A platform and test method for achieving high-precision positioning of samples among multiple analytical instruments

Abstract

The application provides a platform and test method for realizing high-precision positioning of samples among multiple analysis instruments, and belongs to the technical field of material characterization. The application comprises a pneumatic expanding positioning pin, a guide positioning pin, a gas source and a gas path system, an electromagnetic valve and electromagnetic control. The pneumatic expanding positioning pin and the guide positioning pin are installed on a moving platform of each analysis instrument according to a standardized orientation, the coordinate system of each instrument is defined by the position and direction of the positioning pin, and a matching positioning hole is processed at the bottom of the sample, so that automatic flow is realized by cooperation of pneumatic variable-diameter clamping and a composite robot. The sample can be quickly and automatically loaded and unloaded and high-precision positioning among instruments can be realized point by point under the premise of non-damage to the observation surface, the repeatability positioning error is small, a complex image registration algorithm is not needed, and the requirement for the positioning accuracy of the mechanical arm is reduced through the conical guide of the guide positioning pin. The automation can also be realized with the aid of the composite robot.

Description

Technical Field

[0001] This invention relates to the field of materials characterization technology, and in particular to a platform and experimental method for achieving high-precision sample positioning among multiple analytical instruments. Specifically, it relates to an integrated, automatic, rapid, high-precision, and cross-instrument coordinate unified positioning system for multi-component material characterization. Background Technology

[0002] The materials research and development approach advocated by materials genome engineering, which integrates "rational design, efficient experimentation, and big data technology," is expected to replace the traditional "trial and error" method and become a new paradigm for metallic materials research. To construct the "composition-structure-property" relationship of different material chips, it is usually necessary to first acquire highly correlated multi-component characterization data and then use machine learning algorithms to uncover patterns. Existing experimental methods generally use hardness points to divide the sample into different regions, achieving positional correlation between different characterization instruments. However, this method can damage the observation surface and is limited by the density of the hardness point array and the imaging size of different instruments. It can only achieve surface-to-surface mapping correlation through manual post-processing, failing to achieve high-precision point-to-point correlation across instruments and hindering further development towards automation and efficiency. Therefore, this invention designs a platform that can automatically and quickly clamp analytical samples among multiple analytical instruments and achieve high-precision positioning. It can complete the rapid automatic loading, unloading and positioning of samples without damaging the observation surface, and unify the coordinate systems of multiple characterization instruments. Moreover, sample loading and unloading can be efficiently automated through gas paths, electromagnetic control and composite robots, without the need for complex image registration algorithms. It can improve the positioning efficiency of multi-component integrated characterization while ensuring high precision, and provide strong positional correlation data for material iterative optimization. Summary of the Invention

[0003] In view of this, to achieve automated and rapid loading and unloading of samples between multiple analytical instruments without damaging the observation surfaces and to unify the high-precision cross-instrument coordinate system, thus solving the technical problems of existing methods that rely on hardness point markings, resulting in damaged observation surfaces, inability to provide high-precision point-to-point correlation, and difficulty in automation, this invention provides a platform and experimental method for achieving high-precision sample positioning between multiple analytical instruments. Pneumatic expansion positioning pins and guide positioning pins are installed on the moving platforms of each analytical instrument according to standardized orientations. The coordinate systems of each instrument are unified by defining the position and direction of the positioning pins. Adaptive positioning holes are machined on the bottom of the sample, and automated transfer is achieved in conjunction with pneumatic variable-diameter clamping and a composite robot. This allows for rapid and automated loading and unloading of samples and high-precision point-to-point positioning across instruments without damaging the observation surfaces. The repeatability positioning error is small, and complex image registration algorithms are not required. Furthermore, the tapered introduction of the guide positioning pins reduces the positioning accuracy requirements of the robotic arm.

[0004] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides a platform for achieving high-precision sample positioning among multiple analytical instruments, comprising: A pneumatic expansion positioning pin, including one reference positioning pin and one orientation positioning pin, changes its diameter by inflation and deflation to release or secure the sample. The guide positioning pin has a tapered top and its root diameter is larger than that of the pneumatic expansion positioning pin, and its own diameter is fixed. It is used to assist in aligning the guide positioning hole at the bottom of the sample with the guide positioning pin, so as to guide the expansion positioning hole at the bottom of the sample into the pneumatic expansion positioning pin. An air source and air path system is used to provide actuating gas to the pneumatic expansion and positioning pin; The electromagnetic valve is connected to the air source and air circuit system and the pneumatic expansion positioning pin through air pipes, and is used to control inflation or deflation. Electromagnetic control, connected to the solenoid valve via a wire, is used to provide control voltage to switch the gear position of the solenoid valve; Two pneumatic expansion positioning pins are installed on the moving platform of each analytical instrument. The midpoint of the line connecting the centers of the two pneumatic expansion positioning pins coincides with the origin of the moving platform. The direction of the line connecting the centers of the two pneumatic expansion positioning pins is from the reference positioning pin to the directional positioning pin, which coincides with the positive X-axis direction of the moving platform. The direction of the central axis of the two pneumatic expansion positioning pins is from the threaded part to the variable diameter part, which coincides with the positive Z-axis direction of the moving platform. The moving platform adopts a right-hand drive. The guide positioning pin is installed on the mobile platform, and the direction of its center line is precisely coincident with the Y-axis direction of the mobile platform.

[0005] Secondly, the present invention provides an experimental method based on the above-mentioned platform for achieving high-precision sample positioning among multiple analytical instruments, comprising the following steps: Step S1: Embed a set of pneumatic expansion positioning pins and a pair of guide positioning pins on the moving platform of each analytical instrument, connect the bottom of the pneumatic expansion positioning pins to the side of the moving platform to form an air supply hole, and ensure that the position and direction of each positioning pin meet the positioning requirements described in claim 1, thereby unifying the coordinate system of each analytical instrument. Step S2: Machining an enlarged diameter positioning hole that matches the pneumatic enlarged diameter positioning pin and a guide positioning hole that matches the guide positioning pin on the bottom of the sample. Step S3: Connect the air source and air circuit system to the air inlet on the mobile platform through the electromagnetic air valve to establish an inflation path; Step S4: Connect the electromagnetic control to the electromagnetic valve with a wire to establish an electromagnetic control path.

[0006] Compared with the prior art, the present invention has the following beneficial effects: The purpose of this invention is to develop an efficient and automated method for sample loading and unloading, and a high-precision cross-instrument coordinate unified positioning method, to achieve point-to-point characterization data mapping of samples at the same position on different instruments in multi-component integrated characterization. To this end, this invention designs a platform and its experimental method for automatically and rapidly clamping and positioning analytical samples among multiple analytical instruments with high precision. This allows for rapid and automated sample loading, unloading, and positioning without damaging the sample observation surface, as well as unifying the coordinate systems of multiple characterization instruments. Sample loading and unloading can be efficiently automated through pneumatic and electromagnetic control in conjunction with a composite robot, eliminating the need for complex image registration algorithms. This improves the positioning efficiency of multi-component integrated characterization while ensuring high precision, and can provide strongly correlated positional data for material iterative optimization. The present invention provides a highly efficient and automated sample loading and unloading method and a high-precision cross-instrument coordinate unified positioning method, which can realize point-to-point characterization data mapping of the same position of samples on different instruments in multi-component integrated characterization. The designed platform mainly includes pneumatic expansion positioning pins, guide positioning pins, air source and air path system, electromagnetic air valves and electromagnetic control. By modifying the moving platforms of each instrument, rapid and automatic sample loading, unloading and positioning can be achieved without damaging the sample observation surface, and the coordinate system of multiple characterization instruments can be unified. Moreover, sample loading and unloading can be efficiently automated through air path, electromagnetic control and composite robot, without the need for complex image registration algorithms. While ensuring high precision, it improves the positioning efficiency of multi-component integrated characterization and can provide strong positional correlation data for material iterative optimization. Attached Figure Description

[0007] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0008] Figure 2 This is a diagram showing the positioning hole structure on the bottom surface of the sample, applicable to the present invention.

[0009] Figure 3 This is a schematic diagram of a multi-component characterization test method based on the platform provided by this invention, which automatically and quickly clamps and positions analytical samples among multiple analytical instruments with high precision.

[0010] Figure 4 This is to automate the multi-component characterization process and the necessary characterization parameters for each instrument.

[0011] In the diagram, 1. Pneumatic expansion positioning pin; 2. Guide positioning pin; 3. Solenoid valve; 4. Moving platform; 5. Electromagnetic control; 6. Laboratory air circuit; 7. Expansion positioning hole; 8. Guide positioning hole. Detailed Implementation

[0012] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the specific embodiments described are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0013] like Figure 1-2 As shown, this invention provides a platform for achieving high-precision sample positioning among multiple analytical instruments, comprising: 1. Pneumatic expansion positioning pin 1, including one reference positioning pin and one orientation positioning pin (used for reference positioning and single-direction positioning respectively), whose diameter is changed by inflation and deflation to release or secure the sample, used to realize sample loading and unloading and precise positioning. Its repeatability positioning error has been verified to be ≤4μm, and the verification data is shown in Table 1.

[0014] 2. The guide positioning pin 2 has a tapered top and its root diameter is larger than that of the pneumatic expansion positioning pin 1 and its own diameter is fixed. It is used to assist in aligning the guide positioning hole 8 at the bottom of the sample with the guide positioning pin 2, so as to guide the expansion positioning hole 7 at the bottom of the sample into the pneumatic expansion positioning pin 1, thereby reducing the positioning accuracy requirements of the robotic arm.

[0015] 3. The electromagnetic valve 3 is connected to the air source and air circuit system and the pneumatic expansion positioning pin 1 via air pipes, and is used to control inflation or deflation. Specifically, the electromagnetic valve 3 is a device that uses voltage to control the change of the internal passage of the valve to achieve connection (inflation) or deflation, and is used to control the automatic diameter change of the expansion positioning pin.

[0016] 4. The moving platform 4, with two pneumatic expansion positioning pins 1 installed on the moving platform 4 of each analytical instrument, requires the midpoint of the line connecting the centers of the two pneumatic expansion positioning pins 1 to precisely coincide with the origin (0,0) of the moving platform 4 of the characterizing instrument. The direction of the line connecting the centers of the two pneumatic expansion positioning pins 1 (from the reference positioning to the single-direction positioning) precisely coincides with the positive X-axis direction of the moving platform 4. The direction of the central axis of the two pneumatic expansion positioning pins 1 (from the threaded portion to the variable diameter portion) precisely coincides with the positive Z-axis direction of the moving platform 4. After the guide positioning pins 2 (a pair of guide positioning pins 2) are embedded in the moving platform 4 of the characterizing instrument, the direction of their connecting line precisely coincides with the Y-axis direction of the moving platform 4. The moving platform 4 adopts a right-handed coordinate system, thereby achieving a unified coordinate system for multiple analytical instruments.

[0017] 5. Electromagnetic control 5 is a device that provides a variable voltage. It is connected to the electromagnetic valve 3 via a wire and is used to provide control voltage to switch the position of the electromagnetic valve 3 to realize inflation and deflation.

[0018] 6. Laboratory gas path 6 is a device for storing or providing gas, used to supply actuating gas to the pneumatic expansion positioning pin 1 to reduce its diameter.

[0019] The platform for high-precision sample positioning among multiple analytical instruments provided by this invention consists of five parts: pneumatic expansion positioning pins 1 (reference positioning pin + directional positioning pin), guide positioning pins 2, air source and air path system, electromagnetic valve 3, and electromagnetic control 5. Two pneumatic expansion positioning pins 1 are installed on the moving platforms 4 of each analytical instrument according to specific requirements. The midpoints of the two pins coincide with the origin, the direction of their connection coincides with the positive X-axis, the direction of the central axis coincides with the positive Z-axis, and the moving platform 4 uses a right-handed coordinate system. The direction of the center line connecting the guide positioning pins 2 precisely coincides with the Y-axis. In this way, all moving platforms 4 of the analytical instruments adopt a unified coordinate definition. After the positioning holes at the bottom of the sample are fitted with the positioning pins, the position coordinates of the sample on different instruments are naturally consistent. This effectively solves the problem of existing methods relying on hardness point markings, which can only achieve face-to-face mapping and association through manual post-processing, and cannot provide high-precision point-to-point association across instruments. This invention, through the standardized orientation installation of the positioning pins, unifies the coordinate systems of each instrument at the hardware level, eliminating the need for complex image registration algorithms. With a repeatability positioning error of less than 5μm (verified to be ≤4μm), it can achieve point-to-point cross-instrument characterization data mapping.

[0020] In one specific embodiment of the present invention, the gas source and gas path system are portable gas sources, air compressors, gas cylinders, etc., and their gas path systems.

[0021] In one specific embodiment of the present invention, the pneumatic expansion positioning pin 1, in the inflated state, reduces its diameter from 4.06 mm to 3.94 mm to release the sample, allowing the sample to be freely inserted or removed. In the deflated (natural) state, its diameter returns from 3.94 mm to 4.06 mm to secure the sample, tightening the wall of the expansion positioning hole 7 at the bottom of the sample, thus achieving sample fastening. Furthermore, the repeatability positioning error is <5 μm when the reference positioning pin and the directional positioning pin are used in combination. This effectively solves the shortcomings of traditional methods, such as inconvenient sample loading and unloading and difficulty in automation due to the need for manual operation. This embodiment achieves automatic release and automatic fastening through pneumatic diameter change, eliminating the need for manual operation. A diameter change of 0.12 mm is sufficient to achieve reliable release and fastening. In one specific embodiment of the present invention, the air source and air path system provides a stable operating air pressure of 0.3-1.0 MPa for the pneumatic expansion locating pin 1. Within this air pressure range, the locating pin can reliably complete the diameter reduction action. The air pressure range of 0.3~1.0 MPa ensures sufficient driving force to achieve diameter reduction without damaging the locating pin structure due to excessive air pressure. Various air supply methods, such as portable air sources, air compressors, and air cylinders, can be used to adapt to different laboratory conditions.

[0022] In one specific embodiment of the present invention, the control voltage of the electromagnetic valve 3 is 12V or 24V. When the voltage is 12V or 24V, the valve opens, the air path is connected, the diameter of the expansion positioning pin decreases, and the composite robot can load and unload samples. When the voltage is 0V, the valve closes and vents the gas inside the pneumatic expansion positioning pin 1, increasing its diameter and thus securing the sample. This embodiment controls the diameter change of the positioning pin via a voltage signal, facilitating integration with automation systems. 12V / 24V are industrial standard control voltages with strong compatibility. Automatic venting and tightening upon power failure (0V) provides fail-safe protection.

[0023] In one specific embodiment of the present invention, the reference positioning pin and the orientation positioning pin are used in combination, with the midpoint of the line connecting their centers coinciding with the origin, jointly constraining the position of the sample on the moving platform 4. This effectively solves the problem of insufficient positioning accuracy in existing methods, which cannot meet the requirements of cross-instrument point-to-point mapping. The repeatability positioning error is less than 5 μm; as shown in Table 1, the maximum error in the verification data is only 4 μm in the X direction and 4 μm in the Y direction. This level of accuracy is sufficient to support cross-instrument point-to-point correlation of micron-level characterization data.

[0024] In one specific embodiment of the present invention, a composite robot is also included. This composite robot comprises a robotic arm and an automated guided vehicle (AGV) for automated sample loading and unloading and transfer between different analytical instruments. The composite robot is trained via a teaching system to achieve automated operation. After training with the teaching system, it can automatically complete the loading, unloading, and transfer of samples between various analytical instruments. This effectively solves the problem that existing methods rely on manual operation and post-processing, making automation and efficiency difficult. This embodiment enables fully automated sample transfer between characterization instruments. Through training with the teaching system, the operation path and actions are repeatable and programmable, forming a complete automated closed loop in conjunction with the platform's pneumatic variable-diameter clamping mechanism.

[0025] This invention also provides an experimental method based on the above-mentioned platform for achieving high-precision sample positioning among multiple analytical instruments, comprising the following steps: Step S1: Embed a set of pneumatic expansion positioning pins 1 and a pair of guide positioning pins 2 on the moving platform 4 of each analytical instrument. Connect the bottom of the pneumatic expansion positioning pins 1 to the side of the moving platform 4 to form an air supply hole, and ensure that the position and orientation of each positioning pin meets the above positioning requirements, thereby unifying the coordinate system of each analytical instrument. Specifically: Pneumatic expansion positioning pins 1 are embedded in the moving platforms 4 of each characterization instrument involved in the multi-component integrated characterization, and their bottoms are connected to the side of the moving platform 4 to form air supply holes. The midpoint of the line connecting the centers of the two positioning pins is precisely aligned with the origin (0,0) of the moving platform 4. The direction of the line connecting the centers of the two positioning pins (from the reference positioning pin to the directional positioning pin) is precisely aligned with the positive X-axis direction of the moving platform 4. The direction of the central axis of the two positioning pins (from the threaded part to the variable diameter part) is precisely aligned with the positive Z-axis direction of the moving platform 4. All moving platforms 4 adopt a right-hand drive system. A pair of guide positioning pins 2 are embedded in each characterization instrument moving platform 4, and the direction of their center line is precisely aligned with the Y-axis direction of the moving platform 4.

[0026] Step S2: Machining an enlarged diameter positioning hole 7 that matches the pneumatic enlarged diameter positioning pin 1 and a guide positioning hole 8 that matches the guide positioning pin 2 on the bottom of the sample.

[0027] Step S3: Connect the air source and air circuit system to the air inlet on the mobile platform 4 through the electromagnetic air valve 3 to build an inflation path and achieve inflation.

[0028] Step S4: Connect the electromagnetic control 5 to the electromagnetic valve 3 with a wire to establish the electromagnetic control 5 circuit.

[0029] Through the above steps, a hardware platform for automatic sample clamping and high-precision positioning can be established across multiple instruments, forming a complete implementation method to achieve cross-instrument coordinate unification and automatic clamping. This experimental method has clear steps and is feasible to operate; those skilled in the art can implement it accordingly. Coordinate unification is achieved through the cooperation of positioning pins and positioning holes. Automated control is achieved through the construction of a gas path and electrical circuit.

[0030] like Figure 3 As shown, in one specific embodiment of the present invention, step S5 is further included: training the composite robot using a teaching system, so that the composite robot can realize the automated and rapid loading, unloading and transfer of samples between various analytical instruments.

[0031] The analytical instruments used in this invention include, but are not limited to, metallurgical microscopes, microbeam X-ray fluorescence spectrometers, microfocal spot X-ray diffractometers, scanning electron microscopes, and microhardness testers. A specially designed automated multi-component characterization process and the necessary characterization parameters for each instrument are as follows: Figure 4 As shown.

[0032] The technical solution of the present invention will be clearly and thoroughly described below with reference to specific examples.

[0033] Example 1 In Embodiment 1 of this invention, a set of pneumatic expansion positioning pins 1 and a pair of guide positioning pins 2 are embedded in the moving platform 4 of a metallurgical microscope and a hardness tester, respectively. The bottom of the pneumatic expansion positioning pins 1 is connected to the side of the moving platform 4 to form an air supply hole, and the position and direction of each positioning pin are ensured to meet the above positioning requirements, thereby unifying the coordinate system of each analytical instrument and enabling precise positioning of the test point when the sample flows between the two instruments. An expansion positioning hole 7 adapted to the pneumatic expansion positioning pin 1 and a guide positioning hole 8 adapted to the guide positioning pin 2 are machined on the bottom of the stainless steel metal sample to be tested. The air source and air path system are connected to the air inlet on the moving platform 4 through the electromagnetic air valve 3 to construct an air filling path for air filling. The electromagnetic control 5 is connected to the electromagnetic air valve 3 with a wire to construct the electromagnetic control 5 path. Subsequently, in Embodiment 1 of this invention, repeatability positioning error verification was performed on the hardness tester, and the verification data is shown in Table 1.

[0034] Table 1. Verification of repeatability and positioning error of the platform design for automatic and rapid sample clamping and high-precision positioning among multiple analytical instruments on a hardness tester.

[0035] As shown in Table 1, each of the five test points was tested five times. The maximum error in the X direction was 4 μm and the maximum error in the Y direction was 4 μm, which verifies the accuracy level of repeatability positioning error of less than 5 μm.

[0036] The above description is merely a preferred embodiment of the present invention. However, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention should be covered within the scope of protection of the present invention.

Claims

1. A platform for achieving high-precision sample positioning among multiple analytical instruments, characterized in that, include: A pneumatic expansion positioning pin, including one reference positioning pin and one orientation positioning pin, changes its diameter by inflation and deflation to release or secure the sample. The guide positioning pin has a tapered top and its root diameter is larger than that of the pneumatic expansion positioning pin, and its own diameter is fixed. It is used to assist in aligning the guide positioning hole at the bottom of the sample with the guide positioning pin, so as to guide the expansion positioning hole at the bottom of the sample into the pneumatic expansion positioning pin. An air source and air path system is used to provide actuating gas to the pneumatic expansion and positioning pin; The electromagnetic valve is connected to the air source and air circuit system and the pneumatic expansion positioning pin through air pipes, and is used to control inflation or deflation. Electromagnetic control, connected to the solenoid valve via a wire, is used to provide control voltage to switch the gear position of the solenoid valve; Two pneumatic expansion positioning pins are installed on the moving platform of each analytical instrument. The midpoint of the line connecting the centers of the two pneumatic expansion positioning pins coincides with the origin of the moving platform. The direction of the line connecting the centers of the two pneumatic expansion positioning pins is from the reference positioning pin to the directional positioning pin, which coincides with the positive X-axis direction of the moving platform. The direction of the central axis of the two pneumatic expansion positioning pins is from the threaded part to the variable diameter part, which coincides with the positive Z-axis direction of the moving platform. The moving platform adopts a right-hand drive. The guide positioning pin is installed on the mobile platform, and the direction of its center line is precisely coincident with the Y-axis direction of the mobile platform.

2. The platform for achieving high-precision sample positioning among multiple analytical instruments according to claim 1, characterized in that, The pneumatic expansion positioning pin shrinks in diameter from 4.06 mm to 3.94 mm when inflated to release the sample, and recovers in diameter from 3.94 mm to 4.06 mm when deflated to secure the sample.

3. The platform for achieving high-precision sample positioning among multiple analytical instruments according to claim 1, characterized in that, The actuation air pressure provided by the air source and air circuit system is higher than 0.3 MPa and lower than 1.0 MPa.

4. The platform for high-precision sample positioning among multiple analytical instruments according to claim 1, characterized in that, The control voltage of the solenoid valve is 12V or 24V; when the voltage is 12V or 24V, the valve opens and the air circuit is connected; when the voltage is 0V, the valve closes and the gas in the pneumatic expansion positioning pin is emptied.

5. The platform for achieving high-precision sample positioning among multiple analytical instruments according to claim 1, characterized in that, When the reference positioning pin and the orientation positioning pin are used in combination, the repeatability positioning error is less than 5μm.

6. The platform for achieving high-precision sample positioning among multiple analytical instruments according to claim 1, characterized in that, It also includes a composite robot, which comprises a robotic arm and an automated guided vehicle, for the automated loading and unloading of samples and their transfer between different analytical instruments, and the composite robot is trained through a teaching system to achieve automated operation.

7. A test method based on a platform for achieving high-precision sample positioning among multiple analytical instruments according to any one of claims 1 to 6, characterized in that, Includes the following steps: Step S1: Embed a set of pneumatic expansion positioning pins and a pair of guide positioning pins on the moving platform of each analytical instrument, connect the bottom of the pneumatic expansion positioning pins to the side of the moving platform to form an air supply hole, and ensure that the position and direction of each positioning pin meet the positioning requirements described in claim 1, thereby unifying the coordinate system of each analytical instrument. Step S2: Machining an enlarged diameter positioning hole that matches the pneumatic enlarged diameter positioning pin and a guide positioning hole that matches the guide positioning pin on the bottom of the sample. Step S3: Connect the air source and air circuit system to the air inlet on the mobile platform through the electromagnetic air valve to establish an inflation path; Step S4: Connect the electromagnetic control to the electromagnetic valve with a wire to establish an electromagnetic control path.

8. The test method according to claim 7, characterized in that, It also includes step S5: training the composite robot using a teaching system so that the composite robot can automatically and quickly load, unload and transfer samples between various analytical instruments.

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