Automated filtration and dispensing system

Abstract

The application discloses an automatic filtering and separating system which can complete filtering or separating work alone or in combination. When filtering, a manipulator twists off the bottle cap of a collecting bottle at a material storage device and moves the collecting bottle to a collecting bin. A first station switching mechanism moves the collecting bin to a positive pressure or negative pressure suction filtering position according to the solution characteristics, the manipulator places a filter head on a suction filtering assembly, transfers the solution to be treated for filtering, and the filtrate enters the collecting bottle. When separating, the manipulator uncaps three collecting bottles and moves the three collecting bottles to a first liquid discharging station, a second liquid discharging station and a third liquid discharging station respectively, the separated liquid is transferred to a separating funnel, and an extractant is added. A second station switching mechanism drives the separating funnel to a stirring position for stirring and static layering. After layering, the separating funnel is moved to the first liquid discharging station to discharge the lower layer solution, moved to the second liquid discharging station to discharge the middle layer solution, and moved to the third liquid discharging station to discharge the upper layer solution. An interface detection unit monitors the two-phase interface, and a controller controls the opening and closing of a separating valve.

Description

Technical Field

[0001] This invention relates to the field of chemical experimental equipment technology, and in particular to an automated filtration and separation system. Background Technology

[0002] Liquid-phase extraction, separation, and filtration are the fundamental operational units in synthetic chemistry. Extraction, based on the difference in partition coefficients of a solute between two immiscible solvents, achieves the transfer and enrichment of the target component. Separation, as a key step, uses a separatory funnel to achieve the physical separation of two phases. Filtration utilizes porous media to trap solid particles, achieving solid-liquid separation. These three techniques rely on the principles of phase equilibrium and size sieving, respectively. They are convenient to operate and widely used in post-synthesis processing, natural product extraction, and environmental sample pretreatment, collectively forming the classic methodological foundation of wet separation.

[0003] Currently, these operations are mainly performed manually by researchers using single-function semi-automatic equipment or glassware. For example, in filtration, while an existing solution integrates multiple layers of filters and dispensing valves within the same container to achieve filtration and dispensing integration, the filtration relies solely on gravity or fan assistance, and dispensing still requires manual observation of the interface and manual operation of the dispensing valves. Moreover, existing automated equipment primarily addresses quantitative dispensing, lacking the ability to intelligently identify and accurately separate the two-phase interface. The dispensing process has long relied on visual observation of the interface and manual control of the dispensing valves, resulting in poor accuracy and reproducibility. In filtration, existing solutions often employ a single negative pressure mode or a single positive pressure mode. Negative pressure filtration has wide applicability, but it is prone to clogging for high-viscosity, high-particulate samples. While positive pressure filtration effectively solves the clogging problem, existing devices are independent and rudimentary, making integration with automated systems difficult. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention provides an automated filtration and separation system, aiming to address the problems in related technologies such as the lack of intelligent identification and precise separation capabilities of the two-phase interface, the reliance on a single filtration method that is difficult to integrate with automated systems, resulting in poor separation accuracy and reproducibility or easy clogging of the filter.

[0005] This invention provides an automated filtration and liquid separation system, comprising: robotic arm; The material storage device is at least used to hold pipette tips, filter heads, collection bottles, bottles of solutions to be processed, and extraction bottles; A filtration device includes a positive pressure filtration assembly, a negative pressure filtration assembly, a collection chamber, and a first station switching mechanism. The collection chamber is disposed on the first station switching mechanism and is used to place the collection bottle. The first station switching mechanism is used to drive the collection bottle to move between a loading position, a positive pressure filtration position, and a negative pressure filtration position. The loading position is used to pick up and put down the collection bottle. The positive pressure filtration assembly is disposed at the positive pressure filtration position, and the negative pressure filtration assembly is disposed at the negative pressure filtration position. The liquid separating device includes a separating funnel, a second station switching mechanism, and a stirring device. The bottom of the separating funnel is provided with a separating valve. The second station switching mechanism is used to drive the separating funnel to move between a static position, a first dispensing position, a second dispensing position, a third dispensing position, and a stirring position. The first dispensing position is used to collect the lower layer solution, the second dispensing position is used to collect the middle layer solution, and the third dispensing position is used to collect the upper layer solution. The stirring device is located at the stirring position. A clamping assembly is used in conjunction with the robotic arm to rotate and open or close the cap of the collection bottle, the solution to be processed bottle, or the extraction bottle; The control system includes a robotic arm control unit, a filtration method decision unit, a filtration control unit, an interface detection unit, and a liquid dispensing control unit, wherein: The robotic arm control unit is connected to the robotic arm and is used to control the robotic arm to transfer liquids or containers; The filtration method decision unit is used to obtain the physicochemical properties of the solution to be treated, and to analyze and process the physicochemical properties through a built-in first algorithm to determine the target filtration method corresponding to the solution to be treated, wherein the target filtration method is positive pressure filtration or negative pressure filtration. The filter control unit is connected to the filter device. The filter control unit is used to control the movement of the first station switching mechanism based on the determined target filtration method, and to control the positive pressure filter component or the negative pressure filter component corresponding to the target filtration method to work. The interface detection unit is located on one side of the separating funnel and is used to collect liquid images inside the separating funnel in real time. The liquid separation control unit is used to receive the liquid image, identify the liquid-liquid interface position in the liquid image through a built-in second algorithm, and then control the closing timing of the liquid separation valve according to the interface position.

[0006] The automated filtration and separation system provided by the present invention further includes a powder feeder, and the control system further includes a powder feeder control unit. The powder feeder control unit transfers the separated organic phase to the powder feeder via a robotic arm control unit, and controls the powder feeder to add powder to the organic phase to remove moisture from the organic phase.

[0007] According to the automated filtration and liquid separation system provided by the present invention, the material storage device includes a slot disposed on the operating platform and a material transfer chamber disposed within the slot.

[0008] According to the automated filtration and liquid separation system provided by the present invention, the negative pressure filtration assembly includes a first vertical moving mechanism, a first filter head loading device, and a negative pressure device. The first filter head loading device is connected to the moving part of the first vertical moving mechanism. The filter head and the collection bottle are connected through the first filter head loading device. A negative pressure connector is provided on the first filter head loading device. The negative pressure device is connected to the negative pressure connector. Both the first vertical moving mechanism and the negative pressure device are communicatively connected to the filtration control unit.

[0009] According to the automated filtration and separation system provided by the present invention, the positive pressure filtration assembly includes a second vertical moving mechanism, a second filter head loading device, a positive pressure connector, and a pressurizing device. The second filter head loading device is connected side-by-side with the first filter head loading device. The positive pressure connector is connected to the moving part of the second vertical moving mechanism and is located above the second filter head loading device. The filter head and the collection bottle are connected through the second filter head loading device. The outlet end of the positive pressure connector is connected to the top of the filter head. The pressurizing device is connected to the inlet of the positive pressure connector. Both the second vertical moving mechanism and the pressurizing device are communicatively connected to the filtration control unit.

[0010] According to the automated filtration and liquid separation system provided by the present invention, the first station switching mechanism includes a first horizontal moving mechanism, the collection chamber is connected to the moving part of the first horizontal moving mechanism, the loading position, the positive pressure filtration position and the negative pressure suction filtration position are all located on the moving path of the first horizontal moving mechanism, and the first horizontal moving mechanism is connected to the filtration control unit.

[0011] According to the automated filtration and separation system provided by the present invention, the interface detection unit includes a vision camera.

[0012] According to the automated filtration and liquid separation system provided by the present invention, the second station switching mechanism includes a second horizontal moving mechanism. The liquid separation funnel and the interface detection unit are both connected to the moving part of the second station switching mechanism. The static position, the first liquid discharge position, the second liquid discharge position, the third liquid discharge position and the stirring position are all located on the moving path of the second horizontal moving mechanism. The second horizontal moving mechanism and the liquid separation valve are connected to the liquid separation control unit.

[0013] According to the automated filtration and liquid separation system provided by the present invention, the stirring device includes a third vertical moving mechanism, a motor and a stirring paddle. The motor is connected to the moving part of the third vertical moving mechanism, and the rotating shaft of the motor extends downward. The stirring paddle is drivenly connected to the rotating shaft. Both the third vertical moving mechanism and the motor are communicatively connected to the liquid separation control unit.

[0014] According to the automated filtration and dispensing system provided by the present invention, the robotic arm includes a robotic arm and a horizontal gripper, a rotary gripper and a pipette disposed at the end of the robotic arm.

[0015] The present invention has the following advantages due to the adoption of the above technical solutions: The automated filtration and separation system provided by this invention can be used to complete filtration or separation work independently, or in combination; that is, filtration can be performed before separation, or separation before filtration. During filtration, the robotic arm control unit of the control system controls the robotic arm to transfer the collection bottle from the material storage device to the clamping assembly, and, in cooperation with the clamping assembly, unscrews the bottle cap. The opened collection bottle is then transferred to the collection chamber. The filtration method decision unit then acquires the physicochemical properties of the solution to be treated and analyzes these properties using a built-in first algorithm to determine whether the target filtration method is positive pressure filtration or negative pressure filtration. Based on the determined target filtration method, the filtration control unit controls the first station switching mechanism to move the collection chamber to the positive pressure filtration position or the negative pressure suction filtration position. The robotic arm places the filter head on the corresponding positive pressure filtration assembly or negative pressure suction filtration assembly. The robotic arm then transfers the solution to be treated into the filter head, and the positive pressure filtration assembly or negative pressure suction filtration assembly operates to filter the solution. The filtered liquid enters the collection bottle. Finally, the robotic arm removes the collection bottle, unscrews the cap, and returns it to its original position. During the separation process, the robot control unit controls the robot to transfer the three collection bottles from the material storage device to the clamping assembly, and then, in cooperation with the clamping assembly, unscrews the bottle caps. The three opened collection bottles are then transferred to the first, second, and third dispensing stations, respectively. The robot transfers the solution to be processed into the separating funnel, and then transfers the extractant from the extraction bottle into the separating funnel. The separating control unit controls the second station switching mechanism to move the separating funnel to the stirring position. The stirring device agitates the mixed solution in the separating bottle, and then the funnel returns to the settling position to allow for stratification. After stratification, the separating control unit first controls the second station switching mechanism to move the separating funnel to the first dispensing station to discharge the lower layer solution. Dispensing stops when the interface between the aqueous and organic phases is about to reach the bottom of the separating funnel. The funnel then moves to the second dispensing station to discharge the middle layer solution. Dispensing stops when the interface between the aqueous and organic phases completely disappears. Finally, the funnel moves to the third dispensing station to discharge the upper layer solution. During the separation process, the interface detection unit acquires real-time images of the liquid within the separating funnel. Based on these images, the separating control unit uses a second algorithm to identify the liquid-liquid interface position and controls the opening and closing of the separating valve. Finally, the robotic arm moves to the first and second dispensing stations, picks up the corresponding collection bottles, and tightens the caps with the clamping assembly, returning the collection bottles to their original positions. The automated filtration and separation system provided by this invention can automatically select the optimal filtration mode based on the physicochemical properties of the solution to be processed. Machine vision technology is introduced into the separation process, replacing the traditional method of relying on visual observation of the liquid-liquid interface. By fixing the interface detection unit to one side of the separating funnel and moving it synchronously with the second station switching mechanism, the system can acquire real-time images of the liquid within the separating funnel and automatically identify the precise position of the two-phase interface using the second algorithm.When the interface reaches the preset separation threshold, the valve is automatically opened to achieve precise and automatic separation of the aqueous phase and the organic phase. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of an automated filtration and liquid separation system provided in an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of an automated filtration and liquid separation system provided in an embodiment of the present invention. Figure 2 Figure 3 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a filtration device provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the first workstation switching mechanism provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the second workstation switching mechanism provided in an embodiment of the present invention; Figure label: 100: Clamping assembly; 210: Filter head; 220: Collection bottle; 230: Bottle of solution to be treated; 240: Extraction bottle; 250: Cleaning agent bottle; 260: Gun tip; 300: Operating platform; 400: Material transfer bin; 510: First vertical moving mechanism; 520: First filter head loading device; 530: Negative pressure connector; 600: First station switching mechanism; 610: Collection bin; 710: Second vertical moving mechanism; 720: Second filter head loading device; 730: Positive pressure connector; 800: Second station switching mechanism; 910: Separating funnel; 920: Separating valve; 930: Waste liquid container placement position; 1000: Vision camera; 1100: Stirring device; 1210: Robotic arm; 1220: Horizontal gripper; 1230: Rotary gripper; 1240: Pipette; 1310: First liquid discharge station; 1320: Second liquid discharge station; 1400: Powder dispenser. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" 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 this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0023] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0024] The automated filtration and separation system provided by this invention can be used to complete filtration or separation work independently, or in combination; that is, filtration can be performed before separation, or separation before filtration. During filtration, the robotic arm control unit of the control system controls the robotic arm to transfer the collection bottle from the material storage device to the clamping assembly, and, in cooperation with the clamping assembly, unscrews the bottle cap. The opened collection bottle is then transferred to the collection chamber. The filtration method decision unit then acquires the physicochemical properties of the solution to be treated and analyzes these properties using a built-in first algorithm to determine whether the target filtration method is positive pressure filtration or negative pressure filtration. Based on the determined target filtration method, the filtration control unit controls the first station switching mechanism to move the collection chamber to the positive pressure filtration position or the negative pressure suction filtration position. The robotic arm places the filter head on the corresponding positive pressure filtration assembly or negative pressure suction filtration assembly. The robotic arm then transfers the solution to be treated into the filter head, and the positive pressure filtration assembly or negative pressure suction filtration assembly operates to filter the solution. The filtered liquid enters the collection bottle. Finally, the robotic arm removes the collection bottle, unscrews the cap, and returns it to its original position. During the separation process, the robot control unit controls the robot to transfer the three collection bottles from the material storage device to the clamping assembly, and then, in cooperation with the clamping assembly, unscrews the bottle caps. The three opened collection bottles are then transferred to the first, second, and third dispensing stations, respectively. The robot transfers the solution to be processed into the separating funnel, and then transfers the extractant from the extraction bottle into the separating funnel. The separating control unit controls the second station switching mechanism to move the separating funnel to the stirring position. The stirring device agitates the mixed solution in the separating bottle, and then the funnel returns to the settling position to allow for stratification. After stratification, the separating control unit first controls the second station switching mechanism to move the separating funnel to the first dispensing station to discharge the lower layer solution. Dispensing stops when the interface between the aqueous and organic phases is about to reach the bottom of the separating funnel. The funnel then moves to the second dispensing station to discharge the middle layer solution. Dispensing stops when the interface between the aqueous and organic phases completely disappears. Finally, the funnel moves to the third dispensing station to discharge the upper layer solution. During the separation process, the interface detection unit acquires real-time images of the liquid within the separating funnel. Based on these images, the separating control unit uses a second algorithm to identify the liquid-liquid interface position and controls the opening and closing of the separating valve. Finally, the robotic arm moves to the first and second dispensing stations, picks up the corresponding collection bottles, and tightens the caps with the clamping assembly, returning the collection bottles to their original positions. The automated filtration and separation system provided by this invention can automatically select the optimal filtration mode based on the physicochemical properties of the solution to be processed. Machine vision technology is introduced into the separation process, replacing the traditional method of relying on visual observation of the liquid-liquid interface. By fixing the interface detection unit to one side of the separating funnel and moving it synchronously with the second station switching mechanism, the system can acquire real-time images of the liquid within the separating funnel and automatically identify the precise position of the two-phase interface using the second algorithm.When the interface reaches the preset separation threshold, the valve is automatically opened to achieve precise and automatic separation of the aqueous phase and the organic phase.

[0025] An embodiment of the present invention provides an automated filtration and liquid separation system, including a material storage device, a filtration device, a liquid separation device, a robotic arm, a clamping assembly 100, and a control system.

[0026] The material storage device is used to house at least the filter head 210, the collection bottle 220, the solution to be treated bottle 230, the extraction bottle 240, and the pipette tip 260.

[0027] The filtration device includes a positive pressure filtration assembly, a negative pressure filtration assembly, a collection chamber 610, and a first station switching mechanism 600. The collection chamber 610 is mounted on the first station switching mechanism 600 and is used to hold the collection bottle 220. The first station switching mechanism 600 is used to move the collection bottle 220 between the loading position, the positive pressure filtration position, and the negative pressure filtration position under the control of the controller. The loading position is used to pick up and put down the collection bottle 220. The positive pressure filtration assembly is located at the positive pressure filtration position, and the negative pressure filtration assembly is located at the negative pressure filtration position.

[0028] The control system includes a filtration mode decision unit and a filtration control unit. The filtration mode decision unit is used to acquire the physicochemical properties of the solution to be treated and analyze the physicochemical properties through a built-in first algorithm to determine whether the target filtration mode for the solution to be treated is positive pressure filtration or negative pressure filtration.

[0029] Negative pressure filtration is mainly suitable for using high-boiling-point solvents that are not prone to violent boiling (such as water, methanol, ethanol, isopropanol, ethyl acetate, DMF, DMSO and hot recrystallization solvents) as the medium to process materials with good crystallization, relatively coarse particles and good filter cake permeability (such as small organic molecule crystals, inorganic salt precipitates and large particulate suspensions). It is especially suitable for the process stages of crystal collection after crystallization, solvent replacement and short-term removal of insoluble impurities.

[0030] For materials that use low-boiling-point, flammable and volatile solvents (such as diethyl ether, petroleum ether, and dichloromethane) as the medium, or materials that are fine particles, needle crystals, micro powders, or colloidal materials that are prone to clogging (such as carbon black, decolorized carbon, fine hydroxide precipitates, biological or organic slurries), as well as sensitive systems that are anhydrous, oxygen-free, and require airtight protection, positive pressure filtration is more suitable. It can achieve safe filtration and airtight transfer of mother liquor under inert gas protection, and is also suitable for filter cake washing and pressing dewatering processes of batch slurries.

[0031] The filter control unit is connected to the filter device. When the target filtration mode is determined to be positive pressure filtration, the filter control unit controls the first station switching mechanism 600 to move the collection bottle 220 to the positive pressure filtration position, and further controls the positive pressure filtration assembly to work. When the target filtration mode is determined to be negative pressure filtration, the filter control unit controls the first station switching mechanism 600 to move the collection bottle 220 to the negative pressure suction filtration position, and further controls the negative pressure suction filtration assembly to work.

[0032] The liquid separation device includes a liquid separation funnel 910, a second station switching mechanism 800, and a stirring device 1100. The bottom of the liquid separation funnel 910 is provided with a liquid separation valve 920. The second station switching mechanism 800 is used at least to drive the liquid separation funnel 910 to move between the first liquid discharge station 1310, the second liquid discharge station 1320, the third liquid discharge station 1330 and the stirring station under the control of the controller. The first liquid discharge station 1310 is used to collect the lower layer solution, the second liquid discharge station 1320 is used to collect the middle layer solution, and the third liquid discharge station 1330 is used to collect the upper layer solution. The stirring device 1100 is provided at the stirring station.

[0033] The control system includes an interface detection unit and a liquid separation control unit. The interface detection unit is located on one side of the liquid separation funnel 910 and also on the second station switching mechanism 800, moving synchronously with the liquid separation funnel 910 to acquire liquid images within the funnel 910 in real time. The liquid separation control unit receives the liquid images and identifies the position of the liquid-liquid interface in the liquid images using a built-in second algorithm. When the interface reaches a preset liquid separation threshold, the liquid separation valve 920 is automatically opened to achieve precise and automatic separation of the aqueous phase and the organic phase.

[0034] The robot control unit is connected to the robot and controls the robot to move between the material storage device, the collection bin 610, the liquid dispensing funnel 910, and the second liquid dispensing station 1320 to transfer liquid or containers.

[0035] The clamping assembly 100 is used in conjunction with a robotic arm to rotate and open or close the collection bottle 220 or the solution bottle 230 to be processed.

[0036] The automated filtration and separation system provided by this invention can automatically select the optimal filtration mode based on the physicochemical properties of the solution to be treated. Machine vision technology is introduced into the separation process, replacing the traditional method of relying on visual observation of the liquid-liquid interface. By fixing an interface detection unit to one side of the separating funnel 910 and moving it synchronously with the second station switching mechanism 800, the system can acquire real-time images of the liquid within the separating funnel 910 and automatically identify the precise location of the two-phase interface using a second algorithm. When the interface reaches a preset separation threshold, the separating valve 920 is automatically opened, achieving precise and automatic separation of the aqueous and organic phases.

[0037] In some embodiments, the system also includes a powder dispenser 1400, and the controller further includes a powder dispensing control unit, which is connected to the powder dispenser 1400 and the robotic arm control unit.

[0038] After the separation is completed, if the organic phase in the collection bottle 220 contains moisture, the powder addition control unit can control the robot arm through the robot arm control unit to transfer the collection bottle 220 containing the organic phase to the powder adder 1400. Then, the powder addition control unit controls the powder adder 1400 to add a preset mass of powder into the collection bottle 220 to absorb the moisture in the organic phase.

[0039] In some embodiments, the automated filtration and liquid separation system further includes an operating platform 300, on which the aforementioned material storage device, filtration device, liquid separation device, robotic arm, powder dispenser 1400 and clamping assembly 100 are modularly and detachably mounted on the operating platform 300 for easy assembly, disassembly or free combination.

[0040] The aforementioned material storage device includes multiple slots and a material transfer chamber 400 mounted on the operating platform 300. The material transfer chamber 400 is detachably connected to the slots. Researchers can place filter heads 210, collection bottles 220, solution bottles 230, extraction bottles 240, and pipette tips 260 into the corresponding material transfer chambers 400 at the mixing platform, and then secure them to the corresponding slots on the operating platform 300, thus completing the material preparation.

[0041] In some embodiments, the negative pressure filtration assembly includes a first vertical moving mechanism 510, a first filter head loading device 520, and a negative pressure device. The first vertical moving mechanism 510 can be a screw-nut mechanism driven by a motor, and the first filter head loading device 520 is connected to the slider of the screw-nut mechanism and can move vertically with the slider. A negative pressure connector 530 is provided on one side of the first filter head loading device 520 for connecting to the negative pressure device.

[0042] During negative pressure filtration, the first station switching mechanism 600 moves the collection chamber 610, which contains the collection bottle 220, to a position below the first filter head loading device 520. Then, the first vertical moving mechanism 510 moves the first filter head loading device 520 downward, sealing the bottom of the first filter head loading device 520 with the mouth of the collection bottle 220. Then, the filter head 210 is installed on top of the first filter head loading device 520. After installation, the filter head 210 and the collection bottle 220 are connected through the first filter head loading device 520.

[0043] After the solution to be treated is added to the top of the filter head 210, the negative pressure device is activated, and a pressure difference is formed at the top and bottom of the filter head 210. The liquid phase of the solution to be treated after filtration enters the collection bottle 220.

[0044] The positive pressure filter assembly includes a second vertical moving mechanism 710, a second filter head loading device 720, a positive pressure connector 730, and a pressurizing device.

[0045] The second vertical moving mechanism 710 is identical to the first vertical moving mechanism 510, both being motor-driven screw and nut mechanisms, and are arranged side-by-side. The first filter head loading device 520 is connected to the slider of the first vertical moving mechanism 510 via a mounting plate. The mounting plate extends horizontally to the side of the second vertical moving mechanism 710 away from the first vertical moving mechanism 510. The second filter head loading device 720 is mounted on the portion of the mounting plate corresponding to the second vertical moving mechanism 710. Thus, the first vertical moving mechanism 510 can simultaneously drive the first filter head loading device 520 and the second filter head loading device 720 to move up and down.

[0046] The positive pressure connector 730 is connected to the slider of the second vertical moving mechanism 710. When the filter head 210 is loaded on the second filter head loading device 720, the air outlet of the positive pressure connector 730 is located directly above the filter head 210, and the air inlet of the positive pressure connector 730 is connected to the pressurizing device.

[0047] When positive pressure filtration is required, the first station switching mechanism 600 moves the collection chamber 610, which contains the collection bottle 220, to a position below the second filter head loading device 720. Then, the first vertical moving mechanism 510 moves the second filter head loading device 720 downward, sealing the bottom of the second filter head loading device 720 with the mouth of the collection bottle 220. Then, the filter head 210 is installed on top of the second filter head loading device 720. After installation, the filter head 210 and the collection bottle 220 are connected through the first filter head loading device 520.

[0048] After the solution to be treated is added to the top of the filter head 210, the second vertical moving mechanism 710 drives the positive pressure connector 730 to move downward, so that the gas outlet end of the positive pressure connector 730 is connected to the top of the filter head 210. Then the pressurization device is activated to form a pressure difference between the top and bottom ends of the filter head 210. The liquid phase of the solution to be treated after filtration enters the collection bottle 220.

[0049] In some embodiments, the negative pressure device and the pressurization device can be implemented using a vacuum pump, which is equipped with both a positive pressure port and a negative pressure port. The negative pressure connector 530 is connected to the negative pressure port, and the positive pressure connector 730 is connected to the positive pressure port of the vacuum pump.

[0050] In some embodiments, the first station switching mechanism 600 described above includes a first horizontal moving mechanism, the collection bin 610 is connected to the moving part of the first horizontal moving mechanism, and the loading position, the positive pressure filtration position and the negative pressure suction filtration position are all located on the moving path of the first horizontal moving mechanism.

[0051] Specifically, the first horizontal moving mechanism can be a lead screw and nut mechanism driven by a motor. The motor is connected to the filter control unit, and the collection bin 610 is connected to the slider of the lead screw and nut mechanism to drive the collection bin 610 to move horizontally. The first horizontal moving mechanism can drive the collection bin 610 to the bottom of the first filter head loading device 520 or the second filter head loading device 720.

[0052] In some embodiments, the second station switching mechanism 800 includes a second horizontal moving mechanism. The separating funnel 910 and the interface detection unit are both connected to the moving part of the second station switching mechanism 800. The first liquid discharge station 1310, the second liquid discharge station 1320, the third liquid discharge station 1330 and the stirring station are all located on the moving path of the second horizontal moving mechanism.

[0053] Specifically, the second station switching mechanism 800 can also be a screw-nut mechanism driven by a motor, with the motor communicating with the liquid distribution control unit. A bracket can be installed on the top of the slider of this screw-nut mechanism, and the liquid distribution funnel 910 and the interface detection unit are mounted on the bracket. The interface detection unit can be a vision camera 1000, which can be installed on one side of the liquid distribution funnel 910 to acquire real-time images of the liquid inside the funnel 910. The liquid distribution control unit receives the liquid images and identifies the position of the liquid-liquid interface in the liquid images using a second algorithm, and controls the opening or closing of the liquid distribution valves 920 based on the interface position.

[0054] The second station switching mechanism 800 can move the separating funnel 910 to above the first discharge station 1310, the second discharge station 1320 or the third discharge station 1330, or it can move the separating funnel 910 to below the stirring station.

[0055] In some embodiments, the stirring device 1100 includes a third vertical movement mechanism, a motor, and a stirring paddle. The third vertical movement mechanism may be a lead screw and nut mechanism driven by a motor, with the motor connected to a slider of the lead screw and nut mechanism. The third vertical movement mechanism is used to drive the motor to move in a vertical direction. The drive shaft of the motor extends downward, and the top end of the stirring paddle is drively connected to the drive shaft of the motor.

[0056] When the second station switching mechanism 800 moves the separating funnel 910 to the stirring station, the stirring paddle is located directly above the separating funnel 910. At this time, the third vertical moving mechanism drives the motor and stirring paddle to move downward, so that the stirring paddle enters the separating funnel 910. When the controller controls the motor to start, the motor drives the stirring paddle to rotate, thereby stirring the liquid in the separating funnel 910.

[0057] In some embodiments, the robotic arm includes a robotic arm 1210 and a horizontal gripper 1220, a rotary gripper 1230, and a pipette 1240 disposed at the end of the robotic arm 1210.

[0058] One specific operating process of the automated filtration and liquid separation system provided by the present invention is as follows, and the operating process is controlled by a controller: The experimenters preloaded the filter head 210, collection bottle 220, solution bottle 230, extraction bottle 240, and nozzle 260 into the corresponding material transfer chamber 400. The solution bottle 230 contained the solution to be treated, the extraction bottle 240 contained the extractant, and the material transfer chamber 400 was located in the slot of the operating platform 300.

[0059] The robotic arm control unit controls the robotic arm to grasp the collection bottle 220 through the rotating gripper 1230 and place it into the clamping assembly 100. The clamping assembly 100 cooperates with the rotating gripper 1230 of the robotic arm to unscrew the cap of the collection bottle 220. Then, the robotic arm transfers the bottle body of the collection bottle 220 to the collection chamber 610 through the horizontal gripper 1220.

[0060] The filtration method decision unit acquires the physicochemical properties of the solution to be treated, analyzes and processes these properties using a built-in first algorithm, and finally determines the target filtration method as negative pressure filtration. The filtration control unit controls the first station switching mechanism 600 to drive the collection chamber 610 to the negative pressure filtration position, and the first vertical moving mechanism 510 drives the first filter head loading device 520 downwards, sealing it with the mouth of the collection bottle 220. The robotic arm uses the horizontal gripper 1220 to grasp the filter head 210 and transfer it to the top of the first filter head loading device 520, thus connecting the filter head 210 to the collection bottle 220. After the robotic arm's pipette 1240 picks up the pipette tip, it draws the solution to be treated from the solution bottle 230 and transfers it to the top of the filter head 210. The filter control unit controls the operation of the negative pressure device, and evacuates the bottom of the filter head 210 through the negative pressure connector 530. Under the action of pressure difference, the liquid phase in the solution to be treated passes through the filter head 210 and enters the collection bottle 220 to be collected, thus completing the filtration of the solution to be treated.

[0061] The robotic arm sequentially picks up the used gun tips and filter tips 210 and places them into the original material transfer chamber 400. The first vertical moving mechanism 510 drives the first filter tip loading device 520 to rise to release the seal. At the same time, the first station switching mechanism 600 returns to the loading position. The robotic arm picks up the collection bottle 220 containing the filtered solution and, in cooperation with the clamping assembly 100, tightens the bottle cap before transferring it to the completed sample area.

[0062] The robotic arm uses a rotating gripper 1230 to grab three collection bottles 220 and place them at the first discharge station 1310, the second discharge station 1320, and the third discharge station 1330 respectively.

[0063] The robotic arm uses a rotating gripper 1230 to pick up a collection bottle 220 containing the filtered solution from the completed sample area and place it into the clamping assembly 100. The robotic arm then works with the clamping assembly 100 to unscrew the cap of the collection bottle 220. The robotic arm's pipette 1240 picks up the pipette tip and draws the filtered solution from the opened collection bottle 220, transferring it into the separatory funnel 910.

[0064] The robotic arm returns the pipette tip to its original position, then picks up another clean pipette tip, draws the extractant from the extraction bottle 240, and discharges it into the separatory funnel 910.

[0065] The separation control unit controls the second station switching mechanism 800 to move the separation funnel 910 to the stirring station. After it reaches the station, the third vertical moving mechanism drives the stirring device 1100 to descend, so that the stirring paddle extends into the separation funnel 910. The motor drives the stirrer to rotate, so that the solution and the extractant mixture in the separation funnel 910 are fully mixed.

[0066] The third vertical moving mechanism drives the motor and the stirring paddle to rise, causing the stirring paddle to exit the separating funnel 910. The separating control unit controls the second station switching mechanism 800 to move the separating funnel 910 to the stationary position. The system enters the waiting state, waiting for the mixed liquid in the separating funnel 910 to settle and separate into layers, forming a clear two-phase interface. The vision camera 1000 is used to acquire liquid images in real time.

[0067] The liquid separation control unit first controls the second station switching mechanism 800 to move the liquid separation funnel 910 to the first liquid discharge station 1310, and then controls the liquid separation valve 920 to open to start discharging the lower layer solution. At the same time, the liquid separation control unit receives liquid images in real time and identifies the position of the two-phase interface in the liquid image through the second algorithm. When the two-phase interface is about to reach the bottom of the liquid separation funnel 910, the liquid separation valve 920 is controlled to close.

[0068] The liquid separation control unit continues to control the second station switching mechanism 800 to move the liquid separation funnel 910 to the second liquid discharge station 1320, and then controls the liquid separation valve 920 to open and start discharging the intermediate layer solution. At the same time, the liquid separation control unit receives the liquid image in real time and identifies the position of the two-phase interface in the liquid image through the second algorithm. When the two-phase interface completely disappears, the liquid separation valve 920 is controlled to close.

[0069] The liquid separation control unit continues to control the second station switching mechanism 800 to move the liquid separation funnel 910 to the third liquid discharge station 1320, and then controls the liquid separation valve 920 to open and start discharging the upper layer solution until the discharge is completed. After that, the liquid separation valve 920 is closed.

[0070] The robotic arm moves to the first liquid discharge station 1310 and the third liquid discharge station 1330 respectively, picks up the collection bottle 220 at the corresponding position and places it at the clamping component 100, and tightens the bottle cap with the clamping component 100. Finally, the collection bottle 220 is returned to its position.

[0071] Of course, if the reaction product is located in the lower layer, the process of adding the extractant and discharging the lower layer solution can be repeated multiple times to improve the yield of the reaction product.

[0072] In addition, after the entire liquid extraction process is completed, the system initiates a self-cleaning procedure: The robotic arm, in conjunction with the material transfer chamber 400 containing the cleaning agent bottle 250, opens the cap of the cleaning agent bottle 250. The pipette 1240 on the robotic arm picks up the pipette tip and draws a measured amount of cleaning agent from the cleaning agent bottle 250, injecting it into the separating funnel 910. The second station switching mechanism 800 moves the separating funnel 910 to the stirring station, and the third vertical movement mechanism lowers the stirring paddle into the separating funnel 910 to stir and clean it. A waste liquid container is also located below the separating funnel 910 at the stirring station. After opening the separating valve 920, the cleaned waste liquid is discharged into the waste liquid container at the waste liquid container location.

[0073] Of course, the automated filtration and separation system provided by this invention can also perform filtration or separation of the solution to be treated independently, or it can operate in combination, that is, it can separate the solution after filtration, or filter the solution after separation.

[0074] The automated filtration and separation system provided by this invention outputs a digital signal from its controller to drive a relay, directly controlling the on / off state of the live wire in the power supply circuit of the negative pressure device, thereby achieving independent start / stop of the negative pressure device. During operation, the sample is precisely moved to the designated position via a guide rail. After a sealed cavity is formed by air pressure, the corresponding relay is triggered according to the instruction to start the air pump, establishing a positive or negative pressure environment to complete the filtration. This design replaces traditional air path switching with circuit control, significantly simplifying the system structure, improving reliability, and reducing costs.

[0075] The automated filtration and separation system provided by this invention replaces the glassware that must be repeatedly washed in traditional filtration by using independently replaceable disposable filter heads as the core filtration unit. A robotic arm automatically picks up a brand-new filter head and installs it at the filtration station. The sample liquid undergoes solid-liquid separation only within the filter head; the used filter head is then discarded as waste. Throughout the entire process, the sample to be tested has no contact with the equipment. This fundamentally eliminates the risk of cross-contamination and residue caused by incomplete cleaning, while also eliminating cumbersome cleaning procedures.

[0076] The automated filtration and separation system provided by this invention incorporates machine vision technology to achieve intelligent and precise separation. The system uses a vision camera to capture real-time dynamic images of the separation funnel and employs a customized image processing algorithm to identify the interface positions of different liquid phases. When the algorithm determines that the interface has reached a preset separation threshold, it automatically triggers a PLC control signal to drive a high-precision stepper motor mechanism to control the opening angle of the separation valve at 920 degrees, thereby achieving automatic separation of the target liquid layer.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An automated filtration and liquid separation system, characterized in that, include: robotic arm; The material storage device is used to hold at least the pipette tip (260), filter head (210), collection bottle (220), solution bottle to be processed (230) and extraction bottle (240). The filtration device includes a positive pressure filtration assembly, a negative pressure filtration assembly, a collection chamber (610), and a first station switching mechanism (600). The collection chamber (610) is disposed on the first station switching mechanism (600), and the collection chamber (610) is used to place the collection bottle (220). The first station switching mechanism (600) is used to drive the collection bottle (220) to move between a loading position, a positive pressure filtration position, and a negative pressure filtration position. The loading position is used to pick up and put down the collection bottle (220). The positive pressure filtration assembly is disposed at the positive pressure filtration position, and the negative pressure filtration assembly is disposed at the negative pressure filtration position. The liquid separation device includes a liquid separation funnel (910), a second station switching mechanism (800), and a stirring device (1100). The liquid separation funnel (910) is provided with a liquid separation valve (920) at its bottom. The second station switching mechanism (800) is used to drive the liquid separation funnel (910) to move between a static position, a first liquid discharge position (1310), a second liquid discharge position (1320), a third liquid discharge position (1330), and a stirring position. The first liquid discharge position (1310) is used to collect the lower layer solution, the second liquid discharge position (1320) is used to collect the middle layer solution, and the third liquid discharge position (1330) is used to collect the upper layer solution. The stirring device (1100) is provided at the stirring position. A clamping assembly (100) is used in conjunction with the robotic arm to rotate and open or close the cap of the collection bottle (220), the solution to be processed bottle (230), or the extraction bottle (240); The control system includes a robotic arm control unit, a filtration method decision unit, a filtration control unit, an interface detection unit, and a liquid dispensing control unit, wherein: The robotic arm control unit is connected to the robotic arm and is used to control the robotic arm to transfer liquids or containers; The filtration method decision unit is used to obtain the physicochemical properties of the solution to be treated, and to analyze and process the physicochemical properties through a built-in first algorithm to determine the target filtration method corresponding to the solution to be treated, wherein the target filtration method is positive pressure filtration or negative pressure filtration. The filter control unit is connected to the filter device. The filter control unit is used to control the movement of the first station switching mechanism (600) based on the determined target filtration method, and to control the operation of the positive pressure filter component or the negative pressure filter component corresponding to the target filtration method. The interface detection unit is located on one side of the separating funnel (910) and is used to collect liquid images in the separating funnel (910) in real time. The liquid separation control unit is used to receive the liquid image and identify the liquid-liquid interface position in the liquid image through a built-in second algorithm, and then control the closing timing of the liquid separation valve (920) according to the interface position.

2. The automated filtration and liquid separation system according to claim 1, characterized in that, It also includes a powder feeder (1400), and the control system further includes a powder feeder control unit. The powder feeder control unit transfers the separated organic phase to the powder feeder (1400) through a robotic arm control unit, and controls the powder feeder (1400) to feed the organic phase with powder to remove moisture from the organic phase.

3. The automated filtration and liquid separation system according to claim 2, characterized in that, It also includes an operating platform (300), on which the material storage device, the filter device, the liquid separator, the robot, the powder dispenser (1400) and the clamping assembly (100) are all mounted. The material storage device includes a slot mounted on the operating platform (300) and a material transfer chamber (400) mounted in the slot.

4. The automated filtration and liquid separation system according to claim 1, characterized in that, The negative pressure filtration assembly includes a first vertical moving mechanism (510), a first filter head loading device (520), and a negative pressure device. The first filter head loading device (520) is connected to the moving part of the first vertical moving mechanism (510). The filter head (210) and the collection bottle (220) are connected through the first filter head loading device (520). A negative pressure connector (530) is provided on the first filter head loading device (520). The negative pressure device is connected to the negative pressure connector (530). Both the first vertical moving mechanism (510) and the negative pressure device are communicatively connected to the filtration control unit.

5. The automated filtration and liquid separation system according to claim 4, characterized in that, The positive pressure filtration assembly includes a second vertical moving mechanism (710), a second filter head loading device (720), a positive pressure connector (730), and a pressurizing device. The second filter head loading device (720) is connected side-by-side with the first filter head loading device (520). The positive pressure connector (730) is connected to the moving part of the second vertical moving mechanism (710) and is located above the second filter head loading device (720). The filter head (210) and the collection bottle (220) are connected through the second filter head loading device (720). The outlet end of the positive pressure connector (730) is connected to the top of the filter head (210). The pressurizing device is connected to the inlet of the positive pressure connector (730). The second vertical moving mechanism (710) and the pressurizing device are both communicatively connected to the filter control unit.

6. The automated filtration and liquid separation system according to claim 1, characterized in that, The first station switching mechanism (600) includes a first horizontal moving mechanism. The collection bin (610) is connected to the moving part of the first horizontal moving mechanism. The loading position, the positive pressure filtration position, and the negative pressure suction filtration position are all located on the moving path of the first horizontal moving mechanism. The first horizontal moving mechanism is connected to the filter control unit.

7. The automated filtration and liquid separation system according to claim 1, characterized in that, The interface detection unit includes a visual camera (1000).

8. The automated filtration and liquid separation system according to claim 1, characterized in that, The second station switching mechanism (800) includes a second horizontal moving mechanism. The separating funnel (910) and the interface detection unit are both connected to the moving part of the second station switching mechanism (800). The static position, the first liquid discharge position (1310), the second liquid discharge position (1320), the third liquid discharge position (1330) and the stirring position are all located on the moving path of the second horizontal moving mechanism. The second horizontal moving mechanism and the separating valve (920) are connected to the separating control unit.

9. The automated filtration and liquid separation system according to claim 1, characterized in that, The stirring device (1100) includes a third vertical moving mechanism, a motor and a stirring paddle. The motor is connected to the moving part of the third vertical moving mechanism, and the rotating shaft of the motor extends downward. The stirring paddle is drivenly connected to the rotating shaft. Both the third vertical moving mechanism and the motor are communicatively connected to the liquid separation control unit.

10. The automated filtration and liquid separation system according to claim 1, characterized in that, The robotic arm includes a robotic arm (1210) and a horizontal gripper (1220), a rotary gripper (1230), and a pipette (1240) disposed at the end of the robotic arm (1210).

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