Full-automatic food ash content tester and working method thereof

Abstract

The invention relates to the technical field of food detection and analysis, and discloses a full-automatic food ash content tester and a working method thereof, and the tester comprises a machine body, a sample bearing unit, a heating unit, a weighing unit, a cooling unit and a control unit. The machine body is provided with a translation driving cavity, a high-temperature treatment cavity, a detection operation cavity and an operation cavity; the sample bearing unit comprises a mechanical arm, a sample frame and a crucible positioning structure and is used for automatically transferring samples; the heating unit comprises a heating platform, a weight sensor, a stepped heating module and an internal camera, and visual monitoring and accurate temperature control are achieved; the weighing unit and the cooling unit are symmetrically arranged to complete accurate weighing and constant-temperature cooling; the control unit coordinates linkage of all the units, automatically judges the carbonization end point based on real-time weight data and calculates the ash content. On the basis of full-automatic design and intelligent control, the detection efficiency, the result accuracy and the operation safety are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of food testing and analysis technology, and more specifically, to a fully automatic food ash content analyzer and its working method. Background Technology

[0002] Food ash content, as a core indicator reflecting the inorganic mineral content in food, is an important basis for evaluating food purity, nutritional value, and the rationality of processing technology. It is widely used in the quality testing of various foods such as grains, oils, dairy products, and fruits and vegetables. Currently, the mainstream technology for food ash content determination is the "muffle furnace ashing method." Its core process includes sample pretreatment, accurate weighing, carbonization treatment, high-temperature ashing, constant-temperature cooling, and residue weighing. Existing technologies mainly use traditional manually operated muffle furnaces and semi-automated measuring instruments to complete the test. Although some semi-automated equipment integrates simple sample transfer mechanisms, the core aspects such as carbonization process control and endpoint determination still rely on traditional control logic and manual assistance.

[0003] Existing technologies suffer from several insurmountable drawbacks: First, the carbonization process lacks precision control. Current equipment often employs a fixed-rate heating or simple segmented heating mode, failing to simulate the optimal carbonization curve based on the characteristics of different food samples. This leads to sample splashing during rapid heating, causing sample loss and inaccurate test results. Second, the determination of the carbonization endpoint is highly subjective. Traditional methods rely on operators observing smoke emissions or setting carbonization times based on experience, lacking quantitative monitoring indicators and failing to capture real-time sample weight changes, making it difficult to accurately determine "smokeless." The carbonization endpoint is prone to problems such as incomplete or over-carbonization; third, process monitoring and visualization are lacking. Most existing heating units are closed structures without transparent observation windows and internal cameras, making it impossible to observe the carbonization and ashing status of samples in real time, and difficult to intervene in time when abnormalities occur; fourth, automation and coordination are insufficient. Some semi-automated equipment still requires manual intervention in sample transfer, parameter adjustment, and other operations, which is not only labor-intensive but also prone to affecting detection accuracy due to changes in environmental temperature and humidity and human operation errors. At the same time, the waste gas generated by carbonization and ashing is mostly treated by simple emission or crude adsorption, posing safety and environmental hazards; fifth, the linkage between functional modules is poor. Heating, weighing, and transfer units lack unified intelligent control logic, making it impossible to achieve dynamic control based on sample status feedback.

[0004] Therefore, there is an urgent need for a fully automatic food ash content analyzer that integrates a programmable stepped heating module, a real-time weight monitoring system, a visual monitoring device, and a fully automatic collaborative transfer mechanism to address the pain points of existing technologies and improve the accuracy, automation level, and operational safety of food ash content determination. Summary of the Invention

[0005] In view of this, the present invention proposes a fully automatic food ash content analyzer and its working method, aiming to solve the problems of inaccurate carbonization process control, subjective endpoint judgment, lack of process monitoring, low degree of automation and insufficient safety and environmental protection in the current technology, which lead to low detection efficiency, poor result consistency and high operational risks.

[0006] This invention proposes a fully automatic food ash content analyzer and its working method, comprising: a body, a sample carrying unit, a heating unit, a weighing unit, a cooling unit, and a control unit; The machine body is internally configured with a translation drive cavity, a high temperature treatment cavity, a detection operation cavity and an operating cavity. The sample carrying unit is fixedly configured in the translation drive cavity, the heating unit is sealed in the high temperature treatment cavity, the weighing unit and the cooling unit are symmetrically configured on both sides of the detection operation cavity, and the control unit is embedded in the operating cavity and the operating interface is exposed. The sample carrying unit includes a robotic arm, a sample holder, and a crucible positioning structure. The robotic arm is fixedly connected to the inner wall of the translational driving cavity based on the drive module. The sample holder is detachably connected to the execution end of the robotic arm. The crucible positioning structure array is arranged on the outer top surface of the sample holder. The heating unit includes a heating platform with a transparent observation window, the heating platform integrates a weight sensor, and the heating unit is also equipped with a programmable stepped heating module and an internal camera, with the internal camera corresponding to the transparent observation window. Each unit is electrically connected to the control unit via wires, and the weight sensors and internal cameras of the weighing unit and heating unit are additionally connected to the control unit via a communication bus for data transmission.

[0007] Furthermore, the driving module of the sample carrying unit includes a stepper motor, a ball screw, and a guide rail. The robotic arm is configured as a multi-degree-of-freedom robotic arm, and its execution end is equipped with an elastic clamping structure. The elastic clamping structure is adapted to the shape of the crucible positioning structure and is used to clamp the sample crucible to achieve stable transfer.

[0008] Furthermore, the crucible positioning structure includes an anti-slip limiting groove and an elastic clamping plate. The inner diameter of the anti-slip limiting groove is in clearance fit with the outer diameter of the sample crucible. The elastic clamping plate is symmetrically arranged on the inner wall of the limiting groove. An RFID tag groove is provided at the bottom of the limiting groove. The sample carrying unit also includes an RFID reader. The RFID reader is disposed on the side of the robotic arm execution end and is connected to the control unit for reading sample information and associating it with the robotic arm's transfer action.

[0009] Furthermore, the heating unit also includes a muffle furnace body, a silicon carbide heating element, a K-type thermocouple temperature sensor, and a heat insulation cavity; the feed inlet of the muffle furnace body is equipped with an electric sliding furnace door, which is electrically connected to the control unit based on an electromagnetic drive and is linked to the transfer action of the robotic arm. When the robotic arm moves the crucible to the heating unit station, the electric sliding furnace door automatically opens and automatically closes after the crucible is placed on the heating platform; the internal camera is fixed at the side wall mounting port of the muffle furnace body corresponding to the transparent observation window; the stepped heating module is electrically connected to the silicon carbide heating element; and the weight sensor is integrated below the bearing surface of the heating platform.

[0010] Furthermore, the stepped heating module has a built-in algorithm module that adjusts the heating power based on a PID algorithm. The algorithm module interacts with the control unit to simulate the preset optimal carbonization curve and prevents sample splashing by adjusting the power output of the silicon carbide heating element. The control unit calculates the sample weight loss rate based on real-time weight data collected by the weight sensor. When the weight loss rate drops to a preset threshold, it is determined to be the carbonization endpoint, and the control unit automatically sends a command to terminate the carbonization process.

[0011] Furthermore, the weighing unit includes a high-precision electronic balance, a windproof and dustproof cover, and an electromagnetically controlled opening and closing door. The side opening shape and size of the windproof and dustproof cover are configured to allow the robotic arm to enter and exit without obstruction. The opening signal of the electromagnetically controlled opening and closing door is triggered by the control unit based on the displacement signal of the robotic arm, ensuring that the opening and closing of the door is synchronized when the robotic arm picks up and puts down the crucible.

[0012] Furthermore, the cooling chamber of the cooling unit is equipped with a feed opening adapted to the robotic arm's execution end, and a crucible support platform is configured inside the cooling chamber. The spacing of the crucible support platform is configured to correspond to the spacing of the crucible positioning structure array on the sample holder. The heat insulation layer of the inner wall of the cooling chamber extends to the edge of the feed opening to avoid temperature fluctuations inside the chamber during the robotic arm's transfer process.

[0013] Furthermore, the control unit includes a displacement control module, which is electrically connected to the drive module of the robotic arm. The displacement control module is used to preset the transfer path and positioning accuracy of the robotic arm. The positioning accuracy is high precision, and the dwell time of the robotic arm in the weighing unit, heating unit, and cooling unit is dynamically adjusted by the control unit according to the working status of each unit.

[0014] Furthermore, it also includes an exhaust gas treatment unit, which includes an activated carbon adsorption tank and an exhaust pipe. The exhaust pipe is arranged along the side wall of the machine body, and the activated carbon adsorption tank is fixed to the mounting position on the side of the machine body. Its air inlet is connected to the exhaust port of the heating unit through the exhaust pipe, and the exhaust port extends to the outside of the machine body.

[0015] Furthermore, the procedure also includes the following steps: placing the crucible containing the food sample into the crucible positioning structure of the sample holder of the sample carrying unit, inputting the sample parameters based on the operation interface of the control unit, and completing the measurement preparation. The control unit sends a transfer command to the sample carrying unit. The robotic arm moves to the sample rack station according to the preset path, grabs the crucible based on the elastic clamping structure, and transfers it into the windproof and dustproof cover of the weighing unit. The electromagnetic control door opens and closes synchronously. The electronic balance collects the initial mass data of the sample and transmits it to the control unit for storage. After the initial weighing is completed, the robotic arm transfers the crucible to the heating unit, which performs step heating and ashing treatment according to a preset program. The control unit determines the carbonization endpoint based on real-time weight data. After the ashing process is completed, the electric sliding furnace door opens automatically again, the robotic arm extends into the muffle furnace body to grab the crucible, and moves it to the cooling chamber of the cooling unit. The feed opening of the cooling chamber is adapted to the movement trajectory of the robotic arm. After the robotic arm places the crucible on the crucible support platform, it withdraws, and the cooling unit starts the constant temperature drying and cooling program. After cooling is complete, the robotic arm grabs the crucible and transfers it to the weighing unit. The electromagnetically controlled door opens and closes simultaneously. The electronic balance collects the mass data of the residue after ashing and transmits it to the control unit. The control unit automatically calculates the ash content of the sample according to a preset formula based on the collected initial mass data and residue mass data, and completes the display, storage and export of the results.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: By integrating a heating platform with a transparent observation window and an internal camera, a programmable stepped heating module, and a weight sensor, along with a fully automated robotic arm transfer mechanism and a collaborative control unit, this system not only simulates the optimal carbonization curve and dynamically adjusts heating power to prevent sample splashing using the stepped heating module's built-in algorithm, but also achieves objective quantitative judgment of the carbonization endpoint by collecting weight data in real time through the weight sensor and calculating the weight loss rate through the control unit. Simultaneously, the transparent observation window and internal camera provide visualized monitoring of the detection process, facilitating timely intervention in abnormal situations. Combined with the coordinated operation of the robotic arm and various units, the entire process from sample loading to result output is fully automated, significantly improving automation. This device boasts high automation and batch testing efficiency. Furthermore, its exhaust gas treatment unit purifies harmful gases, and its sealed design reduces personnel contact with high temperatures and exhaust gases, enhancing operational safety and environmental friendliness. Equipped with an RFID reader, it enables the linked storage of sample information and test data, optimizing data traceability management. It comprehensively solves the problems of inaccurate carbonization control, subjective endpoint judgment, lack of process monitoring, low automation, and insufficient safety and environmental protection in existing technologies, which lead to low testing efficiency, poor result consistency, and high operational risks. It significantly improves the accuracy, efficiency, and safety of food ash content determination, adapting to the batch testing needs of various food samples, and possesses strong practicality and promotional value. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a three-dimensional structural diagram of a fully automatic food ash content analyzer provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of a fully automatic food ash content analyzer provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the internal structure of the detection chamber of a fully automatic food ash content analyzer provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the internal structure of a muffle furnace in a fully automatic food ash content analyzer provided in an embodiment of the present invention; Figure 5 A working method for a fully automatic food ash content analyzer provided in this embodiment of the invention; The components are as follows: 100-Main body; 110-Translation drive cavity; 120-High temperature treatment cavity; 130-Detection operation cavity; 140-Operation cavity; 200-Robotic arm; 210-Sample rack; 220-Crucible positioning structure; 230-Stepper motor; 240-Ball screw; 250-Guide slide rail; 260-RFID reader; 300-Heating platform; 310-Weight sensor; 320-Step heating module; 330-Camera; 340-Muffle furnace; 350-Silicon carbide heating element; 360-K-type thermocouple temperature sensor; 370-Insulation cavity; 400-High precision electronic balance; 410-Windproof and dustproof cover; 500-Crucible support platform; 600-Adsorption tank; 610-Gas duct. Detailed Implementation

[0018] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] like Figures 1-5 As shown in some embodiments of this application, this embodiment provides a fully automatic food ash content analyzer, including: a body 100, a sample carrying unit, a heating unit, a weighing unit, a cooling unit, and a control unit; The machine body 100 is internally configured with a translation drive cavity 110, a high temperature treatment cavity 120, a detection operation cavity 130 and an operation cavity 140. The sample carrying unit is fixedly configured in the translation drive cavity 110, the heating unit is sealed in the high temperature treatment cavity 120, the weighing unit and the cooling unit are symmetrically configured on both sides of the detection operation cavity 130, and the control unit is embedded in the operation cavity 140 with the operation interface exposed. The sample carrying unit includes a robotic arm 200, a sample holder 210, and a crucible positioning structure 220. The robotic arm 200 is fixedly connected to the inner wall of the translational driving cavity 110 based on the driving module. The sample holder 210 is detachably connected to the execution end of the robotic arm 200. The crucible positioning structure 220 is arrayed on the outer top surface of the sample holder 210. The heating unit includes a heating platform 300 with a transparent observation window. The heating platform 300 integrates a weight sensor 310. The heating unit is also equipped with a programmable stepped heating module 320 and an internal camera 330, which is set to correspond to the transparent observation window. Each unit is electrically connected to the control unit via wires, and the weight sensor 310 of the weighing unit and the heating unit, as well as the internal camera 330, are additionally connected to the control unit via a communication bus for data transmission.

[0020] Specifically, such as Figure 2 As shown, the driving module of the sample carrying unit includes a stepper motor 230, a ball screw 240 and a guide rail 250. The robotic arm 200 is configured as a multi-degree-of-freedom robotic arm 200, and its execution end is equipped with an elastic clamping structure. The elastic clamping structure is adapted to the shape of the crucible positioning structure 220 and is used to clamp the sample crucible to achieve stable transfer.

[0021] Understandably, the sample-carrying unit's drive module uses a 57HS22 stepper motor 230 for power output, paired with a ball screw 240 with a lead of 5mm and a positioning accuracy of ±0.01mm, and a high-precision linear guide rail 250 to form a smooth transmission mechanism. The robotic arm 200 adopts a four-degree-of-freedom Cartesian coordinate structure. The X-axis relies on the stepper motor 230 and ball screw 240 for transmission, achieving lateral translation along the width direction of the body 100, with an effective stroke of 300mm and a positioning repeatability of ±0.05mm, accurately covering the lateral work positions of each chamber. The Y-axis is driven by a precision linear module, moving along the depth direction of the body 100. With a forward and backward telescopic extension and an effective stroke of 200mm, the robotic arm 200 can be driven to penetrate deep into each chamber. The Z-axis is driven by a miniature ball screw 240 linked with a servo motor to achieve vertical lifting, with an effective stroke of 150mm and a positioning accuracy of ±0.03mm. It adapts to different unit station height differences and is equipped with a limit sensor to prevent overshoot. The rotation around the Z-axis can adjust the orientation of the gripper, achieving multi-directional station adaptation. The elastic clamping structure at the execution end is a silicone-coated arc-shaped metal gripper. The inner diameter of the gripper is in 0.2-0.5mm clearance fit with the outer diameter of the anti-slip limit groove of the crucible positioning structure 220. The gripper has a built-in miniature pressure sensor to prevent excessively tight or loose clamping. This design utilizes the precise transmission of a stepper motor 230 and a ball screw 240, combined with the XYZ axis three-dimensional transfer and Z-axis rotation of a multi-degree-of-freedom robotic arm 200. The adaptive design of the elastic clamping structure and crucible positioning structure 220 enables stable three-dimensional transfer of the sample crucible between various workstations, preventing tipping or sample spillage. Furthermore, pressure sensors provide feedback to adjust the clamping force, protecting the crucible. Simultaneously, the high-precision transmission mechanism ensures accurate transfer and positioning, supporting precise coordination in subsequent processes and enhancing the reliability of automated equipment operation.

[0022] Specifically, such as Figure 2As shown, the crucible positioning structure 220 includes an anti-slip limiting groove and an elastic clamping plate. The inner diameter of the anti-slip limiting groove is in clearance fit with the outer diameter of the sample crucible. The elastic clamping plate is symmetrically arranged on the inner wall of the limiting groove. An RFID tag groove is arranged at the bottom of the limiting groove. The sample carrying unit also includes an RFID reader 260. The RFID reader 260 is arranged on the side of the execution end of the robotic arm 200 and is communicatively connected to the control unit. It is used to read sample information and associate it with the transfer action of the robotic arm 200.

[0023] It is understandable that, such as Figure 2 As shown, the anti-slip limiting groove of the crucible positioning structure 220 is integrally molded from high-temperature resistant ceramic material. Its inner diameter is 0.3-0.5mm larger than the outer diameter of the matching quartz crucible, forming a precise clearance fit. The elastic clamping plate is made of corrosion-resistant stainless steel, with an arc-shaped protrusion structure, symmetrically welded to the upper part of the inner wall of the limiting groove, and has a pre-tightening force of 5-8N, which can tightly fit the outer wall of the crucible. The bottom of the limiting groove has an RFID tag slot with a depth of 3mm and an inner diameter of 15mm, which is compatible with ultra-high frequency passive RFID tags. The RFID reader 260 uses an MFRC522 radio frequency module, which is fixed to the side of the execution end of the robotic arm 200 by a bracket. The vertical distance between the reader and the tag slot is controlled at 5-8mm to ensure reading stability. The reader communicates bidirectionally with the control unit through the SPI bus. The beneficial effects of this design are that the combination of the anti-slip limiting groove and the elastic clamping plate can achieve bidirectional positioning of the crucible, avoiding the crucible from shifting or tipping over due to vibration during the transfer of the robotic arm 200. The high-temperature resistant material is suitable for the high-temperature environment of the heating unit. The collaborative design of the RFID reader 260 and the tag slot can simultaneously read the sample name, number and other information when the robotic arm 200 grabs the crucible and transmit it to the control unit in real time. It automatically associates with subsequent weighing data, heating parameters and test results, eliminating the need for manual data entry. This reduces human error and enables full traceability of samples, greatly improving the efficiency of batch testing of multiple samples and the standardization of data management.

[0024] Specifically, such as Figure 4 As shown, the heating unit also includes a muffle furnace 340 body, a silicon carbide heating element 350, a K-type thermocouple temperature sensor 360, and a heat insulation cavity 370; the feed inlet of the muffle furnace 340 body is equipped with an electric sliding furnace door, which is electrically connected to the control unit based on an electromagnetic drive and is linked to the transfer action of the robotic arm 200. When the robotic arm 200 transfers the crucible to the heating unit station, the electric sliding furnace door automatically opens and automatically closes after the crucible is placed on the heating platform 300; the internal camera 330 is fixed at the side wall mounting port of the muffle furnace 340 body corresponding to the transparent observation window; the stepped heating module 320 is electrically connected to the silicon carbide heating element 350; and the weight sensor 310 is integrated below the bearing surface of the heating platform 300.

[0025] Understandably, the muffle furnace 340 features a 304 stainless steel outer shell with an alumina ceramic inner liner, an insulation cavity 370 filled with aluminosilicate fiber insulation material, and four 1500W silicon carbide heating elements 350 evenly distributed in a ring. A K-type thermocouple temperature sensor 360 has an accuracy of ±1℃, with its probe extending 5cm above the heating platform 300 to collect temperature data in real time. The electric sliding furnace door is made of high-temperature resistant glass fiber reinforced plastic and is equipped with an EML-20 electromagnetic drive unit with a response time ≤0.5s, receiving mechanical signals through the control unit. The displacement sensor signal of arm 200 enables linkage; the transparent observation window is made of high-temperature resistant quartz glass, and the internal camera 330 is a USB industrial camera that can withstand a high temperature of 200℃ with a resolution of 1920×1080, which is fixed on the heat-insulating bracket of the side wall mounting port; the stepped heating module 320 uses an STM32 microcontroller as the core controller and is electrically connected to the silicon carbide heating element 350 through a relay; the weight sensor 310 is a strain gauge sensor with a range of 50g and an accuracy of 0.1mg, which is integrated on the heat-insulating buffer pad under the bearing surface of the heating platform 300. The annular arrangement of silicon carbide rods, combined with high-precision thermocouples, ensures uniform heating and accurate temperature control. The furnace door and robotic arm 200 work together to achieve unmanned feeding and unloading, avoiding temperature loss and safety hazards caused by manual operation. The combination of a quartz observation window and a high-temperature resistant camera 330 allows for real-time observation of the sample status. The integrated design of the weight sensor 310 does not occupy extra space, and together with the stepped heating module 320, it provides hardware support for carbonization control and endpoint determination. The heat insulation cavity 370 and insulation material reduce energy consumption. The overall structure is compact and highly automated, fully supporting the precise and efficient operation of the heating unit.

[0026] Specifically, such as Figure 1 As shown, the stepped heating module 320 has a built-in algorithm module that adjusts the heating power based on a PID algorithm. The algorithm module interacts with the control unit to simulate the preset optimal carbonization curve and prevents sample splashing by adjusting the power output of the silicon carbide heating element 350. The control unit calculates the sample weight loss rate based on the real-time weight data collected by the weight sensor 310. When the weight loss rate drops to a preset threshold, it is determined to be the carbonization endpoint, and the control unit automatically sends a command to terminate the carbonization process.

[0027] Understandably, the algorithm module of the stepped heating module 320 pre-stores a library of optimal carbonization curve parameters for different types of food, such as grains, oils, and dairy products. It employs a PID closed-loop control algorithm and interacts with the control unit in real-time via a CAN bus. The built-in algorithm module of the stepped heating module 320 uses an STM32 microcontroller as its core, and its core calculation formulas include: ① Formula for calculating weight loss rate: ,in The average weight loss rate over k seconds (unit: g / min). Let be the weight of the sample collected in the nth second. The weight is the weight collected k seconds ago (k is set to 10, i.e., the average rate over 10 seconds is calculated). Time interval (unit: min); ② Formula for adjusting the power of stepped heating: Where P is the output power of the silicon carbide rod. The reference power is Kp, Ki, and Kd are the proportional, integral, and derivative coefficients of the PID control, respectively. For the target temperature, The K-type thermocouple is used to acquire temperature in real time. The algorithm module has a pre-stored library of carbonization curve parameters for different samples, and dynamically adjusts the power using the above formula to achieve a temperature range from room temperature to 150℃. ), 150℃ to 250℃ ), 250℃ to 300℃ The temperature is increased in stages; the control unit collects weight data once per second and substitutes it into the input. Formula calculation, when 3 consecutive times When the flow rate is ≤0.001 g / min, the carbonization endpoint is determined, and the system automatically switches to ashing mode. The beneficial effects of this design are that the quantitative calculation formula provides a clear calculation basis for carbonization curve control and endpoint determination, replacing traditional experience-based control. The PID algorithm ensures the accuracy and stability of temperature regulation, effectively avoiding sample splashing. The weight loss rate formula enables objective quantitative judgment of the endpoint, significantly improving the consistency and reliability of test results and providing core algorithmic support for the intelligent operation of the equipment.

[0028] Specifically, such as Figure 3 As shown, the weighing unit includes a high-precision electronic balance 400, a windproof and dustproof cover 410, and an electromagnetically controlled opening and closing door. The shape and size of the side opening of the windproof and dustproof cover 410 are configured to allow the robotic arm 200 to enter and exit without obstruction. The opening signal of the electromagnetically controlled opening and closing door is triggered by the control unit according to the displacement signal of the robotic arm 200, ensuring that the opening and closing door moves synchronously when the robotic arm 200 picks up and puts down the crucible.

[0029] Understandably, the weighing unit uses a Mettler PL2002 high-precision electronic balance 400, with a weighing range of 0-200g and a reading accuracy of 0.1mg, meeting the weight acquisition requirements for ash content determination. The windproof and dustproof cover 410 is made of transparent acrylic sheet in one piece, forming a sealed weighing space inside. A rectangular opening with a length of 8cm and a width of 6cm is opened on its side to match the movement trajectory of the robotic arm 200's actuator. The edges are rounded to avoid scratching the robotic arm 200. An electromagnetically controlled door is installed on the outside of the opening. The door panel is made of lightweight PVC material and equipped with a DC12V miniature electromagnetic lock and a return spring, with a response time of ≤0.3s. The control unit obtains the position signal in real time through the laser displacement sensor of the robotic arm 200. When the robotic arm 200 moves to a distance of 5cm from the windproof and dustproof cover 410, it automatically triggers the opening command of the door. After the robotic arm 200 picks up or puts down the crucible and exits the opening area, it immediately sends a closing signal to ensure that the opening and closing action is completely synchronized with the movement of the robotic arm 200. The high-precision electronic balance 400 in this design provides hardware support for the accurate acquisition of initial and residual mass. The sealed windproof and dustproof cover 410 can effectively isolate the interference of environmental airflow and dust on the weighing data. The linkage design of the electromagnetic control opening and closing door and the robotic arm 200 avoids airflow fluctuations and operational errors caused by manual door opening and closing, and ensures the unimpeded entry and exit of the robotic arm 200, realizing the automated connection of the weighing process. At the same time, the rapid response and airtight design of the opening and closing door further improves the stability and reliability of the weighing data, laying the foundation for the accuracy of ash content calculation and simultaneously strengthening the continuity of the entire process automation of the equipment.

[0030] Specifically, such as Figure 3 As shown, the cooling unit has a cooling cavity with a feed opening adapted to the execution end of the robotic arm 200. A crucible support platform 500 is arranged inside the cooling cavity. The spacing of the crucible support platform 500 is configured to correspond to the spacing of the crucible positioning structure 220 array on the sample holder 210. The heat insulation layer of the inner wall of the cooling cavity extends to the edge of the feed opening to avoid temperature fluctuations in the cavity during the transfer process of the robotic arm 200.

[0031] Understandably, the cooling unit's cooling chamber is made of 304 stainless steel through a single stamping process, and is wrapped with a 30mm thick polyurethane insulation layer. The internal cavity is 25cm long, 18cm wide, and 12cm high, meeting the simultaneous cooling requirements of multiple crucibles. It has a built-in semiconductor cooler and temperature sensor. The feed opening is located on the upper side wall of the cooling chamber, forming an arc shape that matches the movement trajectory of the robotic arm 200's execution end. The arc length of the opening is 12cm, and the height is 8cm. The edges are polished to prevent scratching the robotic arm 200. The crucible support platform 500 inside the cooling chamber is made of alumina ceramic and is arranged in a 2×3 matrix. The center-to-center distance between adjacent support platforms is set to 6cm, which is completely consistent with the array spacing of the crucible positioning structure 220 on the sample holder 210. A positioning groove with a diameter of 4cm and a depth of 1.5cm is opened on the top of the support platform to prevent the crucible from sliding. The insulation layer on the inner wall of the cooling chamber extends to the edge of the feed opening and folds outward by 1cm to form a sealed insulation edge. Combined with the flexible silicone sealing strip at the opening, it further blocks heat exchange. The insulation layer of this design extends to the edge of the feed opening and is equipped with a sealing strip, which can effectively prevent external hot air from entering or internal cold air from escaping when the robotic arm 200 moves the crucible, ensuring stable temperature inside the cavity (maintained at 20-25℃) and guaranteeing cooling accuracy. The spacing of the crucible support platform 500 corresponds to the positioning structure of the sample holder 210, which facilitates the robotic arm 200 to move crucibles in batches along a fixed trajectory, improving cooling efficiency. The design of the arc-shaped feed opening and the ceramic support platform not only ensures unobstructed entry and exit of the robotic arm 200, but also avoids temperature difference deformation when the high-temperature crucible comes into contact with the support platform. At the same time, the low thermal conductivity of the ceramic material can prevent the bottom of the crucible from dissipating heat too quickly, laying the foundation for the weight stability of the subsequent weighing process and strengthening the synergy between the cooling unit and the overall automated process.

[0032] Specifically, such as Figure 1 As shown, the control unit includes a displacement control module, which is electrically connected to the drive module of the robotic arm 200. The displacement control module is used to preset the transfer path and positioning accuracy of the robotic arm 200. The positioning accuracy is high precision, and the dwell time of the robotic arm 200 at the weighing unit, heating unit, and cooling unit is dynamically adjusted by the control unit according to the working status of each unit.

[0033] Understandably, the displacement control module of the control unit uses a high-performance STM32F407 microcontroller, which communicates bidirectionally with the stepper motor 230 driver of the robotic arm 200 drive module through a pulse + direction signal interface. The built-in path planning algorithm can pre-store the three-dimensional coordinate data of each station (error ≤ 0.05mm), quantifying the positioning accuracy of the robotic arm 200 to a high-precision standard of ±0.1mm. The control unit receives the weighing completion signal from the weighing unit, the furnace door opening and closing signal from the heating unit, and the temperature reaching the standard signal from the cooling unit in real time through the CAN bus, and dynamically adjusts the dwell time of the robotic arm 200. For example, after the weighing unit feedback data storage is completed, it can be moved after a dwell time of 0.5 seconds. When the furnace door of the heating unit is not closed, the dwell time can be extended to a maximum of 10 seconds until a "ready" signal is received before starting the action. The beneficial effects of this design are as follows: the collaboration between the high-precision microcontroller and the stepper motor 230 concretizes "high-precision positioning," avoiding crucible misalignment and sample spillage caused by transfer deviations, and ensuring precise connection of each process; the dynamic dwell adjustment based on the working status of each unit not only eliminates the ineffective waiting of the robotic arm 200, but also ensures that each process is fully completed, improving the overall testing efficiency; the combination of path preset and dynamic adjustment standardizes the movement trajectory of the robotic arm 200, reduces operational fluctuations, and at the same time strengthens the control unit's overall scheduling capability for the entire process, further improving the stability and reliability of the equipment's automated operation, and providing core control support for the collaborative work of each unit.

[0034] Specifically, such as Figure 2 As shown, it also includes an exhaust gas treatment unit, which includes an activated carbon adsorption tank 600 and an air guide pipe 610. The air guide pipe 610 is arranged along the side wall of the machine body 100. The activated carbon adsorption tank 600 is fixed to the mounting position on the side of the machine body 100. Its air inlet is connected to the exhaust port of the heating unit through the air guide pipe 610, and the exhaust port extends to the outside of the machine body 100.

[0035] Understandably, the exhaust pipe 610 of the exhaust gas treatment unit is made of high-temperature resistant PTFE material, with an inner diameter of 16mm and a wall thickness of 1.5mm. It is horizontally fixed along the side wall of the machine body 100 by L-shaped metal clips, with a clip spacing of 15cm to ensure that the pipe is flat and without bends. The activated carbon adsorption tank 600 is a 1L cylindrical stainless steel tank containing columnar activated carbon with an iodine value ≥1000mg / g. The tank is fixed to the reserved installation position on the side of the machine body 100 by a detachable metal bracket. The tank contains a double-layer stainless steel filter to prevent the loss of activated carbon particles. One end of the exhaust pipe 610 is sealed to the exhaust port of the heating unit through a compression fitting, and the other end is fastened to the air inlet of the adsorption tank 600. The exhaust port of the adsorption tank 600 extends 30cm outside the machine body 100, and the port is equipped with a rainproof and dustproof cap. The air duct 610 of this design is configured along the side wall without occupying the movement space of the robotic arm 200, avoiding interference from pipelines with the automated operation of the equipment; the high iodine value activated carbon can efficiently adsorb volatile organic compounds and dust generated during carbonization and ashing, preventing direct emission of waste gas and pollution of the environment; the detachable tank and sealed connection design facilitates regular replacement of activated carbon for maintenance, prevents waste gas leakage, ensures the breathing safety of operators, and has a compact overall structure. It works in conjunction with the heating unit to achieve closed-loop treatment of waste gas, meeting the environmental safety standards in the food testing field, and further improving the practicality and compliance of the equipment.

[0036] Specifically, such as Figures 1-5 As shown, a working method of a fully automatic food ash content analyzer includes the following steps: placing the crucible containing the food sample in the crucible positioning structure 220 of the sample holder 210 of the sample carrying unit, inputting the sample parameters based on the operation interface of the control unit, and completing the preparation for the measurement. The control unit sends a transfer command to the sample carrying unit. The robotic arm 200 moves to the sample rack 210 station according to the preset path, grabs the crucible based on the elastic clamping structure, and transfers it into the windproof and dustproof cover 410 of the weighing unit. The electromagnetic control door opens and closes synchronously. The electronic balance collects the initial mass data of the sample and transmits it to the control unit for storage. After the initial weighing is completed, the robotic arm 200 transfers the crucible to the heating unit. The heating unit performs step heating and ashing treatment according to a preset program. The control unit determines the carbonization endpoint based on real-time weight data. After the ashing process is completed, the electric sliding furnace door opens automatically again, and the robotic arm 200 extends into the muffle furnace 340 to grab the crucible and transfer it to the cooling chamber of the cooling unit. The feed opening of the cooling chamber is adapted to the movement trajectory of the robotic arm 200. After the robotic arm 200 places the crucible on the crucible support platform 500, it exits, and the cooling unit starts the constant temperature drying and cooling program. After cooling is complete, the robotic arm 200 grabs the crucible and transfers it to the weighing unit. The electromagnetically controlled door opens and closes simultaneously, and the electronic balance collects the mass data of the residue after ashing and transmits it to the control unit. The control unit automatically calculates the ash content of the sample according to a preset formula based on the collected initial mass data and residue mass data, and completes the display, storage and export of the results.

[0037] Understandably, the operator places the quartz crucible containing the pre-treated food sample (5-10g) into the anti-slip limiting groove of the sample rack 210, and inputs parameters such as sample name, type, and preset ashing temperature (550℃) through the 7-inch touch screen interface of the control unit to complete the measurement preparation. The control unit sends a command to the drive module, and the robotic arm 200 moves to the sample rack 210 position according to the pre-stored three-dimensional path (XYZ axis coordinate error ≤0.05mm). The elastic clamping structure adjusts the clamping force by 3-5N according to the pressure sensor feedback to grasp the crucible. When it is transferred to the weighing unit, the control unit triggers the electromagnetic control to open the door synchronously. After the crucible is placed stably, the door closes. The high-precision electronic balance 400 collects the initial mass data and transmits it to the control unit for storage via the communication bus. After the initial weighing is completed, The robotic arm 200 transfers the crucible to the heating unit. The electric sliding furnace door of the muffle furnace 340 opens automatically. After the crucible is placed on the heating platform 300, the furnace door closes. The heating unit heats the crucible according to the stepped heating curve (room temperature → 150℃ → 250℃ → 300℃). The control unit calculates the loss rate based on the data from the weight sensor 310. Once the target is reached, the temperature is switched to 550℃ for ashing. After ashing, the furnace door opens, and the robotic arm 200 picks up the crucible and transfers it to the cooling chamber. The crucible is precisely placed according to the spacing of the support array. The cooling unit maintains a constant temperature of 22℃ for drying and cooling for 30 minutes. After cooling, the robotic arm 200 transfers the crucible to the weighing unit to collect the residue mass. The control unit automatically calculates the ash content according to the formula "ash content = (residue mass / initial mass) × 100%". The result is displayed on the touch screen and stored to the built-in SD card, and can also be exported via USB. The entire process is automated and requires no manual intervention, avoiding environmental interference and operational errors. The coordinated design of stepped heating, accurate weighing and constant temperature cooling ensures the consistency of test results. Automatic data storage and export improves management efficiency, and the linkage response of each unit shortens the test cycle, meeting the needs of efficient and accurate testing of batch samples.

[0038] In a specific embodiment of this application, the above steps are implemented in the following ways: The working scenario for batch food ash content testing in a food testing laboratory: In a well-ventilated testing area at room temperature (20-25℃), operators place food samples (5-10g each) of grains, oils, dairy products, etc., that have undergone crushing and drying pretreatment (moisture content ≤10%) into quartz crucibles, and place them into the anti-slip limiting slots of sample rack 210 according to their numbers. If traceability is required, tags with pre-stored sample information are placed in the RFID tag slot. After inputting parameters such as sample type and preset ashing temperature (550-600℃) through the control unit touch screen and clicking start, the equipment enters fully automatic operation. The robotic arm 200 sequentially grasps crucibles along a preset path, and completes two precise weighings in conjunction with the opening and closing of the weighing unit door and the furnace door of the heating unit. The heating unit simultaneously performs stepped carbonization and constant-temperature ashing. The exhaust gas is treated and discharged in compliance with standards. The cooling unit maintains a constant temperature environment to ensure cooling effect. No manual intervention is required throughout the process. After the test, the control unit automatically calculates the ash content and displays it on the screen. The data can be exported via USB or stored in the built-in database. Operators only need to check the results and print the test report. This system is suitable for the actual needs of food production enterprises for quality inspection and third-party testing institutions for batch sample testing.

[0039] In the above embodiment, through the overall scheduling of the control unit, the robotic arm 200 is used as the core transfer carrier, and the coordinated linkage of various units realizes the fully automatic determination of food ash content: After the operator inputs the sample parameters, the control unit triggers the robotic arm 200 to grab the crucible positioned by the sample rack 210 according to the preset high-precision path, and the initial mass is collected and stored synchronously with the electromagnetic opening and closing door of the weighing unit; then the robotic arm 200 transfers the crucible to the heating unit, the furnace door opens and closes automatically, the heating unit heats up stepwise according to the optimal carbonization curve preset by the algorithm module, the weight sensor 310 collects weight data in real time, and the control unit calculates the weight data. After determining the carbonization endpoint based on the weight loss rate, the system switches to ashing mode, with real-time monitoring via a transparent observation window and an internal camera 330. Once ashing is complete, the robotic arm 200 transfers the crucible to the cooling chamber, where constant-temperature drying and cooling are achieved under heat insulation design. After cooling, the robotic arm 200 transfers the crucible to the weighing unit to collect the residue mass. The control unit automatically calculates the ash content according to a preset formula, simultaneously displaying, storing, and exporting the results. The exhaust gas generated during carbonization and ashing is introduced into the activated carbon adsorption tank 600 through the gas guide pipe 610 for purification before being discharged. The entire process achieves accurate, efficient, and safe detection without human intervention.

[0040] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0041] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0042] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0043] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A fully automatic food ash content analyzer, characterized in that, include: The machine body, sample carrying unit, heating unit, weighing unit, cooling unit, and control unit; The machine body is internally configured with a translation drive cavity, a high temperature treatment cavity, a detection operation cavity and an operating cavity. The sample carrying unit is fixedly configured in the translation drive cavity, the heating unit is sealed in the high temperature treatment cavity, the weighing unit and the cooling unit are symmetrically configured on both sides of the detection operation cavity, and the control unit is embedded in the operating cavity and the operating interface is exposed. The sample carrying unit includes a robotic arm, a sample holder, and a crucible positioning structure. The robotic arm is fixedly connected to the inner wall of the translational driving cavity based on the drive module. The sample holder is detachably connected to the execution end of the robotic arm. The crucible positioning structure array is arranged on the outer top surface of the sample holder. The heating unit includes a heating platform with a transparent observation window, the heating platform integrates a weight sensor, and the heating unit is also equipped with a programmable stepped heating module and an internal camera, with the internal camera corresponding to the transparent observation window. Each unit is electrically connected to the control unit via wires, and the weight sensors and internal cameras of the weighing unit and heating unit are additionally connected to the control unit via a communication bus for data transmission.

2. The fully automatic food ash content analyzer according to claim 1, characterized in that, The driving module of the sample carrying unit includes a stepper motor, a ball screw, and a guide rail. The robotic arm is configured as a multi-degree-of-freedom robotic arm, and its execution end is equipped with an elastic clamping structure. The elastic clamping structure is adapted to the shape of the crucible positioning structure and is used to clamp the sample crucible to achieve stable transfer.

3. The fully automatic food ash content analyzer according to claim 1, characterized in that, The crucible positioning structure includes an anti-slip limiting groove and an elastic clamping plate. The inner diameter of the anti-slip limiting groove is clearance-fitted with the outer diameter of the sample crucible. The elastic clamping plates are symmetrically arranged on the inner wall of the limiting groove. An RFID tag slot is provided at the bottom of the limiting groove. The sample carrying unit also includes an RFID reader. The RFID reader is disposed on the side of the robotic arm execution end and is connected to the control unit for reading sample information and associating it with the robotic arm's transfer action.

4. The fully automatic food ash content analyzer according to claim 1, characterized in that, The heating unit also includes a muffle furnace body, a silicon carbide heating element, a K-type thermocouple temperature sensor, and a heat insulation cavity. The feed inlet of the muffle furnace body is equipped with an electric sliding furnace door. The electric sliding furnace door is electrically connected to the control unit based on an electromagnetic drive and is linked to the transfer action of the robotic arm. When the robotic arm moves the crucible to the heating unit station, the electric sliding furnace door opens automatically and closes automatically after the crucible is placed on the heating platform. The internal camera is fixed at the mounting port on the side wall of the muffle furnace body corresponding to the transparent observation window. The stepped heating module is electrically connected to the silicon carbide heating element. The weight sensor is integrated below the bearing surface of the heating platform.

5. The fully automatic food ash content analyzer according to claim 1, characterized in that, The stepped heating module has a built-in algorithm module that adjusts the heating power based on a PID algorithm. The algorithm module interacts with the control unit to simulate the preset optimal carbonization curve and prevents sample splashing by adjusting the power output of the silicon carbide heating element. The control unit calculates the sample weight loss rate based on real-time weight data collected by the weight sensor. When the weight loss rate drops to a preset threshold, it is determined to be the carbonization endpoint, and the control unit automatically sends a command to terminate the carbonization process.

6. The fully automatic food ash content analyzer according to claim 1, characterized in that, The weighing unit includes a high-precision electronic balance, a windproof and dustproof cover, and an electromagnetically controlled opening and closing door. The side opening shape and size of the windproof and dustproof cover are configured to allow the robotic arm to enter and exit without obstruction. The opening signal of the electromagnetically controlled opening and closing door is triggered by the control unit based on the displacement signal of the robotic arm, ensuring that the opening and closing of the door is synchronized when the robotic arm picks up and puts down the crucible.

7. The fully automatic food ash content analyzer according to claim 1, characterized in that, The cooling unit has a cooling chamber with a feed opening adapted to the robotic arm's execution end. A crucible support platform is provided inside the cooling chamber. The spacing of the crucible support platform is configured to correspond to the spacing of the crucible positioning structure array on the sample holder. The heat insulation layer on the inner wall of the cooling chamber extends to the edge of the feed opening to avoid temperature fluctuations inside the chamber during the robotic arm's transfer process.

8. The fully automatic food ash content analyzer according to claim 1, characterized in that, The control unit includes a displacement control module, which is electrically connected to the drive module of the robotic arm. The displacement control module is used to preset the transfer path and positioning accuracy of the robotic arm. The positioning accuracy is high precision, and the dwell time of the robotic arm in the weighing unit, heating unit, and cooling unit is dynamically adjusted by the control unit according to the working status of each unit.

9. The fully automatic food ash content analyzer according to claim 1, characterized in that, It also includes an exhaust gas treatment unit, which includes an activated carbon adsorption tank and an air guide pipe. The air guide pipe is arranged along the side wall of the machine body. The activated carbon adsorption tank is fixed to the mounting position on the side of the machine body. Its air inlet is connected to the exhaust port of the heating unit through the air guide pipe, and the exhaust port extends to the outside of the machine body.

10. A working method for a fully automatic food ash content analyzer, characterized in that, The fully automatic food ash analyzer described in any one of claims 1-9 is characterized by comprising the following steps: Place the crucible containing the food sample into the crucible positioning structure of the sample holder in the sample carrying unit, input the sample parameters based on the operation interface of the control unit, and complete the measurement preparation. The control unit sends a transfer command to the sample carrying unit. The robotic arm moves to the sample rack station according to the preset path, grabs the crucible based on the elastic clamping structure, and transfers it into the windproof and dustproof cover of the weighing unit. The electromagnetic control door opens and closes synchronously. The electronic balance collects the initial mass data of the sample and transmits it to the control unit for storage. After the initial weighing is completed, the robotic arm transfers the crucible to the heating unit, which performs step heating and ashing treatment according to a preset program. The control unit determines the carbonization endpoint based on real-time weight data. After the ashing process is completed, the electric sliding furnace door opens automatically again, the robotic arm extends into the muffle furnace body to grab the crucible, and moves it to the cooling chamber of the cooling unit. The feed opening of the cooling chamber is adapted to the movement trajectory of the robotic arm. After the robotic arm places the crucible on the crucible support platform, it withdraws, and the cooling unit starts the constant temperature drying and cooling program. After cooling is complete, the robotic arm grabs the crucible and transfers it to the weighing unit. The electromagnetically controlled door opens and closes simultaneously. The electronic balance collects the mass data of the residue after ashing and transmits it to the control unit. The control unit automatically calculates the ash content of the sample according to a preset formula based on the collected initial mass data and residue mass data, and completes the display, storage and export of the results.

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