X-ray fluorescence spectrometer

Abstract

The utility model discloses an X-ray fluorescence spectrometer, which relates to the technical field of X-ray detection and comprises a sample storage mechanism with a pick-and-place position, a spectrum detector with a detection position and a manipulator grabbing mechanism for grabbing samples from two fixed points, namely the pick-and-place position and the detection position, the mechanical arm grabbing mechanism comprises a rack, a U-shaped sliding rail arranged on the rack, a moving assembly doing parallel movement along the U-shaped sliding rail, a grabbing module connected to the moving assembly and a driving mechanism driving the moving assembly to move, and the moving assembly moves on the vertical plane where the connecting line of the taking and placing position and the detecting position is located. The U-shaped sliding rail comprises a first vertical edge, a second vertical edge and a curved edge connected with the upper end of the first vertical edge and the upper end of the second vertical edge, the axes of the first vertical edge and the second vertical edge correspond to the centers of the taking and placing position and the detection position respectively, and the positions of the lower ends of the first vertical edge and the second vertical edge correspond to the positions where the grabbing module grabs samples on the taking and placing position and the detection position respectively. The X-ray fluorescence spectrometer realizes automatic sample taking and placing functions and is low in cost.

Description

Technical Field

[0001] This utility model relates to the field of X-ray detection technology, and in particular to an X-ray fluorescence spectrometer. Background Technology

[0002] Existing automated sample loading X-ray fluorescence spectrometers come in various types, such as those using XY-axis moving modules or 4-axis robotic arms. Moving modules and robotic arms can handle the loading and unloading of a large number of samples. However, moving modules and robotic arms are expensive; they cannot fully realize their value when only a small number of samples need to be loaded and unloaded; in addition, the subsequent maintenance of moving modules or robotic arms is also relatively complex.

[0003] In summary, how to effectively solve the problem that X-ray fluorescence spectrometers cannot achieve automatic sample loading and unloading is an urgent issue that needs to be addressed by those skilled in the art. Utility Model Content

[0004] The purpose of this invention is to provide an X-ray fluorescence spectrometer that enables automatic sample taking and placement, and is low in cost.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0006] An X-ray fluorescence spectrometer includes a sample storage mechanism with a pick-up and place position, a spectrometer with a detection position, and a robotic gripping mechanism for gripping samples from two fixed points, the pick-up and place position and the detection position. The robotic gripping mechanism includes a frame, a U-shaped slide rail mounted on the frame, a moving component that moves parallel to the U-shaped slide rail, a gripping module connected to the moving component, and a driving mechanism for driving the moving component. The moving component moves in a vertical plane containing the line connecting the pick-up and place position and the detection position. The U-shaped slide rail includes a first vertical side, a second vertical side, and a curved side connecting the upper ends of the first vertical side and the second vertical side. The axes of the first vertical side and the second vertical side correspond to the centers of the pick-up and place position and the detection position, respectively. The lower ends of the first vertical side and the second vertical side correspond to the positions where the gripping module grips the samples at the pick-up and place position and the detection position, respectively.

[0007] Optionally, the moving component includes a crank with a guide groove and connected to the drive mechanism, a guide member with a limiting guide portion connected to the U-shaped slide rail and the guide groove and capable of moving along the U-shaped slide rail and the guide groove, a Z-axis guide rail connected to the connecting portion of the guide member, and an X-axis guide rail connected to the Z-axis guide rail via an XZ-axis guide rail connector. The X-axis guide rail is connected to the frame, and the moving component moves in the XZ plane.

[0008] Optionally, the guide component includes a mount and a roller mounted on the mount, the mount being installed at the top of the Z-axis guide rail, and the roller being embedded in the U-shaped slide rail and the guide groove.

[0009] Optionally, the guide groove includes a straight section and a constant velocity curve section. The straight section corresponds to the movement of the guide component on the U-shaped slide rail from the lower end of the first vertical side to the upper end of the second vertical side, and the constant velocity curve section corresponds to the movement of the guide component on the U-shaped slide rail from the upper end of the second vertical side to the lower end of the second vertical side.

[0010] Optionally, the guide groove further includes an arc segment, the arc segment having the center of the drive mechanism as its center and the distance between the center of the drive mechanism and the endpoint as its radius.

[0011] Optionally, the pick-and-place position is higher than the detection position, a starting position sensor is provided at the lower end of the first vertical side, and an ending position sensor is provided at the lower end of the second vertical side; it also includes a first gripping control mechanism connected to both the starting position sensor and the ending position sensor, used to control the drive mechanism to stop rotating when the limiting guide part is detected to move to the starting point or the ending point.

[0012] Optionally, it also includes:

[0013] A mid-position sensor is provided at the pause point, which is located at a set position on the curved edge connecting the upper end point of the first vertical edge to the upper end point of the second vertical edge.

[0014] A sampling mechanism mounted on the frame, used to detect whether a sample is placed at the pick-up and placement position and the detection position when the limiting guide is detected to have moved to the stopping point;

[0015] A second gripping control mechanism connected to the sampling mechanism, used to control the gripping module to move towards the gripping position or the detection position to grip the sample when a sample is detected at the pick-up and place position or the detection position.

[0016] Optionally, the sample storage mechanism includes a rotating stage and a sample tray. The sample tray includes multiple placement positions for placing samples. The rotating stage rotates to control the multiple placement positions to sequentially reach the pick-up and drop positions, and the sample is placed in the placement position of the sample tray.

[0017] Optionally, the sample tray has multiple placement positions evenly distributed along the circumference, the sample tray is detachably connected to the rotary table, the sample tray and the rotary table are positioned by positioning holes and positioning pins, and the rotary table is controlled by a stepper motor.

[0018] Optionally, it further includes a positioning device for determining the rotation of the placement position to the pick-up / placement position, the positioning device comprising:

[0019] A detection block is provided at each of the aforementioned placement positions;

[0020] A positioning detection sensor is installed at the positioning mark line on the rotating platform;

[0021] A positioning mechanism connected to the positioning detection sensor, used to control the drive mechanism to stop rotating when the positioning detection sensor detects the detection block.

[0022] The beneficial effect of this utility model is that the X-ray fluorescence spectrometer provided by this utility model has a sample storage mechanism with a pick-up and place position, a spectrometer with a detection position, and a robotic arm gripping mechanism for transferring samples between the pick-up and place position and the detection position.

[0023] The U-shaped slide rail is mounted on the frame and guides the moving component along a specific path. The U-shaped slide rail includes a first vertical side, a second vertical side, and a curved edge connecting their upper ends. The axes of the first and second vertical sides correspond to the centers of the pick-up and place positions and the detection positions, respectively. The lower ends of the first and second vertical sides correspond to the positions where the gripping module grips the sample at the pick-up and place positions and the detection positions, respectively, ensuring that the moving component can move accurately between the two positions.

[0024] The moving component is connected to a U-shaped slide rail, and the drive mechanism provides power to the moving component, enabling it to move along the U-shaped slide rail. The moving component moves parallel to the vertical plane containing the line connecting the pick-up / placement position and the detection position, ensuring that the sample can be accurately transferred from the pick-up / placement position to the detection position and returned to the pick-up / placement position after detection.

[0025] The X-ray fluorescence spectrometer provided by this utility model has a simple robotic gripping mechanism, which is easy to maintain, has precise positioning, and is reliable in operation. The U-shaped slide rail enables the robotic gripping mechanism to efficiently transfer samples between the pick-up and place-up positions and the detection position, realizing automatic sample pick-up and place-up functions and improving work efficiency. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of an X-ray fluorescence spectrometer provided in a specific embodiment of the present invention.

[0028] Figure 2 for Figure 1 A schematic diagram of the gripping mechanism of the robotic arm;

[0029] Figure 3 for Figure 2 Top view;

[0030] Figure 4 This is a schematic diagram of the roller moving between the lower end of the first vertical side and the upper end of the second vertical side.

[0031] Figure 5 This is a schematic diagram of the roller moving between the upper end point and the lower end point of the second vertical side;

[0032] Figure 6 This is a schematic diagram illustrating the movement of the roller between the upper and lower ends of the second vertical edge.

[0033] Figure 7 This is a schematic diagram of the roller moving to the lower end of the second vertical edge.

[0034] Figure label:

[0035] 1-Robotic gripping mechanism; 11-Gripping module; 12-Installer; 13-Crank; 14-Frame; 15-U-shaped slide rail; 16-Z-axis guide rail; 17-Starting point position sensor; 18-XZ-axis guide rail connector; 19-Load connecting block; 110-Ending point position sensor; 111-Drive mechanism; 112-Roller; 113-X-axis guide rail; 114-Straight crank; 115-Bent crank; 131-Straight section; 132-Constant velocity curve section; 133-Circular arc section; 2-Sample storage mechanism; 21-Sample tray; 22-Rotating table; 23-Pick-and-place position; 3-Sample; 4-Detection position; A-Lower end point of the first vertical side; B-Lower end point of the second vertical side; C-Upper end point of the second vertical side. Detailed Implementation

[0036] The core of this invention is to provide an X-ray fluorescence spectrometer that achieves automatic sample taking and placement functions and has a low cost.

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0038] Please refer to Figures 1 to 3 , Figure 1This is a schematic diagram of the structure of an X-ray fluorescence spectrometer provided in a specific embodiment of the present invention. Figure 2 for Figure 1 A schematic diagram of the gripping mechanism of the robotic arm; Figure 3 for Figure 2 Top view.

[0039] In one specific embodiment, the X-ray fluorescence spectrometer provided by this utility model includes a sample storage mechanism 2 with a pick-up and place position 23, a spectrometer with a detection position 4, and a robotic gripping mechanism 1 for gripping samples 3 from two fixed points, the pick-up and place position 23 and the detection position 4. The robotic gripping mechanism 1 includes a frame 14, a U-shaped slide rail 15 mounted on the frame 14, a moving component that moves parallel to the U-shaped slide rail 15, a gripping module 11 connected to the moving component, and a driving mechanism 111 that drives the moving component to move. The moving component moves on the vertical plane where the line connecting the pick-up and place position 23 and the detection position 4 is located. The U-shaped slide rail 15 includes a first vertical side, a second vertical side, and a curved side connecting the upper ends of the first vertical side and the second vertical side. The axes of the first vertical side and the second vertical side correspond to the centers of the pick-up and place position 23 and the detection position 4, respectively. The lower ends of the first vertical side and the second vertical side correspond to the positions where the gripping module 11 grips the samples 3 on the pick-up and place position 23 and the detection position 4, respectively.

[0040] In the above structure, the sample storage mechanism 2 has a pick-up and put-out position 23, which is the position for the sample 3 to be placed in and taken out of the sample storage mechanism 2. The pick-up and put-out position 23 can be a convenient platform or groove to ensure that the sample 3 can be accurately placed in and taken out.

[0041] The spectrometer is the detection instrument of the X-ray fluorescence spectrometer, with a detection position 4. During detection, the sample 3 is placed at the detection position 4. The detection position 4 is usually equipped with a high-precision positioning device to ensure that the distance and angle between the sample 3 and the detection instrument are accurate, thus guaranteeing the accuracy of the detection results.

[0042] The robotic gripping mechanism 1 is used to transfer sample 3 between pick-up / placement position 23 and detection position 4. The robotic gripping mechanism 1 includes frame 14, U-shaped slide rail 15, moving component, gripping module 11 and drive mechanism 111.

[0043] The frame 14 serves as the supporting structure for the entire robotic gripper mechanism 1, providing stability and rigidity to ensure the robotic gripper remains stable during movement. A U-shaped slide rail 15 is mounted on the frame 14, guiding the moving component along a specific path. The U-shaped slide rail 15 includes a first vertical side, a second vertical side, and a curved edge connecting their upper ends. The axes of the first and second vertical sides correspond to the centers of the pick-and-place position 23 and the detection position 4, respectively, ensuring the moving component can move accurately between the two positions.

[0044] The moving component is connected to the U-shaped slide rail 15 and can move parallel to the slide rail. The moving component moves in the vertical plane of the line connecting the pick-up / placement position 23 and the detection position 4, ensuring that the sample 3 can be accurately transferred from the pick-up / placement position 23 to the detection position 4, and returned to the pick-up / placement position 23 after detection. The movement of the moving component on the slide rail is smooth and precise to ensure the accuracy of sample 3 transfer.

[0045] The gripping module 11 is connected to the moving component and is responsible for gripping and releasing the sample 3. The gripping module 11 can be an electric gripper, a pneumatic gripper, a suction cup, or other suitable gripping method. It can grip flexibly and accurately, ensuring that the sample 3 will not be damaged or displaced during the transfer process, and can adapt to samples 3 of different shapes and sizes.

[0046] The drive mechanism 111 provides power to the moving component, enabling it to move along the U-shaped slide rail 15. The drive mechanism 111 can be a motor, cylinder, or other suitable power source, with sufficient power and precision to ensure that the moving component can move accurately between the pick-and-place position 23 and the detection position 4.

[0047] The lower ends of the first and second vertical edges correspond to the positions of the gripping module 11 gripping the sample 3 on the pick-and-place position 23 and the detection position 4, respectively. There are two ways to achieve this correspondence. First, when the moving component moves to the lower end of the first vertical edge of the slide rail, the gripping module 11 is positioned directly above or beside the sample 3 on the pick-and-place position 23. Similarly, when the moving component moves to the lower end of the second vertical edge of the slide rail, the gripping module 11 is positioned directly above or beside the sample 3 on the detection position 4. This facilitates gripping operations and ensures that the robotic gripping mechanism 1 can accurately transfer the sample 3 between the two positions, improving the reliability and efficiency of the entire system.

[0048] In the second configuration, when the moving component moves to the set position above the lower end of the first vertical side of the slide rail, the gripping module 11 is positioned directly above or beside the sample 3 on the pick-and-place position 23. When the moving component moves to the set position above the lower end of the second vertical side of the slide rail, the gripping module 11 is positioned directly above or beside the sample 3 on the detection position 4. The lower ends of the first and second vertical sides also have a buffer distance to prevent the moving component from impacting the lower surface of the slide rail. Preferably, a buffer pad can be provided at the lower end of the U-shaped slide rail 15 to reduce impact.

[0049] The X-ray fluorescence spectrometer provided by this utility model has a simple structure, convenient maintenance, precise positioning, and reliable operation of the robotic arm gripping mechanism 1. The U-shaped slide rail 15 enables the robotic arm gripping mechanism 1 to efficiently transfer the sample 3 between two fixed positions, the pick-up and place-up position 23 and the detection position 4, realizing automatic sample pick-up and place-up function and improving work efficiency.

[0050] Based on the above specific embodiments, the moving component includes a crank 13 with a guide groove and connected to the drive mechanism 111, a guide member with a limiting guide portion connected to the U-shaped slide rail 15 and the guide groove and capable of moving along the U-shaped slide rail 15 and the guide groove, a Z-axis guide rail 16 connected to the connecting portion of the guide member, and an X-axis guide rail 113 connected to the Z-axis guide rail 16 through an XZ-axis guide rail connector 18. The X-axis guide rail 113 is connected to the frame 14, and the moving component moves in the XZ plane.

[0051] In one specific embodiment, a through hole is provided in the middle of the frame 14, and the rotating shaft of the drive mechanism 111 passes through the through hole from the back of the frame 14. One end of the crankshaft is connected to the rotating shaft on the front of the frame 14, and the drive mechanism 111 drives the crank 13 to rotate. The crank 13 has a guide groove to provide a guide path for the movement of the guide components.

[0052] The X-axis guide rail 113 is connected to the frame 14 and provides horizontal (X-axis) guidance for the moving component. The X-axis guide rail 113 ensures that the moving component can be precisely positioned and moved in the horizontal direction. The Z-axis guide rail 16 provides vertical (Z-axis) guidance, enabling the moving component to be precisely positioned and moved in the vertical direction.

[0053] The X-axis guide rail 113 and the Z-axis guide rail 16 are mounted in opposite directions on the XZ-axis guide rail connector 18. The XZ-axis guide rail connector 18 connects the Z-axis guide rail 16 and the X-axis guide rail 113. The XZ-axis guide rail connector 18 serves as a transition and connection, enabling the moving component to move collaboratively in both the X and Z axes, that is, allowing the Z-axis guide rail 16 to move in the XZ plane.

[0054] The guide component includes a limiting guide portion and a connecting portion. The connecting portion is installed at the top of the Z-axis guide rail 16. The limiting guide portion of the guide component is embedded in the U-shaped slide rail 15, ensuring that the Z-axis guide rail 16 can only move within the U-shaped slide rail 15. The limiting guide portion is installed in the guide groove of the crank 13, thereby enabling the drive mechanism 111 to drive the crank 13, which in turn drives the Z-axis guide rail 16 to move within the U-shaped slide rail 15. The guide component is connected to the U-shaped slide rail 15 and the guide groove of the crank 13 through the limiting guide portion, allowing it to move within the U-shaped slide rail 15 and the guide groove, ensuring that the moving component moves along a predetermined path.

[0055] The lower end of the Z-axis guide rail 16 is connected to a load connecting block 19, and the gripping module 11 is connected to the load connecting block 19. When the limiting guide moves to the lower end point A of the first vertical side of the U-shaped slide rail 15, the end of the gripping module 11 is at the pick-up and place position 23, which is used to pick up and place the sample 3 at the pick-up and place position 23; when the limiting guide moves to the lower end point B of the second vertical side of the U-shaped slide rail 15, the end of the gripping module 11 is at the detection position 4, which is used to pick up and place the sample 3 at the detection position 4 of the spectrometer.

[0056] In the above embodiment, the drive mechanism 111 drives the crank 13 to move, and the crank 13 drives the guide component to move within the U-shaped slide rail 15 through the guide groove. The movement of the guide component is transmitted to the X-axis guide rail 113 through the Z-axis guide rail 16 and the XZ-axis guide rail connector 18, enabling the entire moving assembly to achieve precise positioning and movement in both the X and Z axes. This design ensures the flexibility and accuracy of the moving assembly's movement in the XZ plane, meeting the transfer requirements of sample 3 between the pick-up / placement position 23 and the detection position 4.

[0057] Based on the above specific embodiments, the guide component includes a mount 12 and a roller 112 mounted on the mount 12. The mount 12 is mounted on the top of the Z-axis guide rail 16, and the roller 112 is embedded in the U-shaped slide rail 15 and the guide groove.

[0058] In one specific embodiment, the mount 12 is the base part of the guide component, mounted on the top of the Z-axis guide rail 16, serving a supporting and connecting function. Rollers 112, mounted on the mount 12, are typically made of wear-resistant materials such as bearing steel, possessing good rolling performance and durability. The size and shape of the rollers 112 need to match the shape of the U-shaped slide rail 15 and the guide groove to ensure good contact and motion accuracy.

[0059] Roller 112 is embedded in the guide groove of U-shaped slide rail 15 and crank 13. The guiding component, through the cooperation of roller 112 with U-shaped slide rail 15 and guide groove, ensures the stability and accuracy of the moving component during movement. The rolling motion of roller 112 enables the moving component to move within U-shaped slide rail 15 and guide groove with minimal friction, ensuring smooth movement of the moving component along U-shaped slide rail 15 and guide groove.

[0060] Based on the above specific embodiments, the guide groove includes a straight section 131 and a constant velocity curve section 132. The straight section 131 corresponds to the movement of the guide component on the U-shaped slide rail 15 from the lower end point A of the first vertical side to the upper end point C of the second vertical side, and the constant velocity curve section 132 corresponds to the movement of the guide component on the U-shaped slide rail 15 from the upper end point C of the second vertical side to the lower end point B of the second vertical side.

[0061] In one specific embodiment, the crank 13 can be a straight crank 114, and the guide groove is a straight guide groove, driving the roller 112 to move within the U-shaped slide rail 15 and the straight guide groove. The structure is simple and easy to process.

[0062] Since the moving speed of roller 112 is related to the distance between roller 112 and the center of rotation of crank 13 when crank 13 rotates at a constant speed, according to the formula: linear velocity equals angular velocity multiplied by radius, it can be seen that the greater the distance, the faster the speed. Therefore, a conventional straight crank 114 is used. Figure 6When the roller 112 is farther away from the rotation center of the crank 13 (indicated by the dashed line), the speed is faster. That is, the speed of the roller 112 increases continuously as it moves from the upper end point C of the second vertical side to the lower end point B of the second vertical side. The speed of the lower end point B of the second vertical side reaches its fastest, which is not conducive to the stability of the system.

[0063] To ensure the smooth operation of the moving mechanism, the guide groove of crank 13 is optimized. Crank 13 can be designed as a curved crank 115, with a constant velocity curve segment added to the end of a conventional straight crank 114. Its guide groove profile consists of two sections: the first section is a straight section 131, and the second section is a constant velocity curve section 132.

[0064] When roller 112 moves between the lower end point A of the first vertical side and the upper end point C of the second vertical side, as... Figure 4 As shown, roller 112 moves on the straight segment 131 of crank 13.

[0065] When roller 112 moves between the upper end point C and the lower end point B of the second vertical side, as... Figure 5 As shown, roller 112 moves along the constant velocity curve segment 132. When the conventional straight crank 114 and the optimized curved crank 115 rotate to the same angle, the distance the roller 112 moves driven by the optimized curved crank 115 is smaller than that of the conventional straight crank 114, resulting in a slower speed. A constant velocity curve can be plotted through calculation. When the crank rotates at a constant speed, roller 112 moves at a constant speed on the second vertical side, thus achieving a constant speed or slowing down the speed change of roller 112 from the upper end point C to the lower end point B of the second vertical side.

[0066] It should be noted that the constant velocity curve segment 132 is just an arc-shaped curve segment in the crank guide groove. It does not necessarily make the roller 112 move at a completely uniform speed. It can also slow down the speed of the roller 112. In other words, any curve segment that can reduce the original speed of the roller can be called a constant velocity curve segment.

[0067] Based on the above specific embodiments, the guide groove also includes an arc segment 133, with the center of the drive mechanism 111 as the center and the distance between the center of the drive mechanism 111 and the endpoint as the radius.

[0068] In one specific embodiment, the guide groove profile can be composed of three segments, with a third segment, the circular arc segment 133, added after the constant velocity curve segment 132. Circular arc transitions are used between the segments to ensure smooth operation of the roller 112.

[0069] When roller 112 moves to the lower end point B of the second vertical side, as Figure 7As shown, to prevent damage to the mechanism due to the continued movement of the drive mechanism 111 if it fails to stop in time, an arc segment 133 is added. The arc has the center of the drive mechanism 111 as its center and the distance between the center of the drive mechanism 111 and the lower end point B of the second vertical side as its radius. When the roller 112 moves to the lower end point B of the second vertical side, the roller 112 moves on the arc segment 133 of the crank 13. The arc segment 133 will not drive the roller 112 to continue moving downwards, thus protecting the equipment from damage.

[0070] Based on the above specific embodiments, the pick-and-place position 23 is higher than the detection position 4, a starting position sensor 17 is provided at the lower end point A of the first vertical side, and an end point position sensor 110 is provided at the lower end point B of the second vertical side; it also includes a first gripping control mechanism connected to both the starting position sensor 17 and the end point position sensor 110, used to control the drive mechanism 111 to stop rotating when the limit guide is detected to move to the starting point or the end point.

[0071] In one specific embodiment, the pick-up / placement position 23 and the detection position 4 have a height difference, with the first vertical side and the second vertical side having different lengths. The height difference between the first vertical side and the second vertical side corresponds to the height difference between the pick-up / placement position 23 and the detection position 4. The pick-up / placement position 23 is at a higher position, making it easier for the operator to access the sample 3, facilitating the placement and removal of the sample 3. The detection position 4 is at a lower position, allowing the sample 3 to be placed more stably during the detection process and preventing interference during transfer.

[0072] The lower end point A of the first vertical side is the starting point, which is the position where the robotic arm gripping mechanism 1 begins to grip the sample 3. A starting point position sensor 17 is provided at the starting point. The lower end point B of the second vertical side is the ending point, which is the position where the robotic arm gripping mechanism 1 completes gripping and places the sample 3 into the detection position 4. An ending point position sensor 110 is provided at the ending point.

[0073] When the limiting guide moves to the starting position, the starting position sensor 17 detects this signal and transmits the signal to the first gripping control mechanism. When the limiting guide moves to the ending position, the ending position sensor 110 detects this signal and transmits the signal to the first gripping control mechanism.

[0074] After receiving the signal from the sensor, the first gripping control mechanism controls the drive mechanism 111 to stop rotating for a set time. The purpose of setting the time is to ensure that the robotic gripping mechanism 1 has enough time to complete the action of gripping or releasing the sample 3, so as to avoid the sample 3 being displaced or damaged due to the continuous movement of the drive mechanism 111.

[0075] In the above embodiments, through the detection of the starting position sensor 17 and the ending position sensor 110, and the control of the first gripping control mechanism, the robotic gripping mechanism 1 can automatically complete the gripping and releasing action of the sample 3, ensuring that the robotic gripping mechanism 1 can efficiently and accurately complete the transfer task of the sample 3, and ensuring the smooth progress of the detection process.

[0076] Based on the above specific embodiments, it also includes:

[0077] A mid-position sensor is set at the pause point, which is located at the set position of the curved edge connecting the upper end point of the first vertical edge to the upper end point C of the second vertical edge.

[0078] A sampling mechanism mounted on the frame 14 is used to detect whether sample 3 is placed in the pick-up and put-down position 23 and the detection position 4 when the limit guide is detected to move to the stop point;

[0079] A second gripping control mechanism connected to the sampling mechanism, used to control the gripping module 11 to move to the gripping position 23 or the detection position 4 to grip the sample 3 when it is detected that the sample 3 is placed at the pick-up position 23 or the detection position 4.

[0080] In one specific embodiment, the pause point can be located at the upper endpoint of the first vertical side, the upper endpoint C of the second vertical side, or any position on the curve between the two. An intermediate position sensor is installed at the pause point to detect whether the limiting guide of the guide component has reached that position.

[0081] When the intermediate position sensor detects that the limit guide has reached the stop point, it will trigger the subsequent detection and control process to ensure that the robotic gripper 1 performs sample 3 detection and gripping operations at the appropriate time.

[0082] The sampling mechanism is mounted on the frame 14. The sampling mechanism can be an image acquisition device such as a camera, or a photoelectric sensor detection device. The sampling mechanism is connected to an intermediate position sensor. When the limit guide moves to the stopping point, the intermediate position sensor detects this signal and triggers the sampling mechanism to start working. The sampling mechanism uses image recognition technology to scan and analyze the pick-up / placement position 23 and the detection position 4. If a sample 3 is detected at the pick-up / placement position 23 or the detection position 4, the sampling mechanism will transmit this information to the second gripping control mechanism.

[0083] The second gripping control mechanism receives a sample 3 presence signal from the sampling mechanism. Based on the signal, the second gripping control mechanism controls the gripping module 11 to move in the corresponding direction, either towards the pick-up / placement position 23 or towards the detection position 4. After the gripping module 11 reaches the designated position, it executes the gripping action to pick up the sample 3 from the pick-up / placement position 23 or the detection position 4.

[0084] In the above embodiments, through the cooperation of the intermediate position sensor and the sampling mechanism, and the control of the second gripping control mechanism, the entire sample 3 gripping process is highly automated, improving work efficiency. The use of the sampling mechanism ensures that the robotic gripping mechanism 1 can accurately detect whether there is a sample 3 at the pick-up / placement position 23 and the detection position 4, avoiding damage to the sample 3 or operation failure caused by blind gripping.

[0085] Based on the above specific embodiments, the sample storage mechanism 2 includes a rotating stage 22 and a sample tray 21. The sample tray 21 includes multiple placement positions for placing samples 3. The rotating stage 22 rotates to control the multiple placement positions to sequentially reach the pick-up and drop positions 23, and the samples 3 are placed in the placement positions of the sample tray 21.

[0086] In one specific embodiment, the sample tray 21 has multiple placement positions for placing samples 3. The number of placement positions depends on specific needs and is usually designed to be multiple to increase sample storage capacity.

[0087] The sample tray 21 can rotate 360° under the drive of the rotating stage 22. The rotation of the sample tray 21 allows multiple placement positions to reach the pick-up and put-down positions 23 in sequence, thereby realizing the automatic conversion of sample 3.

[0088] The sample tray 21 has a recess or protrusion at each placement position. The outline area enclosed by the recess or protrusion is the placement area for the sample 3. The outline area of ​​the placement area is consistent with the outline of the sample 3 and is slightly larger than the outer dimensions of the sample 3. The placement position can accurately locate the position of the sample 3, maintain the consistency of the sample 3 placement position, and ensure that the robotic arm gripping mechanism 1 can accurately pick up and place the sample 3 each time; it can also effectively protect the sample 3.

[0089] When the equipment is running, the robotic gripping mechanism 1 drives the gripping module 11 to grip the sample 3 on the sample storage mechanism 2 at the pick-up and place position 23 and move it to the detection position 4 of the spectrometer for detection. After the detection is completed, the gripping module 11 puts the sample 3 at the detection position 4 back into the pick-up and place position 23. The rotating table 22 rotates at a specific angle to rotate the next sample 3 to be tested to the pick-up and place position 23, and then starts the detection of the next sample 3.

[0090] In the above embodiments, through the automatic rotation of the rotary table 22 and the orderly placement of the sample tray 21, the sample 3 can be efficiently and accurately transferred to the detection position 4, and the detection process of the sample 3 can be automated, thus improving the detection efficiency.

[0091] Based on the above specific embodiments, the sample tray 21 has multiple placement positions evenly distributed along the circumference. The sample tray 21 and the rotating stage 22 are detachably connected. The sample tray 21 and the rotating stage 22 are positioned by positioning holes and positioning pins. The rotating stage 22 is controlled by a stepper motor.

[0092] In one specific embodiment, the sample tray 21 is typically circular with multiple placement positions evenly distributed along the circumference, so that the samples 3 can be evenly distributed and it is easy to control each sample 3 to accurately reach the pick-up and place position 23 during rotation.

[0093] Preferably, the sample tray 21 and the rotating stage 22 are detachably connected. To ensure consistency in the installation position of the sample tray 21 before and after placement, the sample tray 21 and the rotating stage 22 are positioned using positioning holes and positioning pins. For example, the bottom surface of the sample tray 21 has positioning holes, and the rotating stage 22 has positioning pins that match the positioning holes. During installation, the positioning holes of the sample tray 21 are inserted into the positioning pins of the rotating stage 22 to ensure that the sample tray 21 can be accurately fixed on the rotating stage 22, and to ensure that the rotation angle of the sample tray 21 can accurately transport the sample 3 to the placement position 23.

[0094] Preferably, the sample tray 21 is equipped with a handle and can be removed from the rotating table 22, making it convenient for users to take the sample tray 21 to the sample placement area to take the sample to be tested or to place the sample that has already been tested.

[0095] The rotation of the rotary table 22 can be driven by a stepper motor, and the control unit is connected to the stepper motor. The control unit sends rotation commands, and the stepper motor rotates gradually by a specific angle by receiving pulse signals from the control unit. Each pulse signal corresponds to a certain rotation angle, thereby achieving precise rotation control. Through the cooperation of the stepper motor and the control unit, the entire sample 3 replacement process is automated, reducing manual intervention and improving work efficiency.

[0096] Based on the above specific embodiments, a positioning device is also included for determining the rotation of the placement position to the pick-up / placement position 23. The positioning device includes:

[0097] A detection block is set at each placement position;

[0098] A positioning detection sensor is installed at the positioning mark line on the rotary table 22;

[0099] A positioning mechanism connected to a positioning detection sensor, used to control the drive mechanism 111 to stop rotating when the positioning detection sensor detects a detection block.

[0100] In one specific embodiment, a detection block is positioned at the arrival detection line of each placement position, and an arrival detection sensor is mounted at the arrival marker line on the rotary table 22. The arrival detection sensor is typically located at the edge or bottom of the rotary table 22. The arrival detection line and the arrival marker line are reference lines used to detect whether the placement position has reached the pick-up / placement position 23. When the sample tray 21 rotates, causing the detection block to move and align with the arrival detection sensor, the arrival detection sensor detects the detection block, indicating that the arrival marker line is aligned with the arrival detection line, thus confirming that the placement position has reached the pick-up / placement position 23.

[0101] The positioning mechanism is connected to the positioning detection sensor, and receives a positioning signal from the sensor. Based on the received signal, the positioning mechanism controls the drive mechanism 111 to stop rotating for a set duration. The purpose of the set duration is to ensure that the placement position has sufficient time to accurately remain at the pick-up / placement position 23, preventing the placement position from deviating due to the continuous movement of the drive mechanism 111.

[0102] In the above embodiments, through the cooperation of the positioning detection sensor and the positioning mechanism, the sample storage mechanism 2 can efficiently and stably determine whether the placement position of the sample tray 21 has been accurately rotated to the pick-up and put-down position 23, thereby improving the accuracy and reliability of sample 3 detection.

[0103] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0104] The X-ray fluorescence spectrometer provided by this utility model has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that those skilled in the art can make various improvements and modifications to this utility model without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this utility model. Therefore, this utility model is not limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An X-ray fluorescence spectrometer, characterized by, The application relates to a sample storage mechanism (2) with a sample taking and placing position (23), a spectrum detector with a detection position (4), and a mechanical hand grabbing mechanism (1) for grabbing samples (3) from the two positions, wherein the mechanical hand grabbing mechanism (1) comprises a frame (14), a U-shaped slide rail (15) arranged on the frame (14), a moving assembly moving along the U-shaped slide rail (15), a grabbing module (11) connected to the moving assembly, and a driving mechanism (111) for driving the moving assembly to move, wherein the moving assembly moves in a vertical plane where the taking and placing position (23) and the detection position (4) are connected, the U-shaped slide rail (15) comprises a first vertical edge, a second vertical edge and a curved edge connecting the upper ends of the first vertical edge and the second vertical edge, the axes of the first vertical edge and the second vertical edge correspond to the centers of the taking and placing position (23) and the detection position (4) respectively, and the lower ends of the first vertical edge and the second vertical edge correspond to the positions where the grabbing module (11) grabs the samples (3) on the taking and placing position (23) and the detection position (4) respectively.

2. The X-ray fluorescence spectrometer of claim 1, wherein, The moving assembly comprises a crank (13) with a guide groove and connected to the driving mechanism (111), a guide component connected to the U-shaped slide rail (15) and the guide groove and capable of moving along the U-shaped slide rail (15) and the guide groove, a Z-axis guide rail (16) connected to the connecting part of the guide component, and an X-axis guide rail (113) connected to the Z-axis guide rail (16) through an XZ-axis guide rail connector (18), wherein the X-axis guide rail (113) is connected to the frame (14), and the moving assembly moves in an XZ plane.

3. The X-ray fluorescence spectrometer of claim 2, wherein, The guide component comprises a mounting device (12) and a roller (112) mounted on the mounting device (12), wherein the mounting device (12) is mounted at the top end of the Z-axis guide rail (16), and the roller (112) is embedded in the U-shaped slide rail (15) and the guide groove.

4. The X-ray fluorescence spectrometer of claim 2, wherein, The guide groove comprises a straight line segment (131) and a constant-speed curve segment (132), wherein the straight line segment (131) corresponds to the movement of the guide component on the U-shaped slide rail (15) from the lower end point (A) of the first vertical edge to the upper end point (C) of the second vertical edge, and the constant-speed curve segment (132) corresponds to the movement of the guide component on the U-shaped slide rail (15) from the upper end point (C) of the second vertical edge to the lower end point (B) of the second vertical edge.

5. The X-ray fluorescence spectrometer of claim 4, wherein, The guide groove further comprises a circular arc segment (133), wherein the circular arc segment (133) takes the center of the driving mechanism (111) as the center and takes the distance between the center of the driving mechanism (111) and the end point as the radius.

6. The X-ray fluorescence spectrometer of claim 2, wherein, The taking and placing position (23) is higher than the detecting position (4), a start position sensor (17) is arranged at the lower end point (A) of the first vertical edge, and an end position sensor (110) is arranged at the lower end point (B) of the second vertical edge; further comprising a first grabbing control mechanism connected with the start position sensor (17) and the end position sensor (110), and used for controlling the driving mechanism (111) to stop rotating when it is detected that the limiting guide part moves to the start point or the end point.

7. The X-ray fluorescence spectrometer of claim 2, wherein, Further comprising: An intermediate position sensor arranged at a pause point, the pause point being arranged at a set position of the curved edge connecting the upper end point of the first vertical edge to the upper end point (C) of the second vertical edge; A sampling mechanism arranged on the rack (14) and used for detecting whether the taking and placing position (23) and the detecting position (4) are placed with samples (3) when it is detected that the limiting guide part moves to the pause point; A second grabbing control mechanism connected with the sampling mechanism and used for controlling the grabbing module (11) to move to the taking and placing position (23) or the detecting position (4) to grab the samples (3) when it is detected that the taking and placing position (23) and the detecting position (4) are placed with samples (3).

8. The X-ray fluorescence spectrometer of claim 1, wherein, The sample storage mechanism (2) comprises a rotating table (22) and a sample disc (21), the sample disc (21) comprises a plurality of placing positions for placing samples (3), and the rotating table (22) rotates to control the plurality of placing positions to reach the taking and placing position (23) in turn, and the samples (3) are placed in the placing positions of the sample disc (21).

9. The X-ray fluorescence spectrometer of claim 8, wherein, The sample disc (21) is uniformly distributed with a plurality of placing positions in the circumferential direction, the sample disc (21) is detachably connected with the rotating table (22), the sample disc (21) and the rotating table (22) are positioned through positioning holes and positioning pins, and the rotating table (22) is controlled through a stepping motor.

10. The X-ray fluorescence spectrometer of claim 8, wherein, Further comprising a reaching position device for determining that the placing positions rotate to the position of the taking and placing position (23), the reaching position device comprising: A detection block arranged at each placing position; A reaching position detection sensor arranged at a reaching position identification line on the rotating table (22); A reaching position mechanism connected with the reaching position detection sensor and used for controlling the driving mechanism (111) to stop rotating when the reaching position detection sensor detects the detection block.

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