Device and method for automatically measuring apparent density

Abstract

The invention discloses a device and a method for automatically measuring apparent density. The device comprises a mounting rack, a measuring cup, a slicking assembly, a blanking assembly, a manipulator, a weighing system and a data processing and control system, the measuring cup, the strickling assembly and the discharging assembly are sequentially arranged on the mounting frame, the discharging assembly is used for containing a powder sample and enabling the powder sample to naturally flow into the measuring cup, the strickling assembly is used for strickling the powder sample in the measuring cup, and the measuring cup is used for measuring the volume of the powder sample; the upper edge of the measuring cup extends outwards to form a clamping part; the manipulator is used for pouring the powder sample into the blanking assembly and clamping the measuring cup; the weighing system is used for weighing the mass of the measuring cup before and after receiving the powder sample; and the data processing and control system is used for controlling the operation of the slicking assembly, the blanking assembly and the manipulator, obtaining the mass of the measuring cup before and after receiving the powder sample, and calculating the apparent density. According to the invention, automatic measurement of the apparent density can be realized, the analysis efficiency is high, and errors caused by manual operation can be avoided.

Description

Technical Field

[0001] This invention belongs to the field of automated analysis technology, specifically relating to an apparatus and method for automatically measuring bulk density. Background Technology

[0002] Loose packing density refers to the mass per unit volume of powder in a loose state. It is a fundamental physical indicator that is crucial for powder production, processing, and application. It provides guidance for evaluating and controlling product quality, predicting and optimizing powder process performance, and designing packaging, storage, and transportation.

[0003] Currently, loose density measuring instruments rely on manual operation, which results in problems such as low analysis efficiency and large errors.

[0004] Furthermore, for some radioactive, toxic, or hazardous samples, since personnel cannot directly handle the samples, remote operation is required through glove boxes, heated chambers, or other means. This poses a significant challenge for delicate analytical processes like loose density analysis, easily leading to sample spillage and contamination. For mass production and laboratory quality control, high levels of automation and efficiency are required. Complete manual operation significantly reduces production and analytical efficiency and makes it difficult to avoid human-introduced errors. While robotic arms can assist manual operation, limitations in their precision make it difficult to fully automate the entire loose density analysis process. For example, operations such as leveling powder in a measuring cup, compacting the powder after leveling, and removing residual powder cannot be directly performed by a robotic arm, and the current structure of loose density measuring instruments is not suitable for direct robotic operation. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an automatic device and method for measuring loose packing density, which addresses the above-mentioned shortcomings of the existing technology. This method can realize the automatic measurement of loose packing density, has high analysis efficiency, and can avoid errors introduced by manual operation.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is:

[0007] According to a first aspect of the present invention, an automatic apparatus for measuring loose density is provided, comprising a mounting frame, a measuring cup, a leveling assembly, a feeding assembly, a robotic arm, a weighing system, and a data processing and control system, wherein:

[0008] The measuring cup, the leveling component, and the feeding component are arranged sequentially on the mounting frame in a vertical direction. The feeding component is used to hold the powder sample and let it flow naturally into the measuring cup. The leveling component is used to level the powder sample in the measuring cup. The measuring cup is used to receive the powder sample and measure the volume of the powder sample.

[0009] The upper edge of the measuring cup extends outward to form a clamping part and provides a guide plane for the scraping assembly;

[0010] The robotic arm is used to pour the powder sample into the feeding assembly and to hold the measuring cup;

[0011] The weighing system is used to weigh the mass of the measuring cup before and after receiving the powder sample;

[0012] The data processing and control system is electrically connected to the leveling component, the feeding component, the robotic arm, and the weighing system, respectively, and is used to control the operation of the leveling component, the feeding component, and the robotic arm, and to obtain the mass of the measuring cup before and after receiving the powder sample, and to calculate the loose density.

[0013] Optionally, the leveling assembly includes a leveler, which includes a rotary cylinder and a scraper. The rotary cylinder is mounted on the mounting bracket, and the scraper is connected to the output end of the rotary cylinder via a rotating shaft. The rotary cylinder drives the scraper to rotate, so that the bottom surface of the scraper scrapes along the upper edge of the measuring cup.

[0014] Optionally, at least one side of the scraper is an inclined plane, and the angle between the inclined plane and the plane of the measuring cup opening is an obtuse angle.

[0015] Optionally, the scraper is equipped with a first vibration motor.

[0016] Optionally, the leveling assembly further includes a lifting mechanism, which is mounted on the mounting frame, and the leveler is mounted on the lifting mechanism. The lifting mechanism is used to drive the leveler to move up and down, precisely moving the leveler to a preset height.

[0017] Optionally, the feeding assembly includes a feeding funnel and a lifting mechanism. The feeding funnel is mounted on the mounting frame and is used to hold powder samples. The lifting mechanism is located at the outlet of the feeding funnel and is used to control the opening and closing of the outlet of the feeding funnel.

[0018] Optionally, the lifting mechanism includes a lifting cylinder, a stopper rod, and a connecting rod; the lifting cylinder is mounted on the mounting frame via the connecting rod, the upper end of the stopper rod is connected to the output end of the lifting cylinder, and its lower end is directly opposite the discharge port of the feeding funnel. The lifting cylinder drives the stopper rod to move up and down to enter and exit the discharge port of the feeding funnel and to open and close it.

[0019] Optionally, the stopper rod is equipped with a second vibration motor.

[0020] Optionally, the feeding hopper is equipped with a third vibration motor.

[0021] Optionally, the upper edge of the feeding hopper extends outward and is provided with a first handle, the first handle having a first groove for gripping by a robotic arm.

[0022] Optionally, the mounting bracket includes a base and a support, the support is disposed on the base, the support is provided with a cup holder, the measuring cup is disposed on the cup holder, and a tapper is provided below the cup holder for tapping the measuring cup to compact the powder sample inside the measuring cup.

[0023] Optionally, the lower edge of the measuring cup extends downward to form a concave surface, and the cup holder has a structure with raised edges and a hollow center so as to be embedded in the concave surface.

[0024] Optionally, the device also includes a recycling component.

[0025] The recycling component is located below the measuring cup and is used to receive the powder sample scraped off by the leveling component and the powder sample remaining on each component.

[0026] Optionally, the recycling component includes a receiving funnel and a recycling bottle. The receiving funnel is mounted on the mounting frame via a receiving funnel support and is located below the measuring cup. It is used to collect powder samples scraped off by the leveling component and powder samples remaining on various components. The recycling bottle is located below the discharge port of the receiving funnel and is used to recycle the powder samples collected by the receiving funnel.

[0027] Optionally, a fourth vibration motor is provided on the side of the receiving hopper.

[0028] Optionally, the upper edge of the receiving funnel extends outward and is provided with a second handle, the second handle having a second groove.

[0029] According to a second aspect of the present invention, a method for automatically measuring loose density is also provided, which is accomplished using the apparatus described above, and includes the following steps:

[0030] S1, the robot arm holds the empty measuring cup to the weighing system for weighing, and obtains the mass of the measuring cup before receiving the powder sample. Then the measuring cup is placed on the mounting rack.

[0031] S2, the robot arm is used to load the powder sample into the feeding assembly, and the powder sample flows naturally into the measuring cup below the feeding assembly;

[0032] S3, use the leveling component to level the powder sample in the measuring cup and measure the volume of the powder sample;

[0033] S4. Use a robotic arm to move the measuring cup filled with powder sample to the weighing system for weighing again to obtain the mass of the measuring cup after receiving the powder sample.

[0034] S5, the output processing system obtains the mass of the measuring cup before and after receiving the powder sample, and calculates the loose density.

[0035] Optionally, before proceeding to step S4, the method may also include: activating the tapper and tapping the measuring cup at a certain rhythm to compact the powder sample inside the measuring cup.

[0036] Optionally, the method further includes:

[0037] S6. After the measurement is completed, the robot arm is used to pour the powder sample in the measuring cup into the receiving funnel, so that the powder sample flows out naturally from the outlet of the receiving funnel into the recycling bottle.

[0038] S7, turn on the second, third, first and fourth vibration motors to shake all the powder samples remaining on the stopper rod, feeding funnel, scraper and receiving funnel into the recovery bottle.

[0039] S8, reset the stopper rod and close the discharge port of the feeding funnel again; reset the scraper assembly;

[0040] S9. Repeat steps S1 to S8 to obtain parallel measurement results.

[0041] The apparatus and method for automatically measuring bulk density of the present invention have the following advantages:

[0042] (1) The device has a simple structure and can automatically complete the loose density analysis with the assistance of the robotic arm, realize the full-process automated measurement of loose density, and has high analysis efficiency. It can also avoid the error introduced by manual operation and save labor costs.

[0043] (2) By setting up recycling components, it has functions such as powder sample recycling and self-cleaning, which can reduce the waste of valuable powder samples and avoid spillage, contamination and cross-contamination.

[0044] (3) By setting up a hammer and optimizing the structure of the feeding funnel, problems such as powder sample spillage can be further prevented.

[0045] (4) It can be applied to the measurement of radioactive and other toxic and harmful powders, avoiding direct contact between personnel and powders and improving operational safety. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of an automatic device for measuring bulk density in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of the measuring cup in an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the tapper in an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of the scraper in an embodiment of the present invention;

[0050] Figure 5 This is a schematic diagram of the scraper in an embodiment of the present invention;

[0051] Figure 6 This is a schematic diagram of the leveling process of the leveler in an embodiment of the present invention;

[0052] Figure 7 This is a schematic diagram of the feeding component in an embodiment of the present invention;

[0053] Figure 8 This is a schematic diagram of the feeding funnel in an embodiment of the present invention;

[0054] Figure 9 This is a schematic diagram of the lifting mechanism in an embodiment of the present invention.

[0055] In the diagram: 1-Recycling bottle; 2-Collection funnel; 3-Measuring cup; 4-Scraper; 5-Discharge funnel; 6-Lifting mechanism; 7-Stop rod; 8-Bracket; 9-Lifting motor; 10-Lifting screw; 11-Impactor; 12-Base; 13-Lifting cylinder; 14-Connecting rod; 15-Second vibration motor; 16-Rotating cylinder; 17-Scraper; 19-Third vibration motor; 20-Clamping part; 21-Concave surface; 22-First handle; 23-Rotating shaft. Detailed Implementation

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] It is understood that, without conflict, the various embodiments and features in the embodiments of the present invention can be combined with each other.

[0061] 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.

[0062] Current loose bulk density measuring instruments rely on manual operation, resulting in low analytical efficiency and large errors. This invention provides an automatic device for measuring loose bulk density, comprising a mounting frame, a measuring cup, a leveling assembly, a feeding assembly, a robotic arm, a weighing system, and a data processing and control system, wherein:

[0063] The measuring cup, leveling component, and feeding component are arranged vertically from bottom to top on the mounting frame. The feeding component is used to hold the powder sample and let it flow naturally into the measuring cup. The leveling component is used to level the powder sample in the measuring cup. The measuring cup is used to receive the powder sample and measure the volume of the powder sample.

[0064] The upper edge of the measuring cup extends outward to form a clamping part and provides a guide plane for the scraping assembly;

[0065] The robotic arm is used to pour powder samples into the feeding assembly and to hold the measuring cup;

[0066] The weighing system is used to weigh the measuring cup before and after receiving the powder sample;

[0067] The data processing and control system is electrically connected to the leveling component, the feeding component, the robot, and the weighing system, respectively. It is used to operate the leveling component, the feeding component, and the robot, and to obtain the mass of the measuring cup before and after receiving the powder sample, and to calculate the loose density.

[0068] Furthermore, the present invention also provides a method for automatically measuring loose bulk density, which is accomplished using the above-described apparatus, and includes the following steps:

[0069] S1, the robot arm holds the empty measuring cup to the weighing system for weighing, and obtains the mass of the measuring cup before receiving the powder sample. Then the measuring cup is placed on the mounting rack.

[0070] S2, the robot arm is used to load the powder sample into the feeding assembly, and the powder sample flows naturally into the measuring cup below the feeding assembly;

[0071] S3, use a scraper to level the powder sample in the measuring cup and measure the volume of the powder sample;

[0072] S4. Use a robotic arm to move the measuring cup filled with powder sample to the weighing system for weighing again to obtain the mass of the measuring cup after receiving the powder sample.

[0073] S5, the data processing and control system acquires the mass of the measuring cup before and after receiving the powder sample, and calculates the loose density.

[0074] The apparatus and method for automatically measuring loose packing density of the present invention have been optimized in terms of operation mode and structural design, which can be easily coordinated with a robotic arm for assisted operation, realize automated measurement of loose packing density, have high analysis efficiency, and avoid errors introduced by manual operation.

[0075] Example 1

[0076] like Figures 1-9 As shown in the figure, this embodiment discloses an automatic device for measuring loose density, including a mounting frame, a measuring cup 3, a leveling component, a feeding component, a robotic arm, a weighing system, and a data processing and control system (not shown in the figure), wherein:

[0077] The mounting frame includes a base 12 and a bracket 8. The entire device is fixedly installed inside a box (such as a glove box) via the base 12, and the bracket 8 is located on the base 12.

[0078] The measuring cup 3, the leveling component, and the feeding component are arranged vertically from bottom to top on the bracket 8 in the mounting frame. The feeding component is used to hold the powder sample and let it flow naturally into the measuring cup 3 below. The leveling component is used to level the powder sample in the measuring cup 3. The measuring cup 3 is used to receive the powder sample and measure its volume. Specifically, the bracket 8 has a cup holder in the middle section, and the measuring cup 3 is placed on the cup holder. The upper edge of the measuring cup 3 extends outward, which can provide a guide plane for the leveling component and also form a clamping part 20 for easy gripping by the robot arm. The leveling component includes a leveler 4, which includes a rotary cylinder 16 and a scraper 17. The rotary cylinder 16 is placed on the bracket 8 in the mounting frame. The scraper 17 is connected to the output end of the rotary cylinder 16 through a rotating shaft 23. The rotary cylinder 16 drives the scraper 17 to rotate, so that the bottom surface of the scraper 17 scrapes along the upper edge of the measuring cup 3.

[0079] The robotic arm is used to pour powder samples into the feeding assembly and to hold containers such as measuring cups 3 for pouring operations. For example, after the measuring cup is weighed twice, the powder sample in the measuring cup is poured into the receiving funnel 2 in the recycling assembly described below.

[0080] The weighing system is used to weigh the mass of the measuring cup 3 before and after receiving the powder sample.

[0081] The data processing and control system is electrically connected to the leveling component, the feeding component, the robotic arm, and the weighing system, respectively. It controls the operation of the leveling component, the feeding component, and the robotic arm, and acquires the mass of the measuring cup 3 before and after receiving the powder sample. It also calculates the loose density using the following formula:

[0082]

[0083] Where ρ is the loose density of the powder sample, in grams per cubic centimeter (g / cm³). 3 m2 is the mass of the measuring cup after receiving the powder sample, i.e., the mass of the powder sample and the measuring cup, in grams (g); m1 is the mass of the measuring cup before receiving the powder sample, i.e., the mass of the measuring cup, in grams (g); V is the volume of the measuring cup, in cubic centimeters (cm³). 3 ).

[0084] In some embodiments, the outer wall of the measuring cup 3 is provided with a groove so that a robotic arm can grip it.

[0085] In some embodiments, the lower edge of the measuring cup 3 extends downward around its perimeter to form a concave surface 21 for mounting and positioning the measuring cup 3.

[0086] In some embodiments, the cup holder has a hollow structure with raised edges to fit into the downwardly extending portion (i.e., concave surface 21) around the lower edge of the measuring cup 3, forming a fixed structure with concave and convex parts, thus preventing the measuring cup 3 from tilting due to misoperation or bumps. At the same time, the hollow shape ensures that after the measuring cup 3 is removed, the powder sample remaining on the feeding assembly can pass through the hollow part and eventually fall into the recycling assembly described below.

[0087] In some embodiments, a tapper 11 is provided below the cup holder to tap the measuring cup 3, thereby compacting the powder sample inside the measuring cup 3. At this time, the height of the powder sample inside the measuring cup is lower than the upper edge of the measuring cup 3, which can prevent the powder sample from spilling when the robot moves the measuring cup 3, thus affecting the accuracy of the measurement results.

[0088] Specifically, the tapper 11 can be an eccentric wheel, but is not limited to this. The powder sample inside the measuring cup 3 is vibrated by the rotation of the eccentric wheel striking the cup holder, thereby compacting the powder sample.

[0089] In some embodiments, the bottom surface of the scraper 17 is a plane, at least one side of the scraper 17 is an inclined plane, and the angle between the inclined plane and the cup opening plane of the measuring cup 3 is an obtuse angle, so as to avoid the powder sample overflowing from the measuring cup and the powder sample in the measuring cup 3 being squeezed by the scraper and affecting the measurement results.

[0090] In some embodiments, the angle between the inclined surface on the scraper 17 and the plane of the cup rim of the measuring cup 3 is 95° to 175°, that is, the angle between the inclined surface on the scraper 17 and the rotation axis is 5° to 85°.

[0091] In some implementations, such as Figure 5 As shown, preferably, one side of the scraper 17 (i.e., the aforementioned inclined surface) forms a 45° angle with the rotating shaft 23 after high-precision machining and assembly of the parts. Figure 6 As shown, driven at a constant speed by a rotary cylinder, the scraper moves counterclockwise towards the inclined surface, thereby leveling the powder sample in the measuring cup. Figure 6 As shown in the example, with the same structure, if it moves to the other side (clockwise), the powder sample overflowing from the top of the measuring cup and the powder sample in the measuring cup will be squeezed by the scraper, affecting the measurement results.

[0092] In some embodiments, the scraper 17 of the leveler 4 is equipped with a first vibration motor for shaking off any powder sample that may remain on the scraper 17.

[0093] In some embodiments, the leveling assembly further includes a lifting mechanism 6, which is mounted on a bracket 8 in the mounting frame. The leveler 4 is mounted on the lifting mechanism 6. The lifting mechanism 6 is used to drive the leveler 4 to move up and down, which can adapt to measuring cups 3 of different volumes and heights. It can precisely move the leveler 4 and stop it at a preset height, so that the bottom surface of the scraper 17 in the leveler 4 is flush with the upper edge of the measuring cup 3, ensuring that the bottom surface of the scraper 17 is in contact with the upper edge of the measuring cup 3 during the leveling process, thereby improving the applicability of the leveling assembly.

[0094] Specifically, the lifting mechanism 6 integrates a lifting motor 9 and a lifting screw 10 connected to it, with the leveler 4 mounted on the lifting screw 10. The lifting motor 9 drives the lifting screw 10 to rotate, thereby causing the leveler 4 to move vertically, thus achieving lifting.

[0095] The initial position of the leveler 4 is between the measuring cup 3 and the feeding assembly. The scraper 17 is rotated to the outermost side to avoid interfering with the operation of the robotic arm and the discharge of the feeding assembly. During leveling, the lifting mechanism 6 lowers the leveler 4 from its initial position to the portion extending from the upper edge of the measuring cup 3, so that the bottom surface of the scraper 17 is in contact with the upper edge of the measuring cup without pressing it. Then, the rotary cylinder 16 is activated, causing the scraper 17 to rotate counterclockwise towards the aforementioned inclined surface (e.g., ...). Figure 6 As shown in the figure, the powder sample in measuring cup 3 is leveled.

[0096] In some embodiments, the scraper 4 is equipped with a force feedback component, such as a metal strain gauge or a force sensor. During the descent of the scraper 4 driven by the lifting mechanism 6, when the scraper 17 contacts or lightly presses against the upper edge of the measuring cup 3 (the light pressure will not cause vibration or shaking of the measuring cup 3; the force threshold for the light pressure can be determined experimentally), the force feedback component can transmit the minute force between the scraper 17 and the measuring cup 3 to the data processing and control system. The data processing and control system then controls the lifting mechanism 6 to stop operating. At this time, the scraper 17 and the measuring cup 3 are in an optimally matched state.

[0097] In some embodiments, the feeding assembly includes a feeding funnel 5 and a lifting mechanism. The feeding funnel 5 is mounted on a bracket 8 in the mounting frame and is used to hold powder samples; the lifting mechanism is located above the feeding funnel and can extend into the outlet of the feeding funnel 5 to control the opening and closing of the outlet of the feeding funnel 5.

[0098] In some embodiments, the lifting mechanism includes a lifting cylinder 13, a stopper rod 7, and a connecting rod 14. The lifting cylinder 13 is mounted on a bracket 8 of the mounting frame via the connecting rod 14. Specifically, one end of the connecting rod 14 is mounted on the bracket 8 in the mounting frame, and the lifting cylinder 13 is mounted on the other end of the connecting rod 14. The upper end of the stopper rod 7 is connected to the output end of the lifting cylinder 13, and the lower end of the stopper rod 7 is directly opposite the discharge port of the feeding hopper 5. The lifting cylinder 13 drives the stopper rod 7 to move up and down, enter and exit the discharge port of the feeding hopper 5, and open and close it.

[0099] Initially, the stopper 7 is inserted into the outlet of the feeding funnel 5 and blocks it. When compressed gas is introduced into the lifting cylinder 13, the output end of the lifting cylinder 13 quickly lifts the stopper 7 and pulls it out of the outlet of the feeding funnel 5, so that the powder sample contained in the feeding funnel 5 flows naturally into the measuring cup 3 below.

[0100] In some embodiments, the stopper rod 7 is provided with a second vibration motor 15 for shaking off any powder sample that may remain on the stopper rod 7.

[0101] In some embodiments, a third vibration motor 19 is provided on the side of the feeding funnel 5 to shake off any powder samples that may remain on the feeding funnel 5.

[0102] In some embodiments, the upper edge of the feeding hopper 5 extends outward and is provided with a first handle 22, which has a first groove for gripping by a robotic arm.

[0103] In some embodiments, the device of this embodiment also includes a recovery component located below the measuring cup 3, which is used to receive the powder sample scraped off by the leveling component and all the powder sample remaining on each component, so as to avoid the powder sample from spilling.

[0104] In some embodiments, the recycling assembly includes a receiving funnel 2 and a recycling bottle 1. The receiving funnel 2 is mounted on a bracket 8 in the mounting frame via a receiving funnel support and is positioned below the measuring cup 3. That is, the receiving funnel 2, measuring cup 3, lifting mechanism 6, discharging funnel 5, and stopper 7 are arranged sequentially in a vertical direction. The receiving funnel 2 is used to collect the powder sample scraped off by the leveling assembly and the powder sample remaining on various components. The recycling bottle 1 is located below the discharge port of the receiving funnel 2 and is used to collect the powder sample collected by the receiving funnel 2, preventing the powder sample from contacting other containers and causing contamination. The recycling bottle 1 is not limited in form and can be the container that initially held the powder sample.

[0105] In some embodiments, the structure of the receiving funnel 2 is similar to or the same as that of the discharging funnel. The upper edge of the receiving funnel 2 extends outward and is provided with a second handle. The second handle is provided with a second groove so that the robot arm can grip it.

[0106] In some embodiments, a fourth vibration motor is provided on the side of the receiving funnel 2 to shake off any powder samples that may remain on the receiving funnel 2.

[0107] In some embodiments, the feeding funnel 5 has a cone angle of 60±0.5°, an inner diameter Φ of 12.7mm at the outlet, and a height of 80mm. The receiving funnel 2 has a cone angle of 85±0.5°, an inner diameter Φ of 15.2mm at the outlet, and a height of 80mm, capable of encompassing the powder sample overflowing from the measuring cup 3 and the rotational radius of the scraper 4, ensuring that the powder sample does not spill. Both the feeding funnel 5 and the receiving funnel 2 are made of 304L stainless steel with a mirror-polished finish. The measuring cup 3 has an inner diameter Φ of 39mm and a volume of 25cm³. 3 .

[0108] In some embodiments, the data processing and control system includes a data processing unit and a programmable logic control unit. The data processing unit is used to obtain the mass of the measuring cup 3 before and after receiving the powder sample and to calculate the loose density. The programmable logic control unit has a preset process and control logic program. The mechanical processes such as the robotic arm grabbing, transferring, and pouring the measuring cup or sample bottle, the lifting cylinder 13 lifting and lowering the stopper 7, the leveling device 4 lifting and lowering, the scraper 17 rotating, the tapper 11 tapping the measuring cup 3, the activation of each vibration motor, and the reset of each component are all executed according to the preset process and control logic. No manual intervention is required during normal operation. The preset process includes a single measuring cup process and a variable measuring cup process. In the single measuring cup process, the height of the leveler 4 can be preset based on the height of the measuring cup 3, and the leveler 4 is moved from its initial position to the preset position by controlling the lifting mechanism 6. In the variable measuring cup process, a measuring cup replacement action is added to the control logic sequence. After the robotic arm completes the measuring cup replacement, before performing the leveling operation, the lifting mechanism 6 is controlled to move the leveler 4 from its initial position to a position where it lightly touches the edge of the measuring cup to obtain a sensor signal, ensuring that the scraper 17 is in contact with the upper edge of the measuring cup 3. The specific preset process and control logic can be subdivided according to the overall process of steps S1 to S9 described below and written into an editable logic controller for execution.

[0109] The device for automatically measuring bulk density in this embodiment has the following beneficial effects:

[0110] (1) It has a simple structure and can automatically complete the loose density analysis with the assistance of the robot (only needing to complete simple clamping and moving operations). It realizes the full-process automated measurement of loose density, has high analysis efficiency, and can avoid the errors introduced by manual operation, saving labor costs.

[0111] (2) By setting up recycling components, it has functions such as powder sample recycling and self-cleaning, which can reduce the waste of valuable powder samples and avoid spillage, contamination and cross-contamination.

[0112] (3) By setting a hammer and optimizing the structure of the feeding funnel, problems such as powder sample spillage can be further prevented.

[0113] (4) It is suitable for measuring radioactive and other toxic and harmful powders, avoiding direct contact between personnel and powders and improving operational safety.

[0114] Example 2

[0115] This embodiment discloses a method for automatically measuring loose bulk density, which is accomplished using the aforementioned device for automatically measuring loose bulk density, and includes the following steps:

[0116] S1, the robot arm holds the empty, clean measuring cup 3 (volume denoted as V) to the weighing system (such as a balance) for weighing, and obtains the mass m1 of the measuring cup 3 before receiving the powder sample. Then the measuring cup 3 is placed on the bracket 8 in the mounting frame.

[0117] S2, using a robotic arm, the sample bottle or other container containing the powder sample is moved above the feeding funnel 5 in the feeding assembly, and all the powder sample is poured into the feeding funnel 5 in the feeding assembly. At this time, the stopper 7 in the feeding assembly is in a closed state with the discharge port of the feeding funnel 5. After all the powder sample is filled into the feeding funnel 5, the lifting cylinder 13 in the feeding assembly is opened to pull the stopper 7 out of the discharge port of the feeding funnel 5, and the powder sample flows naturally into the measuring cup below the feeding funnel 5 in the feeding assembly until the powder sample in the measuring cup 3 overflows.

[0118] S3, use the leveling component to level the powder sample in measuring cup 3 and measure the volume of the powder sample.

[0119] Specifically, the lifting mechanism 6 lowers the scraper 4 from its initial position until the bottom surface of the scraper 17 is flush with the upper edge of the measuring cup 3; the rotary cylinder 16 is activated to rotate the scraper 17, thereby leveling the powder sample in the measuring cup 3 and removing the overflowing powder sample.

[0120] S4. The robotic arm is used to hold the measuring cup 3 and move the measuring cup 3 filled with powder sample to the weighing system for weighing again to obtain the mass m2 of the measuring cup 3 after receiving the powder sample.

[0121] S5, the data processing and control system acquires the mass of measuring cup 3 before and after receiving the powder sample, and calculates the loose density.

[0122] In some embodiments, before performing step S4, the method further includes: activating the tapper 11 to tap the measuring cup 3 at a certain rhythm to compact the powder sample inside the measuring cup 3.

[0123] In some embodiments, step S1 further includes: using a robotic arm to place the sample bottle or other type of container below the receiving funnel as the recycling bottle 1, or placing a separate recycling bottle. The method in this embodiment also includes:

[0124] S6. After the measurement is completed, the measuring cup 3 is held by a robotic arm and the powder sample in the measuring cup 3 is poured into the receiving funnel 2, so that the powder sample flows out naturally from the outlet of the receiving funnel 2 into the recycling bottle 1.

[0125] S7. Turn on the second vibration motor 15, the third vibration motor 19, the first vibration motor, and the fourth vibration motor. Specifically, the second vibration motor 15, the third vibration motor 19, the first vibration motor, and the fourth vibration motor can be turned on sequentially at certain time intervals, or these vibration motors can be turned on simultaneously and the fourth vibration motor can be turned off last. This will shake off all the powder samples attached to the stopper rod 7, the feeding funnel 5, the scraper 17, and the receiving funnel 2, achieving self-cleaning of the device. Then, the devices are turned off sequentially to ensure that all the shaken-off powder samples fall into the recovery bottle 1.

[0126] S8, reset the stopper rod and close the discharge port of the feeding funnel 5 again; reset the scraper assembly, that is, raise the scraper 4 to the initial position height through the lifting mechanism 6, and rotate the scraper 17 in the opposite direction back to the side.

[0127] In some implementations, the method of this embodiment further includes:

[0128] S9. Repeat steps S1 to S8 to obtain parallel measurement results. Based on the precision between the parallel measurement results (specifically expressed as relative standard deviation), if the precision meets the requirements, take the average value of the parallel measurement results as the final measurement result.

[0129] The method for automatically measuring loose packing density in this embodiment uses the device for automatically measuring loose packing density described above, and therefore has the same beneficial effects, which will not be repeated here.

[0130] 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. A device for automatically measuring loose bulk density, characterized in that, Includes mounting brackets, measuring cups, leveling components, feeding components, robotic arms, weighing systems, and data processing and control systems; The measuring cup, the leveling component, and the feeding component are arranged sequentially on the mounting frame in a vertical direction. The feeding component is used to hold the powder sample and let it flow naturally into the measuring cup. The leveling component is used to level the powder sample in the measuring cup. The measuring cup is used to receive the powder sample and measure the volume of the powder sample. The upper edge of the measuring cup extends outward to form a clamping part and provides a guide plane for the scraping assembly; The robotic arm is used to pour the powder sample into the feeding assembly and to hold the measuring cup; The weighing system is used to weigh the mass of the measuring cup before and after receiving the powder sample; The data processing and control system is electrically connected to the leveling component, the feeding component, the robotic arm, and the weighing system, respectively, and is used to control the operation of the leveling component, the feeding component, and the robotic arm, and to obtain the mass of the measuring cup before and after receiving the powder sample, and to calculate the loose density.

2. The device for automatically measuring loose packing density according to claim 1, characterized in that, The leveling assembly includes a leveler, which comprises a rotary cylinder and a scraper. The rotary cylinder is mounted on the mounting bracket. The scraper is connected to the output end of the rotary cylinder via a rotating shaft. The rotary cylinder drives the scraper to rotate, so that the bottom surface of the scraper scrapes along the upper edge of the measuring cup.

3. The device for automatically measuring loose density according to claim 2, characterized in that, At least one side of the scraper is an inclined plane, and the angle between the inclined plane and the plane of the measuring cup opening is an obtuse angle.

4. The device for automatically measuring loose packing density according to claim 3, characterized in that, The scraper is equipped with a first vibration motor.

5. The device for automatically measuring loose packing density according to claim 3, characterized in that, The leveling assembly also includes a lifting mechanism. The lifting mechanism is mounted on the mounting frame, and the leveler is mounted on the lifting mechanism. The lifting mechanism is used to drive the leveler to move up and down, and to move the leveler precisely to a preset height.

6. The device for automatically measuring loose packing density according to claim 5, characterized in that, The feeding assembly includes a feeding hopper and a lifting mechanism. The feeding funnel is mounted on the mounting frame and is used to hold powder samples; The lifting mechanism is located above the feeding hopper and can extend into the discharge port of the feeding hopper to control the opening and closing of the discharge port of the feeding hopper.

7. The device for automatically measuring loose packing density according to claim 6, characterized in that, The lifting mechanism includes a lifting cylinder, a piston rod, and a connecting rod; The lifting cylinder is mounted on the mounting frame via the connecting rod. The upper end of the stopper rod is connected to the output end of the lifting cylinder, and its lower end is directly opposite the discharge port of the feeding funnel. The lifting cylinder drives the stopper rod to move up and down to enter and exit the discharge port of the feeding funnel and to open and close it.

8. The apparatus for automatically measuring loose packing density according to claim 7, characterized in that, The stopper rod is equipped with a second vibration motor.

9. The apparatus for automatically measuring loose packing density according to claim 8, characterized in that, The feeding hopper is equipped with a third vibration motor.

10. The apparatus for automatically measuring loose pack density according to claim 9, characterized in that, The upper edge of the feeding funnel extends outward and is provided with a first handle. The first handle is provided with a first groove so that the robotic arm can grip it.

11. The apparatus for automatically measuring loose bulk density according to any one of claims 1 to 10, characterized in that, The mounting bracket includes a base and a support. The bracket is mounted on the base, and a cup holder is mounted on the bracket. The measuring cup is mounted on the cup holder, and a tapper is located below the cup holder for tapping the measuring cup to compact the powder sample inside the measuring cup.

12. The apparatus for automatically measuring loose packing density according to claim 11, characterized in that, The lower edge of the measuring cup extends downward to form a concave surface, and the cup holder has a hollow structure with raised edges so as to be embedded in the concave surface.

13. The apparatus for automatically measuring loose packing density according to claim 12, characterized in that, The device also includes a recycling component. The recycling component is located below the measuring cup and is used to receive the powder sample scraped off by the leveling component and the powder sample remaining on each component.

14. The apparatus for automatically measuring loose packing density according to claim 13, characterized in that, The recycling assembly includes a receiving funnel and a recycling bottle. The receiving funnel is mounted on the mounting frame via a receiving funnel bracket and is located below the measuring cup. It is used to collect the powder sample scraped off by the leveling component and the powder sample remaining on each component. The recycling bottle is located below the outlet of the receiving funnel and is used to recover the powder sample collected by the receiving funnel.

15. The apparatus for automatically measuring loose packing density according to claim 14, characterized in that, A fourth vibration motor is provided on the side of the receiving hopper.

16. The apparatus for automatically measuring loose packing density according to claim 15, characterized in that, The upper edge of the receiving hopper extends outward and is provided with a second handle, which has a second groove.

17. A method for automatically measuring loose bulk density, characterized in that, The procedure is accomplished using the apparatus described in any one of claims 1 to 16, and includes the following steps: S1, the robot arm holds the empty measuring cup to the weighing system for weighing, and obtains the mass of the measuring cup before receiving the powder sample. Then the measuring cup is placed on the mounting rack. S2, the robot arm is used to load the powder sample into the feeding assembly, and the powder sample flows naturally into the measuring cup below the feeding assembly; S3, use the leveling component to level the powder sample in the measuring cup and measure the volume of the powder sample; S4. Use a robotic arm to move the measuring cup filled with powder sample to the weighing system for weighing again to obtain the mass of the measuring cup after receiving the powder sample. S5, the output processing system obtains the mass of the measuring cup before and after receiving the powder sample, and calculates the loose density.

18. The method for automatically measuring loose bulk density according to claim 17, characterized in that, Before proceeding to step S4, the following is also included: Start the tapper and tap the measuring cup to compact the powder sample inside.

19. The method for automatically measuring loose pack density according to claim 17, characterized in that, The method further includes: S6. After the measurement is completed, the robot arm is used to pour the powder sample in the measuring cup into the receiving funnel, so that the powder sample flows out naturally from the outlet of the receiving funnel into the recycling bottle. S7, turn on the second, third, first and fourth vibration motors to shake all the powder samples remaining on the stopper rod, feeding funnel, scraper and receiving funnel into the recovery bottle. S8, reset the stopper rod and close the discharge port of the feeding funnel again; reset the scraper assembly; S9. Repeat steps S1 to S8 to obtain parallel measurement results.

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