An automated chemical formulation screening system

Abstract

The application discloses a chemical medicine formula automatic screening system, and relates to the technical field of medicine preparation research and formula screening. The system comprises a device casing, a working platform and a main control system are arranged in the device casing, a multi-axis robot and multiple functional stations are arranged on the working platform, the multiple functional stations are arranged around the multi-axis robot in the device casing, and the main control system is in communication connection with the multi-axis robot and the multiple functional stations. The multiple functional stations comprise: a feeding and recycling rack, a solvent raw medicine filling device, a powder feeding device, a heating and oscillation reaction device, a viscous additive filling device, and an automatic cap closing mechanism. The system realizes automatic and accurate batching and improves overall work efficiency.

Description

Technical Field

[0001] This application relates to the field of pharmaceutical formulation development and formulation screening technology, and more specifically, to an automated screening system for chemical pharmaceutical formulations. Background Technology

[0002] In the formulation development process of pesticides, pharmaceuticals, and food, it is usually necessary to conduct numerous trials of different combinations of various active ingredients, including technical materials, solvents, and adjuvants such as thickeners, surfactants, and defoamers, based on different application scenarios, such as different crops and different types of pests and diseases. The feasibility and stability of the formulation are initially determined by observing the physical properties of the mixture, such as its transparency and particle size. This is a time-consuming, tedious, and highly experience-dependent trial-and-error process.

[0003] Currently, such formulation screening experiments mainly rely on manual labor in laboratory fume hoods. Experimenters use pipettes or precision weighing balances to manually weigh and add liquid solvents, powdered active ingredients, and viscous additives into beakers or sample vials one by one. They then place the vials on a heating plate or shaker to heat and shake them to promote dissolution and reaction. Finally, they conduct quality inspection by visual observation or by taking samples to particle size analyzers and other equipment.

[0004] This traditional method has many significant drawbacks. It is inefficient when dealing with large quantities of raw materials and test formulations, unable to process multiple samples with different ratios in parallel, and difficult to add viscous additives. Manual heating methods suffer from inaccurate temperature control, leading to localized overheating, and can only process one additive at a time. Furthermore, the key criteria for determining the effectiveness of the formulation rely on manual visual observation, which is highly subjective, has poor repeatability, and is difficult to standardize for evaluating tiny suspended particles or flocculent matter. In addition, prolonged close-range, open-air operation exposes laboratory personnel to significant risks of exposure to and inhalation of toxic, harmful, flammable, and explosive volatile solvents and powders, posing serious risks of poisoning and occupational health. Moreover, the process of opening and closing sample vials and replenishing powder cannot be fully automated and requires manual intervention, becoming a bottleneck for improving overall work efficiency. Summary of the Invention

[0005] The main purpose of this application is to provide an automated chemical formulation screening system to solve the problems of low efficiency and difficulty in adding viscous additives caused by the reliance on manual screening of existing chemical formulations, thereby achieving automated and accurate dispensing and improving overall work efficiency.

[0006] To achieve the above objectives, an automated screening system for chemical reagent formulations is proposed, comprising a housing, an internal working platform, and a main control system. The working platform houses a multi-axis robot and multiple functional workstations, arranged around the multi-axis robot within the housing. The main control system communicates with the multi-axis robot and each functional workstation to control the robot's transfer of sample vials and coordinate the operation of each functional workstation. The multiple functional workstations include: a material feeding and recovery rack for holding sample vials; a solvent and raw material dispensing device for sequentially injecting solvent and liquid raw material into the sample vials, the solvent and raw material dispensing device being equipped with a weighing module; and a powder feeding device. The device includes: a powder feeding device for adding powdered materials into sample bottles, with a weighing module; a heating and oscillating reaction device, including a heating station and an oscillating station, wherein the heating station heats the sample bottle containing the mixture and the oscillating station oscillates the sample bottle containing the mixture; a viscous additive dispensing device for adding one or more additives to the sample bottle, including a weighing module and a transparency detection module, wherein the transparency detection module detects the transparency of the contents of the sample bottle; and an automatic capping mechanism for storing multiple caps and for tightening the caps onto the bottle neck of the sample bottle.

[0007] Furthermore, the powder feeding device includes: a hopper having a cavity for storing powdered materials, a hopper discharge channel narrowing inward at the bottom of the hopper, the hopper discharge channel being positioned towards the weighing module of the powder feeding device, the weighing module of the powder feeding device being used to determine the weight of the powdered materials; a screw located within the hopper, the bottom of the screw having a spiral groove, the spiral groove being accommodated within the hopper discharge channel, and an annular gap being formed between the inner wall of the hopper discharge channel and the outer peripheral wall of the screw; a first rotary drive device connected to the screw for driving the screw to rotate, the first rotary drive device being configured to rotate in an alternating forward and reverse pattern to drive the screw to rotate alternately in forward and reverse around an axis within the hopper; wherein, an inclined guide cylinder is provided on the outer wall of the hopper, the inclined guide cylinder extending downward to above the spiral groove and communicating with the cavity of the hopper.

[0008] Furthermore, the angle of inclination of the extending direction of the inclined guide cylinder relative to the vertical direction is 20° to 40°.

[0009] Furthermore, the first rotary drive device includes: a drive motor with a drive shaft mounted thereon, the axis of which is arranged vertically; a sliding coupling located at the drive end of the drive shaft, the end of the screw being coaxial with and connected to the drive shaft via the sliding coupling; wherein the sliding coupling includes an inner sleeve and an outer sleeve that are axially slidable relative to each other, the inner sleeve being fixedly connected to the drive shaft, the outer sleeve being slidably connected to the end of the screw, and the inner diameter of the outer sleeve being larger than the outer diameter of the inner sleeve to form a clearance fit.

[0010] Furthermore, the viscous additive dispensing device includes: a heating module, which includes a base and a heat-insulating base disposed on the base, the heat-insulating base having multiple stations for placing additive bottles, each station having an independent temperature-controlled heating unit; a dispensing actuator, which includes a three-axis linear module and a gripper and an electric push rod disposed on the three-axis linear module, the gripper being used to hold the syringe, the electric push rod being used to drive the plunger of the syringe and drive the plunger to move, and the weighing module of the viscous additive dispensing device being communicatively connected to the dispensing actuator; and a control cabinet, which contains a multi-channel PID controller, the multi-channel PID controller being electrically connected to the temperature-controlled heating unit.

[0011] Furthermore, the temperature control heating unit includes: a heating component embedded in the bottom of the workstation; a metal heat-conducting pipe wrapped around the side wall of the auxiliary agent bottle within the workstation; and a temperature sensor fixed to the outer wall of the metal heat-conducting pipe; wherein the upper surface of the heating component is attached to the bottom of the auxiliary agent bottle.

[0012] Furthermore, the transparency detection module includes a transparent stage and an industrial camera positioned below the transparent stage, with the lens of the industrial camera facing the bottom of the sample vial on the transparent stage.

[0013] Furthermore, the automatic cap-closing mechanism includes: a rotating parallel gripper for gripping and screwing on the bottle cap; a cap-feeding device for temporarily storing the bottle cap and sequentially pushing the bottle caps to a preset clamping position; and a moving device on which a positioning structure and a bottle body clamp are mounted. The moving device is used to move the positioning structure to the preset clamping position to position the pushed-out bottle cap, and the bottle body clamp is used to hold and fix the sample bottle. The moving device is used to move the positioning structure and the bottle body clamp sequentially to directly below the rotating parallel gripper.

[0014] Furthermore, the rotating parallel gripper includes: a vertical moving mechanism, the moving end of which is configured to move up and down in the vertical direction; and a second rotating drive device, which is disposed on the moving end of the vertical moving mechanism. The parallel drive gripper is coaxially connected to the second rotary drive device. The parallel drive gripper includes two claw fingers that can move toward or away from each other to clamp or release the bottle cap.

[0015] Furthermore, the cap supply device includes: a cap storage tube section, which is arranged vertically, and a cap outlet opening extending horizontally through the bottom end of the cap storage tube section; a cap pushing component, which is arranged horizontally at the cap outlet opening; and a driving device, which is drivenly connected to the cap pushing component; wherein, the driving device is used to drive the cap pushing component to reciprocate horizontally to push the bottommost cap of the cap storage tube section to a preset clamping position.

[0016] The technical solutions provided by the embodiments of this application may include the following beneficial effects: In this application, 1) on the one hand, by linking multiple functional stations with a multi-axis robot, the entire process of screening chemical formulations (such as pesticide formulations) can be automated, significantly improving screening efficiency; on the other hand, the collaborative operation of each functional station can ensure the accuracy of material proportioning, thereby improving the success rate of chemical formulation development. 2) The powder feeding device of this application uses a shaking feeding method with alternating forward and reverse rotation of the screw, avoiding the material compaction and jamming problems that are prone to occur in traditional screw pushing, ensuring that the powder is always in a loose and controllable state. 3) The viscous additive dispensing device of this application solves the differentiated heating requirements of additives with different viscosities through a multi-station independent temperature control design, avoiding the problem of the same temperature caused by traditional single-channel heating. 4) The automatic capping mechanism of this application integrates cap supply, positioning, and screwing functions, realizing fully automated operation of sample bottle opening and sealing, avoiding the risk of bottle mouth contamination or bottle slippage that may occur during manual capping. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings: Figure 1 A schematic diagram of the device structure of the automated screening system for chemical reagent formulations provided in this application; Figure 2 for Figure 1 The diagram shows the structure of the automated screening system for chemical formulations along the AA direction. Figure 3 for Figure 1 The diagram shows the structure of the automated screening system for chemical formulations along the BB direction. Figure 4 for Figure 1 The diagram shows the structure of the powder feeding device in the automated screening system for chemical reagent formulations. Figure 5 for Figure 4 The diagram shows a side view of the powder feeding device. Figure 6 for Figure 4 The diagram shown is a structural schematic of the powder feeding device along the CC direction. Figure 7 for Figure 4 The diagram shows the structure of the hopper of the powder feeding device. Figure 8 for Figure 7 The diagram shows the structure of the silo along the DD direction; Figure 9 for Figure 4 A schematic diagram of the structure of the first rotary drive device of the powder feeding device shown; Figure 10 for Figure 9 A schematic diagram of the first rotary drive device along the EE direction; Figure 11 for Figure 1 The diagram shows the structure of the viscous additive dispensing device in the automated screening system for chemical formulations. Figure 12 for Figure 11 The diagram shows a top view of the viscous additive dispensing device. Figure 13 for Figure 11 The diagram shows a side view of the viscous additive dispensing device. Figure 14 for Figure 11 The diagram shows the structure of the heating module of the viscous additive dispensing device. Figure 15 for Figure 14 The diagram shows the structure of the heating module along the FF direction; Figure 16 for Figure 11 The diagram shows the structural schematic of the dispensing actuator of the viscous additive dispensing device; Figure 17 for Figure 1 The diagram shows the structure of the automatic cap-closing mechanism in the automated screening system for chemical formulations. Figure 18 for Figure 17 The diagram shows a top view of the automatic lid-closing mechanism. Figure 19 for Figure 17 The diagram shows the structure of the automatic lid closing mechanism along the GG direction. Figure 20 for Figure 17 The diagram shows the structure of the automatic lid closing mechanism along the HH direction; Figure 21 for Figure 17 The diagram shows the structure of the automatic lid-closing mechanism along direction II.

[0018] Among them, 100-Automatic screening system for chemical formulations; 101-Working platform; 102-Multi-axis robot; 200-Weighing module; 10-Feeding and recycling rack; 20-Solvent and raw material dispensing device; 30-Powder feeding device; 31-Hopper; 311-Hopper discharge channel; 32-Screw; 321-Spiral groove; 33-First rotary drive device; 331-Drive motor; 3311-Drive shaft; 332-Sliding coupling; 3321-Inner sleeve; 3322-Outer sleeve; 34-Inclined guide cylinder; 35-Support bracket; 351-Support chute; 352-Flanged slider; 36-Ventilation structure; 37-Slide cylinder; 40-Heating and oscillating reaction device; 41-Heating station; 42-Oscillating station; 50-Viscosity additive dispensing device. ; 51-Transparency detection module; 511-Transparent stage; 512-Industrial camera; 52-Heating module; 521-Base; 522-Heat insulation base; 53-Dispensing actuator; 541-Heating component; 542-Metal heat pipe; 543-Temperature sensor; 60-Automatic cap closing mechanism; 61-Rotating parallel gripper; 611-Vertical moving mechanism; 612-Second rotary drive device; 613-Parallel drive gripper; 62-Cap supply device; 621-Cap storage tube; 622-Cap pushing component; 623-Drive device; 63-Moving device; 631-Positioning structure; 632-Bottle clamp; 6311-Cap receiving platform; 6312-Arc-shaped limiting baffle; 6321-Clamping drive device; 300-Particle size analyzer; 400-Shearing device. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0020] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0022] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0023] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linked," and "socketing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] Figures 1 to 3 The structure of an automated screening system 100 for chemical formulations according to this application is shown. Figures 1 to 3As shown, the automated screening system 100 for chemical reagent formulations includes a housing (not shown in the figure). Inside the housing, there is a working platform 101 and a main control system. The working platform 101 is equipped with a multi-axis robot 102 and multiple functional workstations. The multiple functional workstations are arranged around the multi-axis robot 102 inside the housing. The main control system is communicatively connected to the multi-axis robot 102 and each functional workstation, and is used to control the multi-axis robot 102 to transfer sample bottles and coordinate the operation of each functional workstation. Multiple functional stations include: a material feeding and recycling rack 10 for placing sample bottles (sample bottles include those to be used and those capped after preparation); a solvent and active ingredient dispensing device 20 for sequentially injecting solvent and liquid active ingredient into the sample bottles, the solvent and active ingredient dispensing device 20 being equipped with a weighing module 200 (e.g., a precision weighing balance); a powder feeding device 30 for dispensing powdered materials into the sample bottles, the powder feeding device 30 being equipped with a weighing module 200; and a heating and shaking reaction device 40, which includes a heating station 41 and a shaking station 42. Station 42, heating station 41 is used to heat the sample bottle containing the mixture, and oscillation station 42 is used to oscillate the sample bottle containing the mixture; viscous additive dispensing device 50 is used to dispense one or more additives into the sample bottle, and the viscous additive dispensing device 50 also includes a weighing module 200 and a transparency detection module 51, the transparency detection module 51 is used to detect the transparency of the contents of the sample bottle; automatic capping mechanism 60 is used to store multiple bottle caps, and the automatic capping mechanism 60 is used to tighten the bottle caps on the bottle mouth of the sample bottle.

[0025] This application uses pesticide formulation screening as a specific application scenario. The automated chemical formulation screening system 100 according to an embodiment of this application is used in specific situations as follows: 1) After the system is started, the main control system (which may be a PLC controller) issues control commands to drive the multi-axis robot 102 to take out empty sample bottles from the feeding and recycling rack 10. The empty sample bottles are first sent to the station of the solvent and raw material dispensing device 20. According to the formula instructions, the main control system controls the sequential injection of different types of solvents and liquid raw materials into the bottles by weight using a peristaltic pump or injection pump (i.e., the solvent and raw material dispensing device 20 is equipped with a weighing module 200), and injects the corresponding materials in sequence according to the formula.

[0026] 2) Next, the powder feeding device 30 is used to add powder. This powder feeding device 30 uses a "forward and reverse shaking" principle (described below) to rotate cyclically, loosening and breaking up the bridging of the powder, allowing it to fall through the narrow gap (discharge port). The weighing module 200 configured on it provides real-time weight feedback, and the screw stops rotating after the target is reached.

[0027] 3) The sample is then fed into the heating station 41 and the oscillation station 42 of the heating and oscillation reaction apparatus 40 for reaction processing. The oscillation station 42 can be used multiple times as needed. Specifically: After adding the solid and liquid raw materials, the main control system controls the multi-axis robot 102 to place the sample bottle in the heating station 41 and sends a heating start signal to the heating station 41 to initiate the prescribed heating. Subsequently, the main control system controls the multi-axis robot 102 to transfer the sample to the oscillation station 42 and sends an oscillation control signal to the oscillation station 42 to promote the dissolution reaction of the materials through high-speed oscillation.

[0028] 4) After completion, move the bottle to the viscous additive dispensing device 50 to add additives. Following the aforementioned operating procedure, the system automatically adds one or more additives to the bottle, and the oscillation station 42 can be used again as needed. Then, the transparency test is completed (details below). The vision processing software running on the main control system analyzes the grayscale changes in the photo, identifies non-transparent areas caused by undissolved particles, flocculent matter, or turbidity, and outputs the transparency score or non-compliance judgment for the formula.

[0029] 5) For samples in the same sample vial, an automatic pipette is mounted on the end effector of the multi-axis robot 102. The multi-axis robot 102 drives the automatic pipette to move above the sample vial, controls the pipette tip to extend below the liquid surface to draw a quantitative amount of liquid, and then the multi-axis robot 102 drives the automatic pipette to move to the inlet of the particle size analyzer 300, controls the pipette to inject the liquid into the particle size analyzer 300, and the particle size analyzer 300 automatically analyzes and provides a particle size distribution report.

[0030] 6) Finally, the bottle is sent to the automatic capping mechanism 60 to tighten the cap. After the cap is closed, the bottle is scanned and the QR code on the bottle is read. The finished product is sent back to the recycling rack. The system then creates a unique formula file for the bottle and automatically archives all the data.

[0031] With the above setup, on the one hand, by linking multiple functional stations with the multi-axis robot 102, the entire process of screening chemical formulations (such as pesticide formulations) can be automated, greatly improving screening efficiency; on the other hand, the collaborative operation of each functional station can ensure the accuracy of material proportions, thereby improving the success rate of chemical formulation (such as pesticide formulation) development.

[0032] It should be added that, such as Figure 1 and Figure 2As shown, the solvent and active ingredient dispensing device 20 may include a multi-way selector valve, various solvent storage tanks connected to the inlet of the multi-way selector valve, and a dispensing needle connected to the outlet of the multi-way selector valve. A weighing module 200 is positioned directly below the dispensing needle, with sample vials placed on its support tray. During operation, the main control system sends a channel switching signal to the multi-way selector valve according to the formulation instructions, connecting the target solvent storage tank to the dispensing needle. Simultaneously, a peristaltic pump connected to that channel is activated to pump solvent into the sample vials. The weighing module 200 collects real-time weight change data of the sample vials and feeds it back to the main control system. When the weight reaches the formulation set value, the main control system controls the peristaltic pump to stop running and then switches to the next channel for dispensing the liquid active ingredient. Specifically, the main control system calculates the preset weight of the target solvent based on the formula ratio, controls the peristaltic pump connected to the solvent storage tank to start, and reads the feedback value of the weighing module 200 in real time. When the weighing value reaches 95% of the preset weight, the main control system controls the peristaltic pump to reduce its speed to replenish the liquid in small amounts until the deviation between the weighing value and the preset weight is within ±0.1mg. Then, the system controls the peristaltic pump to stop and switches to control the peristaltic pump corresponding to the next liquid raw material to start, thereby achieving the sequential and accurate addition of multi-component materials.

[0033] The heating and oscillating reaction apparatus 40 in this application includes a heating station 41 and an oscillating station 42. The heating station 41 can be equipped with a conventional heating device, and the oscillating station 42 can be equipped with a conventional oscillator used for oscillation in experiments.

[0034] Please refer to Figures 4 to 6 Furthermore, the powder feeding device 30 may include: a hopper 31 (combined with...) Figure 7 and Figure 8 As shown), a cavity for storing powdered materials is formed inside the hopper 31. The bottom of the hopper 31 has an inwardly narrowing discharge channel 311, which faces the weighing module 200 of the powder feeding device 30. The weighing module 200 of the powder feeding device 30 is used to determine the weight of the powdered materials. A screw 32 is located inside the hopper 31, and its bottom has a spiral groove 321, which is accommodated within the discharge channel 311. An annular gap is formed between the inner wall of 311 and the outer peripheral wall of the screw 32; a first rotary drive device 33 is connected to the screw 32 to drive the screw 32 to rotate. The first rotary drive device 33 is configured to rotate in an alternating forward and reverse rotation mode to drive the screw 32 to rotate in alternating forward and reverse rotation around the axis in the hopper 31; wherein, an inclined guide cylinder 34 is provided on the outer wall of the hopper 31, and the inclined guide cylinder 34 extends downward to the top of the spiral groove 321 and communicates with the cavity of the hopper 31.

[0035] In practical use, according to the powder feeding device 30 of this application embodiment, the operator pre-fills the powder material into the hopper 31 cavity through the inclined guide cylinder 34. Some of the material will slide along the inclined guide cylinder 34 to the top of the spiral groove 321. According to the formula instructions, the gripper of the multi-axis robot 102 is dispatched to grab the hopper 31 containing the specific powder material and move it below the first rotary drive device 33. After the equipment is started, the first rotary drive device 33 is connected to the screw 32 and drives the screw 32 to rotate in an alternating forward and reverse mode. The spiral groove 321 at the bottom of the screw 32 then swings back and forth in the hopper discharge channel 311, generating continuous disturbance to the powder material in the hopper discharge channel 311, breaking the agglomeration structure between particles, and causing the material to fall loosely from the annular gap and fall into the weighing module 200 below to complete the weight measurement. After a single feeding is completed, the screw 32 stops rotating, and the annular gap returns to a static stop state to prevent the material from falling continuously.

[0036] With the above-described configuration, the powder feeding device 30 according to this embodiment of the application uses a shaking feeding method with alternating forward and reverse rotation of the screw 32, avoiding the material compaction and jamming problems that are prone to occur with traditional screw 32 pushing, ensuring that the powder is always in a loose and controllable state. The inclined guide cylinder 34 can continuously replenish materials to the discharge channel 311 of the hopper, avoiding material bridging in the hopper 31 that could lead to material interruption. The annular gap design with static flow control and dynamic shaking not only ensures a sealing and material-stopping effect when not in operation, but also enables precise micro-feeding during rotation, which, together with the external weighing module 200, can meet the requirements for high-precision measurement.

[0037] In one embodiment of this application, the "alternating forward and reverse" mode of the first rotary drive device 33 is set to rotate forward 45° and then immediately reverse 45°, repeating this cycle. The first rotary drive device 33 transmits this alternating angular displacement to the screw 32. The screw 32 oscillates at a small angle within the hopper discharge channel 311. This action does not attempt to directly push the powder out, but rather to continuously and microscopically shear and disturb the powder accumulation above the hopper discharge channel 311. This disturbance systematically disrupts the temporarily stable "force chains" or "arches" formed between powder particles due to friction, mechanical interlocking, or electrostatics. The powder thus remains in a gravity-dominated loose state and falls in small doses from the end of the spiral groove 321 and the narrow opening of the hopper discharge channel 311 into the sample vial below.

[0038] In another preferred embodiment, the forward and reverse rotation control logic of the screw 32 can be adjusted to rotate forward one revolution (360°) and then reverse one revolution (360°), repeating this process. This mode provides a wider range of agitation for the material in the hopper 31, resulting in a stronger loosening effect, and is especially suitable for powder materials that are more prone to agglomeration but have slightly larger particles.

[0039] In this application, the sample vial is placed on the weighing module 200. The weighing module 200 weighs the powder falling into the container in real time and feeds the data back to the control system. When the mass count value reaches the target formulation value (e.g., accurate to 0.1 mg), the first rotary drive device 33 immediately stops rotating, and the feeding process ends. The alternating forward and reverse rotation loosening effect ensures that the inertia of the powder falling is basically consistent and controllable each time the first rotary drive device 33 starts and stops, thereby ensuring the final feeding accuracy.

[0040] Furthermore, the angle of inclination of the extending direction of the inclined guide cylinder 34 relative to the vertical direction can be from 20° to 40°. Preferably, the angle of inclination of the extending direction of the inclined guide cylinder 34 relative to the vertical direction is 30°.

[0041] In this embodiment, during actual use, the operator can select an inclined guide cylinder 34 with a corresponding tilt angle and install it on the outer wall of the hopper 31 according to the flowability characteristics of the powder material to be measured. After the material is added to the cavity of the hopper 31, it will naturally slide up the slope of the inclined guide cylinder 34 to the top of the spiral groove 321 without the need for additional vibration or pushing devices to assist in feeding. When the screw 32 rotates alternately in both forward and reverse directions to shake and feed the material, the inclined guide cylinder 34 continuously replenishes the material above the spiral groove 321, ensuring that there is always enough loose material in the hopper discharge channel 311 to participate in the shaking process.

[0042] Through the above-described design, this tilt angle avoids the problems of excessively small angles leading to slow material descent and easy bridging within the cylinder, while also preventing excessively large angles from causing excessive impact force and compaction above the spiral groove 321. The adaptable angle range can meet the feeding needs of powder materials with varying flowability, eliminating the need for customized guide structures for each material, thus reducing equipment adaptation costs and changeover difficulties. Simultaneously, gravity-based natural feeding reduces mechanical disturbance to the material, preventing additional dust generation and improving the cleanliness and safety of the operation process.

[0043] Please refer to Figure 9 and Figure 10 Furthermore, the first rotary drive device 33 includes: a drive motor 331, on which a drive shaft 3311 is provided, the axis of the drive shaft 3311 being arranged in the vertical direction; a sliding coupling 332, which is provided at the drive end of the drive shaft 3311, the end of the screw 32 being coaxial with and connected to the drive shaft 3311 via the sliding coupling 332; wherein, the sliding coupling 332 includes an inner sleeve 3321 and an outer sleeve 3322 that are axially slidable relative to each other, the inner sleeve 3321 being fixedly connected to the drive shaft 3311, the outer sleeve 3322 being slidably connected to the end of the screw 32, and the inner diameter of the outer sleeve 3322 being larger than the outer diameter of the inner sleeve 3321 to form a clearance fit.

[0044] In this embodiment, during actual use, the operator or drive mechanism first aligns the end of the screw 32 with the outer sleeve 3322 of the sliding coupling 332, and gently pushes in the outer sleeve 3322 to complete the initial connection, without the need for additional positioning calibration. After starting the equipment, the drive motor 331 drives the drive shaft 3311 to rotate, and the inner sleeve 3321 rotates synchronously with the drive shaft 3311. The torque is transmitted to the screw 32 through the clearance fit of the outer sleeve 3322, realizing the alternating forward and reverse rotation of the screw 32. When it is necessary to disassemble the screw 32 for cleaning or replacement, simply pull the outer sleeve 3322 outward to disengage the end of the screw 32 from the outer sleeve 3322, making the operation convenient.

[0045] Through the above-described configuration, the first rotary drive device 33, with its clearance fit design of the sliding sleeve coupling 332, can reliably transmit torque to drive the screw 32 to complete forward and reverse rotation, while also compensating for axial installation errors between the screw 32 and the drive shaft 3311, thus avoiding abnormal noises or component wear caused by coaxiality deviations. The detachable sliding connection significantly simplifies the disassembly and assembly process of the outer sleeve 3322, reducing maintenance difficulty and time costs. Furthermore, this structure eliminates the need for complex locking or positioning mechanisms, relying solely on the structural characteristics of the sliding sleeve coupling 332 to achieve stable transmission, reducing potential equipment failure points and improving overall operational reliability.

[0046] The first rotary drive device 33 may also include a slide cylinder 37 (configured as the drive mechanism described above), the actuating end of which is connected to the outer sleeve 3322 and is used to drive the outer sleeve 3322 to reciprocate along the axial direction.

[0047] In this embodiment, during actual use, the control system sets the reciprocating stroke and frequency of the slide cylinder 37. After the equipment is started, the slide cylinder 37 drives the outer sleeve 3322 to move axially back and forth, thereby making the connection of the outer sleeve 3322 more automated. The connection and disassembly of the outer sleeve 3322 and the screw 32 can be completed without manual intervention. In this way, the automated axial movement function greatly simplifies the disassembly and assembly process of the outer sleeve 3322. Operators do not need to manually operate the sliding sleeve coupling 332, reducing maintenance difficulty and time costs.

[0048] Please refer to Figure 6 , Figure 9 and Figure 10 Furthermore, it may also include a support bracket 35, the bottom of which is located on the working platform 101, and the top of which is provided with a transverse support groove 351. The top of the hopper 31 is formed with a flange slider 352. The hopper 31 is configured to be able to slide in the support groove 351 by means of the flange slider 352 under the action of the gripper of the multi-axis robot 102.

[0049] In this embodiment, during specific use, the gripper of the multi-axis robot 102 grasps the hopper 31 and moves the flange slider 352 (such as...) on the top of the hopper 31... Figure 7 and Figure 8 (As shown) Align the hopper 31 with the support groove 351 on the top of the support bracket 35, and then control the gripper of the multi-axis robot 102 to push the hopper 31, so that the flange slider 352 slides smoothly along the support groove 351, completing the installation of the hopper 31. When it is necessary to replace the hopper 31 with a different specification, simply pull the hopper 31 with the gripper of the multi-axis robot 102 to remove the hopper 31 from the support groove 351, and then install the new hopper 31 in the same sliding manner. The whole process does not require manual handling, and the operation is convenient and efficient.

[0050] With the above configuration, the sliding engagement between the flange slider 352 and the support groove 351, combined with the control of the slide cylinder 37, enables the rapid disassembly and replacement of the hopper 31. Simultaneously, the gripper of the multi-axis robot 102 facilitates the handling and installation of the hopper 31, reducing the labor intensity of operators.

[0051] Please return Figure 4 and Figure 6 Furthermore, it may also include a ventilation structure 36 located below the material discharge channel 311 of the hopper. The ventilation structure 36 includes a shell with an exhaust slot formed on the shell. The exhaust slot is constructed as a three-sided exhaust port connected to each other. The exhaust slot forms an arched ventilation port that gradually expands upward. The arched ventilation port is connected to an external negative pressure exhaust pipe to form an enveloping negative pressure airflow around the filling point.

[0052] In this embodiment, before starting the feeding process, the arched vent of the ventilation structure 36 is connected to the external negative pressure exhaust pipe, and the negative pressure exhaust system is turned on. When the powdered material falls from the discharge channel 311 of the hopper to the filling point, the encircling negative pressure airflow formed by the three exhaust vents will quickly capture and remove the dust, volatile gases, etc., raised around the filling point. After feeding is completed, the negative pressure exhaust system can be turned off for a period of time to ensure that the residual dust around the filling point is thoroughly cleaned.

[0053] Please refer to Figures 11 to 13 Furthermore, the viscous additive dispensing device 50 may include: a heating module 52 (combined with...) Figure 14 and Figure 15 As shown), it includes a base 521 and a heat-insulating base 522 disposed on the base 521. The heat-insulating base 522 has multiple stations for placing auxiliary agent bottles, and each station has an independent temperature-controlled heating unit; the dispensing actuator 53 (please refer to...) Figure 16As shown, it includes a three-axis linear module and grippers and electric push rods mounted on the three-axis linear module. Specifically, the three-axis linear module is fixedly mounted on the work platform 101, and its X-axis, Y-axis and Z-axis slides are driven by servo motors to achieve three-dimensional spatial positioning. The grippers and electric push rods are fixedly mounted side by side on the moving end of the Z-axis slide. The grippers are used to hold the syringe, and the electric push rods are used to drive the plunger of the syringe and drive the plunger to move. The weighing module 200 on the viscous additive dispensing device 50 is communicatively connected to the dispensing execution mechanism 53. The control cabinet is fixedly mounted in the electrical cavity of the equipment housing. It is equipped with a multi-channel PID controller, which is electrically connected to the temperature control heating unit. The control cabinet is electrically and communicatively connected to the various execution components and sensors on the work platform 101 through shielded cables.

[0054] In practical use, the viscous additive dispensing device 50 according to the embodiments of this application first places bottles of different types of viscous liquid additives into the corresponding workstations of the heating module 52. The multi-channel PID controller in the control cabinet sets independent temperature parameters for the temperature control heating units of each workstation. After the additive reaches the preset temperature, the main control system drives the three-axis linear module to move the gripper from the syringe tray to pick up the syringe and move it to the target additive bottle workstation to extract a quantitative amount of additive (e.g., 5 mL). The syringe is then moved to the sample bottle on the weighing module 200, where an electric push rod pushes the plunger to complete precise dispensing. When the actual injected volume approaches the set value (e.g., 0.2 grams away from the target), the push rod speed decreases, switching to pulsed micro-push until the weight reaches the allowable tolerance range of the formula (≤±1 mg), at which point the push rod immediately stops. During the process, the weighing module 200 feeds back the weight data to the main control system in real time for dynamic calibration.

[0055] Furthermore, the multi-channel PID controller in the control cabinet can be a PID closed-loop controller. It receives the target temperature value set for each station (e.g., station 1 - thickener A - 70℃; station 2 - surfactant B - 40℃; station 3 - diluent C - 25℃ without heating, etc.) and performs independent "heating-stop" logic control based on sensor feedback.

[0056] Through the above-described configuration, the viscous additive dispensing device 50 of this embodiment solves the differentiated heating requirements of additives with different viscosities through a multi-station independent temperature control design, avoiding the problem of uniform temperature caused by traditional single-channel heating. The dispensing actuator 53, combined with the weighing feedback of the weighing module 200 and the precision transmission of the electric push rod, achieves high-precision quantitative addition of trace additives, effectively reducing human operation errors.

[0057] Please refer to Figure 14 and Figure 15Furthermore, the temperature control heating unit includes: a heating component 541, which is embedded in the bottom of the workstation; a metal heat-conducting pipe 542, which is wrapped around the side wall of the auxiliary agent bottle in the workstation; and a temperature sensor 543, which is fixed to the outer wall of the metal heat-conducting pipe 542; wherein the upper surface of the heating component 541 is attached to the bottom of the auxiliary agent bottle.

[0058] In this embodiment, during specific use, after the auxiliary agent bottle is placed in the workstation, its bottom naturally fits against the heating element 541, and its sidewalls are surrounded by metal heat-conducting pipes 542. After setting the target temperature via the control cabinet, the heating element 541 heats the auxiliary agent bottle from the bottom, while the metal heat-conducting pipes 542 simultaneously conduct heat to the sidewalls of the bottle, achieving three-dimensional heating of the auxiliary agent bottle. The temperature sensor 543 monitors the outer wall temperature of the metal heat-conducting pipes 542 in real time and feeds the data back to the multi-channel PID controller, dynamically adjusting the output power of the heating element 541 to stabilize the auxiliary agent temperature within the set range.

[0059] Through the above configuration, the temperature-controlled heating unit achieves uniform heating of the additive bottle by combining the bottom heating component 541 with the side wall metal heat-conducting pipe 542, avoiding the problems of local overheating or uneven heating caused by traditional single heating methods. The temperature sensor 543 is directly fixed to the outer wall of the metal heat-conducting pipe 542, which can quickly respond to temperature changes. Together with the multi-channel PID controller, it forms a closed-loop control, improving the accuracy and stability of temperature control.

[0060] Furthermore, the metal heat pipe 542 can be an aluminum pipe, a copper pipe, or a stainless steel pipe, and the inner wall of the metal heat pipe 542 can be provided with thermal grease.

[0061] In this embodiment, during specific use, a suitable metal heat pipe 542 is selected based on the characteristics of the additive and the usage environment. For example, an aluminum pipe is used in conventional scenarios, while a stainless steel pipe is used in corrosive environments. During assembly, thermally conductive silicone grease is evenly applied to the inner wall of the metal heat pipe 542. After placing the additive bottle inside, the bottle is gently rotated to ensure even distribution of the silicone grease. Then, the temperature sensor 543 is tightly attached to a preset position on the outer wall of the metal heat pipe 542 using the thermally conductive connecting component.

[0062] By employing the above-described configuration and selecting metal heat pipes 542 made of different materials, the system meets the diverse operational requirements and enhances its environmental adaptability. The application of thermal grease to the inner wall improves the heat transfer efficiency between the metal heat pipe 542 and the additive bottle, preventing air gaps from affecting heat transfer performance.

[0063] Furthermore, the heat insulation base 522 can be made of wood, resin, epoxy board, aerogel felt or mica board, with multiple workstations arranged in a matrix on the heat insulation base 522.

[0064] In this embodiment, the appropriate material for the heat-insulating base 522 is selected based on the usage environment and cost budget. For example, epoxy board can be used in a conventional laboratory environment, while aerogel felt is used when higher insulation performance is required. Each workstation is installed on the heat-insulating base 522 in a preset matrix layout (e.g., 5x5, totaling 25 square workstations), ensuring adequate operating clearance between adjacent workstations to facilitate the handling and maintenance of the auxiliary agent bottles.

[0065] Through the above-mentioned setup, by selecting heat insulation bases 522 made of different materials, the heat insulation requirements in different scenarios can be met, effectively blocking heat transfer between workstations and preventing temperature control accuracy from being affected by mutual temperature interference between adjacent workstations. The matrix-style workstation layout improves space utilization, making the overall layout compact and orderly, while also facilitating centralized management and operation of multiple workstations by operators, thereby improving work efficiency.

[0066] Please continue to refer to Figures 11 to 13 Furthermore, the transparency detection module 51 includes a transparent stage 511 and an industrial camera 512 disposed below the transparent stage 511, with the lens of the industrial camera 512 facing the bottom of the sample bottle on the transparent stage 511.

[0067] In this embodiment, during specific use, the filled sample vial is placed on a transparent stage 511 (which can be a transparent glass stage), ensuring that the center of the bottom of the vial is aligned with the lens axis of the industrial camera 512. After starting the detection program, the industrial camera 512 acquires images of the bottom area of ​​the vial from below, observing whether there are undissolved particles or stratification within the solution using transmitted light. Specifically, after all additives in the formulation have been added and dissolved by shaking, the robot places the sample vial at the vision inspection station. The stage at this station is made of transparent glass, with a high-resolution industrial camera 512 pointing upwards directly below it.

[0068] With the above setup, the uniformity of the solution can be directly reflected through bottom transmission imaging, avoiding the problems of glare from the bottle wall or interference from air bubbles when observing from the side. The combination of the transparent stage 511 and the industrial camera 512 enables non-contact detection of the formulation solution, ensuring the safety of the detection process and improving the accuracy of uniformity judgment, providing a reliable basis for subsequent formulation quality control.

[0069] In this application, vision processing software analyzes grayscale changes in photographs. In one specific implementation: the vision processing software converts the bottle bottom image captured by industrial camera 512 into a grayscale image and calculates the standard deviation of the grayscale value of each pixel in the image. When the standard deviation of the grayscale value is greater than a preset threshold, it is determined that there is a grayscale abrupt change region in the image, that is, it identifies non-transparent areas caused by undissolved particles, flocculent matter, or turbidity. The software calculates the proportion P of the non-transparent area to the total area of ​​the bottle bottom. If P is greater than a preset proportion threshold, it outputs a judgment that the formula is unqualified; otherwise, it outputs a transparency score for the formula according to a preset formula, such as: Score=100×(1−P).

[0070] Furthermore, the transparency detection module 51 may also include a light source that is tilted and directed upwards toward the sample vial.

[0071] In this embodiment, the light source is either obliquely incident from above the bottle or provided by a telecentric lens coaxial with the camera. In practical use, the appropriate optical configuration is selected based on the transparency characteristics of the formulation solution: for highly transparent solutions, an obliquely upward light source is used to enhance diffuse reflection imaging of suspended particles; for darker or more viscous solutions, a coaxial telecentric lens is switched to achieve clear capture of the layered interfaces through parallel light penetration. Before detection, the light source angle or lens focal length must be adjusted to ensure there is no glare interference in the detection area at the bottom of the bottle.

[0072] The above setup enhances detection adaptability through a dual-mode optical system. The tilted light source effectively identifies minute suspended particles, while the telecentric lens avoids the influence of solution color on transmitted light intensity. The combined use of these two solutions can cover the detection needs of formulations with different physical properties. The switchable design of the optical components simplifies the detection process under complex conditions while ensuring stable image quality, providing a more comprehensive visual basis for uniformity assessment.

[0073] Please refer to Figures 17 to 21 Furthermore, the automatic cap-closing mechanism 60 may include: a rotating parallel gripper 61 for gripping and screwing on the bottle cap; a cap-feeding device 62 for temporarily storing the bottle cap and sequentially pushing the bottle cap to a preset clamping position; and a moving device 63 on which a positioning structure 631 and a bottle body clamp 632 are mounted. The moving device 63 is used to move the positioning structure 631 to the preset clamping position to position the pushed-out bottle cap, and the bottle body clamp 632 is used to clamp and fix the sample bottle. The moving device 63 is used to move the positioning structure 631 and the bottle body clamp 632 sequentially to directly below the rotating parallel gripper 61.

[0074] In practical use, the automatic capping mechanism 60 according to the embodiments of this application, after the capping process is started, the cap supply device 62 pushes a single cap to a preset clamping position, and the positioning structure 631 centers and calibrates the cap. The moving device 63 moves the positioning structure 631 to directly below the rotating parallel gripper 61. The gripper descends, clamps the cap, and then lifts it up. Subsequently, the moving device 63 switches to the bottle body clamping position 632, moving the clamp holding the sample bottle to below the gripper. The gripper descends to align the cap with the bottle mouth, and after rotating, it is released and reset.

[0075] Through the above-described configuration, the automatic capping mechanism 60 according to this embodiment integrates cap feeding, positioning, and screwing functions, achieving fully automated operation of sample bottle opening and sealing, avoiding the risk of bottle mouth contamination or bottle slippage that may occur during manual capping. Furthermore, the coordinated design of the positioning structure 631 and the moving device 63 ensures precise alignment of the cap and bottle mouth, effectively reducing the problem of misalignment and jamming during screwing. The bidirectional screwing capability of the rotating parallel gripper 61 allows the same mechanism to complete both opening and closing tasks, simplifying the equipment structure and improving space utilization, making it particularly suitable for experimental scenarios requiring frequent bottle sealing operations.

[0076] Please continue to refer to Figure 21 Furthermore, the rotating parallel gripper 61 includes: a vertical moving mechanism 611, the moving end of which is configured to move up and down in the vertical direction; a second rotating drive device 612, which is disposed on the moving end of the vertical moving mechanism 611; and a parallel drive gripper 613, which is coaxially connected to the second rotating drive device 612, the parallel drive gripper 613 including two claw fingers that can move towards or away from each other to clamp or release the bottle cap.

[0077] In this embodiment, during specific use, after the bottle cap is pushed to the preset clamping position, the moving device 63 moves the preset clamping position to below the rotating parallel gripper 61. The vertical moving mechanism 611 drives the rotating parallel gripper 61 to move vertically. The two claws of the parallel driving gripper 613 move back to front and open under air pressure. After aligning with the outer circumference of the bottle cap, they move towards each other to clamp it. During the screwing operation, the second rotating driving device 612 drives the entire parallel driving gripper 613 to rotate coaxially. At the same time, in conjunction with the vertical moving mechanism 611, the tightening or loosening of the bottle cap is completed by rotating in the forward or reverse direction. After the operation is completed, the claws move back to front again to release the bottle cap.

[0078] Through the above configuration, the rotating parallel gripper 61, coaxially integrated with the parallel drive gripper 613 via the second rotating drive device 612, achieves mechanical linkage between clamping and twisting actions, avoiding coaxiality deviations that may occur with multi-axis drives. The pneumatic drive provides flexible clamping characteristics, adapting to the operation requirements of bottle caps of different diameters.

[0079] Please refer to Figures 18 to 20 Furthermore, the cap supply device 62 may include: a cap storage tube 621, which is arranged vertically, and a cap outlet opening extending horizontally through the bottom end of the cap storage tube 621; a cap pusher 622, which is arranged horizontally at the cap outlet opening; and a drive device 623, which is drivenly connected to the cap pusher 622; wherein the drive device 623 is used to drive the cap pusher 622 to reciprocate horizontally, so as to push the bottommost cap of the cap storage tube 621 to a preset clamping position.

[0080] In this embodiment, during actual use, the operator first inserts stacked bottle caps from the top of the cap storage tube 621. The bottle caps fall sequentially to the bottom of the tube under their own weight, with the edge of the bottommost cap aligned with the cap outlet opening. When the device is started, the drive unit 623 moves the cap-pushing component 622 horizontally towards the cap outlet opening. The front end of the pusher 622 contacts the bottommost cap and applies a pushing force, pushing it horizontally to a preset clamping position. After pushing is complete, the pusher 622 resets under the action of the drive unit 623, and the remaining bottle caps in the cap storage tube 621 fall to fill the gap, awaiting the next pushing cycle.

[0081] Through the above-described configuration, the cap supply device 62 achieves orderly stacking and automatic repositioning of bottle caps via the vertical arrangement of the cap storage tube 621. Combined with the horizontal reciprocating motion of the cap pushing component 622, it can continuously and stably push bottle caps one by one to the designated workstation, avoiding the problems of cap jamming or stacking in traditional cap supply methods. The rigid connection between the drive device 623 and the cap pushing component 622 ensures precise and controllable pushing stroke. The horizontal through-hole design of the cap outlet ensures that the bottle cap pushing direction is consistent with the positioning reference of the clamping station, improving the alignment accuracy of subsequent clamping operations. Compared to the vibratory feeder cap supply structure, this cap supply device 62 eliminates the need for a complex orientation and screening mechanism, resulting in a more compact structure and greater adaptability to bottle cap shapes. It is particularly suitable for the supply needs of small batches and multiple specifications of bottle caps in laboratory settings.

[0082] Furthermore, the cap-pushing component 622 may be a flat plate structure (e.g., a cap-pushing plate), and the cap-pushing component 622 is fixedly connected to the piston rod of the driving device 623 (e.g., a driving cylinder), and in the initial state, the cap-pushing component 622 is located at the bottom of the bottle cap inside the cap storage tube 621.

[0083] In this embodiment, during actual use, the cap-pushing component 622 is initially positioned at the bottom of the bottle cap inside the cap storage tube 621. When the drive cylinder receives the cap supply signal, the piston rod drives the cap-pushing component 622 to move horizontally towards the preset clamping position, smoothly pushing the bottom bottle cap to the positioning area. Subsequently, the cap-pushing component 622 returns to the initial position under the action of the cylinder, and the bottle cap continues to fall from above.

[0084] With the above-described configuration, the flat plate structure, through its engagement with the cap outlet at the bottom of the cap storage tube 621, ensures that the cap's posture does not deviate during the pushing process via planar contact. The rigid connection between the cap pushing component 622 and the piston rod guarantees the precise transmission of the pushing action, improving the operational reliability of the cap supply device 62.

[0085] Please refer to Figures 17 to 19 Furthermore, the positioning structure 631 may include a cap receiving platform 6311, the top surface of which is on the same plane as the bottom surface of the cap opening, and the cap receiving platform 6311 may be configured as a preset clamping station; an arc-shaped limiting baffle 6312 is disposed on the cap receiving platform 6311, and the inner peripheral wall of the arc-shaped limiting baffle 6312 is adapted to the shape of the outer peripheral wall of the cap to limit the cap pushed out by the cap pusher.

[0086] In this embodiment, during specific use, after the cap-pushing component 622 pushes out the bottommost cap of the cap storage tube 621, the cap slides horizontally into the cap-receiving platform 6311. Since the top surface of the cap-receiving platform 6311 is flush with the bottom surface of the cap outlet, the cap can smoothly transition to the preset clamping position. At this time, the arc-shaped limiting baffle 6312 wraps around the outer peripheral wall of the cap from the circumference, limiting the horizontal displacement of the cap through shape adaptation, ensuring that the center of the cap is precisely aligned with the clamping axis of the rotating parallel gripper 61. During the clamping process of the gripper descending, the limiting baffle can counteract the lateral thrust generated by the clamping force, preventing the cap from tilting or tipping over.

[0087] Through the above-described design, the positioning structure 631, with its planar connection between the cap receiving platform 6311 and the cap dispensing opening, eliminates the height difference during the cap pushing process, avoiding the cap bouncing problem caused by traditional stepped transitions. The contour-following design of the arc-shaped limiting baffle 6312 can adapt to the outer contour of caps of different sizes, allowing it to be compatible with caps of various diameters without changing the positioning components, thus improving the versatility of the equipment.

[0088] Please continue to refer to Figures 17 to 19 Furthermore, the bottle clamp 632 may include a fixed clamping block and a movable clamping block, which are respectively located on both sides of the sample bottle body; a clamping drive device 6321 (which may be, for example, a clamping cylinder) is connected to the fixed clamping block and the movable clamping block, wherein the fixed clamping block is fixedly connected to the fixed end of the clamping drive device 6321, and the movable clamping block is fixedly connected to the moving end of the clamping drive device 6321, so as to drive the movable clamping block to move towards the fixed clamping block to clamp the sample bottle.

[0089] In this embodiment, during specific use, the multi-axis robot 102 places the sample bottle between the fixed clamping block and the movable clamping block. After receiving the clamping signal, the clamping drive device 6321 drives the movable clamping block to translate towards the fixed clamping block until the inner walls of the two clamping blocks are tightly fitted with the outer periphery of the bottle, forming a rigid clamping of the sample bottle. After the tightening operation is completed, the clamping cylinder drives the movable clamping block to reverse and reset, releasing the sample bottle for subsequent processes.

[0090] With the above configuration, the dual-clamp structure, consisting of a fixed clamp and a movable clamp, provides reference positioning through the fixed clamp and adaptive clamping through the movable clamp, making it compatible with sample bottles of different diameters and improving the equipment's versatility. The linear drive of the clamping cylinder ensures uniform and stable clamping force, effectively preventing circumferential rotation or axial movement of the bottle body during tightening, thus guaranteeing the accuracy of the cap tightening. Compared to manual clamping, this structure reduces manual intervention, lowers operational intensity, and avoids the risk of sample bottle tipping or leakage due to unstable clamping.

[0091] Furthermore, the positioning structure 631 is fixedly connected to the fixed end of the fixed clamping block or clamping drive device 6321.

[0092] In one embodiment, the positioning structure 631 can be rigidly connected to the fixing block according to the sample bottle specifications, and the cap receiving platform 6311 can be fastened to the preset mounting holes on the side of the fixing block by bolt assembly.

[0093] Please return Figure 1 Furthermore, it includes a shearing device 400, which is used to break down long-chain molecules to promote dissolution before subsequent transparency or particle size testing. This shearing device 400 can be a conventional shearing device from existing laboratory equipment, sufficient to break down long-chain molecules to promote dissolution.

[0094] In this application, for certain formulations containing large, long-chain molecules that are difficult to dissolve (such as water-based emulsions), a multi-axis robot 102 can transfer sample vials to the high-speed shearing station of a shearing device 400. The shearing device 400 may include a shearing motor fixed to a work platform 101, a high-speed rotating blade driven by the shearing motor, and a lifting and positioning seat for holding the sample vials. During operation, the multi-axis robot 102 places the sample vial on the lifting and positioning seat. The lifting and positioning seat rises, allowing the high-speed rotating blade to extend below the liquid surface of the sample vial. The shearing motor starts and drives the blade to rotate at a high speed of up to 30,000 rpm, breaking down the long-chain molecules to promote dissolution, before subsequent transparency or particle size detection.

[0095] Furthermore, it may also include a negative pressure ventilation system, which includes exhaust vents located in the solvent raw material dispensing device 20, the powder feeding device 30, and the viscous additive dispensing device 50.

[0096] In this application, the equipment casing is a fully enclosed structure, and the negative pressure ventilation system inside is set with multiple exhaust pipes and exhaust ports. Exhaust ports are set at the key emission points of the solvent raw material dispensing device 20, the powder feeding device 30, and the viscous additive dispensing device 50. The exhaust ports are U-shaped ventilation ports close to the bottle mouth. The exhaust ports will form a powerful and efficient local suction area, capturing and removing the escaped harmful dust and vapors in the first instance, thereby ensuring the cleanliness and safety of the system from the source.

[0097] In this application, the exhaust vents of the negative pressure ventilation system are connected sequentially through exhaust ducts to form a complete exhaust path. The system's built-in sensors collect ventilation status information in real time and transmit the signals to the control unit. The control unit adjusts the operating status of the ventilation system according to a preset program, enabling coordinated operation among the components. Simultaneously, the control unit has a reserved external interface for signal interaction with the equipment's main control system, receiving start / stop commands from the main system and providing feedback on the ventilation system's operating parameters.

[0098] In this application, the equipment casing and main frame can be assembled from sheet metal profiles, and the observation window is made of transparent acrylic sheet, which facilitates external personnel to monitor the internal operating status while ensuring overall airtightness. The interior maintains negative pressure through a main exhaust duct and an axial flow fan to ensure that any toxic volatile substances generated during operation will not leak out.

[0099] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0100] Obviously, those skilled in the art should understand that the various units or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device, or fabricating them separately as individual integrated circuit modules, or fabricating multiple modules or steps into a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0101] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automated screening system for chemical reagent formulations, characterized in that, The device includes a housing, inside which is a working platform and a main control system. The working platform houses a multi-axis robot and multiple functional workstations. These functional workstations are arranged around the multi-axis robot within the housing. The main control system is communicatively connected to the multi-axis robot and each functional workstation, used to control the multi-axis robot to transfer sample vials and coordinate the operation of each functional workstation. The multiple functional workstations include: The feeding and recycling rack is used to hold sample bottles; A solvent and liquid drug dispensing device is used to sequentially inject solvent and liquid drug into the sample bottle, and the solvent and liquid drug dispensing device is equipped with a weighing module. A powder feeding device is used to add powdered materials into the sample bottle, and the powder feeding device is equipped with a weighing module; A heating and oscillating reaction apparatus includes a heating station and an oscillating station, wherein the heating station is used to heat the sample bottle containing the mixture, and the oscillating station is used to oscillate the sample bottle containing the mixture. A viscous additive dispensing device is used to dispense one or more additives into the sample bottle. The viscous additive dispensing device also includes a weighing module and a transparency detection module. The transparency detection module is used to detect the transparency of the contents of the sample bottle. An automatic capping mechanism is provided for storing multiple bottle caps, and the automatic capping mechanism is used to screw the bottle caps onto the mouth of the sample bottle.

2. The automated screening system for chemical reagent formulations according to claim 1, characterized in that, The powder feeding device includes: The hopper has a cavity for storing powdered materials. The bottom of the hopper has an inwardly narrowing discharge channel. The discharge channel is oriented toward the weighing module of the powder feeding device. The weighing module of the powder feeding device is used to determine the weight of the powdered materials. A screw is disposed in the hopper, and a spiral groove is provided at the bottom of the screw. The spiral groove is accommodated in the discharge channel of the hopper, and an annular gap is formed between the inner wall of the discharge channel of the hopper and the outer peripheral wall of the screw. A first rotary drive device is connected to the screw for driving the screw to rotate. The first rotary drive device is configured to rotate in an alternating forward and reverse rotation mode to drive the screw to rotate in alternating forward and reverse rotation around the axis in the hopper. The hopper has an inclined guide cylinder on its outer side wall, which extends downward to the top of the spiral groove and communicates with the cavity of the hopper.

3. The automated screening system for chemical reagent formulations according to claim 2, characterized in that, The inclined guide cylinder has an inclination angle of 20° to 40° relative to the vertical direction.

4. The automated screening system for chemical reagent formulations according to claim 2, characterized in that, The first rotary drive device includes: A drive motor, on which a drive shaft is provided, the axis of which is arranged in a vertical direction; A sliding sleeve coupling is provided at the driving end of the drive shaft, and the end of the screw is coaxial with the drive shaft and connected to it for transmission through the sliding sleeve coupling; The sliding sleeve coupling includes an inner sleeve and an outer sleeve that are axially slidable relative to each other. The inner sleeve is fixedly connected to the drive shaft, and the outer sleeve is slidably connected to the end of the screw. The inner diameter of the outer sleeve is larger than the outer diameter of the inner sleeve to form a clearance fit.

5. The automated screening system for chemical reagent formulations according to claim 1, characterized in that, The viscous additive dispensing device includes: A heating module includes a base and a heat-insulating base disposed on the base. The heat-insulating base has multiple workstations for placing auxiliary agent bottles, and each workstation has an independent temperature-controlled heating unit. The dispensing actuator includes a three-axis linear module and a gripper and an electric push rod disposed on the three-axis linear module. The gripper is used to hold the syringe, and the electric push rod is used to drive the plunger of the syringe and drive the plunger to move. The weighing module of the viscous additive dispensing device is communicatively connected to the dispensing actuator. The control cabinet contains a multi-channel PID controller, which is electrically connected to the temperature control heating unit.

6. The automated screening system for chemical reagent formulations according to claim 5, characterized in that, The temperature-controlled heating unit includes: A heating element is embedded in the bottom of the workstation; A metal heat-conducting pipe is wrapped around the side wall of the auxiliary agent bottle within the workstation; A temperature sensor, which is fixed to the outer wall of the metal heat pipe; The upper surface of the heating element is attached to the bottom of the auxiliary agent bottle.

7. The automated screening system for chemical reagent formulations according to claim 5, characterized in that, The transparency detection module includes a transparent stage and an industrial camera positioned below the transparent stage, with the lens of the industrial camera facing the bottom of the sample bottle on the transparent stage.

8. The automated screening system for chemical reagent formulations according to claim 1, characterized in that, The automatic lid-closing mechanism includes: Rotating parallel jaws are used to grip and screw on bottle caps; A cap feeding device is used to temporarily store bottle caps and push them out sequentially to a preset clamping position; A moving device is equipped with a positioning structure and a bottle clamp. The moving device is used to move the positioning structure to the preset clamping position to position the pushed-out bottle cap. The bottle clamp is used to clamp and fix the sample bottle. The moving device is used to move the positioning structure and the bottle clamp sequentially to directly below the rotating parallel jaws.

9. The automated screening system for chemical reagent formulations according to claim 8, characterized in that, The rotating parallel gripper includes: A vertical moving mechanism, wherein the moving end is configured to move up and down in the vertical direction; The second rotary drive device is located on the moving end of the vertical moving mechanism; A parallel drive gripper, coaxially connected to the second rotary drive device, the parallel drive gripper comprising two claw fingers that can move toward or away from each other to clamp or release the bottle cap.

10. The automated screening system for chemical reagent formulations according to claim 8, characterized in that, The cover supply device includes: The storage cover tube is arranged vertically, and a horizontally penetrating outlet is formed at the bottom end of the storage cover tube. A push-cover component is horizontally positioned at the cover opening; A driving device is connected to the push-cover component in a driving manner; The driving device is used to drive the cap-pushing component to reciprocate in the horizontal direction, so as to push the bottommost cap of the cap storage tube to the preset clamping position.

Images