Automatic solid-liquid proportioning system

Abstract

This invention discloses an automatic solid-liquid mixing system and its control method. The system includes: a solid reagent holding station, a liquid reagent holding station, and a weighing and mixing station, with a reagent bottle holding section and a weighing sensor located below the reagent bottle holding section; a material handling device that can move between an initial position and a material handling position under the drive of a linear module; wherein, the material handling device includes a first material handling rod, a second material handling rod, and a material handling drive unit extending vertically; the end of the first material handling rod is provided with a first half-hopper, and the end of the second material handling rod is provided with a second half-hopper; the material handling drive unit drives the first and second material handling rods to approach or move away from each other, so that the first and second half-hoppers switch between opening and closing. This invention achieves material crushing and precise grasping during the material handling process, and is particularly suitable for the precise mixing of crystalline materials.

Description

Technical Field

[0001] This invention relates to the field of solution preparation, and in particular to a solid-liquid ratio system suitable for crystalline solid materials. Background Technology

[0002] In the fields of chemical engineering, pharmaceuticals, and materials preparation, solid-liquid preparation is a crucial core step in the production process. Its preparation accuracy, efficiency, and stability directly determine the quality and performance of the final product. With the continuous improvement of industrial automation, automated solid-liquid preparation systems have gradually replaced traditional manual operations and become the mainstream preparation method in the industry because they can effectively overcome the defects of large errors and low efficiency in manual preparation.

[0003] Currently, the research and application of existing automated solid-liquid preparation systems mainly focus on the mixing of powdered solid materials with liquids, and the corresponding material handling and weighing structures are primarily designed to suit the physical properties of powdered materials. Specifically, existing systems typically integrate a fixed weighing structure into the discharge structure of the solid silo. Utilizing the good flowability and uniform particle size of powdered materials, the material is directly fed to the weighing structure through the silo outlet, achieving quantitative material handling and weighing. However, in actual industrial production, in addition to powdered solid materials, crystalline solid materials (such as crystalline reagents and crystalline raw materials) are also widely used, and these crystalline materials often exhibit uneven particle size. Existing automated solid-liquid preparation systems designed for powdery materials have the following technical shortcomings when adapting to crystalline materials of varying sizes: Firstly, the weighing structure fixed to the silo discharge structure has feeding channels and the dimensions and structure of the material handling mechanism that are not adapted to the morphology of crystalline materials. When crystalline materials of varying sizes pass through, problems such as feeding blockage and material jamming easily occur, seriously affecting the continuity of the preparation process. Secondly, crystalline materials have large differences in particle size, and the existing fixed weighing structure's material handling method is difficult to achieve accurate grasping and quantitative conveying of crystalline materials of different particle sizes, which easily leads to excessive deviation in the material handling amount and cannot meet the requirements of high-precision preparation. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that existing solid-liquid preparation systems are not suitable for the automatic solid-liquid preparation of materials with different crystal sizes. To this end, the present invention proposes an automatic solid-liquid preparation system that can adapt to the characteristics of such materials and improve the preparation accuracy and efficiency.

[0005] To address the aforementioned technical problems, the present invention provides the following technical solution: An automatic solid-liquid mixing system includes: a solid reagent holding station with at least one set of solid reagent bottles for holding solid reagents; a liquid reagent holding station with at least one set of liquid reagent bottles for holding liquid reagents, wherein the liquid reagent bottles have a liquid outlet pipe and a metering pump is provided on the liquid outlet pipe; a weighing and mixing station having a reagent bottle holding section and a weighing sensor located below the reagent bottle holding section; a material handling device that can move between the solid reagent holding station and the weighing and mixing station under the drive of a linear module; wherein the material handling device includes a first material handling rod and a second material handling rod extending vertically, the end of the first material handling rod having a first half-hopper and the end of the second material handling rod having a second half-hopper; and a material handling drive unit that drives the first material handling rod and the second material handling rod to approach or move away from each other, so that the first half-hopper and the second half-hopper switch between opening and closing.

[0006] In some embodiments of the present invention, the first half-hopper and the second half-hopper are moved to a closed state, and their outer contours form an inverted cone shape.

[0007] In some embodiments of the present invention, the invention further includes: a reagent bottle receiving station having at least one set of reagent bottle receiving portions for receiving empty reagent bottles and / or prepared reagent bottles; and a reagent bottle clamping device, which can move between the reagent bottle receiving station and the weighing and proportioning station under the drive of a linear module; the reagent bottle clamping device includes a first half-jaw and a second half-jaw that open and close in a horizontal direction, and a clamping drive unit, which drives the first half-jaw and the second half-jaw to approach or move away from each other to achieve clamping and releasing of the reagent bottles.

[0008] In some embodiments of the present invention, a bottle cap opening and closing device is also included, comprising a bottle body clamping part located outside the reagent bottle receiving part and a bottle cap screwing part. The bottle cap screwing part includes a first half-claw, a second half-claw, a clamping drive part and a rotary motor. The first half-claw and the second half-claw approach or move away from each other under the action of the clamping drive part to realize the clamping and unclamping of the bottle cap. The rotary motor is adapted to rotate along a first direction when the bottle cap is in the clamping state to open the bottle cap.

[0009] In some embodiments of the present invention, a mixing station is further included, having at least one set of reagent bottle receiving sections to receive the pre-prepared reagent bottles; and an ultrasonic generator is also included to mix the solid and liquid reagents in the reagent bottles.

[0010] In some embodiments of the present invention, a wiping station is further included, having a set of reagent bottle receiving portions to receive the reagent bottles after mixing at the mixing station; and having an absorbent portion surrounding the outside of the reagent bottle receiving portions to achieve wiping of the outer periphery of the reagent bottles.

[0011] In some embodiments of the present invention, a cleaning station is also included, having a cleaning fluid container for cleaning the material handling device.

[0012] This invention also provides a control method for an automatic solid-liquid mixing system, comprising the following steps: The dispensing device dispensing solid reagents is controlled according to the user-input ratio and concentration. During dispensing, the linear module and the dispensing drive unit are first controlled to move the first and second half-dispensing hoppers downwards into the solid reagent bottle while they are in a closed state. Then, the dispensing drive unit is controlled to open the first and second half-dispensing hoppers to their maximum position and then move them to the closed position. Next, the linear module is controlled to move the first and second half-dispensing hoppers to the weighing and mixing station, and the dispensing drive unit opens the first and second half-dispensing hoppers, releasing the solid reagents into the reagent bottle located in the reagent bottle receiving section. The weighing sensor detects whether the material handling device continues to handle solid reagents. When the difference between the detected weight and the target weight is less than a set threshold, the material handling device stops handling. The required amount of liquid reagent is determined according to the actual detected weight of the solid reagent and the concentration to be mixed, and the metering pump is controlled to pump the liquid reagent according to the required amount of liquid reagent.

[0013] In some embodiments of the present invention, before solid reagent dispensing, the linear module and reagent bottle clamping device are controlled to clamp and move the empty reagent bottle located at the reagent bottle receiving station to the weighing and proportioning station; and the bottle cap opening and closing device is controlled to open the bottle cap.

[0014] In some embodiments of the present invention, after the solid-liquid mixture at the weighing and proportioning station is prepared, the linear module and the reagent bottle clamping device are controlled to move the reagent bottle at the weighing and proportioning station to the mixing station, and the ultrasonic generator is controlled to be turned on to perform the mixing operation; after the mixing operation is completed, the linear module and the reagent bottle clamping device are controlled to move the reagent bottle at the mixing station to the wiping station for wiping the bottle body; after the wiping operation is completed, the linear module and the reagent bottle clamping device are controlled to move the reagent bottle at the wiping station to the reagent bottle receiving station.

[0015] The technical solution of the present invention has the following technical effects compared with the prior art: The automatic solid-liquid mixing system and control method provided by this invention utilizes an open-closed feeding structure adapted to the characteristics of crystalline solid materials. This achieves both crushing and precise grasping of the crystalline material during the feeding process, effectively solving the problems of easy jamming and low feeding accuracy in existing systems when handling crystalline materials of varying sizes. By integrating functions such as automated reagent bottle transfer, capping, mixing, wiping, and cleaning, the entire solid-liquid mixing process is automated, reducing manual intervention and improving preparation efficiency. Furthermore, the system uses closed-loop feedback control based on real-time weighing for solid feeding and dynamically calculates and adds liquid according to the actual solid weight, achieving high-precision concentration ratios and strong anti-interference capabilities. Attached Figure Description

[0016] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which will help to understand the purpose and advantages of the present invention, wherein: Figure 1 This is a schematic diagram of a specific embodiment of the automatic solid-liquid mixing system of the present invention; Figure 2 This is a top view of a specific embodiment of the automatic solid-liquid mixing system of the present invention; Figure 3 This is a schematic diagram of a specific embodiment of the material handling device in the automatic solid-liquid proportioning system of the present invention; Figure 4 This is a schematic diagram of a specific embodiment of the reagent bottle clamping device of the present invention; Figure 5 This is a schematic diagram of a specific embodiment of the bottle clamping part in this invention. Detailed Implementation

[0017] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0021] like Figure 1 , Figure 2 The figure shown is a specific embodiment of the automatic solid-liquid mixing system provided by the present invention. This system is particularly suitable for scenarios in laboratories or industrial production where precise preparation of mixed solutions of crystalline, granular, or easily agglomerated powdered solid reagents and liquid reagents is required.

[0022] Please see Figure 1 The automatic solid-liquid mixing system of this embodiment includes a mounting frame 100 and functional stations and actuators located within the mounting frame 100. Specifically, the following functional stations are arranged sequentially along one or more linear modules 101 within the mounting frame 100: reagent bottle receiving station 20, solid reagent receiving station 30, liquid reagent receiving station 40, weighing and mixing station 50, mixing station 60, wiping station 70, and cleaning station 80. The core actuators of the system include a material handling device 10 and a reagent bottle clamping device 90, which share the drive of the three-axis linear module 101 to achieve precise movement and operation between the stations.

[0023] Specifically, such as Figure 2 As shown, the solid reagent receiving station 30 is located on the right side of the mounting frame 100. It includes a circular support plate 31, which rotates around its central axis under the action of a rotary drive unit. The support plate 31 has multiple sets of limiting slots 32 circumferentially arranged to accommodate solid reagent bottles. The solid reagent bottles are detachably secured within the limiting slots 32 to stably accommodate crystalline solid reagents. The inner wall of the limiting slots 32 is provided with a flexible buffer pad to prevent the solid reagent bottles from shaking or colliding during equipment operation, and also facilitates quick replacement of different types of solid reagent bottles by the operator. Each set of solid reagent bottles can hold a specific solid reagent. The bottle opening is usually open or equipped with an easily passable soft cap to facilitate the entry of the material handling rod.

[0024] like Figure 2As shown, the liquid reagent receiving station 40 is located beside the solid reagent receiving station 30, and also includes a support plate 41 and a limiting slot 42 to accommodate at least one set of liquid reagent bottles 43. The bottom of each liquid reagent bottle 43 is sealed with an outlet pipe 44, which integrates a precision metering pump (not shown in the figure). The metering pump is electrically connected to the system controller and can precisely adjust the output flow rate and output volume of the liquid reagent according to the instructions issued by the controller. In this embodiment, the outlet end of the outlet pipe 44 extends above the reagent bottle to be prepared at the weighing and mixing station 50, and the outlet end is equipped with an adjustable-angle guide nozzle to prevent liquid reagent from dripping outside the bottle.

[0025] Reference Figure 2 As shown, the weighing and proportioning station 50 is located in the central area of ​​the mounting frame 100 near the solid reagent receiving station 30. It is the core station for achieving solid-liquid proportioning and includes a reagent bottle receiving section 51 and a weighing sensor (not shown in the figure). The reagent bottle receiving section 51 is a limiting groove formed on the support platform. The size of the groove is adapted to the bottom of the reagent bottle, ensuring stable placement. The weighing sensor is a high-precision pressure sensor, fixedly installed on the lower side of the support platform, with the sensor's detection end in close contact with the platform. After the reagent bottle is placed in the receiving section, its weight is directly transmitted to the weighing sensor. The weighing sensor is electrically connected to the system controller and can feed back the detected weight signal to the controller in real time, providing data support for proportioning accuracy control.

[0026] like Figure 1 As shown, the material handling device 10 is a core component adapted for handling crystalline solid materials. It is located above the mounting frame 100 and can move horizontally between its initial position (above the solid reagent receiving station 30) and the material handling position (above the weighing and proportioning station 50) under the drive of the linear module 101. The linear module 101 adopts a ball screw three-axis linear module, which can realize linear movement in three directions. It has the characteristics of high transmission accuracy and stable operation, which can ensure the movement accuracy of the material handling device 10.

[0027] like Figure 3As shown, the material handling device 10 specifically includes a first material handling rod 11 and a second material handling rod 12 extending vertically. The end of the first material handling rod 11 is provided with a first half-feeding hopper 13, and the end of the second material handling rod 12 is provided with a second half-feeding hopper 14. Both half-feeding hoppers have arc-shaped grooves on their inner sides, and the inner walls of the arc-shaped grooves are provided with anti-slip ridges. The first material handling rod 11 and the second material handling rod 12 are driven by a material handling drive unit 15 and can move synchronously towards or in opposite directions. Specifically, the material handling drive unit 15 can be a pneumatic gripper, i.e., the upper end of the first material handling rod 11 is fixedly connected to the first output part of the pneumatic gripper, and the upper end of the second material handling rod 12 is fixedly connected to the second output part of the pneumatic gripper. When the material handling drive unit 15 drives the two rods to approach each other to their limit positions, the first half-feeding hopper 13 and the second half-feeding hopper 14 close to achieve the material handling action of the solid reagent. When the material handling drive unit 15 drives the two rods to move away from each other to their extreme positions, the first half of the material handling hopper 13 and the second half of the material handling hopper 14 open to release the solid reagent. By adopting a two-part material handling hopper structure, combined with the driving action of the material handling drive unit 15, precise grasping and release of crystalline materials can be achieved, avoiding problems such as material blockage and jamming that are easily caused by existing powdered solid material handling mechanisms.

[0028] Specifically, when the two halves of the feeding hopper (the first half feeding hopper 13 and the second half feeding hopper 14) move to the closed state, their outer contours form an inverted cone-shaped structure. On the one hand, when a solid reagent is inserted in the closed state, the cone tip can effectively penetrate and initially break up any potentially agglomerated crystals or particle clusters; on the other hand, during the material release process, the inclined structure of the cone-shaped side helps the material slide down, improving the feeding and discharging efficiency.

[0029] Specifically, such as Figure 1 As shown, the reagent bottle holding station 20 is located in the middle left area of ​​the mounting frame 100. It includes a horizontally arranged support bracket 21 and multiple sets of reagent bottle holding sections 22, which are used to hold empty reagent bottles and prepared finished reagent bottles respectively, so as to realize the classified storage and management of reagent bottles.

[0030] The system also includes a reagent bottle clamping device 90, which can share a linear module 101 with the material handling device 10, or can be set up with a separate linear module 101. Driven by the linear module 101, the reagent bottle clamping device 90 realizes fully automatic transfer of reagent bottles between the reagent bottle receiving station 20, the weighing and proportioning station 50, the mixing station 60, and the wiping station 70, forming a continuous material flow.

[0031] like Figure 4As shown, the reagent bottle clamping device 90 specifically includes a first half-jaw 91 and a second half-jaw 92 that open and close in the horizontal direction, as well as a clamping drive unit 93. The first half-jaw 91 and the second half-jaw 92 are respectively formed into semi-circles adapted to the body or cap of the reagent bottle. Flexible rubber pads are provided on the inner sides of the two jaws, and the rubber pads have anti-slip textures to avoid damaging the bottle body when clamping the reagent bottle, while improving clamping stability. The clamping drive unit 93 adopts a small pneumatic jaw, and the output part of the pneumatic jaw is connected to the two jaws, which can drive the two jaws to approach or move away from each other, realizing the clamping and releasing of the reagent bottle.

[0032] In one specific embodiment, the reagent bottle used in the solid-liquid mixing system of the present invention has a bottle body structure with a cap. The cap and the bottle body are connected by a threaded connection for opening and closing. Therefore, the system also includes a cap opening and closing device for automating the opening and closing of the reagent bottle to be mixed. Specifically, the cap opening and closing device includes a bottle body clamping part and a cap screwing part. The bottle body clamping part is located outside the weighing and mixing station 50, and includes two arc-shaped clamping plates 95 and a drive cylinder 96 for controlling the two arc-shaped clamping plates to achieve clamping action. The bottle body clamping part can stably clamp the bottle body during the opening process, preventing the bottle body from rotating with the cap. The cap screwing part can utilize the first half-jaw 91, the second half-jaw 92, and the clamping drive part 93 of the reagent bottle clamping device 90, and on this basis, a rotary motor 94 is added. The rotary motor 94 is fixedly installed outside the clamping drive part 93, and its output shaft is connected to the housing of the clamping drive part 93, which can drive the entire clamping mechanism to rotate. When the bottle cap needs to be opened, the bottle body is first secured by the bottle clamping part. Then, the clamping drive unit 93 is controlled to drive the two grippers to close and clamp the bottle cap. Finally, the rotary motor 94 is controlled to rotate in the first direction (e.g., counterclockwise), driving the grippers and bottle cap to rotate synchronously, thus opening the cap. The closing process is achieved by controlling the rotary motor 94 to rotate in the opposite direction. This automated cap opening and closing function avoids the inefficiency of manual operation, while ensuring the standardization of the operation process and reducing the risk of reagent contamination.

[0033] Specifically, refer to Figure 2As shown, the mixing station 60 is located at the left rear of the mounting frame 100, and includes a reagent bottle receiving section 61 and an ultrasonic generator (not shown in the figure). The structure of the reagent bottle receiving section 61 is the same as that of the receiving section of the weighing and proportioning station 50, and it is used to stably place the pre-prepared reagent bottle. The ultrasonic generator is fixedly installed below the receiving section, with its transmitting end facing the bottom of the reagent bottle, and can generate high-frequency vibration. When the reagent bottle is placed in the receiving section, the ultrasonic generator is turned on, and the high-frequency vibration drives the solid-liquid mixture in the bottle to stir rapidly, achieving uniform mixing of solid and liquid. Compared with the traditional mechanical stirring method, ultrasonic mixing has the advantages of high mixing uniformity and no damage to the reagent bottle, and can quickly achieve uniform mixing of solid and liquid mixture, improving the quality stability of the finished reagent.

[0034] like Figure 2 As shown, the wiping station 70 is located in front of the mixing station 60, that is, at the left front of the mounting frame 100. It includes a reagent bottle receiving section 71 and a water-absorbing section 72. The reagent bottle receiving section 71 is used to hold the reagent bottles after the mixing operation; the water-absorbing section 72 is made of highly absorbent sponge material and is arranged around the outside of the reagent bottle receiving section 61, with the sponge fixed by a bracket. When the reagent bottle is placed in the reagent bottle receiving section 71, the reagent bottle moves up and down relative to the water-absorbing section 72. Through the contact and friction between the sponge and the bottle body, the residual liquid on the bottle surface can be wiped clean. The automated wiping function can effectively remove residual liquid from the bottle body, avoid residual liquid contaminating subsequent work stations or operators, and improve the standardization of finished reagent storage and operational safety.

[0035] like Figure 2 As shown, the cleaning station 80 is located beside the solid reagent receiving station 30. It includes a cleaning liquid receiving section 81, which contains a suitable cleaning liquid (such as distilled water or a special cleaning reagent). After a set of solid reagents is dispensed, the linear control module 101 drives the dispensing device 10 to move above the cleaning station 80. Then, the dispensing device 10 is controlled to move downwards, immersing the two halves of the dispensing hopper into the cleaning liquid. Simultaneously, the dispensing drive unit 15 drives the two hoppers to open and close repeatedly, achieving thorough cleaning of the inner walls of the dispensing hoppers. The cleaning station 80 enables automated cleaning of the dispensing device 10, avoiding cross-contamination caused by residues of different batches or types of solid reagents, ensuring the purity of the mixing process, and improving the quality and reliability of the finished reagents.

[0036] The workflow of the aforementioned automatic solid-liquid mixing system is as follows: The reagent bottle clamping device 90 first picks up an empty reagent bottle from the reagent bottle receiving station 20, transfers it, and places it on the reagent bottle receiving section 51 of the weighing and mixing station 50. Then, the bottle cap opening device automatically opens the bottle cap. Next, the material handling device 10, according to the formula instructions, reciprocates between the solid reagent receiving station 30 and the weighing and mixing station 50, repeatedly picking up, crushing, and adding solid reagents until the weight fed back by the weighing sensor reaches the target value. The control system calculates the required volume of liquid reagent in real time based on the actual weight of the added solids and controls the metering pump at the outlet of the corresponding liquid reagent bottle 43 to accurately pump the liquid into the reagent bottle. After the solid-liquid addition is completed, the bottle cap opening device tightens the bottle cap. The reagent bottle clamping device 90 then transfers the pre-prepared reagent bottle to the mixing station 60 for ultrasonic mixing, followed by a cleaning station 70 to clean the outside of the bottle. Finally, the finished reagent bottle is returned to the designated area of ​​the reagent bottle receiving station 20. Simultaneously or intermittently, the material handling device 10 can move to the cleaning station 80 for self-cleaning to prevent cross-contamination.

[0037] Based on the above system structure, this embodiment also discloses a control method for the above-mentioned automatic solid-liquid ratio system, the specific steps of which are as follows: 1. Preparation Stage: After system initialization, the controller first acquires the user-input ratio and concentration parameters, and calculates the target weight of the solid reagent and the target volume of the liquid reagent based on the parameters. Subsequently, it controls the linear module 101 and the reagent bottle clamping device 90 to clamp the empty reagent bottle located at the reagent bottle receiving station 20 and move it to the reagent bottle receiving section 61 to be prepared at the weighing and proportioning station 50. Then, it controls the bottle cap opening and closing device to operate, fixing the bottle body through the bottle body clamping part, driving the clamping drive unit 93 to drive the gripper to clamp the bottle cap, and rotating the rotary motor 94 to rotate in the first direction to open the bottle cap. After the cap is opened, the bottle cap screwing part is reset.

[0038] 2. Solid Reagent Dispensing Stage: The controller controls the linear module 101 to drive the dispensing device 10 to move above the solid reagent receiving station 30 (initial position). Then, the controller controls the dispensing device 10 to move downwards, immersing the two closed dispensing hoppers (first half dispensing hopper 13 and second half dispensing hopper 14) into the crystalline material in the solid reagent bottle. Next, the controller controls the dispensing drive unit 15 to drive the two dispensing rods away from each other, opening the two half dispensing hoppers to their maximum position. This opening action can further generate a shearing and expansion effect on the surrounding solid material, further breaking up the clumps located between the hoppers. Subsequently, the two rods immediately move towards each other again, closing the half dispensing hoppers, thereby scooping up and encapsulating the broken solid material in the closed inverted conical cavity. Finally, the controller controls the linear module 101 to drive the dispensing device 10 to move above the weighing and proportioning station 50 (dispensing position), and the dispensing drive unit 15 drives the two half dispensing hoppers to open, releasing the solid reagent into the reagent bottle to be prepared.

[0039] 3. Proportioning Accuracy Adjustment Stage: The weighing sensor feeds back the weight signal of the reagent bottle to be prepared to the controller in real time. The controller compares the detected weight with the target weight of the solid reagent. If the difference between the detected weight and the target weight is greater than the set threshold, the controller repeats the above solid reagent dispensing stage, controlling the dispensing device 10 to continue dispensing and releasing the reagent. If the difference between the detected weight and the target weight is less than the set threshold, the controller controls the dispensing device 10 to stop dispensing and recalculates the precise required amount of liquid reagent based on the actual detected weight of the solid reagent and the concentration to be prepared. Then, the controller controls the metering pump of the liquid reagent receiving station 40 to start, pumping the liquid reagent into the reagent bottle according to the calculated liquid reagent requirement.

[0040] 4. Subsequent Processing Stage: After the liquid reagent is added, the controller controls the bottle cap opening and closing device to close the bottle cap; then, it controls the linear module 101 and the reagent bottle clamping device 90 to move the reagent bottle located at the weighing and proportioning station 50 to the mixing station 60, and controls the ultrasonic generator to turn on for mixing; after the mixing operation is completed, it controls the linear module 101 and the reagent bottle clamping device 90 to move the reagent bottle to the wiping station 70, and wipes the bottle body through the water absorption part 72; after the wiping operation is completed, it controls the linear module 101 and the reagent bottle clamping device 90 to move the reagent bottle to the finished product area of ​​the reagent bottle receiving station 20 for storage; at the same time, it controls the material handling device 10 to move to the cleaning station 80 for cleaning, completing one solid-liquid proportioning process.

[0041] Specifically, after each solid reagent is grabbed and put into the reagent bottle to be prepared, the weighing sensor immediately feeds back the weight signal to the controller. The controller calculates the difference between the current cumulative weight and the target weight. If the difference is greater than the set threshold (which can be set according to the accuracy requirements, usually a percentage of the average weight of a single material taking), the controller instructs the material taking device 10 to perform the next material taking. This iterative material taking process enables the system to approach the target value in the way of "coarse taking + fine compensation". When the difference is less than the threshold, it is determined that the solid feeding is completed and the material taking is stopped.

[0042] For example, the system needs to weigh a certain crystal reagent with a target weight of M target (e.g., M target = 10.00g). The control system has obtained through historical data or learning that, under the current material state, the average weight of the material obtained by the material taking device 10 in a single time is approximately M single_avg (e.g., M single_avg = 0.5g).

[0043] The controller sets a relatively loose first-stage threshold T1. This threshold is usually related to the average weight of a single material taking. For example, it is set as T1 = K1×M single_avg (where K1 is a coefficient greater than 1. For example, if K1 = 2, then T1 = 1.0g). The goal of this stage is to quickly approach the target value and reduce the number of cycles.

[0044] First material taking: The controller instructs the material taking device 10 to perform a complete material taking action and puts the obtained solid into the empty reagent bottle at the weighing and proportioning station 50. The weighing sensor measures the current cumulative weight M current (e.g., M current = 0.48g).

[0045] Judgment and decision: The controller calculates the difference Δ = M target - M current = 10.00 - 0.48 = 9.52g. Since Δ (9.52g) > T1(1.0g), the controller determines that continuous material taking is required.

[0046] Cycle: Repeat the above material taking, measuring, and judging processes. After several (e.g., 18) material takings, the cumulative weight M current reaches 9.05g. At this time, Δ = 10.00 - 9.05 = 0.95g. Since Δ (0.95g) < T1(1.0g), the system determines that it has entered the fine compensation stage.

[0047] The system automatically switches the judgment threshold to a more refined second-stage threshold T2. T2 is set smaller, for example, T2 = K2×M single_avg(where K2 is usually less than 1. For example, if K2 = 0.4, then T2 = 0.2g).

[0048] First fine replenishment material taking: The controller instructs the material taking device 10 to take material again. Since there is already a large amount of solid in the reagent bottle at this time and the target is close, the system can optimize the insertion depth of the material taking rod or the opening amplitude of the material taking hopper and try to obtain a smaller single amount. After putting it in, M is measured current = 9.50g. At this time, Δ = 0.50g, which is still greater than T2 (0.2g), so continue to take material.

[0049] After the next material taking and putting in, M current = 9.92g, Δ = 0.08g. Since Δ (0.08g) < T2 (0.2g), the controller determines that the solid feeding is completed and stops adding solid reagent to this reagent bottle.

[0050] By setting dynamic or phased thresholds, the system avoids unnecessary small replenishment cycles in the initial stage and quickly completes the addition of most materials; when approaching the target, more stringent standards are enabled to ensure that the final accuracy meets the requirements. The threshold is set based on the average weight of a single material taking, enabling the system to adapt to solid materials with different fluidities, densities or degrees of agglomeration. For materials with large fluctuations in the material taking weight, the system can maintain the stability of control by adjusting the coefficients K1 and K2. Finally, this method uses less than the threshold as the stop condition instead of being equal to or exceeding the target value, effectively preventing overshoot of the weight caused by a slightly larger single material taking amount and also avoiding the problem of reduced proportioning efficiency caused by repeated oscillating addition near the target value.

[0051] In the above proportioning control method, in the liquid reagent addition stage, it is not simply added according to the initial theoretical value, but the required liquid reagent demand is dynamically and accurately recalculated based on the actual solid weight finally measured by the weighing sensor and combined with the target concentration. Subsequently, the high-precision metering pump on the liquid outlet pipeline 44 of the corresponding liquid reagent bottle 43 is controlled to pump the liquid according to the calculated demand. This method eliminates the final concentration deviation caused by the absolute error of solid material taking and realizes the result-oriented precise proportioning concentration.

[0052] Obviously, the above embodiments are only examples clearly described and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. An automatic solid-liquid mixing system, characterized in that, include: A solid reagent receiving station has at least one set of solid reagent bottles for receiving solid reagents; A liquid reagent receiving station has at least one set of liquid reagent bottles for containing liquid reagents, wherein the liquid reagent bottles have a liquid outlet line and a metering pump is provided on the liquid outlet line; The weighing and mixing station has a reagent bottle receiving section and a weighing sensor located on the lower side of the reagent bottle receiving section. A material handling device, driven by a linear module, can move between a solid reagent receiving station and a weighing and proportioning station; wherein the material handling device includes a first material handling rod and a second material handling rod extending vertically, the end of the first material handling rod being provided with a first half-hopper, and the end of the second material handling rod being provided with a second half-hopper; and a material handling drive unit, which drives the first material handling rod and the second material handling rod to approach or move away from each other, so that the first half-hopper and the second half-hopper switch between opening and closing.

2. The automatic solid-liquid mixing system according to claim 1, characterized in that, When the first half-hopper and the second half-hopper are moved to the closed state, their outer contours form an inverted cone shape.

3. The automatic solid-liquid mixing system according to claim 1, characterized in that, Also includes: The reagent bottle receiving station has at least one set of reagent bottle receiving sections to receive empty reagent bottles and / or prepared reagent bottles; The reagent bottle clamping device is driven by a linear module and can move between the reagent bottle receiving station and the weighing and proportioning station. The reagent bottle clamping device includes a first half-jaw and a second half-jaw that open and close in the horizontal direction, and a clamping drive unit. The clamping drive unit drives the first half-jaw and the second half-jaw to approach or move away from each other to achieve clamping and releasing of the reagent bottle.

4. An automatic solid-liquid mixing system according to claim 3, characterized in that, It also includes a bottle cap opening and closing device, comprising a bottle body clamping part located outside the reagent bottle receiving part and a bottle cap screwing part. The bottle cap screwing part includes a first half-claw, a second half-claw, a clamping drive part and a rotary motor. The first half-claw and the second half-claw approach or move away from each other under the action of the clamping drive part to realize the clamping and unclamping of the bottle cap. The rotary motor is adapted to rotate in a first direction when the bottle cap is in the clamping state to open the bottle cap.

5. An automatic solid-liquid mixing system according to claim 1, characterized in that, It also includes a mixing station with at least one set of reagent bottle receiving sections to hold the pre-prepared reagent bottles; and an ultrasonic generator to mix the solid and liquid reagents in the reagent bottles.

6. An automatic solid-liquid mixing system according to claim 1, characterized in that, It also includes a wiping station with a set of reagent bottle receiving parts to hold the reagent bottles after mixing at the mixing station; and an absorbent part surrounding the outside of the reagent bottle receiving parts to wipe the outer periphery of the reagent bottles.

7. An automatic solid-liquid mixing system according to claim 1, characterized in that, It also includes a cleaning station with a cleaning fluid container for cleaning the material handling device.

8. A control method for an automatic solid-liquid ratio system, characterized in that, Includes the following steps: The dispensing device dispensing solid reagents is controlled according to the user-input ratio and concentration. During dispensing, the linear module and the dispensing drive unit are first controlled to move the first and second half-dispensing hoppers downwards into the solid reagent bottle while they are in a closed state. Then, the dispensing drive unit is controlled to open the first and second half-dispensing hoppers to their maximum position and then move them to the closed position. Next, the linear module is controlled to move the first and second half-dispensing hoppers to the weighing and mixing station, and the dispensing drive unit opens the first and second half-dispensing hoppers, releasing the solid reagents into the reagent bottle located in the reagent bottle receiving section. The weighing sensor detects whether the material handling device continues to handle solid reagents. When the difference between the detected weight and the target weight is less than a set threshold, the material handling device stops handling. The required amount of liquid reagent is determined according to the actual detected weight of the solid reagent and the concentration to be mixed, and the metering pump is controlled to pump the liquid reagent according to the required amount of liquid reagent.

9. The control method for the automatic solid-liquid mixing system according to claim 8, characterized in that, Before dispensing solid reagents, the linear module and reagent bottle clamping device are controlled to clamp the empty reagent bottle located at the reagent bottle receiving station and move it to the weighing and proportioning station; and the bottle cap opening and closing device is controlled to open the bottle cap.

10. The control method for the automatic solid-liquid ratio system according to claim 8, characterized in that, After the solid-liquid mixture at the weighing and proportioning station is prepared, the linear module and reagent bottle clamping device are controlled to move the reagent bottle at the weighing and proportioning station to the mixing station, and the ultrasonic generator is turned on to perform the mixing operation. After the mixing operation is completed, the linear module and reagent bottle clamping device are controlled to move the reagent bottle at the mixing station to the wiping station for wiping. After the wiping operation is completed, the linear module and reagent bottle clamping device are controlled to move the reagent bottle at the wiping station to the reagent bottle receiving station.

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