Solution preparation system

Abstract

The application provides a solution preparation system, comprising a controller and a mobile platform, a stock solution feeding platform, a weighing platform, a mixing platform, a sample holding platform, a cleaning platform and a robot connected with the controller; the robot places stock solution bottles, reaction bottles and sample holding bottles on the stock solution feeding platform, the weighing platform and the sample holding platform respectively; the mobile platform is provided with a temperature detection device, a pH detection device and a stirring device. The application solves the problems of the prior art, such as difficult reuse of stock solution, high risk of cross contamination, low function integration and insufficient operation safety. The solution preparation system provided by the application integrates stock solution liquid level monitoring, weighing feedback liquid feeding, cleaning, temperature control, online pH detection and sample holding and sub-packaging functions, realizes intelligent reuse of stock solution, zero cross contamination and prevention of dry burning of equipment.

Description

Technical Field

[0001] This invention relates to the field of pharmaceuticals and chemicals, and more particularly to a solution preparation system. Background Technology

[0002] Existing technologies (such as CN118437176A) provide a fully automated solvent preparation workstation, which automates the preparation of basic solutions by using a robotic arm to transfer containers, a pump to add liquid, and controlling the amount of liquid added based on weighing feedback. However, this device has the following drawbacks: it lacks a stock solution reuse mechanism, does not include a stock solution bottle level monitoring and reuse process, and cannot handle stock solutions with unknown remaining volumes; cleaning is incomplete, with the probe only undergoing simple immersion without deep cleaning steps such as aeration and air knife drainage; safety is insufficient, lacking a mechanism to automatically shut off heating after the temperature probe rises to prevent dry burning or boiling over; and its functionality is limited, lacking integrated functions such as online pH detection, liquid retention and dispensing, and pipeline back-pumping cleaning. Summary of the Invention

[0003] To address the above issues, this invention proposes a solution preparation system that solves problems such as difficulty in reusing stock solutions, high risk of cross-contamination, low functional integration, and insufficient operational safety in existing technologies. The solution preparation system provided by this invention integrates stock solution level monitoring, weighing feedback for liquid addition, cleaning, temperature control, online pH detection, and liquid retention and dispensing functions. It achieves intelligent reuse of stock solutions, zero cross-contamination, and prevention of equipment dry burning, increasing solution preparation efficiency by 3 times and reducing cleaning energy consumption by 67%. This invention is applicable to the automated preparation of precision impregnation solutions in the pharmaceutical and chemical industries.

[0004] This invention proposes a solution preparation system, comprising:

[0005] The controller and the mobile platform, stock solution injection platform, weighing platform, mixing platform, sample retention platform, cleaning platform and robot connected to the controller; The robot places the stock solution bottle, reaction bottle, and sample retention bottle on the stock solution injection platform, weighing platform, and sample retention platform, respectively. The mobile platform is equipped with a temperature detection device, a pH detection device, and a stirring device; The stock solution injection platform detects the liquid level in the stock solution bottle. If the liquid level meets the liquid level height condition, it extracts a preset amount of stock solution from the stock solution bottle into the reaction bottle. When the controller receives feedback from the weighing platform that the weight is less than the preset amount and a preset threshold, it controls the stock solution injection platform to stop extracting the stock solution. Add pure water to the reaction flask to the preset solution volume; The controller moves the robot to the mixing platform. The stirring device stirs the mixture in the reaction bottle. The mixing platform provides heating. The temperature detection device detects the temperature of the mixture. After the stirring time is up, the controller controls the pH detection device to detect the pH value of the mixture in the reaction bottle. If the pH value meets the requirements, the controller moves the robot to the sample retention platform. The sample retention platform extracts a preset sample amount of the mixture from the reaction bottle into a sample bottle on the platform. After the sample retention is completed, the controller controls the moving platform to move all the devices that need to be cleaned to the cleaning platform for cleaning.

[0006] In addition, the mobile platform is a multi-axis linear motion mechanism, the temperature detection device is a temperature probe, and the stirring device includes a stirring paddle lifting platform and a stirring paddle. Both the temperature probe and the stirring paddle are installed at the end of the stirring lifting platform.

[0007] In addition, the pH detection device includes a pH probe lifting platform and a pH probe installed at its end; The mobile platform is also equipped with position sensors to detect the positions of the stirring paddle lifting platform and the pH probe lifting platform.

[0008] In addition, the stock solution injection platform includes at least: a liquid level sensor, a stock solution needle, a stock solution sampling guide rail, a sampling pump, and an identification device; The identification device is used to identify the information of the stock solution bottle. The liquid level sensor is set close to the stock solution bottle to monitor the liquid level. The inlet and outlet of the sampling pump are connected to the stock solution bottle and the tail of the stock solution needle, respectively. The stock solution needle is installed on the moving part of the stock solution sampling guide rail. The sampling pump is fixed to the stock solution sampling guide rail. The controller controls the original solution sampling guide rail to drive the original solution needle down and insert it into the bottom of the original solution bottle. The controller sends an extraction command to the sampling pump. After the sampling pump extracts the original solution from the original solution bottle, the original solution sampling guide rail drives the original solution needle to move above the reaction flask. The sampling pump drives the original solution needle to add the original solution into the reaction flask.

[0009] In addition, the hybrid platform includes at least: a heating platform and safety interlock sensors; The heating platform is used to heat the reaction flask, and the stirring device rotates to mix the mixture. When the stirring device is lifted off the surface of the mixture, the safety interlock sensor is triggered, and the controller shuts off the heating platform.

[0010] In addition, the sample retention platform includes at least: a suction needle, a suction needle moving device, a liquid level sensor, and a sample retention pump; The aspiration needle is fixed on the aspiration needle moving device. The aspiration needle is connected to the inlet of the sample retention pump through a pipeline. The outlet of the sample retention pump is connected to the sample bottle through a pipeline. The liquid level sensor is integrated on the aspiration needle. The robot is controlled to move the reaction bottle to the bottom of the sampling needle on the sample retention platform. The sampling needle moving device drives the sampling needle to insert into the reaction bottle, and the sample retention pump is started to draw out the mixture from the sampling needle and add the liquid in the sampling needle into the sample retention bottle. The liquid level sensor monitors the volume of the drawn liquid.

[0011] In addition, after the sample retention is completed, the controller controls the mobile platform to move all the devices that need to be cleaned to the cleaning platform for cleaning. The cleaning platform includes at least a cleaning tank, an air knife and an aeration device. The cleaning tank is filled with cleaning liquid. The mobile platform moves the device to be cleaned above the cleaning tank and then lowers it to immerse the device in the cleaning tank. Then the device is lifted up and cleaned with the aeration device, and finally the air knife is used to dry the device.

[0012] In addition, the system also includes a constant temperature water supply platform, which includes: a constant temperature water pump, a water tank, a temperature sensor, and a heating device; The water tank is located above the heating device. One end of the constant temperature water pump and the temperature sensor are both installed inside the water tank. The constant temperature water pump adds pure water from the water tank to the reaction flask on the stock solution injection platform.

[0013] In addition, the system includes a robot track on which the robot moves.

[0014] In addition, the robot includes: the robot body and the grasping actuator; The robot body drives the gripping actuator to move, and the gripping actuator is used to grasp and place the stock solution bottle, reaction bottle and sample bottle.

[0015] This invention solves the problems of difficulty in reusing raw solutions, high risk of cross-contamination, low functional integration, and insufficient operational safety in existing technologies. The solution preparation system provided by this invention integrates raw solution level monitoring, weighing feedback for liquid addition, cleaning, temperature control, online pH detection, and liquid retention and dispensing functions, realizing intelligent reuse of raw solutions, zero cross-contamination, and prevention of equipment dry burning. It improves solution preparation efficiency by 3 times and reduces cleaning energy consumption by 67%. This invention is applicable to the automated preparation of precision impregnation solutions in the pharmaceutical and chemical industries. Attached Figure Description

[0016] Figure 1 This is an overall top view of a solution preparation system provided in one embodiment of the present invention; Figure 2 A front view of a solution preparation system provided in one embodiment of the present invention; Figure 3 This is a schematic diagram of a cleaning platform in a solution preparation system provided in one embodiment of the present invention; Figure 4 This is a schematic diagram of a constant temperature water supply platform in a solution preparation system provided in one embodiment of the present invention; Figure 5This is a schematic diagram of a sample retention platform in a solution preparation system provided in one embodiment of the present invention.

[0017] Reference numerals: 1. Moving platform; 2. Mounting base plate; 3. Cleaning platform; 4. Mixing platform; 5. Constant temperature water supply platform; 6. Sample retention platform; 7. Weighing platform; 8. Stock solution injection platform; 9. Track; 10. Robot; 101. Stock solution needle; 301. Air knife; 302. Aeration device; 401. Temperature probe; 402. Stirring paddle; 403. Heating table; 404. Stirring paddle lifting platform; 405. pH probe; 406. pH probe lifting platform; 501. Constant temperature water pump; 502. Water tank; 503. Temperature sensor; 504. Heating device; 505. Mounting bracket; 601. Sample retention bottle; 602. Sample retention pump; 603. Sample retention pump mounting bracket; 701. Reaction flask; 702. Balance; 801. Stock solution bottle; 802. Liquid level sensor; 803. Sampling pump; 804. Stock solution sampling guide rail. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to specific embodiments and accompanying drawings. This description is intended only to illustrate specific embodiments of the invention and does not constitute any limitation on the invention. The scope of protection of the invention is defined by the claims.

[0019] Reference Figure 1 This invention proposes a solution preparation system, comprising: The controller and the mobile platform 1, the stock solution injection platform 8, the weighing platform 7, the mixing platform 4, the sample retention platform 6, the cleaning platform 3 and the robot 10 connected to the controller; Robot 10 places the stock solution bottle 801, reaction bottle 701 and sample retention bottle 601 on the stock solution injection platform 8, weighing platform 7 and sample retention platform 6 respectively; The mobile platform 1 is equipped with a temperature detection device, a pH detection device, and a stirring device; The stock solution injection platform 8 detects the liquid level in the stock solution bottle 801 (optionally, by the liquid level sensor 802). If the liquid level height condition is met, a preset amount of stock solution is extracted from the stock solution bottle 801 into the reaction bottle 701. The reaction bottle 701 is located above the weighing platform 7. When the controller receives the weight feedback from the weighing platform 7, which is less than the preset amount by a preset threshold, it controls the stock solution injection platform 8 to stop extracting the stock solution. Add pure water to reaction flask 701 to the preset solution volume (optionally, via constant temperature water supply platform 5). The controller causes the robot 10 to move the reaction bottle 701 to the mixing platform 4. The stirring device stirs the mixture in the reaction bottle 701. The mixing platform 4 provides a heating function (optionally, through the heating table 403). The temperature detection device detects the temperature of the mixture. After the stirring time is up, the controller controls the pH detection device to detect the pH value of the mixture in the reaction bottle 701. If the pH value condition is met, the controller controls the robot 10 to move the reaction bottle 701 to the sample retention platform 6. The sample retention platform 6 extracts a preset sample amount of the mixture in the reaction bottle 701 into the sample retention bottle 601 of the sample retention platform 6. After the sample retention is completed, the controller controls the moving platform 1 to move all the devices that need to be cleaned to the cleaning platform 3 for cleaning (optionally, using an air knife 301, an aeration device 302, etc.).

[0020] Optionally, the hybrid platform 4 is located adjacent to or integrated with the weighing platform 7.

[0021] The purpose of the stock solution injection platform 8 in detecting the liquid level in the stock solution bottle 801 is to ensure that there is sufficient stock solution in the bottle before extraction can proceed; otherwise, extraction will not be performed. If the liquid level meets the required level, a preset amount of stock solution will be extracted from the bottle 801 into the reaction flask 701. For example, the liquid level must be above the 20mm mark. If the level is above this mark, the system will determine that "the liquid volume is sufficient and reuse is permitted." Optionally, the "operable" indicator light at the station will be illuminated.

[0022] A preset amount of stock solution is drawn from stock solution bottle 801 into reaction bottle 701, which is located above weighing platform 7. When the controller receives a weight feedback from weighing platform 7 that is less than a preset amount by a preset threshold (e.g., 50.0g) and the preset threshold is 0.1g), the drawing action stops. Since the liquid input into reaction bottle 701 continues to be added to reaction bottle 701 under the action of gravity, the drawing stops when it approaches the preset amount, thus the control accuracy meets the ±0.1g requirement.

[0023] Add pure water, such as deionized water, to reaction flask 701 to the preset solution volume. Alternatively, distilled water or reverse osmosis water may also be used. The preset solution volume is, for example, 350.0 g.

[0024] The controller controls each process according to the set time. When the set time for extracting the raw liquid is reached, the controller controls the robot 10 to move the reaction bottle 701 to the mixing platform 4 to mix the raw liquid and pure water to obtain a mixture. At this time, the controller controls the stirring device of the moving platform 1 to move above the reaction bottle 701 and descend to perform stirring. The controller controls the mixing platform 4 to turn on the heating function. The controller receives the temperature value detected by the temperature detection device and controls the heating function according to the monitored temperature value to stabilize the temperature at the set value, such as 60.0℃.

[0025] When the set stirring time is up, the controller moves the pH sensor above the reaction flask and inserts it into the liquid. The controller obtains the pH sensor reading, for example: the initial value is 3.7, and after 3 minutes of stabilization, the reading is 3.6 (meeting the requirement of 3.5±0.1). This data is automatically recorded and uploaded to the host computer database.

[0026] If the pH condition is met, the robot 10 will move the reaction bottle 701 to the sample retention platform 6. If the condition is not met, an alarm will be issued and manual intervention will be required.

[0027] The controller controls the sample retention platform 6 to extract a preset sample amount from the mixture in the reaction bottle 701 into the sample retention bottle 601 of the sample retention platform 6. The preset sample amount is, for example, 30.0 ml of sample.

[0028] After the sample retention time is up, the controller controls the mobile platform 1 to move all the devices that need to be cleaned to the cleaning platform 3 for cleaning. Optionally, the air knife 301, the aeration device 302, etc. can be used for cleaning.

[0029] Optionally, all platforms are mounted on mounting base plate 2, and the robot moves on track 9.

[0030] This invention solves the problems of difficulty in reusing raw solutions, high risk of cross-contamination, low functional integration, and insufficient operational safety in existing technologies. The solution preparation system provided by this invention integrates raw solution level monitoring, weighing feedback for liquid addition, cleaning, temperature control, online pH detection, and liquid retention and dispensing functions, realizing intelligent reuse of raw solutions, zero cross-contamination, and prevention of equipment dry burning. It improves solution preparation efficiency by 3 times and reduces cleaning energy consumption by 67%. This invention is applicable to the automated preparation of precision impregnation solutions in the pharmaceutical and chemical industries.

[0031] like Figure 1 and 2 As shown, in one embodiment, the moving platform 1 is a multi-axis linear motion mechanism, the temperature detection device is a temperature probe 401, and the stirring device includes a stirring paddle lifting platform 404 and a stirring paddle 402. Both the temperature probe 401 and the stirring paddle 402 are mounted at the end of the stirring lifting platform 404. The multi-axis linear motion mechanism is responsible for moving the temperature probe 401, the stirring paddle lifting platform 404, and the stirring paddle 402. The stirring paddle lifting platform 404 is used to lower and raise the stirring paddle 402.

[0032] The robot removes reaction flask 701 and transfers it to mixing platform 4. The agitator 402 and temperature probe 401 descend together, inserting below the surface of the mixed liquid. The heating platform begins operation, and the temperature probe 401 provides real-time temperature feedback. After approximately 3 minutes, the liquid temperature reaches and stabilizes at 60.0℃. The agitator starts moving at 200 rpm, and the reaction is timed for 15 minutes.

[0033] Temperature probe 401 and stirring paddle 402 are both installed at the end of stirring lifting platform 404, and simultaneously enter the liquid surface and rise out of the liquid surface.

[0034] In this embodiment, the mixture is stirred by the stirring paddle 402, and the temperature is fed back by the temperature probe 401, so that the controller can control the entire stirring process to maintain a constant temperature.

[0035] Reference Figure 2 In one embodiment, the pH detection device includes a pH probe lifting platform 406 and a pH probe 405 mounted at its end. The mobile platform 1 is also equipped with a position sensor to detect the position of the stirring paddle lifting platform 404 and the pH probe lifting platform 406.

[0036] The condition for triggering the pH probe lifting platform 406 is that the time in the previous step has expired. The pH measurement program is executed automatically. The insertion position is pre-calibrated, and the height of each descent is a fixed value. It is controlled by a unified controller and executed through the moving platform 1.

[0037] This embodiment automatically detects the pH value of the liquid using a pH probe 405, solving the technical problem of requiring manual detection in existing technologies.

[0038] Reference Figure 2 In one embodiment, the stock solution injection platform 8 includes at least: a liquid level sensor 802, a stock solution needle 101, a stock solution sampling guide rail 804, a sampling pump 803, and an identification device. The identification device is used to identify the information of the original liquid bottle 801. The liquid level sensor 802 is set close to the original liquid bottle 801 to monitor the liquid level. The inlet and outlet of the sampling pump 803 are connected to the tail of the original liquid bottle 801 and the original liquid needle 101 through pipelines, respectively. The original liquid needle 101 is installed on the moving part of the original liquid sampling guide rail 804. The sampling pump 803 and the original liquid sampling guide rail 804 are fixed to the mounting base plate 2. The controller controls the original liquid sampling guide 804 to drive the original liquid needle 101 to descend and insert into the bottom of the original liquid bottle 801. The controller sends an extraction command to the sampling pump 803. After the sampling pump 803 extracts the original liquid from the original liquid bottle 801, the original liquid sampling guide 804 drives the original liquid needle 101 to move above the reaction bottle 701. The sampling pump 803 drives the original liquid needle 101 to add the original liquid into the reaction bottle 701.

[0039] The identification device is used to identify information from the concentrate bottle 801 to distinguish between different concentrates.

[0040] By dynamically monitoring the remaining liquid volume in the concentrate bottle using a high-precision liquid level sensor 802, the limitations of traditional fixed-volume solutions are overcome, enabling precise reuse of concentrates with unknown volumes. Optionally, the liquid level sensor 802 is mounted on the concentrate needle 101.

[0041] The stock solution needle 101 is inserted into the bottom of the stock solution bottle. The needle 101 detects a liquid level of 45mm (higher than the preset minimum warning line of 20mm). The controller determines "Sufficient liquid volume, reuse permitted" and illuminates the "Operable" indicator light at the workstation. The stock solution sampling guide 804 moves to above the reaction flask (located on the balance). The sampling pump 803 starts rotating forward, adding the stock solution into the reaction flask 701. Optionally, the sampling pump 803 is a chloroauric acid stock solution sampling pump.

[0042] Optionally, the balance 702 on the weighing platform 7 monitors the mass change in real time. When the increment reaches 50.0g (set value), it immediately sends a feedback signal, and the controller immediately shuts off the sample pump. The actual added mass is 50.1g, with an accuracy meeting the ±0.1g requirement.

[0043] When the reaction flask is placed on the balance 702, the balance is zeroed.

[0044] When the stock solution bottle is placed on the stock solution injection platform 8, the identification device, such as a reader, reads the RFID tag on the bottom of the bottle to confirm whether it is a reusable stock solution, such as chloroauric acid solution. When the retention bottle is placed on the retention platform 6, the sensors at each station send a "position" signal to the controller. The controller then begins to control the operation of each platform.

[0045] This embodiment can automatically identify the label on the concentrate bottle and realize the automatic dispensing process.

[0046] Reference Figure 2 In one embodiment, the hybrid platform 4 includes at least: a heating table 403 and a safety interlock sensor; The heating platform 403 is used to heat the reaction flask 701. The stirring device rotates to mix the mixture. When the stirring device is lifted off the surface of the mixture, the safety interlock sensor is triggered, and the controller shuts off the heating platform 403.

[0047] After the mixing reaction is complete, the agitator 402 and temperature probe 401 are raised. At the moment the temperature probe 401 leaves the liquid surface, the safety interlock sensor installed on it triggers a signal, and the controller immediately cuts off the power to the heating platform 403, effectively preventing the heating platform 403 from overheating under no-load conditions.

[0048] A safety interlock mechanism is set up to automatically cut off the heater power supply the moment the temperature probe rises, thus fundamentally eliminating the risk of dry burning.

[0049] Reference Figure 2 and Figure 5 In one embodiment, the sample retention platform 6 includes at least: a suction needle, a suction needle moving device, a liquid level sensor, and a sample retention pump 602; The aspiration needle is fixed on the aspiration needle moving device. The aspiration needle is connected to the inlet of the sample retention pump 602 through a pipeline. The outlet of the sample retention pump 602 is connected to the sample retention bottle 601 through a pipeline. The liquid level sensor is integrated on the aspiration needle. The robot 10 moves the reaction bottle 701 below the suction needle of the sample retention platform 6. The suction needle moving device drives the suction needle to be inserted into the reaction bottle 701. The sample retention pump 602 is started to draw the mixture from the suction needle and add the liquid in the suction needle into the sample retention bottle 601. The liquid level sensor monitors the volume of the drawn liquid.

[0050] Equipped with a quantitative dispensing mechanism, it accurately extracts 30ml of liquid (impregnation solution) through a suction needle and transfers it into a dedicated sample bottle for archiving.

[0051] After the pH probe 405 is raised and moved towards the cleaning platform 3, the control robot 10 moves the reaction bottle 701 below the aspiration needle on the sample retention platform 6. The aspiration needle moving device drives the aspiration needle to insert into the reaction bottle 701, the sample retention pump 602 starts and rotates forward, and the liquid level sensor monitors the liquid level in real time. When the liquid level in the aspiration needle tube reaches the preset mark, such as the 30ml mark sensing area, the pump shuts off. The system also includes a sample retention pump mounting bracket 603 to support the sample retention pump 602.

[0052] This embodiment overcomes the technical problem of large errors caused by manual sampling or timed / measured methods. The present invention uses a combination of a liquid aspiration needle and a liquid level sensor to achieve higher accuracy, controlling the error within ±0.5ml.

[0053] like Figure 3 As shown, in one embodiment, after the sample retention is completed, the controller controls the mobile platform 1 to move all the devices that need to be cleaned to the cleaning platform 3 for cleaning. The cleaning platform 3 includes at least a cleaning tank, an air knife 301 and an aeration device 302. The cleaning tank is filled with cleaning liquid. The mobile platform 1 moves the devices that need to be cleaned above the cleaning tank and then lowers it to immerse the devices in the cleaning tank. Then, the devices are lifted up and cleaned by the aeration device 302, and then dried by the air knife 301.

[0054] The cleaning tank contains cleaning solution, which is used for cleaning and drying temperature probes, pH probes, agitators, etc.

[0055] Automatic control cleaning process: When the program runs to the cleaning command - the mobile platform 1 moves the part to be cleaned to the top of the cleaning tank - the corresponding lifting platform descends to move the device to be cleaned into the cleaning tank - aeration cleaning begins - after the set time, the lifting platform rises and stops at the air knife - the air knife is turned on to achieve drying after cleaning - cleaning is complete.

[0056] Optionally, the aeration device (air pressure 0.2MPa) and air knife drying process are repeated twice to ensure a cleaner result.

[0057] Optionally, the pipelines of the dosing pump and the retention pump can also be placed in the cleaning platform for cleaning.

[0058] This embodiment employs a progressive cleaning process that includes aeration, efficient drainage with air knife, and deep flushing with reverse extraction to ensure that the probe and pipelines meet the zero-residue cleaning standard.

[0059] Reference Figure 4 In one embodiment, the system further includes a constant temperature water supply platform 5, which includes a constant temperature water pump 501, a water tank 502, a temperature sensor 503, and a heating device 504. The water tank 502 is located above the heating device 504. One end of the constant temperature water pump 501 and the temperature sensor 503 are both installed inside the water tank 502. The constant temperature water pump 501 adds pure water from the water tank 502 to the reaction flask 701 on the stock solution injection platform 8. The system also includes a mounting bracket 505 for mounting the constant temperature water pump 501.

[0060] This embodiment provides a solvent at a constant temperature for the reaction flask.

[0061] In one embodiment, the system also includes a robot track 9 on which the robot 10 moves.

[0062] By moving along a track, the robot becomes easier to control.

[0063] In one embodiment, robot 10 includes: a robot body and a gripping actuator; The robot body drives the gripping actuator to move, and the gripping actuator is used to grip and place the stock solution bottle 801, the reaction bottle 701, and the sample bottle 601.

[0064] By working together with the robot body and the gripping actuator, the robot is able to complete the task of gripping and placing bottles.

[0065] In one embodiment, the entire process of solution preparation, sample retention, and device cleaning is described: The materials are as follows: Reaction flask: 500ml heat-resistant glass beaker.

[0066] Stock solution bottle: Contains an unknown remaining volume (approximately 120 ml) of chloroauric acid (HAuCl4) aqueous solution (concentration 0.1 mol / L).

[0067] Retention bottle: 30ml transparent sample bottle.

[0068] Deionized water: preheated to 60℃.

[0069] Formula parameters: Total mass of target impregnation solution: 400g.

[0070] Deionized water added: 350g.

[0071] The mass of chloroauric acid stock solution added is 50g.

[0072] Reaction temperature: 60±0.5℃.

[0073] Stirring speed: 200 rpm.

[0074] Reaction time: 15 minutes.

[0075] Target pH range: 3.5 ± 0.1 Specific implementation steps: Step 1: Material Transfer and Identification The external conveyor line transports reaction flasks, stock solution flasks, and retention flasks to the temporary storage station.

[0076] The orbital robot (i.e., the robot) sequentially grasps the three items and moves them to: The reaction flask is located at the weighing station on the electronic balance (the balance tare is zeroed).

[0077] Original solution bottle -- Original solution bottle fixed station (the RFID tag on the bottom of the bottle is read, and the system confirms that this is a reusable chloroauric acid solution).

[0078] Drainage bottle -- Drainage bottle fixed station.

[0079] Sensors at each workstation send a "position" signal to the controller.

[0080] Step Two: Management of Stock Solution Addition and Reuse Move the concentrate syringe and insert it into the bottom of the concentrate bottle.

[0081] The liquid level sensor on the syringe detected a liquid level of 45mm (higher than the preset minimum warning line of 20mm). The system determined that "the liquid volume is sufficient and can be reused" and lit up the "operable" indicator light at the workstation.

[0082] The original solution sampling guide rail is moved to the top of the reaction flask (located on the balance).

[0083] The chloroauric acid stock solution pump is started (forward rotation) to add the stock solution into the reaction flask.

[0084] The electronic balance monitors mass changes in real time. When the increment reaches 50.0g (set value), it immediately sends a feedback signal, and the controller immediately shuts off the sample pump. The actual added mass was 50.1g, with an accuracy meeting the ±0.1g requirement.

[0085] Step 3: Adding deionized water and mixing reaction Start the deionized water pump (forward rotation) and add deionized water into the reaction flask.

[0086] When the electronic balance detected an increase of 350.0g, the water pump was turned off. The actual amount added was 350.0g.

[0087] The original solution sampling guide rail is moved to the cleaning position.

[0088] The tracked robot moves the reaction vessel from the balance and transfers it to the mixing reaction station.

[0089] The agitator and temperature probe descend together, inserting below the surface of the reaction liquid.

[0090] The heating platform started working, and the temperature probe provided real-time temperature feedback. After about 3 minutes, the liquid temperature reached and stabilized at 60.0℃.

[0091] The agitator was started at 200 rpm, and the reaction time was set for 15 minutes.

[0092] Step 4: Security Linkage and Online Quality Inspection After the reaction is complete, the agitator and temperature probe rise. The moment the temperature probe leaves the liquid surface, its position sensor triggers a signal, and the controller immediately cuts off the power to the heating jacket, effectively preventing the heating jacket from overheating under no-load conditions.

[0093] The pH probe was moved above the reaction flask and inserted into the liquid.

[0094] The controller monitors the pH value. The initial value is 3.7. After stabilizing for 3 minutes, the reading is 3.6 (meeting the requirement of 3.5±0.1). This data is automatically recorded and uploaded to the host computer database.

[0095] Step 5: Sample repackaging and three-stage cleaning The pH probe is raised and moved toward the cleaning tank.

[0096] The orbital robot transports the reaction flask to directly below the aspiration needle.

[0097] The suction needle descends and inserts into the bottom of the reaction flask, and the suction pump starts (rotates in the forward direction).

[0098] The liquid level sensor monitors the liquid level in real time. When the liquid level in the suction syringe reaches the pre-defined 30ml scale sensing area, the pump shuts off, accurately drawing 30.0ml of sample into the collection bottle.

[0099] Probe cleaning: The pH probe is located in the cleaning tank, and the aeration device is activated (air pressure 0.2MPa) for 2 minutes of cleaning.

[0100] The air knife is activated to disperse the liquid film on the probe surface, while the drain valve at the bottom of the pool is opened.

[0101] Repeat the "immersion-aeration-air knife drainage" process once.

[0102] Pipe cleaning: The suction needle is moved to the cleaning tank, and the suction pump is turned forward for 2 minutes to draw up cleaning water to rinse the inner wall of the pipe.

[0103] Reverse the pump for 2 minutes to drain the remaining liquid.

[0104] Repeat once.

[0105] This embodiment successfully prepared 400g of chloroauric acid impregnation solution that met the requirements. The entire process required no manual intervention.

[0106] The performance indicators of this invention compared with traditional manual operation and existing automated equipment are as follows:

[0107] The mobile platform and robot functions are not integrated into one robotic arm in this embodiment because this embodiment adopts a separate design (dedicated robot + dedicated mobile platform).

[0108] This separation design is based on the following core reasons: 1. Specialized optimization of functions and performance Robot (bottle transfer): Wide range, high load capacity, requires only one end effector (gripper), single task. Robust, high-speed gantry or rail-mounted robotic arms can be selected, specializing in the rapid and stable handling of bottles weighing hundreds of grams to several kilograms.

[0109] The mobile platform, with its small-range, ultra-high positioning and insertion accuracy, and rapid switching between multiple tools, needs to carry and precisely position multiple precision probes (temperature, pH) and a rotating component (stirring paddle). This requires micron-level motion stability and precise vertical servo control to prevent probes from colliding with the bottle wall. While its load is relatively light, its motion control algorithm is more complex.

[0110] It is difficult for a single robotic arm to perfectly satisfy both the conflicting demands of "high-speed, heavy-duty transport" and "precise, gentle handling." Forcing such integration can result in either an overly bulky robotic arm that compromises operational accuracy, or a sacrifice of transport speed and load capacity in pursuit of precision.

[0111] 2. Improve system efficiency and parallel operation capabilities The separate design enables "overlapping operations": this is its biggest advantage. While the mobile platform is stirring, measuring temperature, or detecting pH on the mixing platform (a time-consuming process), the robot can simultaneously perform other tasks, such as removing and cleaning the previous sample-holding reaction bottle, or placing the next batch of empty bottles on the weighing platform. This parallelism significantly shortens the overall production cycle time.

[0112] If there is only one robotic arm, it must complete the entire sequence of "moving the bottle -> inserting the tool -> removing the tool -> moving the bottle to the next station". Each step must wait for the previous step to complete, and the system is idle most of the time, resulting in low efficiency.

[0113] 3. Simplify control and improve reliability The two actuators each perform their own functions, and their motion trajectory planning is relatively independent and simple. The tracked robot's path is point-to-point (between workstations), while the moving platform's path involves precise insertion / extraction movements above the fixed workstations. Mounting expensive precision probes (such as pH probes) on a robotic arm that requires frequent, large-scale, and potentially vibration-prone handling increases the risk of probe damage and calibration failure. The separate design secures the precision instrument to a more stable and smoother-moving moving platform, resulting in greater safety.

[0114] When the stock solution is drawn into the reaction flask, there is already a preset amount of extraction to control the quality. So why is it still necessary to use the balance of the weighing platform to provide real-time quality feedback? It is because it is through the "real-time quality feedback of the balance" process that we can ensure an extremely high precision of "±0.1g".

[0115] If the liquid addition is controlled solely by "setting the pump's pumping time or revolutions," its accuracy will be severely compromised by various factors, such as: Pump flow rate varies with wear and tear and voltage fluctuations. The viscosity and temperature of different raw materials affect the flow rate. Tiny air bubbles and changes in resistance within the pipeline can also lead to unstable flow. As the liquid level drops, the pump's suction head and back pressure change, resulting in uneven flow rates. Therefore, relying solely on an "open-loop" pump control method may only achieve a long-term accuracy of ±1g or even worse, which cannot meet the requirements of precise chemical formulation.

[0116] The "closed-loop feedback control" process used in this real-time example is as follows: The system presets the required mass of the stock solution to be added (e.g., 50.0 g); the dispensing pump starts, beginning to deliver the stock solution from the stock solution bottle to the reaction flask; the balance measures the total mass of the reaction flask in real time at a very high frequency (e.g., 10 times per second) and sends the data to the controller. The controller subtracts the initial mass before the dispensing began from the current mass to obtain the real-time mass of the added stock solution. The controller continuously compares the "mass added" with the "set target mass". When the difference between the two reaches or approaches zero (e.g., 49.95 g has been added), the controller will issue a command to shut down the pump in advance to offset the inertial residue of the pump and tubing. The actual added mass measured by the balance is stable within 50.0 g ± 0.1 g.

[0117] As needed, the above technical solutions can be combined to achieve the best technical effect.

[0118] The above description is merely the principle and preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several other modifications can be made based on the principle of the present invention, and these modifications should also be considered within the scope of protection of the present invention.

Claims

1. A solution preparation system, characterized in that, include: The controller and the mobile platform, stock solution injection platform, weighing platform, mixing platform, sample retention platform, cleaning platform and robot connected to the controller; The robot places the stock solution bottle, reaction bottle, and sample retention bottle on the stock solution injection platform, weighing platform, and sample retention platform, respectively. The mobile platform is equipped with a temperature detection device, a pH detection device, and a stirring device; The stock solution injection platform detects the liquid level in the stock solution bottle. If the liquid level meets the liquid level height condition, it extracts a preset amount of stock solution from the stock solution bottle into the reaction bottle. When the controller receives feedback from the weighing platform that the weight is less than the preset amount and a preset threshold, it controls the stock solution injection platform to stop extracting the stock solution. Add pure water to the reaction flask to the preset solution volume; The controller moves the robot to the mixing platform. The stirring device stirs the mixture in the reaction bottle. The mixing platform provides heating. The temperature detection device detects the temperature of the mixture. After the stirring time is up, the controller controls the pH detection device to detect the pH value of the mixture in the reaction bottle. If the pH value meets the requirements, the controller moves the robot to the sample retention platform. The sample retention platform extracts a preset sample amount of the mixture from the reaction bottle into a sample bottle on the platform. After the sample retention is completed, the controller controls the moving platform to move all the devices that need to be cleaned to the cleaning platform for cleaning.

2. The solution preparation system according to claim 1, characterized in that, The mobile platform is a multi-axis linear motion mechanism, the temperature detection device is a temperature probe, and the stirring device includes a stirring paddle lifting platform and a stirring paddle. Both the temperature probe and the stirring paddle are installed at the end of the stirring lifting platform.

3. The solution preparation system according to claim 2, characterized in that, The pH detection device includes a pH probe lifting platform and a pH probe installed at its end; The mobile platform is also equipped with position sensors to detect the positions of the stirring paddle lifting platform and the pH probe lifting platform.

4. The solution preparation system according to claim 1, characterized in that, The raw liquid injection platform includes at least: a liquid level sensor, a raw liquid needle, a raw liquid sampling guide rail, a sampling pump, and an identification device; The identification device is used to identify the information of the stock solution bottle. The liquid level sensor is set close to the stock solution bottle to monitor the liquid level. The inlet and outlet of the sampling pump are connected to the stock solution bottle and the tail of the stock solution needle, respectively. The stock solution needle is installed on the moving part of the stock solution sampling guide rail. The sampling pump is fixed to the stock solution sampling guide rail. The controller controls the original solution sampling guide rail to drive the original solution needle down and insert it into the bottom of the original solution bottle. The controller sends an extraction command to the sampling pump. After the sampling pump extracts the original solution from the original solution bottle, the original solution sampling guide rail drives the original solution needle to move above the reaction flask. The sampling pump drives the original solution needle to add the original solution into the reaction flask.

5. The solution preparation system according to claim 1, characterized in that, The hybrid platform includes at least: a heating platform and safety interlock sensors; The heating platform is used to heat the reaction flask, and the stirring device rotates to mix the mixture. When the stirring device is lifted off the surface of the mixture, the safety interlock sensor is triggered, and the controller shuts off the heating platform.

6. The solution preparation system according to claim 1, characterized in that, The sample retention platform includes at least: a suction needle, a suction needle moving device, a liquid level sensor, and a sample retention pump; The aspiration needle is fixed on the aspiration needle moving device. The aspiration needle is connected to the inlet of the sample retention pump through a pipeline. The outlet of the sample retention pump is connected to the sample bottle through a pipeline. The liquid level sensor is integrated on the aspiration needle. The robot is controlled to move the reaction bottle to the bottom of the sampling needle on the sample retention platform. The sampling needle moving device drives the sampling needle to insert into the reaction bottle. The sample retention pump is started to draw out the mixture from the sampling needle and add the liquid in the sampling needle into the sample retention bottle. The liquid level sensor monitors the volume of the drawn liquid.

7. The solution preparation system according to claim 1, characterized in that, After the sample retention is completed, the controller controls the mobile platform to move all the devices that need to be cleaned to the cleaning platform for cleaning. The cleaning platform includes at least a cleaning tank, an air knife, and an aeration device. The cleaning tank is filled with cleaning fluid. The mobile platform moves the devices that need to be cleaned above the cleaning tank and then lowers it to immerse the devices in the cleaning tank. Then, the devices are lifted up and cleaned using the aeration device, and finally, the air knife is used to dry the devices.

8. The solution preparation system according to claim 1, characterized in that, The system also includes a constant temperature water supply platform, which includes a constant temperature water pump, a water tank, a temperature sensor, and a heating device. The water tank is located above the heating device. One end of the constant temperature water pump and the temperature sensor are both installed inside the water tank. The constant temperature water pump adds pure water from the water tank to the reaction flask on the stock solution injection platform.

9. The solution preparation system according to claim 1, characterized in that, The system also includes a robot track on which the robot moves.

10. The solution preparation system according to any one of claims 1-9, characterized in that, The robot consists of: the robot body and the grasping actuator; The robot body drives the gripping actuator to move, and the gripping actuator is used to grasp and place the stock solution bottle, reaction bottle and sample bottle.

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