Automatic nickel bag preparation device and method

Abstract

The invention discloses an automatic nickel bag preparation device and method.The device comprises a nickel bag base, a magnetic platform, a jacking mechanism, a clamping mechanism, a mechanical arm and a control system, and the nickel bag base is used for containing a nickel bag; the manipulator is used for clamping the nickel bag seat to move; the magnetic platform is used for placing a nickel bag and a nickel bag seat; the jacking mechanism is connected with the magnetic platform and used for driving the magnetic platform to ascend and descend to a preset position. The clamping mechanism is arranged above the magnetic platform and is used for clamping the nickel bag to seal and exhaust the nickel bag; the control system is electrically connected with the jacking mechanism, the clamping mechanism and the mechanical arm and used for controlling the jacking mechanism, the clamping mechanism and the mechanical arm to be matched to achieve automatic nickel bag sealing and air exhausting. The nickel bag sealing and air exhausting can be automatically completed, automation of nickel bag preparation is achieved, the operation difficulty and the technical requirements of personnel are reduced, and the nickel bag wrapping consistency and the preparation efficiency are improved.

Description

Technical Field

[0001] This invention belongs to the field of automatic analysis technology, specifically relating to an automated nickel pouch preparation device and method. Background Technology

[0002] Nickel capsules are primarily used for elemental analysis, such as determining nitrogen, oxygen, hydrogen, carbon, and sulfur in samples, and are particularly suitable for measuring trace components. When measuring powder or small particle samples, the sample must be accurately weighed and placed in the center of the nickel capsule. Then, the capsule should be rolled up tightly to completely enclose the sample, expelling any residual air to avoid interference with elemental analysis. Empty nickel capsules should be prepared in the same manner for blank measurements.

[0003] Currently, although most elemental analyzers have some degree of automation, the preparation of nickel pouches, a crucial pretreatment step, still largely relies on manual operation. Operators use simple tools such as tweezers and pliers for precise manual wrapping and other operations. This traditional manual preparation method has at least the following drawbacks, severely restricting the overall efficiency and quality of sample analysis:

[0004] 1) Due to the small size and certain hardness of the nickel pouch, the operating surface of tweezers and clamps is small, making the clamping and wrapping operations more difficult.

[0005] 2) The operation process must ensure that as much air as possible is expelled from the nickel bag, while also preventing the sample from being squeezed out. The quality of the nickel bag encapsulation is highly dependent on the operator's experience level.

[0006] 3) Manual operation has poor repeatability. Nickel bags prepared by different operators or by the same operator at different times may have different wrapping tightness and sealing performance, which affects the stability and comparability of test results. At the same time, manual preparation is inefficient and cannot meet the needs of rapid testing of large batches of samples.

[0007] 4) For some special samples, such as radioactive or toxic samples, operators cannot directly contact them and need to operate remotely through glove boxes, hot chambers, etc. They need to use simple tools to carefully wrap them in a confined space, which is extremely difficult and poses safety hazards. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide an automated nickel bag preparation device and method that addresses the above-mentioned shortcomings of the existing technology, and can automatically complete the sealing of nickel bags and the removal of air.

[0009] The technical solution of the present invention to solve the above-mentioned technical problems is:

[0010] According to a first aspect of the present invention, an automated nickel pouch manufacturing apparatus is provided, comprising a nickel pouch holder, a magnetic platform, a lifting mechanism, a clamping mechanism, a robotic arm, and a control system, wherein:

[0011] The nickel bladder holder is used to hold the nickel bladder;

[0012] The robotic arm is used to grip and move the nickel pouch.

[0013] The magnetic platform is used to place the nickel bladder and its nickel bladder holder;

[0014] The lifting mechanism is connected to the magnetic platform and is used to drive the magnetic platform to rise and fall to a preset position;

[0015] The clamping mechanism is located above the magnetic platform and is used to clamp the nickel bag and seal and vent it.

[0016] The control system is electrically connected to the lifting mechanism, the clamping mechanism, and the robotic arm, respectively, and is used to control the lifting mechanism, the clamping mechanism, and the robotic arm to cooperate in order to automatically complete the sealing of the nickel bag and the discharge of air.

[0017] Optionally, the lifting mechanism includes a lifting electric cylinder and a base, the lifting electric cylinder is mounted on the base via a quick-release assembly, and the magnetic platform is located on the output end of the lifting electric cylinder.

[0018] Optionally, the clamping mechanism includes a clamping cylinder, a clamp, a buffer, and a bracket. The clamping cylinder is mounted on the bracket via a quick-release assembly. The output end of the clamping cylinder is connected to the clamp, and the buffer is mounted on the movement path of the clamp.

[0019] Optionally, the clamp includes a left part and a right part, the left part and the right part forming a concave-convex structure, the concave-convex structure having a through hole; the device also includes an ejection mechanism, the ejection mechanism including an ejection cylinder and an ejector pin, the ejector pin being opposite to the through hole, the ejection cylinder being connected to the ejector pin, used to drive the ejector pin to extend and retract, so that the ejector pin is inserted into the through hole to cooperate with the clamp action to disengage the nickel pouch in the clamp from the clamp.

[0020] Optionally, the control system includes a distance detector, a sensor, and a controller, wherein:

[0021] The distance detector is electrically connected to the controller and is used to detect the distance between the nickel pouch on the magnetic platform and the bottom of the clamping mechanism, and transmit the distance value to the controller.

[0022] The sensor is located inside the magnetic platform and is electrically connected to the controller. It is used to detect whether there is a nickel bladder seat on the magnetic platform and to determine whether the nickel bladder is accurately positioned. When the presence of a nickel bladder seat is detected and the nickel bladder is accurately positioned, a positioning signal is sent to the controller.

[0023] The controller has a preset control program for receiving distance values ​​transmitted by the distance detector and positioning signals sent by the sensor, and controlling the operation of the lifting mechanism, clamping mechanism, and robot arm according to the control program. The control program includes: after receiving the positioning signal from the sensor, controlling the lifting mechanism to raise the magnetic platform to a first preset distance; then controlling the clamping mechanism to flatten the nickel bladder in the nickel bladder holder; then controlling the lifting mechanism to lower the magnetic platform to the initial position, disengaging the nickel bladder from the holder; then controlling the robot arm to remove the empty nickel bladder holder from the magnetic platform; then controlling the lifting mechanism to raise the magnetic platform to a second preset distance, and then controlling the clamping mechanism to slowly release the nickel bladder, disengaging it from the clamp; then controlling the lifting mechanism to lower the magnetic platform to a fourth preset distance; then controlling the clamping mechanism to clamp the nickel bladder again, and controlling the lifting mechanism to raise the magnetic platform to the second preset distance to vertically compress the nickel bladder; then controlling the lifting mechanism to lower the magnetic platform to the initial position; then controlling the robot arm to pick up the open container onto the magnetic platform, and then controlling the clamping mechanism to release, obtaining the sealed nickel bladder.

[0024] Optionally, the magnetic platform is provided with a boss, and the bottom of the nickel pouch is provided with a positioning concave surface. The positioning concave surface is adapted to the boss to provide guidance for the robot arm to place the nickel pouch on the magnetic platform.

[0025] Optionally, the top of the nickel bladder is provided with a groove, the type of which is consistent with the cross-sectional type of the nickel bladder.

[0026] Optionally, the height of the boss and the depth of the positioning concave surface are both 5~25mm, and the depth of the groove is 0.5~2mm.

[0027] Optionally, the device further includes a storage disk for storing the nickel pouch and its holder.

[0028] According to a second aspect of the present invention, an automated method for preparing nickel pouches is also provided, which employs the apparatus described above, and the steps include:

[0029] S1, The nickel bladder and its nickel bladder holder are picked up by a robotic arm and placed on a magnetic platform;

[0030] S2, the sensor detects whether there is a nickel bladder seat on the magnetic platform and determines whether the nickel bladder is accurately positioned. When the presence of a nickel bladder seat is detected and the nickel bladder is accurately positioned, a positioning signal is sent. Then the lifting mechanism drives the magnetic platform to rise to the first preset distance.

[0031] S3, the clamping mechanism flattens the nickel bladder in the nickel bladder holder, and then the lifting mechanism drives the magnetic platform to descend to the initial position, so that the nickel bladder and the nickel bladder holder are separated;

[0032] S4, the robotic arm removes the empty nickel pouch from the magnetic platform;

[0033] S5, the lifting mechanism drives the magnetic platform to rise to the second preset distance, and then the clamping mechanism slowly releases the nickel bag, so that the nickel bag is removed from the clamp;

[0034] S6, the lifting mechanism drives the magnetic platform to descend to the fourth preset distance;

[0035] S7, the clamping mechanism clamps the nickel bag again, and the lifting mechanism drives the magnetic platform to rise to the second preset distance to squeeze the nickel bag;

[0036] S8, the lifting mechanism drives the magnetic platform to descend to the initial position, the robotic arm picks up the open container and places it on the magnetic platform, and then controls the clamping mechanism to release the nickel bag, thus obtaining the sealed nickel bag.

[0037] The automated nickel pouch preparation apparatus and method of the present invention have the following beneficial effects:

[0038] (1) Realize the full automation of nickel pouch preparation. This device can replace the traditional manual tweezers and pliers operation, and can automatically complete a series of actions such as wrapping, sealing, venting and discharging of nickel pouches. The robotic arm only needs to perform simple gripping and transfer operations, which significantly reduces manual intervention, improves preparation efficiency, and meets the needs of rapid detection of batch samples.

[0039] (2) Improve the standardization and consistency of nickel pouch wrapping. It can precisely control the movement trajectory and clamping force of nickel pouches, ensuring that the wrapping tightness, sealing and air expulsion effect of each nickel pouch are highly consistent, eliminating human operation differences and improving the accuracy and repeatability of sample analysis.

[0040] (3) Reduced operational difficulty and personnel technical requirements. Operators only need to perform simple sample loading and parameter settings, and do not need to have extensive encapsulation experience to complete the preparation of high-quality nickel bags, which effectively reduces the dependence on operator skills.

[0041] (4) Ensuring the safety of special sample preparation. For hazardous samples such as radioactive, toxic and harmful samples, operators can use this device to prepare nickel bags in a glove box or hot chamber through remote control or isolated operation, avoiding direct contact between personnel and samples, which greatly improves the safety and feasibility of operation.

[0042] (5) Improve the efficiency of the overall testing process. This device can be connected or integrated with front-end weighing equipment and back-end elemental analyzers to form a complete automated chain from sample pretreatment to analysis, which helps to build an unmanned and intelligent analytical laboratory. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the automated nickel pouch preparation apparatus in an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the cooperation structure between the clamp and the ejector pin in an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the morphology of the prepared nickel pouch in an embodiment of the present invention.

[0046] In the diagram: 1-base; 2-lifting electric cylinder; 3-magnetic platform; 4-bracket; 5-clamping cylinder; 6-quick release assembly; 7-buffer; 8-clamp; 9-ejection cylinder; 10-ejector pin; 11-nickel bladder holder; 12-nickel bladder; 13-storage disk. Detailed Implementation

[0047] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0048] In the description of this invention, it should be noted that the terms "above" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience and simplification of the description and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0049] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection," "setting," "installation," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] It is understood that, without conflict, the various embodiments and features in the embodiments of the present invention can be combined with each other.

[0052] It is understood that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, while the parts unrelated to the present invention are not shown in the drawings.

[0053] Traditional techniques generally rely on manual operation, which suffers from problems such as high operational difficulty, high skill requirements for personnel, poor repeatability, and low efficiency. This invention provides an automated nickel pouch preparation device, including a nickel pouch holder, a magnetic platform, a lifting mechanism, a clamping mechanism, a robotic arm, and a control system, wherein:

[0054] Nickel bladder holder, used to hold nickel bladders;

[0055] The robotic arm only needs to perform simple gripping and moving operations, such as gripping and moving the nickel bladder, and the operation is easy;

[0056] A magnetic platform for placing the nickel bladder and its holder;

[0057] The lifting mechanism is connected to the magnetic platform and is used to drive the magnetic platform to rise and fall to the preset position;

[0058] The clamping mechanism is located above the magnetic platform and is used to clamp the nickel bag to seal (i.e., wrap) and release air from the nickel bag;

[0059] The control system is electrically connected to the lifting mechanism, clamping mechanism, and robotic arm, respectively, and is used to control the lifting mechanism, clamping mechanism, and robotic arm to cooperate in order to automatically complete the sealing of the nickel bag and the discharge of air.

[0060] Furthermore, the present invention also provides an automated method for preparing nickel pouches, using the apparatus described above, the steps of which include:

[0061] S1, The nickel bladder and its nickel bladder holder are picked up by a robotic arm and placed on a magnetic platform;

[0062] S2, the sensor detects whether there is a nickel bladder seat on the magnetic platform and determines whether the nickel bladder is accurately positioned. When the presence of a nickel bladder seat is detected and the nickel bladder is accurately positioned, a positioning signal is sent. Then the lifting mechanism drives the magnetic platform to rise to the first preset distance.

[0063] S3, the clamping mechanism flattens the nickel bladder in the nickel bladder holder, and then the lifting mechanism drives the magnetic platform to descend to the initial position, so that the nickel bladder and the nickel bladder holder are separated;

[0064] S4, the robotic arm removes the empty nickel pouch from the magnetic platform;

[0065] S5, the lifting mechanism drives the magnetic platform to rise to the second preset distance, and then the clamping mechanism slowly releases the nickel bag, so that the nickel bag is removed from the clamp;

[0066] S6, the lifting mechanism drives the magnetic platform to descend to the fourth preset distance;

[0067] S7, the clamping mechanism clamps the nickel bag again, and the lifting mechanism drives the magnetic platform to rise to the second preset distance to squeeze the nickel bag;

[0068] S8, the lifting mechanism drives the magnetic platform to descend to the initial position, the robotic arm picks up the open container and places it on the magnetic platform, and then controls the clamping mechanism to release the nickel bag, thus obtaining the sealed nickel bag.

[0069] The automated nickel bag preparation device of the present invention can automatically complete the sealing of nickel bags and the removal of air, realize the automation of nickel bag preparation, reduce the difficulty of operation and the technical requirements of personnel, and improve the consistency of nickel bag wrapping and preparation efficiency.

[0070] Example 1

[0071] like Figures 1-3 As shown in the figure, this embodiment discloses an automated nickel pouch preparation device for measuring trace amounts of impurity elements such as nitrogen and oxygen in a certain radioactive powder sample. The device includes a nickel pouch holder 11, a magnetic platform 3, a lifting mechanism, a clamping mechanism, a robotic arm, and a control system (not shown in the figure), wherein:

[0072] The nickel pouch holder 11, with dimensions of φ20mm×30mm, is used to hold the nickel pouch 12. The nickel pouch 12, with dimensions of φ6mm×10mm, allows the nickel pouch 12 to be placed on the nickel pouch holder 11. This facilitates the use of a robotic arm to directly transfer the nickel pouch 12 by gripping the nickel pouch holder 11, avoiding the problem of difficulty in transferring the nickel pouch by a robotic arm due to its small size, and reducing the difficulty of operation.

[0073] A robotic arm is used to grip and move the nickel bladder 11;

[0074] Magnetic platform 3 is used to place nickel pouch 12 and its nickel pouch seat 11;

[0075] The lifting mechanism is connected to the magnetic platform 3 and is used to drive the magnetic platform 3 to rise and fall to a preset position;

[0076] The clamping mechanism is located above the magnetic platform 3 and is used to clamp the nickel bag 12 and seal and vent the nickel bag 12.

[0077] The control system is electrically connected to the lifting mechanism, clamping mechanism, and robotic arm, respectively, and is used to control the lifting mechanism, clamping mechanism, and robotic arm to cooperate in order to automatically complete the sealing of the nickel bag and the discharge of air.

[0078] Specifically, the nickel bladder holder can be made of either a magnetic or non-magnetic material. When the nickel bladder holder is made of a magnetic material, a material with low magnetic permeability, such as low-carbon steel, is preferred. This makes it easier to distinguish the nickel bladder from the strong magnetic permeability of the nickel bladder, thus facilitating the determination of whether the nickel bladder and its holder have moved into place. This is necessary to coordinate with the control system to control the lifting mechanism, clamping mechanism, and robotic arm to perform their actions.

[0079] In some embodiments, the lifting mechanism includes a lifting cylinder 2 and a base 1. The lifting cylinder 2 is mounted on the base 1 via a quick-release assembly, and a magnetic platform 3 is located on the output end of the top of the lifting cylinder 2. The lifting cylinder 2 drives the magnetic platform 3 to rise and fall, and the lifting height can be precisely adjusted and fixed at any position during the lifting stroke.

[0080] In some embodiments, the clamping mechanism includes a clamping cylinder 5, a clamp 8, a buffer 7, and a bracket 4. The bracket 4 may be disposed above the base 1 and connected to a quick-release assembly. The clamping cylinder 5 is mounted on the bracket 4 via the quick-release assembly 6, and the output end of the clamping cylinder 5 is connected to the clamp 8. The buffer 7 is installed on the movement path of the clamp to achieve flexible mechanical limiting and motion buffering between the buffer 7 and the clamp 8 during clamping.

[0081] In some implementations, the quick-release assembly 6 may be a pin-grip type locking device, but is not limited thereto, to enable the clamping cylinder to be mounted and fixed on the bracket and to be quickly disassembled and replaced.

[0082] In some embodiments, the clamp 8 includes a left part and a right part, which fit together to form a concave-convex structure, with a through hole at the center of the concave-convex structure. Furthermore, the device also includes an ejection mechanism, which includes an ejection cylinder 9 and an ejector pin 10. The ejector pin 10 is opposite to the through hole, and the ejection cylinder 9 is connected to the ejector pin 10 to drive the ejector pin to extend and retract, causing the ejector pin to push into the through hole to cooperate with the clamp's action and disengage the nickel bladder from the clamp.

[0083] Specifically, since the nickel pouch 12 is squeezed by the clamp 8, it may stick to the clamp 8. By slowly releasing the clamp 8, and pushing out the ejector pin 10 through the through hole by the ejector cylinder 9 during the release of the clamp 8, the flattened nickel pouch 12 is released from the clamp 8 and finally falls on the magnetic platform 3 and remains in a vertical state. Then, the ejector cylinder 9 retracts, so that the ejector pin 10 is reset.

[0084] In some embodiments, the clamping cylinder 5 and the ejection cylinder 9 can be driven by electric power, hydraulic power, or compressed air, which are similar in function but have different power sources. For example, they can be driven by a gripper-type electric cylinder, an ultra-small electric drive shaft, a small hydraulic cylinder, etc., but are not limited to these.

[0085] In some implementations, the control system includes a distance detector, a sensor, and a controller, wherein:

[0086] A distance detector is electrically connected to the controller to detect the distance between the upper surface of the nickel pouch holder on the magnetic platform and the bottom of the clamp in the clamping mechanism, and transmits this distance to the controller. A sensor is located on the surface or inside the magnetic platform 3 and is electrically connected to the controller to detect the presence of the nickel pouch holder 11 on the magnetic platform 3 and to determine whether the nickel pouch 12 is accurately positioned. When the presence of the nickel pouch holder 11 and the accurate positioning of the nickel pouch 12 are detected, a positioning signal is sent to the controller. The controller has a preset control program to receive the distance value transmitted by the distance detector and the positioning signal sent by the sensor, and to control the operation of the lifting mechanism, clamping mechanism, and robot arm according to the control program. The control program includes:

[0087] After the controller receives the positioning signal sent by the sensor, it controls the lifting electric cylinder 2 in the lifting mechanism to drive the magnetic platform 3 to rise to the upper end face of the nickel bag seat 11 and the bottom of the clamp 8 in the clamping mechanism at a first preset distance.

[0088] Next, the clamp 8 in the clamping mechanism is controlled to flatten the nickel bladder 12 in the nickel bladder seat 11;

[0089] Next, the lifting electric cylinder 2 in the lifting mechanism is controlled to drive the magnetic platform 3 to descend to the initial position, so that the nickel bladder 12 and the nickel bladder seat 11 are separated.

[0090] Next, the robotic arm is controlled to remove the empty nickel pouch 11 from the magnetic platform 3;

[0091] Next, the lifting cylinder 2 in the lifting mechanism is controlled to drive the magnetic platform 3 to rise to a second preset distance between the upper end face of the nickel bag seat 11 and the bottom of the clamp 8 in the clamping mechanism. The second preset distance is greater than the first preset distance. For example, the first preset distance can be 0.5mm and the second preset distance can be 2mm. Then, the clamp 8 of the clamping mechanism is controlled to slowly release the nickel bag 12, so that the nickel bag 12 is removed from the clamp 8.

[0092] Next, the lifting electric cylinder 2 in the lifting mechanism drives the magnetic platform 3 to descend to the upper end of the nickel bag seat 11 and the bottom of the clamp 8 in the clamping mechanism at a fourth preset distance. The fourth preset distance is greater than the second preset distance. For example, the fourth preset distance can be 5mm.

[0093] Next, the clamp 8 in the clamping mechanism is controlled to clamp the nickel bag 12 again, and the lifting electric cylinder 2 in the lifting mechanism is controlled to drive the magnetic platform 3 to rise to the second preset distance between the upper end face of the nickel bag seat 11 and the bottom of the clamp 8 in the clamping mechanism, so as to vertically squeeze the nickel bag 12, effectively expel the residual air, which is beneficial to the measurement of trace components and reduces the influence of residual air on the measurement.

[0094] Next, the lifting electric cylinder 2 in the lifting mechanism is controlled to drive the magnetic platform 3 to descend to the initial position;

[0095] Next, the robotic arm is controlled to pick up the open container and place it on the magnetic platform 3. Then, the clamp 8 in the clamping mechanism is controlled to release the nickel bag 12, and the sealed nickel bag is obtained.

[0096] In some implementations, multiple sensors are embedded on or inside the surface of the magnetic platform. Specifically, the sensors can be magnetic sensors, such as Hall sensors. When the magnetically conductive nickel pouch and nickel pouch seat are in place, the magnetic flux distribution on the surface of the magnetic platform can be changed, thereby using the sensors to convert the magnetic field change into a voltage signal and transmit it to the controller.

[0097] In some embodiments, the magnetic platform 3 is provided with a boss, and the bottom of the nickel pouch seat 11 is provided with a positioning concave surface. The positioning concave surface is adapted to the boss and is used to guide the robot arm to place and fix the nickel pouch seat, that is, to provide guidance for the robot arm to place the nickel pouch seat on the magnetic platform. The height of the boss and the depth of the positioning concave surface are 5~25mm, which can be adjusted according to the size of the nickel pouch seat. For example, it can be 15mm, but it is not limited to this.

[0098] In some embodiments, the top of the nickel bladder holder 11 is provided with a groove, the shape of which is consistent with the cross-sectional shape of the nickel bladder 12. For example, it can be a circular groove. The nickel bladder 12 is magnetically attracted and fixed in the groove by the nickel bladder holder 11. The depth of the groove is 0.5~2mm, which is adjusted according to the size of the nickel bladder. For example, it can be 1mm, but it is not limited to this.

[0099] In some embodiments, the device further includes a storage disk 13, which is directly installed and fixed inside the glove box for storing the nickel bladder 12 and its nickel bladder holder 11.

[0100] In some embodiments, the device also includes a glove box (not shown in the figure), and the nickel bladder seat 11, magnetic platform 3, lifting mechanism, clamping mechanism, robot arm and storage tray 13 are all located in the glove box or hot chamber. The nickel bladder seat 11, magnetic platform 3, lifting mechanism and clamping mechanism are fixedly installed in the glove box or hot chamber via base 1, and the robot arm and storage tray 13 are directly installed and fixed in the glove box or hot chamber.

[0101] The automated nickel pouch preparation apparatus of this embodiment has the following effects:

[0102] (1) Realize the full automation of nickel pouch preparation. This device can replace the traditional manual tweezers and pliers operation, and can automatically complete a series of actions such as wrapping, sealing, venting and discharging of nickel pouches. The robotic arm only needs to perform simple gripping and transfer operations, which significantly reduces manual intervention, improves preparation efficiency, and meets the needs of rapid detection of batch samples.

[0103] (2) Improve the standardization and consistency of nickel pouch wrapping. It can precisely control the movement trajectory and clamping force of nickel pouches, ensuring that the wrapping tightness, sealing and air expulsion effect of each nickel pouch are highly consistent, eliminating human operation differences and improving the accuracy and repeatability of sample analysis.

[0104] (3) Reduced operational difficulty and personnel technical requirements. Operators only need to perform simple sample loading and parameter settings, and do not need to have extensive encapsulation experience to complete the preparation of high-quality nickel bags, which effectively reduces the dependence on operator skills.

[0105] (4) Ensuring the safety of special sample preparation. For hazardous samples such as radioactive, toxic and harmful samples, operators can use this device to prepare nickel bags in a glove box or hot chamber through remote control or isolated operation, avoiding direct contact between personnel and samples, which greatly improves the safety and feasibility of operation.

[0106] (5) Improve the efficiency of the overall testing process. This device can be connected or integrated with front-end weighing equipment and back-end elemental analyzers to form a complete automated chain from sample pretreatment to analysis, which helps to build an unmanned and intelligent analytical laboratory.

[0107] Example 2

[0108] This embodiment discloses an automated method for preparing nickel pouches, which uses the apparatus described in Embodiment 1, and includes the following steps:

[0109] S1, place the nickel bladder 12 containing the sample to be tested onto a nickel bladder seat 11 in the storage disk 13. The mass of the sample to be tested can be 100mg. The nickel bladder 12 and its nickel bladder seat 11 are picked up from the storage disk 13 by a robotic arm and placed onto the magnetic platform 3.

[0110] S2, the sensor detects whether there is a nickel bladder seat 11 on the magnetic platform 3 and determines whether the nickel bladder 12 is accurately in place. When the presence of the nickel bladder seat 11 and the accurate placement of the nickel bladder 12 are detected, a positioning signal is sent. Then, the lifting electric cylinder 2 in the lifting mechanism drives the magnetic platform 3 to rise until the upper end face of the nickel bladder seat 11 is a first preset distance (e.g., 2mm) from the bottom of the clamp 8 in the clamping mechanism. That is, the rising stops when the detected distance value is equal to the first preset distance.

[0111] S3, under the drive of the clamping cylinder 5, the clamp 8 in the clamping mechanism flattens the nickel bladder 12 in the nickel bladder seat 11 through the concave-convex structure, so that the main residual air in it is discharged. At this time, the clamp 8 remains in the clamping state. Then, the lifting electric cylinder 2 in the lifting mechanism drives the magnetic platform 3 to descend to the initial position, so that the nickel bladder 12 and the nickel bladder seat 11 are separated.

[0112] S4, the robotic arm removes the empty nickel pouch 11 from the magnetic platform 3;

[0113] S5, the lifting cylinder 2 in the lifting mechanism drives the magnetic platform 3 to rise until the upper end face of the nickel bag seat 11 is a second preset distance (e.g., 4mm) from the bottom of the clamp 8 in the clamping mechanism. That is, the rising stops when the detected distance value is equal to the second preset distance. Then the clamp 8 in the clamping mechanism slowly releases the nickel bag 12 (let the distance between the left and right parts of the clamp 8 be a third preset distance (e.g., 2mm)). During this period (i.e., during the release of the clamp 8), the ejector cylinder 9 pushes out the ejector pin 10 and passes through the through hole, so that the flattened nickel bag 12 is released from the clamp 8 and finally falls on the magnetic platform 3 and remains in a vertical state. Then the ejector cylinder 9 retracts, so that the ejector pin 10 is reset.

[0114] S6, the lifting electric cylinder 2 in the lifting mechanism drives the magnetic platform 3 to descend to the point where the upper end face of the nickel bag seat 11 is a fourth preset distance (e.g., 8mm) from the bottom of the clamp 8 in the clamping mechanism. That is, the descent stops when the detected distance value is equal to the fourth preset distance. At this time, the upper part of the nickel bag 12 is still within the clamping area of ​​the clamp 8.

[0115] S7, the clamp 8 in the clamping mechanism clamps the nickel bag 12 again, and the lifting electric cylinder 2 in the lifting mechanism drives the magnetic platform 3 to rise to the second preset distance between the upper end face of the nickel bag seat 11 and the bottom of the clamp 8 in the clamping mechanism. That is, when the detected distance value is equal to the second preset distance, the rising stops, and the nickel bag 12 is vertically squeezed to further expel the air inside.

[0116] S8, the lifting electric cylinder 2 in the lifting mechanism drives the magnetic platform 3 to descend to the initial position. The robot arm picks up other open containers (such as crucibles) containing nickel bags and places them on the magnetic platform 3. Then, the clamp 8 in the clamping mechanism is controlled to release the nickel bag 12. During this process, the ejector pin 10 is pushed out, causing the nickel bag 12 to fall into the open container, resulting in a sealed nickel bag. Then, the clamp 8 and ejector pin 10 are reset.

[0117] Subsequently, a robotic arm can directly grasp the open container containing the sealed nickel bladder and transfer it to the subsequent elemental analyzer. The nickel bladder is then poured into the instrument's inlet, thus enabling full automation of the elemental analyzer process.

[0118] It should be noted that all parameters in the above method can be adjusted according to the actual size of the nickel pouch 12, and steps S5-S7 can be repeated to complete the vertical extrusion operation of the nickel pouch 12 in the vertical direction multiple times.

[0119] The automated nickel pouch preparation method of this embodiment uses the apparatus described in Example 1, and therefore has at least the same effect, which will not be described in detail here.

[0120] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. An automated nickel pouch preparation apparatus, characterized in that, Includes nickel bladder holder, magnetic platform, lifting mechanism, clamping mechanism, robotic arm and control system; The nickel bladder holder is used to hold the nickel bladder; The robotic arm is used to grip and move the nickel pouch. The magnetic platform is used to place the nickel bladder and its nickel bladder holder; The lifting mechanism is connected to the magnetic platform and is used to drive the magnetic platform to rise and fall to a preset position; The clamping mechanism is located above the magnetic platform and is used to clamp the nickel bag and seal and vent it. The control system is electrically connected to the lifting mechanism, the clamping mechanism, and the robotic arm, respectively, and is used to control the lifting mechanism, the clamping mechanism, and the robotic arm to cooperate in order to automatically complete the sealing of the nickel bag and the discharge of air.

2. The automated nickel pouch preparation apparatus according to claim 1, characterized in that, The lifting mechanism includes a lifting electric cylinder and a base. The lifting electric cylinder is mounted on the base via a quick-release assembly, and the magnetic platform is located on the output end of the lifting electric cylinder.

3. The automated nickel pouch preparation apparatus according to claim 1, characterized in that, The clamping mechanism includes a clamping cylinder, clamps, a buffer, and a bracket. The clamping cylinder is mounted on the bracket via a quick-release assembly. The output end of the clamping cylinder is connected to the clamp, and the buffer is installed on the movement path of the clamp.

4. The automated nickel pouch preparation apparatus according to claim 3, characterized in that, The clamp includes a left part and a right part, the left part and the right part forming a concave-convex structure, and the concave-convex structure is provided with a through hole; The device further includes an ejection mechanism, which includes an ejection cylinder and an ejector pin. The ejector pin is opposite to the through hole, and the ejection cylinder is connected to the ejector pin to drive the ejector pin to extend and retract, so that the ejector pin is inserted into the through hole to cooperate with the clamping action to disengage the nickel bladder in the clamp.

5. The automated nickel pouch preparation apparatus according to claim 1, characterized in that, The control system includes a distance detector, sensors, and a controller; The distance detector is electrically connected to the controller and is used to detect the distance between the nickel pouch on the magnetic platform and the bottom of the clamping mechanism, and transmit the distance value to the controller. The sensor is located inside the magnetic platform and is electrically connected to the controller. It is used to detect whether there is a nickel bladder seat on the magnetic platform and to determine whether the nickel bladder is accurately positioned. When the presence of a nickel bladder seat is detected and the nickel bladder is accurately positioned, a positioning signal is sent to the controller. The controller has a preset control program for receiving distance values ​​transmitted by the distance detector and positioning signals sent by the sensor, and controlling the operation of the lifting mechanism, clamping mechanism, and robot arm according to the control program. The control program includes: after receiving the positioning signal from the sensor, controlling the lifting mechanism to raise the magnetic platform to a first preset distance; then controlling the clamping mechanism to flatten the nickel bladder in the nickel bladder holder; then controlling the lifting mechanism to lower the magnetic platform to the initial position, disengaging the nickel bladder from the holder; then controlling the robot arm to remove the empty nickel bladder holder from the magnetic platform; then controlling the lifting mechanism to raise the magnetic platform to a second preset distance, and then controlling the clamping mechanism to slowly release the nickel bladder, disengaging it from the clamp; then controlling the lifting mechanism to lower the magnetic platform to a fourth preset distance; then controlling the clamping mechanism to clamp the nickel bladder again, and controlling the lifting mechanism to raise the magnetic platform to the second preset distance to vertically compress the nickel bladder; then controlling the lifting mechanism to lower the magnetic platform to the initial position; then controlling the robot arm to pick up the open container onto the magnetic platform, and then controlling the clamping mechanism to release, obtaining the sealed nickel bladder.

6. The automated nickel pouch preparation apparatus according to any one of claims 1-5, characterized in that, The magnetic platform is provided with a boss, and the bottom of the nickel bladder is provided with a positioning concave surface, which is adapted to the boss.

7. The automated nickel pouch preparation apparatus according to claim 6, characterized in that, The top of the nickel bladder is provided with a groove, the type of which is consistent with the cross-sectional type of the nickel bladder.

8. The automated nickel pouch preparation apparatus according to claim 7, characterized in that, The height of the boss and the depth of the positioning concave surface are both 5~25mm, and the depth of the groove is 0.5~2mm.

9. The automated nickel pouch preparation apparatus according to claim 7, characterized in that, The device also includes a storage disk for storing nickel pouches and their holders.

10. An automated method for preparing nickel pouches, characterized in that, The steps of using the apparatus according to any one of claims 1-9 include: S1, The nickel bladder and its nickel bladder holder are picked up by a robotic arm and placed on a magnetic platform; S2, the sensor detects whether there is a nickel bladder seat on the magnetic platform and determines whether the nickel bladder is accurately positioned. When the presence of a nickel bladder seat is detected and the nickel bladder is accurately positioned, a positioning signal is sent. Then the lifting mechanism drives the magnetic platform to rise to the first preset distance. S3, the clamping mechanism flattens the nickel bladder in the nickel bladder holder, and then the lifting mechanism drives the magnetic platform to descend to the initial position, so that the nickel bladder and the nickel bladder holder are separated; S4, the robotic arm removes the empty nickel pouch from the magnetic platform; S5, the lifting mechanism drives the magnetic platform to rise to the second preset distance, and then the clamping mechanism slowly releases the nickel bag, so that the nickel bag is removed from the clamp; S6, the lifting mechanism drives the magnetic platform to descend to the fourth preset distance; S7, the clamping mechanism clamps the nickel bag again, and the lifting mechanism drives the magnetic platform to rise to the second preset distance to squeeze the nickel bag; S8, the lifting mechanism drives the magnetic platform to descend to the initial position, the robotic arm picks up the open container and places it on the magnetic platform, and then controls the clamping mechanism to release the nickel bag, thus obtaining the sealed nickel bag.

Images