. The second Y-axis motion assembly 2054 is used to drive the mounting bracket 2051, the fourth rotation drive assembly 2052, the fourth gripper 2053 and the first sample container 1 located on the mounting bracket 2051 to move in the Y-axis direction.

[0032] like Figure 7 As shown, in the Y-axis direction, the fourth gripper 2053 has two working positions. The first working position (labeled P4) is aligned with the third gripper 2044 in the X-axis direction, and the second working position (labeled P5) is aligned vertically with the weighing assembly 206. The fourth gripper 2053 can receive and clamp the first sample container 1 in the first working position. The fourth rotation drive assembly 2052 drives the first sample container 1 to rotate, so that the sample in the first sample container 1 is shaken evenly. After the first sample container 1 is shaken evenly and the cap is switched, it flips 180 degrees and then extends to the second working position, so that the sample falls into the second sample container 2 on the weighing assembly 206.

[0033] In this embodiment, the bottle cap on the first sample container 1 can be switched by the cooperation of the third gripper 2044 and the fourth gripper 2053. Specifically, the fourth gripper 2053 clamps the first sample container 1, at which time the first sample container 1 is provided with the first bottle cap 1a. The third gripper 2044 clamps the first bottle cap 1a, and under the drive of the third rotary drive component 2043, the first bottle cap 1a is screwed upward. With the cooperation of the first X-axis motion component 2041 and the second Z-axis motion component 2042, the first bottle cap 1a is placed in the first bottle cap temporary storage position A2. Then, the third gripper 2044 clamps the second bottle cap 1b on the second bottle cap temporary storage position A3 and places it on the first sample container 1 and tightens it.

[0034] like Figure 10As shown, in some preferred embodiments, the shaking and sample dispensing assembly 205 further includes guide posts 2055, elastic elements 2056, and vibrating elements 2057. There are two guide posts 2055, both vertically mounted on the mounting bracket 2051. The guide posts 2055 slide through the structure on the back of the fourth rotary drive assembly 2052 to achieve a sliding engagement with it. The guide posts 2055 restrict the fourth rotary drive assembly 2052 to slide only up and down in the Z-axis direction. The elastic elements 2056 are coaxially sleeved on the guide posts 2055. On the outer periphery of 055, the lower end of the elastic element 2056 abuts against the mounting bracket 2051, and the upper end abuts against the lower surface of the fourth rotary drive assembly 2052. The elastic element 2056 is configured as a spring. The vibrating element 2057 is disposed on the fourth rotary drive assembly 2052 or the fourth gripper 2053. In this embodiment, the vibrating element 2057 is preferably disposed on the upper surface of the fourth gripper 2053, specifically on the upper surface of the drive cylinder of the fourth gripper 2053. The vibrating element 2057 can generate vibration so that the fourth gripper 2053 and the first sample container 1 can shake up and down. In this embodiment, the vibrating element 2057 is configured as a vibration motor.

[0035] In this embodiment, the guide post 2055 and the elastic element 2056 serve two purposes. First, they enable flexible engagement between the third gripper 2044 and the fourth gripper 2053 when switching bottle caps, thus providing a buffering effect. Second, they work in conjunction with the vibrating element 2057 to cause the first sample container 1 to vibrate up and down to release material.

[0036] like Figure 9As shown, the shaker and sample dispensing assembly 205 also includes a powder receiving tray 2058, which is indirectly connected to the middle of the support frame 2012. The powder receiving tray 2058 is arc-shaped and is used to receive the sample leaking from the first sample container 1. Specifically, when the fourth gripper 2053 and the first sample container 1 are in the first working position (labeled P4), the powder receiving tray 2058 is located directly below the fourth gripper 2053 and the first sample container 1, and the arc direction of the powder receiving tray 2058 is the same as the rotation direction of the fourth gripper 2053. When the first sample container 1 is switched to the second cap 1... After step b, the first sample container 1 is driven to rotate so that its opening faces downwards. Then, the first sample container 1 is extended along the Y-axis to the second working position (labeled P5). When the first sample container 1 is rotated to the point where its opening faces downwards for the first time, a small amount of sample will leak from the discharge hole 1c of the second cap 1b. The powder receiving tray 2058 catches the leaked material to prevent contamination of the instrument. In some preferred embodiments, the powder receiving tray 2058 is provided with a vacuum adsorption hole (not shown). The vacuum adsorption hole is connected to an external vacuum generator through an external pipe, so a negative pressure can be created at the opening of the vacuum adsorption hole to suck away the leaked material. It should be noted that due to the material characteristics of coal powder and the small inner diameter of the discharge hole 1c, a small amount of material leakage will generally only occur when the first sample container 1 is rotated to the point where its opening faces downwards for the first time. During the process of the first sample container 1 moving along the Y-axis to the second working position (labeled P5), no leakage will occur.

[0037] like Figure 6 and Figure 11 As shown, the weighing assembly 206 includes a lifting mechanism 2061, a second turntable drive mechanism 2062, a second turntable 2063, and a weighing mechanism 2064. The lifting mechanism 2061 is mounted on the base 2011 and is used to drive the second turntable drive mechanism 2062 to move up and down in the height direction. The lifting mechanism 2061 can be a linear module, a telescopic cylinder, or other component with linear execution capability. The second turntable drive mechanism 2062 is used to drive the second turntable 2063 to rotate around the Z-axis. The second turntable drive mechanism 2062 can be a rotary motor or a rotary motor with belt drive. The second turntable 2063 and... The second turntable drive mechanism 2062 is connected, and the second turntable 2063 is horizontally rotatable. The second turntable 2063 can rotate around the Z-axis under the drive of the second turntable drive mechanism 2062. Multiple second placement holes (labeled A4) are provided at the edge of the second turntable 2063. The multiple second placement holes A4 are arranged at intervals around the Z-axis. The second sample container 2 can be placed in the second placement hole A4. The weighing mechanism 2064 corresponds vertically to the second sample container 2 set on the second turntable 2063. The center of the weighing mechanism 2064 corresponds vertically to the second working position (labeled P5) of the fourth gripper 2053.

[0038] The working principle of the weighing component 206 is as follows: When the lifting mechanism 2061 drives the second turntable drive mechanism 2062 and the second turntable 2063 to move down as a whole, the weighing mechanism 2064 below the second turntable 2063 can lift the second sample container 2 on the second turntable 2063 upward and separate it from the second turntable 2063. Then, the sample of the first sample container 1 is shaken into the second sample container 2. The total weight of the second sample container 2 is measured by the weighing mechanism 2064. After the weight is measured, the second turntable 2063 moves up and the second sample container 2 returns to the second placement hole A4 of the second turntable 2063.

[0039] In this embodiment, at least a portion of the first turntable 2022 and the second turntable 2063 are exposed on the outside of the first housing 2013 of the sample dispensing device 200, which facilitates the placement and removal of the first sample container 1 and the second sample container 2.

[0040] In this embodiment, the second sample container 2 is placed inside the oxygen bomb 3 for calorimetric testing. After the test is completed, the sample will stick to the inner wall of the second sample container 2. It requires a lot of manual effort to completely scrape off the residue, which is time-consuming and laborious. Therefore, the sample feeding device 200 in this embodiment is designed with a cleaning component 207 to clean the residue.

[0041] like Figure 12 As shown, the cleaning assembly 207 includes a second X-axis motion assembly 2071, a third Z-axis motion assembly 2072, a fifth rotary drive assembly 2073, a scraper head 2074, a third Y-axis motion assembly 2075, and a negative pressure suction head 2076. The base 2011 is provided with a third placement hole (labeled A5), which is used to place the used second sample container 2. In some preferred embodiments, a cylinder gripper is provided in the third placement hole A5 to clamp the second sample container 2 placed in the third placement hole A5 to ensure that the second sample container 2 does not rotate when being cleaned.

[0042] The cleaning process is as follows: The transfer robot 500 places the used second sample container 2 into the third placement hole A5. The second X-axis motion component 2071 drives the scraper head 2074 to move along the X-axis to directly above the second sample container 2. The third Z-axis motion component 2072 drives the scraper head 2074 downward, so that the scraper head 2074 is located inside the second sample container 2. The scraper head 2074 is preferably made of flexible material, and the outer diameter of the scraper head 2074 is equal to or slightly larger than the inner diameter of the second sample container 2. Therefore, the fifth rotation drive component 2073... When the scraper head 2074 rotates around the Z-axis, it can scrape off the residue in the second sample container 2. After scraping, the scraper head 2074 retracts from the second sample container 2 and resets. The third Y-axis motion component 2075 drives the negative pressure suction head 2076 to move along the Y-axis to directly above the second sample container 2. The negative pressure suction head 2076 is connected to an external negative pressure generating device, which can generate negative pressure at the opening of the negative pressure suction head 2076, so that the negative pressure suction head 2076 sucks away the scraped residue.

[0043] In this embodiment, preferably, the second part of the base 2011 is also provided with a plurality of second sample container temporary storage positions (labeled A6), and the plurality of second sample container temporary storage positions A6 are located on the outside of the first outer shell 2013.

[0044] like Figure 13 and Figure 14 As shown, the oxygen bomb processing device 300 includes a frame 301, a mounting mechanism 302, an oxygen bomb body spinning mechanism 303, an oxygen bomb body transfer mechanism 304, a gas-water cleaning mechanism 305, and a liquid injection mechanism 306, as detailed below: like Figure 14 As shown, the structure of the frame 301 is similar to that of the main structure 201. The bottom of the frame 301 is provided with a support base, which is set on the workbench 100. The outer side of the frame 301 is configured as the first side, the inner side of the frame 301 is configured as the second side, and the outer side of the frame 301 is covered by a second outer shell 3011.

[0045] like Figure 15 As shown, the mounting mechanism 302 includes a mounting plate 3021 and a fifth gripper 3022. The mounting plate 3021 is disposed on the first side of the frame 301. The mounting plate 3021 is horizontally disposed and has a mounting opening 3023. The nozzle module 312 of the oxygen bomb 3 can be moved laterally along the X-axis to the mounting opening 3023 and hung in the mounting opening 3023. The fifth gripper 3022 is disposed on the lower side of the mounting plate 3021 and is used to clamp the oxygen bomb cover 311 of the oxygen bomb 3.

[0046] like Figure 16As shown, in this preferred embodiment, the mounting opening 3023 has a stepped surface, and the flange 315 on the nozzle module 312 can be mounted on the stepped surface, thereby preventing the oxygen bomb 3 from falling downwards. The mounting opening 3023 has an inner wall. From a top view, the inner wall of the mounting opening 3023 includes an arc-shaped inner wall 3024 and a straight inner wall 3025. The shape of the flange 315 matches the inner peripheral wall of the mounting opening 3023, that is, the outer peripheral wall of the flange 315 includes an arc-shaped outer wall and a straight outer wall. When the flange 315 is hooked into the hook opening 3023, the arcuate inner wall 3024 of the hook opening 3023 surrounds the arcuate outer wall of the flange 315. Simultaneously, the straight inner wall 3025 of the hook opening 3023 is parallel to the straight outer wall of the flange 315. These shape features allow for the positioning of the cover assembly 31 of the oxygen bomb 3. Specifically, the straight inner wall 3025 restricts the rotation of the flange 315, and the stepped surface restricts the downward degree of freedom of the flange 315. It is understood that when the oxygen bomb 3 needs to be removed from the hook opening 3023, the flange 315 needs to be lifted upwards away from the hook opening 3023, and the oxygen bomb 3 needs to be removed from the hook opening 3023 along the X-axis direction.

[0047] like Figure 14 As shown, the oxygen bomb body spinning mechanism 303 includes a first gripper 3031, a first rotary drive assembly 3032, and a first Z-axis motion assembly 3033. The first Z-axis motion assembly 3033 is located directly below the mounting plate 3021. The first rotary drive assembly 3032 is connected to the first Z-axis motion assembly 3033. The first gripper 3031 is connected to the first rotary drive assembly 3032. The first gripper 3031 is used to clamp the oxygen bomb body 32.

[0048] The oxygen bomb body detachment mechanism 303 in this embodiment is used to detach the oxygen bomb body 32 and the cover assembly 31 by rotation and to reassemble them. The rotation detachment process is as follows: the transfer robot 500 hangs the used oxygen bomb 3 on the mounting plate 3021, the fifth gripper 3022 clamps the oxygen bomb cover 311 of the oxygen bomb 3, the first Z-axis motion component 3033 of the oxygen bomb body detachment mechanism 303 drives the first rotation drive component 3032 and the first gripper 3031 to move upward along the Z-axis direction, the first gripper 3031 rises to the same height as the oxygen bomb body 32 and clamps the oxygen bomb body 32, and then the first rotation... The drive assembly 3032 drives the first gripper 3031 and the oxygen bomb body 32 to rotate around the Z-axis. At the same time, the first Z-axis motion assembly 3033 drives the oxygen bomb body 32 to move downward, so that the oxygen bomb body 32 rotates downward and disengages from the cover assembly 31. Conversely, when it is necessary to rotate and assemble the oxygen bomb body 32 and the cover assembly 31, the first rotation drive assembly 3032 drives the first gripper 3031 and the oxygen bomb body 32 to rotate around the Z-axis. At the same time, the first Z-axis motion assembly 3033 drives the oxygen bomb body 32 to move upward so that the oxygen bomb body 32 is threadedly connected to the oxygen bomb cover 311 of the cover assembly 31.

[0049] like Figure 17 As shown, the oxygen bomb body transfer mechanism 304 includes a second gripper 3041, a second rotary drive assembly 3042, and a first Y-axis motion assembly 3043. The first Y-axis motion assembly 3043 is disposed on the second side of the frame 301. The first Y-axis motion assembly 3043 and the mounting plate 3021 are arranged at intervals along the Y-axis direction. The second rotary drive assembly 3042 is connected to the first Y-axis motion assembly 3043. The first Y-axis motion assembly 3043 drives the second rotary drive assembly 3042 to move in the Y-axis direction. The second gripper 3041 is connected to the second rotary drive assembly 3042. The second gripper 3041 is used to grip the oxygen bomb body 32. The second rotary drive assembly 3042 is used to drive the second gripper 3041 and the oxygen bomb body 32 to rotate around the X-axis direction or the Y-axis direction, so that the opening of the oxygen bomb body 32 faces upward or downward. In this embodiment, the oxygen bomb body transfer mechanism 304 is used to transfer the oxygen bomb body 32 to the top of the gas-water cleaning mechanism 305 so that the oxygen bomb body 32 can be cleaned and then injected with liquid through the liquid injection mechanism 306.

[0050] like Figure 18As shown, the gas-water cleaning mechanism 305 includes a water collection tank 3051, a first sleeve 3052, a second sleeve 3053, a fourth Z-axis motion assembly 3054, and a rotating multi-hole nozzle 3055. The water collection tank 3051 is located inside the frame 301 and directly below the liquid injection mechanism 306. The upper end of the water collection tank 3051 is configured to be open to collect the liquid generated during the cleaning process of the oxygen bomb body 32. A valve is provided at the lower end of the water collection tank 3051 to facilitate the discharge of accumulated liquid. The first sleeve 3052 passes through the middle of the water collection tank 3051 along the Z-axis direction, and the axial direction of the first sleeve 3052 is aligned with the Z-axis direction. The second sleeve 3053 is configured as a circular structure with one end closed. The second sleeve 3053 is coaxially slidably sleeved on the outer periphery of the first sleeve 3052. The second sleeve 3053 and the first sleeve 3052 are in clearance fit, with the clearance range being within a certain range. The upper end of the second sleeve 3053 is configured as a closed end, with a diameter of 2mm to 10mm. The fourth Z-axis motion component 3054 is disposed inside the first sleeve 3052 and connected to the closed end of the second sleeve 3053. The fourth Z-axis motion component 3054 can drive the second sleeve 3053 to slide relative to the first sleeve 3052 in the Z-axis direction. In this embodiment, the fourth Z-axis motion component 3054 is disposed inside the first sleeve 3052 and acts as a waterproof cover through the second sleeve 3053, which can prevent the liquid generated during the cleaning process from affecting the fourth Z-axis motion component 3054. The rotating multi-hole nozzle 3055 is disposed at the closed end of the second sleeve 3053. An external air-water unit (not shown) is connected to the rotating multi-hole nozzle 3055 through a pipe. The air-water unit is used to supply gas or liquid to the rotating multi-hole nozzle 3055. Preferably, the air-water unit includes an air path, a water path, and a valve structure. The air path is connected to the inlet of the valve structure, the water path is connected to the inlet of the valve structure, and the outlet of the valve structure is connected to the rotary multi-hole nozzle 3055 through a pipe. When the valve structure switches its working position, it can switch the connection between the air path or the water path and the rotary multi-hole nozzle 3055.

[0051] The working principle of the gas-water cleaning mechanism 305 in this embodiment is as follows: The second gripper 3041 of the oxygen bomb body transfer mechanism 304 drives the oxygen bomb body 32 to move to a position coaxial with the first sleeve 3052. The second rotation drive component 3042 drives the oxygen bomb body 32 to rotate 180 degrees so that its opening faces downward. The fourth Z-axis motion component 3054 drives the second sleeve 3053 and the rotating multi-hole nozzle 3055 to extend upward into the inner side of the oxygen bomb body 32. Then, the rotating multi-hole nozzle 3055 sprays liquid to clean the inner wall of the oxygen bomb body 32. The wastewater generated during cleaning is collected through the water collection tank 3051. The rotating multi-hole nozzle 3055 can rotate freely to achieve cleaning without dead angles. After cleaning, the external gas-water unit provides gas to the rotating multi-hole nozzle 3055. The gas dries the inner wall of the oxygen bomb body 32. After drying, the second sleeve 3053 and the rotating multi-hole nozzle 3055 move down to reset.

[0052] like Figure 17 As shown, the liquid injection mechanism 306 and the first sleeve 3052 of the gas-water cleaning mechanism 305 are in a coaxial position. Specifically, the liquid injection mechanism 306 is located on the upper side. After the oxygen bomb body 32 is dried, the oxygen bomb body 32 is rotated so that its opening faces upward, and the liquid injection mechanism 306 injects liquid into it, such as water or other media.

[0053] like Figure 17 As shown, the injection mechanism 306 includes a fifth Z-axis motion assembly 3061 and a syringe 3062. The fifth Z-axis motion assembly 3061 is connected to the second side of the frame 301 and is located above the first Y-axis motion assembly 3043. The fifth Z-axis motion assembly 3061 is used to push the syringe 3062 downward to eject liquid. The syringe 3062 and the first sleeve 3052 of the air-water cleaning mechanism 305 are in a coaxial position. The fixed end of the syringe 3062 can be connected to the first Y-axis motion assembly 3043. The lower end of the fifth Z-axis motion assembly 3061 can also be directly or indirectly connected to the frame 301, as long as it can satisfy the requirement that the syringe 3062 be fixed inside the frame 301. The syringe 3062 has an outlet facing downwards and a propulsion end. The propulsion end is connected to the moving part of the fifth Z-axis motion assembly 3061. The moving part can drive the propulsion end of the syringe 3062 to move up and down in the Z-axis direction. When the propulsion end moves downwards, the liquid in the syringe 3062 is injected downwards from the outlet into the oxygen bomb body 32.

[0054] In this embodiment, after the calorimetric device 400 performs calorimetric analysis on the sample inside the oxygen bomb 3, it releases the gas inside the oxygen bomb 3. When releasing the gas, some ash may be sprayed onto the ignition lens 313 of the oxygen bomb 3. Generally, there is 3MPa of air inside the oxygen bomb 3, which is similar to the venting of a pressure cooker and the spraying of dirt. This situation will affect the penetration of the next laser ignition. Therefore, the oxygen bomb processing device 300 in this embodiment also includes a wiping mechanism 307 for wiping the ignition lens 313.

[0055] like Figure 15 As shown, the wiping mechanism 307 includes a fourth Y-axis motion component 3071, a sixth Z-axis motion component 3072, and a wiping element 3073. The fourth Y-axis motion component 3071 is directly or indirectly mounted on the frame 301. The fourth Y-axis motion component 3071 and the mounting plate 3021 are arranged at intervals in the Y-axis direction. The sixth Z-axis motion component 3072 is connected to the fourth Y-axis motion component 3071 and drives the sixth Z-axis motion component 3072 to move in the Y-axis direction. The sixth Z-axis motion component 3072 is connected to the wiping element 3073 and is used to drive the wiping element 3073 to move in the Z-axis direction.

[0056] The working principle of the wiping mechanism 307 is as follows: When the oxygen bomb 3 is disassembled, since the cover assembly 31 of the oxygen bomb 3 is connected to the hanging port 3023 and positioned by the shape designed by the hanging port 3023, and the fifth gripper 3022 on the mounting plate 3021 clamps the cover assembly 31 of the oxygen bomb 3, the position of the cover assembly 31 is fixed and remains unchanged. At this time, it is only necessary to first drive the sixth Z-axis motion assembly 3072 to move down by a first predetermined value, so that the wiping piece 3073 is lower than the height of the ignition lens 313, and then... The fourth Y-axis motion component 3071 moves the wiping member 3073 along the Y-axis direction by a second predetermined value, positioning the wiping member 3073 directly below the ignition lens 313. The sixth Z-axis motion component 3072 then moves the wiping member 3073 upwards by a third predetermined value, bringing it into contact with the ignition lens 313. Then, the fourth Y-axis motion component 3071 moves the wiping member 3073 back and forth in a small range along the Y-axis direction, wiping the ignition lens 313. In this embodiment, the wiping member 3073 is made of a flexible material, such as sponge or rubber, to avoid damaging the ignition lens 313.

[0057] like Figure 1 As shown, the calorimeter 400 is disposed on the workbench 100 and located on the horizontal side of the oxygen bomb processing device 300. The calorimeter 400 is used to perform calorimetric analysis on the sample inside the oxygen bomb 3. In this embodiment, the calorimeter 400 refers to the prior art, such as the calorimeter disclosed in patent number CN223512833U. In this embodiment, the calorimeter 400 is provided with an oxygen bomb placement position. The transfer robot 500 places the oxygen bomb 3, which has been assembled by the oxygen bomb processing device 300, into the oxygen bomb placement position, and the calorimeter 400 performs calorimetric analysis on it. It can be understood that if the calorimeter 400 in this embodiment is the calorimeter disclosed in patent number CN223512833U, then the oxygen bomb placement position is the first bayonet in patent CN223512833U.

[0058] In this embodiment, all X-axis motion components, Y-axis motion components, and Z-axis motion components refer to existing technologies, such as linear modules, telescopic cylinders, rodless cylinders, and other components with linear drive capabilities.

[0059] like Figure 1As shown, in this preferred embodiment, the calorimetric system further includes a control unit 600 disposed on one side of the workbench 100. The control unit 600 is electrically connected to various electrical components and driving components (such as various X-axis motion components, Y-axis motion components, Z-axis motion components and rotary drive components) in the sample feeding device 200. The control unit 600 is also electrically connected to the oxygen bomb treatment device 300, for example, to various X-axis motion components, Y-axis motion components, Z-axis motion components and rotary drive components of the oxygen bomb treatment device 300. The control unit 600 is also electrically connected to the calorimetric device 400.

[0060] This embodiment also discloses a working method of a calorimetric system. The working method of this embodiment uses the calorimetric system of this embodiment and includes oxygen bomb treatment, sample addition and calorimetric analysis. Oxygen bomb processing includes oxygen bomb disassembly, oxygen bomb cleaning, oxygen bomb liquid injection, and oxygen bomb reassembly, as detailed below: Oxygen bomb disassembly: The transfer robot 500 transfers the oxygen bomb 3 after the calorimeter 400 has been used to the mounting plate 3021. The fifth gripper 3022 under the mounting plate 3021 clamps the oxygen bomb cover 311. Then, the first Z-axis motion component 3033 drives the first gripper 3031 to move upward and clamp the oxygen bomb body 32 of the oxygen bomb 3. The first rotation drive component 3032 drives the first gripper 3031 and the oxygen bomb body 32 to rotate. At the same time, the first Z-axis motion component 3033 moves downward and the oxygen bomb body 32 is rotated downward and detached from the oxygen bomb cover 311. Next, the transfer robot 500 takes the second sample container 2 placed on the crucible rack 314 (the crucible rack 314 is connected to the oxygen bomb cover 311) and places it in the second sample container temporary storage position A6 or in the third placement hole A5. Then, the transfer robot 500 places the weighed second sample container 2 on the crucible rack 314 from the second turntable 2063 of the sample loading device 200. Oxygen bomb cleaning: The first Y-axis motion component 3043 drives the second gripper 3041 to move to one side of the oxygen bomb body 32 and clamp the oxygen bomb body 32. At the same time, the first gripper 3031 releases the oxygen bomb body 32. The second gripper 3041 drives the oxygen bomb body 32 to move along the Y-axis to directly above the gas-water cleaning mechanism 305. The second rotation drive component 3042 drives the oxygen bomb body 32 to rotate 180 degrees so that the opening of the oxygen bomb body 32 faces downward and the oxygen bomb body 32 is now in a coaxial position with the first sleeve 3052 of the gas-water cleaning mechanism 305. Then, the fourth Z-axis motion component 3054 drives the second sleeve 3053 and the rotating multi-hole nozzle 3055 to extend upward into the oxygen bomb body 32. Liquid and gas are sprayed out sequentially through the rotating multi-hole nozzle 3055. The liquid cleans the inner wall of the oxygen bomb body 32, and the gas dries the inner wall of the oxygen bomb body 32. After drying, the rotating multi-hole nozzle 3055 returns to its original position downward. Oxygen bomb injection: The second rotary drive assembly 3042 drives the oxygen bomb body 32 to rotate 180 degrees again so that the opening of the oxygen bomb body 32 faces upward. The fifth Z-axis motion assembly 3061 drives the push end of the syringe 3062 to move downward, so that the liquid in the syringe 3062 is injected from the outlet into the oxygen bomb body 32. When the push stroke is reached, the syringe 3062 is stopped, and the injection is completed. Oxygen bomb assembly: The second gripper 3041 drives the oxygen bomb body 32 to move along the Y-axis to below the mounting plate 3021. At this time, the oxygen bomb body 32 and the oxygen bomb cover 311 on the mounting plate 3021 are in corresponding positions on the upper and lower coaxial axis. The first Z-axis motion component 3033 drives the first gripper 3031 to move upward and clamp the oxygen bomb body 32 of the oxygen bomb 3. Then the second gripper 3041 releases the oxygen bomb body 32. The first rotation drive component 3032 drives the first gripper 3031 and the oxygen bomb body 32 to rotate. At the same time, the first Z-axis motion component 3033 moves upward. During the upward movement, the oxygen bomb body 32 engages with the oxygen bomb cover 311 to achieve the connection between the two. Calorimetric analysis: After the oxygen bomb is processed, the transfer robot 500 transfers the assembled oxygen bomb 3 to the calorimetric device 400 for calorimetric analysis. After the calorimetric analysis is completed, the transfer robot 500 transfers the used oxygen bomb 3 to the mounting plate 3021, and the cycle is repeated without human intervention.

[0061] In this preferred embodiment, when performing the above-mentioned oxygen bomb cleaning or oxygen bomb liquid injection, the ignition lens 313 of the cover assembly 31 on the mounting plate 3021 is wiped, that is, the ignition lens 313 is wiped by the wiping mechanism 307.

[0062] In this preferred embodiment, during the above-mentioned oxygen bomb treatment, the sample addition device 200 simultaneously performs the sample addition process, as follows: Feeding: The first sample container 1 (coal sample bottle) containing the sample is placed in the first placement hole A1 of the first turntable 2022 by the manual operator or the transfer robot 500. At this time, the first bottle cap 1a is tightened on the first sample container 1. The second sample container 2 is placed in the second placement hole A4 of the second turntable 2063 by the manual operator or the transfer robot 500. The first turntable 2022 drives the first sample container 1 to rotate to the inside to realize the feeding of the first sample container 1. At the same time, the second turntable 2063 drives the second sample container 2 to rotate to the inside to realize the feeding of the second sample container 2. Grasping: The first X-axis motion component 2041 of the gripping component 204 drives the third gripper 2044 to the gripping position P3 above the first turntable 2022. The third gripper 2044 moves downward under the drive of the second Z-axis motion component 2042 until the third gripper 2044 clamps the first sample container 1 at the gripping position. Then the third gripper 2044 moves upward and then moves along the X-axis to the top of the shaking and adding component 205, that is, moves to the first working position P4 of the fourth gripper 2053. The third gripper 2044 drives the first sample container 10 to move downward until the first sample container 1 is within the clamping range of the fourth gripper 2053. After the fourth gripper 2053 clamps the first sample container 1, the third gripper 2044 releases, and at this time the bottle mouth of the first sample container 1 faces upward. Shaking: The fourth rotation drive component 2052 of the shaking sample addition component 205 drives the fourth gripper 2053 and the first sample container 1 clamped by the fourth gripper 2053 to rotate around the Y-axis, so that the sample in the first sample container 1 is shaken evenly. Switching bottle caps: With the bottle opening of the first sample container 1 facing upwards, the third gripper 2044 of the gripping component 204 clamps the first bottle cap 1a on the first sample container 1. Then, the third rotation drive component 2043 drives the third gripper 2044 and the first bottle cap 1a clamped by the third gripper 2044 to rotate around the Z-axis. During this process, the fourth gripper 2053 firmly clamps the outer periphery of the first sample container 1. At the same time, the second Z-axis motion component 2042 drives the third gripper 2044 and the first bottle cap 1a to move upwards slowly, so that the first bottle cap 1a is unscrewed from the first sample container 1. Then, the third gripper 2044 transfers the first bottle cap 1a to the first bottle cap temporary storage position A2. Next, the third gripper 2044 moves to the second bottle cap temporary storage position A3 and clamps the second bottle cap 1b in the second bottle cap temporary storage position A3. Referring to the operation of unscrewing the first bottle cap 1a, the second bottle cap 1b is tightened on the first sample container 1. Then, the third gripper 2044 releases the second bottle cap 1b. Material feeding and weighing: 1. Rotating the bottle mouth: The fourth rotation drive component 2052 drives the fourth gripper 2053 and the first sample container 1 clamped by the fourth gripper 2053 to rotate 180 degrees around the Y-axis so that the bottle mouth of the first sample container 1 faces downward. During this process, a small amount of sample will leak out from the discharge hole 1c of the second bottle cap 1b. The leaked sample is collected by the powder receiving tray 2058. 2. Extending and feeding: The second Y-axis motion component 2054 drives the fourth gripper 2053 and the first sample container 1 with the second bottle cap 1b replaced to move along the Y-axis to the second working position P5 of the fourth gripper 2053. At this time, the first sample container 1 is located above the second turntable 2063. 3. First action of weighing component 206: When the second turntable 2063 rotates and causes a certain second sample container 2 to rotate to correspond vertically with the weighing mechanism 2064, the lifting mechanism 2061 drives the second turntable 2063 to move downward, so that the weighing mechanism 2064 lifts the second sample container 2 upward and removes it from the second turntable 2063. The lifted second sample container 2 corresponds vertically with the first sample container 1. IV. Vibration feeding: The vibrating component 2057 operates under the control of the control unit 600. The vibration intensity of the vibrating component 2057 is initially strong. When the sample is about to reach the rated weight, the vibration intensity is reduced to achieve accurate weighing. Once the weight meets the requirements, the vibration feeding stops. V. Second action of weighing component 206: Lifting mechanism 2061 drives the second turntable 2063 to move upward, and the second sample container 2 that was lifted returns to the second turntable 2063; Steps three and four are repeated as needed to distribute the sample in the first sample container 1 into multiple second sample containers 2.

[0063] Switching the bottle cap again: The fourth gripper 2053 drives the first sample container 1 back to the first working position. Following the above steps for switching the bottle cap, the first bottle cap 1a is reassembled onto the first sample container 1. The first sample container 1 is then placed back onto the first turntable 2022 by the gripping component 204. The first turntable 2022 rotates the new first sample container 1 to the gripping position again. VII. Transfer: The transfer robot 500 picks up the second sample container 2, which has been loaded with the sample, from the second turntable 2063 and transfers it along the X-axis to the cover assembly 31 in the oxygen bomb disassembly step above, specifically placing it on the crucible rack 314 of the cover assembly 31. During the above process, the transfer robot 500 transfers the second sample container 2, which is placed on the second sample container temporary storage position A6, to the third placement hole A5 at regular intervals or as needed, and starts the cleaning program. The cleaning component 207 starts to clean the second sample container 2 in the third placement hole A5. After cleaning, it is placed in the set position or can be put back into the second sample container temporary storage position A6.

[0064] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. An automated calorimetric system, characterized in that, It includes a worktable (100) and a sample feeding device (200), an oxygen bomb treatment device (300) and a calorimeter (400) arranged at intervals along the X-axis on the worktable (100); a transfer robot (500) is movable along the X-axis on the worktable (100). A sample feeding device (200) is used to provide a second sample container (2) with a test sample to the oxygen bomb treatment device (300); The oxygen bomb processing device (300) includes a frame (301), a mounting mechanism (302), an oxygen bomb body separation mechanism (303), an oxygen bomb body transfer mechanism (304), a gas-water cleaning mechanism (305), and a liquid injection mechanism (306); the frame (301) is mounted on a workbench (100); the mounting mechanism (302) is mounted on the first side of the frame (301) and is used to connect with the cover assembly (31) of the oxygen bomb (3); the oxygen bomb body separation mechanism (303) is located below the mounting mechanism (302), and the oxygen bomb body separation mechanism (303) includes a first gripper (303). 1) A first rotary drive assembly (3032) and a first Z-axis motion assembly (3033). A first gripper (3031) is connected to the first rotary drive assembly (3032) and is used to grip the oxygen bomb body (32). The first rotary drive assembly (3032) is connected to the first gripper (3031) and is used to drive the first gripper (3031) to rotate around the Z-axis. The first Z-axis motion assembly (3033) is connected to the first rotary drive assembly (3032) and, through the cooperation of the first rotary drive assembly (3032) and the first Z-axis motion assembly (3033), the oxygen bomb is held in place. The main body (32) is separated from or connected to the cover assembly (31). After the oxygen bomb main body (32) is separated from the cover assembly (31), the transfer robot (500) transfers the second sample container (2) onto the cover assembly (31). The oxygen bomb main body transfer mechanism (304) includes a second gripper (3041), a second rotary drive assembly (3042), and a first Y-axis motion assembly (3043). The second gripper (3041) is connected to the second rotary drive assembly (3042). The second gripper (3041) and the first gripper (3031) are correspondingly arranged along the Y-axis direction. (3042) is used to drive the second gripper (3041) to rotate around the X-axis or Y-axis; the first Y-axis motion assembly (3043) is disposed on the second side of the frame (301), and the first Y-axis motion assembly (3043) is connected to the second rotary drive assembly (3042); the gas-water cleaning mechanism (305) is disposed below the oxygen bomb body transfer mechanism (304), and is used to spray gas or liquid to clean the oxygen bomb body (32); the liquid injection mechanism (306) is disposed above the oxygen bomb body transfer mechanism (304), and is used to inject liquid into the interior of the oxygen bomb body (32); The calorimeter (400) is equipped with an oxygen bomb placement position. The transfer robot (500) transfers the oxygen bomb (3) with the test sample to the oxygen bomb placement position. The calorimeter (400) is used to perform calorimetric analysis.

2. The calorimetric system according to claim 1, characterized in that, The sample dispensing device (200) includes a main structure (201), a feeding turntable assembly (202), a bottle cap temporary storage assembly (203), a gripping assembly (204), a shaking sample dispensing assembly (205), and a weighing assembly (206). The feeding turntable assembly (202) includes a first turntable drive mechanism (2021) and a first turntable (2022). The first turntable drive mechanism (2021) is located at the bottom of the main structure (201). The first turntable (2022) is connected to the first turntable drive mechanism (2021). The first turntable (2022) is provided with a plurality of first placement holes (A1) spaced apart around the Z-axis. The first turntable drive mechanism (2021) is used to drive the first turntable (2022) to rotate around the Z-axis. The bottle cap storage assembly (203) includes an extension frame (2031) connected to the main structure (201). The extension frame (2031) is provided with a first negative pressure cleaning hole and a second negative pressure cleaning hole along the X-axis. The first negative pressure cleaning hole is configured as a first bottle cap storage position (A2), and the second negative pressure cleaning hole is configured as a second bottle cap storage position (A3). The first negative pressure cleaning hole and the second negative pressure cleaning hole are connected to an external negative pressure generating device. The gripping component (204) includes a first X-axis motion component (2041), a second Z-axis motion component (2042), a third rotation drive component (2043), and a third gripper (2044). The first X-axis motion component (2041) is connected to the main structure (201) and is used to drive the third gripper (2044) to move in the X-axis direction above the first turntable (2022), the bottle cap storage component (203), and the shaking and sample dispensing component (205). The second Z-axis motion component (2042) is connected to the first X-axis motion component (2041). The third rotation drive component (2043) is connected to the second Z-axis motion component (2042) and is used to drive the third gripper (2044) to rotate around the Z-axis direction. The third gripper (2044) is connected to the third rotation drive component (2043) and is used to clamp the first sample container (1) and the bottle cap. The shaking and sample dispensing assembly (205) includes a mounting bracket (2051), a fourth rotation drive assembly (2052), and a fourth gripper (2053) for clamping the first sample container; the mounting bracket (2051) is disposed on the main structure (201), the fourth rotation drive assembly (2052) is disposed on the mounting bracket (2051), the fourth gripper (2053) is connected to the fourth rotation drive assembly (2052), and the fourth rotation drive assembly (2052) is used to drive the fourth gripper (2053) and the first sample container (1) to rotate around the Y-axis; The weighing assembly (206) includes a lifting mechanism (2061), a second turntable drive mechanism (2062), a second turntable (2063), and a weighing mechanism (2064). The lifting mechanism (2061) is located at the bottom of the main structure (201) and is used to drive the second turntable drive mechanism (2062) to move in the Z-axis direction. The second turntable (2063) is located on the second turntable drive mechanism (2062) and drives the second turntable (2063) to rotate around the Z-axis direction. The second turntable (2063) is provided with a plurality of second placement holes (A4) at intervals around the Z-axis direction. The weighing mechanism (2064) is located below the second turntable (2063) and the weighing mechanism (2064) corresponds to the second placement holes (A4) in the Z-axis direction.

3. The calorimetric system according to claim 2, characterized in that, The shaking and sample dispensing assembly (205) also includes a second Y-axis motion assembly (2054), a guide post (2055), an elastic element (2056), and a vibrating element (2057); the second Y-axis motion assembly (2054) is connected to the main structure (201), and the mounting bracket (2051) is connected to the second Y-axis motion assembly (2054). The second Y-axis motion assembly (2054) is used to drive the fourth gripper (2053) and the first sample container (1) to move along the Y-axis direction to above the second placement hole (A4) and directly below the third gripper (2044). Square; guide post (2055) is connected to mounting bracket (2051), and fourth rotary drive assembly (2052) slides with guide post (2055) along Z-axis direction; elastic element (2056) is sleeved on guide post (2055), and the two ends of elastic element (2056) abut against mounting bracket (2051) and fourth rotary drive assembly (2052) respectively; vibration element (2057) is set on fourth rotary drive assembly (2052) or fourth gripper (2053) to drive fourth gripper (2053) and first sample container (1) to vibrate.

4. The calorimetric system according to claim 2 or 3, characterized in that, The sample feeding device (200) also includes a cleaning assembly (207), which comprises a second X-axis motion assembly (2071), a third Z-axis motion assembly (2072), a fifth rotary drive assembly (2073), a scraper (2074), a third Y-axis motion assembly (2075), and a negative pressure suction head (2076). The second X-axis motion assembly (2071) is disposed on the main structure (201), the third Z-axis motion assembly (2072) is connected to the second X-axis motion assembly (2071), the fifth rotary drive assembly (2073) is connected to the third Z-axis motion assembly (2072), and the scraper (2074)... The main body (201) is provided with a third placement hole (A5) for placing the second sample container (2) and connected to the fifth rotary drive assembly (2073). The scraper (2074) is driven by the fifth rotary drive assembly (2073) to rotate around the Z-axis to clean the inner wall of the second sample container (2). The third Y-axis motion assembly (2075) is connected to the main body (201), and the negative pressure suction head (2076) is set on the third Y-axis motion assembly (2075). The negative pressure suction head (2076) is connected to the external negative pressure generating device and is used to suck away the residue in the second sample container (2).

5. The calorimetric system according to claim 1, characterized in that, The mounting mechanism (302) includes a mounting plate (3021) and a fifth gripper (3022); the mounting plate (3021) is mounted on the frame (301), and the mounting plate (3021) is provided with a mounting opening (3023) for mounting the cover assembly (31) of the oxygen bomb; the fifth gripper (3022) is mounted on the mounting plate (3021) for clamping the cover assembly (31).

6. The calorimetric system according to claim 5, characterized in that, The inside of the hanging opening (3023) is provided with a stepped surface to restrict the cover assembly (31) from falling downwards. The inner wall of the hanging opening (3023) includes an arc inner wall (3024) and a straight inner wall (3025). The outer periphery of the cover assembly (31) is provided with an arc outer wall and a straight outer wall. When the cover assembly (31) is hung in the hanging opening (3023), the arc inner wall (3024) surrounds the arc outer wall, and the straight inner wall (3025) is parallel to the straight outer wall. The straight inner wall (3025) restricts the cover assembly (31) from rotating.

7. The calorimetric system according to claim 1, characterized in that, The air-water cleaning mechanism (305) includes a water collection tank (3051), a first sleeve (3052), a second sleeve (3053), a fourth Z-axis motion assembly (3054), and a rotating multi-hole nozzle (3055); A water collection tank (3051) is located directly below the liquid injection mechanism (306); a first sleeve (3052) passes through the water collection tank (3051) along the Z-axis direction; a second sleeve (3053) is configured as a tube structure with one end closed, and the second sleeve (3053) is coaxially slidably sleeved on the first sleeve (3052); a fourth Z-axis motion assembly (3054) is located inside the first sleeve (3052) and connected to the second sleeve (3053), and is used to drive the second sleeve (3053) to slide in the Z-axis direction; a rotating multi-hole nozzle (3055) is located at the closed end of the second sleeve (3053), and the rotating multi-hole nozzle (3055) is connected to an external gas-water unit, which is used to provide gas or liquid to the rotating multi-hole nozzle (3055) for cleaning the oxygen bomb body (32).

8. The calorimetric system according to claim 7, characterized in that, The injection mechanism (306) includes a fifth Z-axis motion assembly (3061) and a syringe (3062); the fifth Z-axis motion assembly (3061) is mounted on the frame (301); the fixed end of the syringe (3062) is connected to the frame (301) or the fifth Z-axis motion assembly (3061), the propulsion end of the syringe (3062) is connected to the moving part of the fifth Z-axis motion assembly (3061), and the outlet of the syringe (3062) faces downward along the Z-axis direction.

9. The calorimetric system according to any one of claims 5 to 8, characterized in that, The oxygen bomb treatment device (300) also includes a wiping mechanism (307) disposed on one side of the mounting mechanism (302) along the Y-axis direction. The wiping mechanism (307) includes a fourth Y-axis motion assembly (3071), a sixth Z-axis motion assembly (3072), and a wiping component (3073). The fourth Y-axis motion assembly (3071) is connected to the frame (301), the sixth Z-axis motion assembly (3072) is connected to the fourth Y-axis motion assembly (3071), and the wiping component (3073) is connected to the sixth Z-axis motion assembly (3072). The wiping component (3073) drives the wiping component (3073) to wipe the ignition lens (313) on the cover assembly (31) through the fourth Y-axis motion assembly (3071) and the sixth Z-axis motion assembly (3072).

10. A method for operating a calorimetric system, characterized in that, The working method of the calorimetric system according to any one of claims 1 to 9 includes oxygen bomb treatment, sample addition and calorimetric analysis; Oxygen bomb handling includes oxygen bomb disassembly, oxygen bomb cleaning, oxygen bomb liquid injection, and oxygen bomb reassembly; Oxygen bomb disassembly: The oxygen bomb used in the last test is placed on the mounting mechanism (302) by the transfer robot (500). The oxygen bomb body separation mechanism (303) rotates the oxygen bomb body (32) downwards and separates it from the oxygen bomb cover assembly (31). The transfer robot (500) takes away the second sample container (2) placed on the cover assembly (31) and places it in the second sample container temporary storage position (A6). Then the transfer robot (500) places the second sample container containing the new sample on the cover assembly (31). Oxygen bomb cleaning: The oxygen bomb body transfer mechanism (304) transfers the oxygen bomb body (32) above the gas-water cleaning mechanism (305), and then the oxygen bomb body transfer mechanism (304) rotates the oxygen bomb body so that the opening of the oxygen bomb body faces downward. The gas-water cleaning mechanism (305) first sprays liquid to clean the inner wall of the oxygen bomb body, then the gas-water cleaning mechanism (305) sprays gas to dry the inner wall of the oxygen bomb body, and finally rotates the oxygen bomb body so that the opening faces upward. Oxygen bomb liquid injection: The liquid injection mechanism (306) injects a predetermined amount of liquid into the oxygen bomb body (32); Oxygen bomb assembly: The oxygen bomb body transfer mechanism (304) transfers the injected oxygen bomb body to the oxygen bomb body spin-off mechanism (303), and reassembles the cover assembly (31) and the oxygen bomb body together in accordance with the above steps of oxygen bomb disassembly; Calorimetric analysis: After the oxygen bomb is processed, the transfer robot (500) transfers the assembled oxygen bomb to the calorimetric device (400) for calorimetric analysis; The sample addition process includes loading, grabbing, shaking, changing bottle caps, and unloading and weighing. Feeding: The feeding turntable assembly (202) rotates the first sample container (1) containing the sample to a position below the gripping assembly (204). Grab: The grab component (204) transfers the first sample container to the shaker and dispensing component (205); Shaking: The shaking sample dispensing component (205) rotates the first sample container around the Y-axis to shake the sample evenly; Switching bottle caps: The gripping component (204) and the shaking and adding component (205) work together to unscrew the first bottle cap (1a) on the first sample container (1) and replace it with the second bottle cap (1b). Feeding and weighing: The shaking and feeding component (205) moves the first sample container (1) to the top of the weighing component (206). The second sample container (2) on the weighing component (206) corresponds to the first sample container (1) vertically. The sample in the first sample container (1) falls into the second sample container (2). The weighing component (206) weighs the second sample container (2). After weighing, the transfer robot (500) transfers the second sample container to the cover component (31).

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