CN112212953A - Full-automatic intelligent sample weighing instrument and use method thereof - Google Patents
Full-automatic intelligent sample weighing instrument and use method thereof Download PDFInfo
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- CN112212953A CN112212953A CN202011238713.3A CN202011238713A CN112212953A CN 112212953 A CN112212953 A CN 112212953A CN 202011238713 A CN202011238713 A CN 202011238713A CN 112212953 A CN112212953 A CN 112212953A
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- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G17/00—Apparatus for or methods of weighing material of special form or property
- G01G17/04—Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes
- G01G17/06—Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes having means for controlling the supply or discharge
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Abstract
The invention discloses the technical field of sample inspection and detection equipment, in particular to a full-automatic intelligent sample weighing instrument and a using method thereof, wherein the full-automatic intelligent sample weighing instrument comprises a sampling part, a sample vibration part and a sample weighing part, wherein the sampling part is used for grabbing a sample storage tank containing a sample and putting the sample storage tank into the sample vibration part; the sample vibrating part is used for fixing the sample storage tank conveyed by the sampling part and vibrating the sample storage tank to realize sample; the sample weighing part is positioned below the sample vibrating part and is used for weighing the sample vibrated out of the sample storage tank in real time; and respectively with sample portion the appearance portion of shaking with the control part that the title appearance portion is connected, the appearance portion of shaking is including support post and fixed the storage sample jar can be followed the vibration platform of support post lift, vibration platform is equipped with the installation the storage sample jar cover discharge hole of storage sample jar, fixed the electronic clamping mechanism and the vibrator of storage sample jar, this instrument passes through the controller and operates with the help of two robots, has replaced manual operation, realizes continuous production, has improved production efficiency, has reduced manufacturing cost, and the automatic instant save of title appearance weight data guarantees the record data accuracy.
Description
Technical Field
The invention relates to the technical field of sample inspection and detection equipment, in particular to a full-automatic intelligent sample weighing instrument and a using method thereof, which can be widely applied to agriculture, forestry, animal husbandry, fishery, mining industry, manufacturing industry, scientific research and technical service industry, water conservancy environment and public facility management industry and education industry, are particularly suitable for laboratories of systems such as ground mines, environmental protection, agriculture, metallurgy, forestry, medicines, food, building materials and the like, and are mainly used for quantitatively weighing a small amount of solid powdery samples.
Background
In laboratories in the field of test testing, sample weighing is the most common and necessary procedure in the laboratory. As long as the experimental test work of quantitative analysis is carried out, the accurate quantitative sample weighing is the first step for ensuring the accuracy of the subsequent analysis test data. At present, a sample is generally weighed by using an electronic balance in a laboratory, such as the electronic balance with the sensing quantity of 0.1mg commonly used in the laboratory, and the electronic balance generally has the functional advantages of internal calibration, overload alarm, weighing unit conversion, data storage and printing, wind resistance, stability, friendly interface and the like, and the weighing technology of the electronic balance per se is developed more mature at present.
In a geological laboratory of a land resource system, the current situation that the number of daily analysis test samples is large exists, and 500-2000 analysis test samples can be processed on average every day. There are many analytical elements and the analytical methods used in combination, for example, 76 elements are analyzed and tested in geochemical mapping sample, 16 analytical methods are required to be combined, each sample needs to be weighed 16 times independently, and 8000-32000 sample weighing workloads are generated in geological laboratories each day. According to the calculation of weighing 700 samples per day by each person at present, about 12-46 persons are required to be constantly weighed in one working day. Because the samples are weighed as many as one another (that is, a sample is analyzed and tested for a plurality of elements or items, and because the analysis and test tasks of the sample can be completely completed only by adopting a plurality of analysis methods due to the limitation of the current technical level and process, the sample must be weighed for a plurality of times independently), the sample weighing workload of a laboratory is large.
In the prior art, sample weighing still depends on traditional pure manual operation, and the general flow of the sample is called as follows in the industry: the electronic balance is horizontally arranged on the workbench, an operator sits opposite to the electronic balance, a sample to be weighed is placed on the right side of the operator, and a sample container is placed on the left side of the operator; switching on a commercial power of an electronic balance, preheating, placing a sample weighing vessel on a tray of the electronic balance after the reading is stable, and resetting to be stable by pressing a peeling key after the reading is stable; an operator opens a sample seal, digs a proper amount of sample by using a sample weighing spoon, and slowly puts the sample into a sample weighing dish until the set sample weighing weight is displayed and the reading is stable; the weight of the sample is stored or recorded. Then the two hands are matched, and the weighed samples are completely transferred into a sample container to finish the work of weighing one sample.
At present, the following problems and disadvantages exist in the manual weighing of the sample by the electronic balance used in the laboratory in the field of inspection and detection:
1. cross contamination of the samples. Because the sample is weighed as many as one, different sample weighing personnel or the same sample weighing personnel use the same sample weighing spoon for many times to cause potential cross contamination among samples, and the subsequent analysis and test quality is influenced.
2. The error rate is high. Because of manual operation, the sample and the vessel are often subjected to misoperation such as corresponding wrong numbers, and rework is directly caused.
3. When the samples are weighed at constant weight, the accuracy of weighing the samples is difficult to judge and verify one by one on site; when the sample is weighed according to the non-constant weight, the data is generally manually recorded one by one and cannot be automatically and instantly stored.
4. The whole sample weighing process needs manual guard, an operator needs to keep a double-arm support holding state, fatigue is easy to occur, labor intensity is high, continuous production is difficult, and production efficiency is low.
5. The whole sample weighing process completely depends on manual operation, the labor cost is high, and the economic benefit is low. Because the required sample weighing personnel are more, the personnel management difficulty and the cost are increased.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a full-automatic intelligent sample weighing instrument and a sample weighing method.
The technical scheme of the invention is as follows:
the full-automatic intelligent sample weighing instrument comprises a sampling part, a sample weighing part and a sample weighing part, wherein the sampling part is used for grabbing a sample storage tank 103 containing a sample and putting the sample storage tank 103 into a sample vibrating part;
a sample vibrating part for fixing the sample storage tank 103 conveyed by the sampling part and vibrating the sample storage tank 103 to realize sample display;
a sample weighing part which is positioned below the sample vibrating part and is used for weighing the sample vibrated out of the sample storage tank 103 in real time;
and a control part respectively connected with the sampling part, the sample vibrating part and the sample weighing part.
Preferably, the sample vibrating part comprises a support column 201 and a vibrating platform 204 which fixes the sample storage tank 103 and can be lifted along the support column 201.
Preferably, the vibration platform 204 is provided with a sample tank receiving hole 207 for receiving the sample tank 103, an electric clamp mechanism 209 for fixing the sample tank 103, and a vibrator 208.
Preferably, the vibration platform 204 is installed on a vibration platform frame 203, the vibration platform 204 and the vibration platform frame 203 are connected with springs 206, and the vibration platform 204 and the vibration platform frame 203 are both provided with spring installation holes 205.
Preferably, the supporting column 201 is provided with an electric lifting table 202, and the electric lifting table 202 is fixedly connected with a vibration platform frame 203.
Preferably, the sample vibrating part comprises an electric flat turning fork 210 which can rotate in a horizontal plane, and the electric flat turning fork 210 is used for detaching or installing a sample outlet blocking plate 1036 positioned on the sample storage tank 103.
Preferably, the electric panning fork 210 comprises a fork body 2101 and a fixture 2102 located on the fork body 2101, the electric panning fork 210 is connected with a stepping motor 211 for controlling the electric panning fork 210 to rotate, and the stepping motor 211 is fixedly connected with the support column 201.
As an optimization, the sample storage tank 103 comprises a tank 1031 provided with a sample outlet 1033, a tank sleeving limiting outer eaves 1032 positioned at one end of the tank 1031, a sample storage tank sealing cover 1035 fixedly connected with the tank sleeving limiting outer eaves 1032, and a sample outlet blocking plate 1036 connected with the tank 1031 through a magnet;
a plug plate moving limiting groove 1034 is formed in the outer circular surface of one side, close to the sample outlet plug plate 1036, of the tank body 1031.
Preferably, the tank 1031 is provided with a first magnet 1037, and the outlet blocking plate 1036 is provided with a second magnet 1038 corresponding to the first magnet 1037.
Preferably, the latch 2102 of the electric flat fork 210 is rotatably inserted into the latch displacement limiting groove 1034 of the can 1031.
As an optimization, the sampling part includes a first robot body 101, a first robot gripper 102 located at a front end of the first robot body 101, and a sample storage tank holding tray 104, and the sample storage tank holding tray 104 is provided with a sample storage tank holding hole 105 for holding a sample storage tank 103.
As an optimization, the sample weighing part comprises an electronic balance 301 and a computer 302 for storing sample weighing data.
As optimization, the sampling system is further provided with a sampling system for grabbing the sample container 405 subjected to sample weighing and putting the sample container 405 into the sample container tray 403;
the sampling system comprises a second robot body 401, a second robot paw 402 positioned at the front end of the second robot body 401 and a sample container tray 403, wherein the sample container tray 403 is provided with a sample container placing hole 404 for placing a sample container 405.
As an optimization, the control section includes a controller 501 and an electrical box 502.
The use method of the full-automatic intelligent sample weighing instrument comprises the following steps:
s1, sampling, namely, controlling the first robot gripper 102 to grab the sample storage tank 103, clamp the sample storage tank 103 and transfer the sample storage tank to the position right above the sample storage tank sleeving hole 207 by starting the controller 501; controlling the electric lifting platform 202 to ascend from the original position to enable the sample storage tank 103 to penetrate through the sample storage tank sleeving hole 207; controlling the electric clamping mechanism 209 to clamp the sample storage tank 103 and controlling the first robot gripper 102 to reset; controlling the electric lifting platform 202 to return to the original position;
s2, clamping a sample container, controlling the second robot paw 402 to grab the sample container 405 to the electronic balance 301, enabling the opening of the sample container 405 to correspond to the sample outlet 1033 of the sample storage tank, and controlling the second robot paw 402 to reset; the electronic balance 301 is adjusted by the controller 501 to be peeled and reset, and the electronic balance enters a working state to wait for sample weighing and prepare for storing and taking weighing readings.
S3, opening the sample outlet, starting the stepping motor 211, driving the electric flat turning fork 210 to screw into the plug plate moving limiting groove 1034 of the sample storage tank 103, controlling the electric lifting platform 202 to ascend from the original position, and separating the sample outlet plug plate 1036 from the sample storage tank 103; controlling the stepping motor 211 to reset the electric flat turning fork 210;
s4, vibrating the sample, and controlling the electric lifting platform 202 to descend to enable the sample outlet 1033 to extend into the sample container 405 by 1-5 mm; starting the vibrator 208 to drive the sample storage tank 103 to vibrate for sampling, reading data of the electronic balance 301 by the computer 302, and controlling the electric lifting platform 202 to ascend to the original position when the sample weighing reading of the electronic balance 301 gradually approaches the set sample weighing weight; when the weighing reading of the electronic balance 301 is equal to the set weighing weight, the vibrator 208 is closed; starting the stepping motor 211 to rotate the electric flat turning fork 210 by a set angle to a position right below the sample outlet 1033, so that the sample storage tank 103 and the sample outlet blocking plate 1036 are connected in an adsorption manner; controlling the stepping motor 211 to reset the electric flat turning fork 210;
s5, storing data, feeding back a signal to the electronic balance 301 by the controller 501, storing the sample weighing weight of the weighed sample after the screen display reading of the electronic balance 301 is stable, and storing the sample weighing weight in the computer 302;
s6, withdrawing the sample storage tank, and controlling the electric clamping mechanism 209 to release the clamping of the sample storage tank 103; controlling the first robot gripper 102 to grab the sample storage tank 103 positioned in the sample storage tank sleeving hole 207, moving the sample storage tank 103 out of the sample storage tank sleeving hole 207 and placing the sample storage tank into the sample storage tank containing tray 104;
and S7, collecting samples, controlling the second robot paw 402 to grab the sample container 405 on the electronic balance 301, and transferring the sample container 405 to the sample container placing hole 404 of the sample container tray 404.
The invention has the advantages that:
the instrument vibrates to output samples through the sample outlet hole at the bottom of the sample storage tank, samples directly enter the sample containing vessel after being vibrated out, an intermediate link of using a sample weighing knife is omitted, the latent cross contamination among different samples is completely avoided, and basic conditions and guarantee are provided for guaranteeing the subsequent analysis and test quality.
The instrument is operated by two robots through the controller, no manual intervention is needed, the misoperation is reduced to zero, and the rework phenomenon is avoided.
In the sample weighing process, sample weighing weight data are automatically and immediately stored, and zero error is realized by constant weight sample weighing; constant weight and non-constant weight samples are both instantly stored electronically, manual recording is not needed, and data error recording is avoided.
The instrument is operated by two robots through the controller, unattended operation is achieved, continuous production is achieved, production efficiency is improved, and the problem that labor intensity of manual sample weighing in the industry is high is solved.
The instrument uses two multi-degree-of-freedom robots for sample injection, manual work is not needed, labor cost is reduced, and economic benefits are improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged view of the three-dimensional structure of the sample storage tank of the present invention;
FIG. 3 is a schematic view of the working principle of the sample storage tank and the electric flat turning fork of the present invention;
wherein the content of the first and second substances,
the sample storage device comprises a first robot body 101, a first robot claw 102, a sample storage tank 103, a tank 1031, an outer brim 1032 of a tank limiting sleeve, a sample outlet 1033, a blocking plate moving limiting groove 1034, a sample storage tank sealing cover 1035, a sample outlet blocking plate 1036, a first magnet 1037, a first magnet 1038, a sample storage tank containing disc 104 and a sample storage tank containing hole 105;
the device comprises a support upright 201, an electric lifting table 202, a vibration platform frame 203, a vibration platform 204, a spring mounting hole 205, a spring 206, a sample storage tank sleeve hole 207, a vibrator 208, an electric clamping mechanism 209, an electric horizontal turning fork 210, a fork body 2101, a fixture block 2102 and a stepping motor 211;
an electronic balance 301, a computer 302;
a second robot body 401, a second robot claw 402, a sample container tray 403, a sample container placing hole 404 and a sample container 405;
a controller 501 and an electrical box 502.
Detailed Description
In order to make the technical means, technical features, objects and technical effects of the present invention easily understandable, the present invention is further described below with reference to the specific drawings.
The first embodiment is as follows:
the full-automatic intelligent sample weighing instrument comprises a sampling part, a sample weighing part and a sample weighing part, wherein the sampling part is used for grabbing a sample storage tank 103 containing a sample and putting the sample storage tank 103 into a sample vibrating part; a sample vibrating part for fixing the sample storage tank 103 conveyed by the sampling part and vibrating the sample storage tank 103 to realize sample display; a sample weighing part which is positioned below the sample vibrating part and is used for weighing the sample vibrated out of the sample storage tank 103 in real time; and a control part respectively connected with the sampling part, the sample vibrating part and the sample weighing part.
The sampling part comprises a first robot body 101, a first robot claw 102, a sample storage tank 103, a sample storage tank containing disc 104 and a sample storage tank containing hole 105. The sample storage tank 103 comprises a tank body 1031, a tank body limiting sleeve placing outer eaves 1032, a sample outlet 1033, a blocking plate moving limiting groove 1034, a sample storage tank sealing cover 1035, a sample outlet blocking plate 1036, a first magnet 1037 and a second magnet 1038.
The functions of each part are as follows.
The first robot body 101 and the first robot gripper 102 are used for grabbing the sample storage tanks 103 (containing samples) from the sample storage tank containing holes 105 of the sample storage tank containing tray 104 and moving the sample storage tanks to positions right above the sample storage tank sleeving holes 207 according to a set control program sequence; after the sample is vibrated out and the sample weighing procedure is completed, the sample storage tank 103 (containing residual sample) is grabbed and placed back into the sample storage tank accommodating hole 105 from the position right above the sample storage tank sleeve hole 207 according to a set control procedure.
The sample storage tank 103 is a container for containing the sample 106 to be weighed, is continuously numbered according to natural numbers (in this case, the sample storage tank is continuously numbered from Cyg 1), and is used for containing the sample 106, wherein the sample storage tank is generally not less than 50 g, the outer part of the tank 1031 is cylindrical, the material of the tank 1031 is plastic, the inner part of the tank 1031 is hollow and cylindrical, the inner bottom of the tank is conical, and the wall thickness of the tank 1031 is generally 0.5-5 mm, and is used for containing; the outer upper part of the tank body 1031 protrudes a circle along the circumference to serve as a tank body limiting outer brim 1032, so that the sample storage tank 103 is limited and fixed when being placed in the sample storage tank sleeve hole 207, and the sample storage tank 103 is prevented from freely falling off from the sample storage tank sleeve hole 207; any opposite sides of the tank body limiting outer eaves 1032 are processed into parallel planes, and the parallel planes are contact surfaces of the first robot gripper 102 for grabbing the movable sample storage tank 103. The sample outlet 1033 is formed in the center of the bottom of the sample storage tank 103 and protrudes out of the bottom by 1-5 mm, the diameter of the hole is generally 0.5-3.5 mm, the depth of the hole is generally less than 5mm, and the hole is used as a passage for the sample 106 to vibrate for sample outlet during vibration operation.
The plug plate moving and placing limiting groove 1034 is formed in the outer bottom of the tank 1031 and is a group of planes parallel to each other, a limiting groove is formed between the plug plate 1036 and the sample outlet hole, the limiting groove is a passage through which the F-shaped electric flat turning fork 210 extends into the tank 1031 and the sample outlet hole plug plate 1036, and the plug plate 1036 can be moved away or placed by means of the lifting of the electric lifting table 202 and the flat turning of the F-shaped electric flat turning fork 210.
The sample storage tank cap 1035 covers the upper part of the sample storage tank 103, is made of the same material as the sample storage tank body 103, and has two functions, namely, preventing external impurities from entering the sample storage tank 103 to cause the sample 106 to be polluted, and preventing the sample 106 from splashing out of the tank body to cause the loss of the sample 106 during sample vibration.
The sample outlet blocking plate 1036 is disposed at the lower portion of the sample storage tank 103 and is used for blocking the sample outlet 1033, so as to prevent the sample 106 from spilling out of the sample storage tank 103 and causing loss of the sample 106.
The first magnet 1037 and the second magnet 1038 are respectively and relatively embedded on the lower end face of the sample storage tank 103 and the plane of the sample outlet plugging plate 1036, are respectively equal to the lower end face of the sample storage tank 103 and the plane of the sample outlet plugging plate 1036, are respectively the N pole and the S pole of the magnet, form a magnet pair, provide magnetic attraction, enable the sample outlet plugging plate 1036 to be attracted at the bottom of the sample storage tank 103 to plug the sample outlet 1033, and the number is not less than two.
The sample storage tank holding tray 104 is a carrier for sequentially placing the sample storage tanks 103, is generally made of square plastic or metal plate, is provided with a certain number of sample storage tank holding holes 105 with set depth, is circular, is continuously numbered according to natural numbers (in this case, the sample storage tanks are continuously numbered from Sfk 1), and has a diameter slightly larger than the outer diameter of the tank body 1031 and is used for inserting and placing the sample storage tanks 103.
The sample 106 is dry solid powder, is continuously numbered according to natural numbers (in this case, the sample is continuously numbered from Sy 1), and technical indexes such as granularity and water content need to meet technical requirements specified by industrial standards, and is filled in the sample storage tank 103 for standby before work.
The sample vibrating part comprises a supporting upright 201, an electric lifting platform 202, a vibrating platform frame 203, a vibrating platform 204, a spring mounting hole 205, a spring 206, a sample storage tank sleeve hole 207, a vibrator 208, an electric clamping mechanism 209, an electric flat fork 210 and a stepping motor 211.
The electric clamping mechanism 209 can be an electromagnet, an electric push rod, an electric cylinder, an electric hydraulic cylinder, and the like.
The functions of each part are as follows.
The support upright 201 is vertically and independently arranged on the ground, is a support component of the whole sample vibration system and is not in rigid contact with the electronic balance 301;
the electric lifting platform 202 is rigidly connected to the front side of the support upright 201 and is used for lifting the vibration platform frame 203 and the vibration platform 204 during working;
the vibration platform frame 203 is square or round, made of plastic or metal, is rigidly and horizontally connected to the moving end of the electric lifting platform 202, and is a supporting load component of the vibration platform 204;
the vibration platform 204 is connected and installed inside the vibration platform frame 203 through a spring installation hole 205 and a spring 206, and the upper end surface of the vibration platform frame 203 is parallel to the upper end surface of the vibration platform frame 203;
the spring mounting holes 205 are horizontally and horizontally arranged on the inner wall of the vibration platform frame 203 and the outer wall of the vibration platform 204 respectively, are opposite in pairs, and are inserted with springs 206 in the middle for flexibly connecting the vibration platform frame 203 and the vibration platform 204, so that the amplitude and the vibration intensity of the vibrator 208 on the vibration platform 204 are kept to the maximum degree when the vibrator works.
The sample storage tank sleeve hole 207 is vertically opened on the vibration platform 204, is a circular hole, has a diameter slightly larger than the outer diameter of the tank body 1031, and is used for inserting the sample storage tank 103 during operation.
The vibrator 208 is mounted on the vibration platform 204, and is typically an electric vibrator or a pneumatic vibrator, and is operated by slight deformation of the spring 206 to provide a vibration force to the sample 106 in the sample storage tank 103 as a vibration source, so that the sample 106 continuously vibrates and flows out of the sample outlet 1033 into the sample container 405.
The electric clamping mechanism 209 is horizontally arranged on the vibration platform 204, is generally an electric push rod, can also be an electromagnet or an eccentric cam, is used for tightly pushing or squeezing the sample storage tank 103 during working, and prevents the sample storage tank 103 from rotating or vibrating during vibration sample output to play a limiting role;
the electric flat turning fork 210 is used for limiting, placing and moving a sample outlet blocking plate 1036 in a horizontal direction, is installed on a rotating shaft of the stepping motor 211, is vertical to the rotating shaft of the stepping motor 211, and is level with the bottom of the sample storage tank 103 when the electric lifting platform 202 is in the original position and the sample storage tank is sleeved in the sample storage tank sleeving hole 207, the front end of the electric flat turning fork 210 is a plane supporting plate, an F-shaped fork is arranged above the plane supporting plate, the blocking plate moving limiting groove 1034 is inserted during working, the electric lifting platform 202 is lifted to overcome the magnetic attraction force between the first magnet 1037 and the second magnet 1038, so that the sample outlet blocking plate 1036 is arranged on the plane supporting plate at the front end of the electric flat turning fork 210, and then the electric flat turning fork 210 is horizontally rotated to move the sample outlet blocking plate 1036, thereby opening the sample outlet 1033, and enabling the sample 106 to continuously vibrate and flow out of the sample outlet 1033.
The stepping motor 211 is rigidly mounted on the supporting upright 201, and the rotating shaft is vertical and rigidly connected with the electric flat rotating fork 210. When the electric flat turning fork 210 is driven to rotate by a set angle according to a set program during working, the electric flat turning fork is turned back to the original position after working is finished.
The sample weighing part comprises an electronic balance 301 and a computer 302.
The functions of each part are as follows:
the electronic balance 301 is arranged in front of the support column 201 and located below the vibration platform 204, and the center of the tray of the electronic balance 301 is opposite to the sample outlet 1033 and is used for quantitatively weighing the sample 106 during operation. The computer 302 is arranged at the front part of the full-automatic intelligent sample weighing instrument in the laboratory, is connected with the electronic balance through a data line, and automatically stores the weighing data of the sample 106 weighed by the electronic balance 301 in a set format during working. The computer 302 is also used as a man-machine interface, is connected with the controller 501 through a data line, and performs set program operation during working.
The sample receiving part comprises a second robot body 401, a second robot claw 402, a sample container tray 403, a sample container placing hole 404 and a sample container 405.
The functions of each part are as follows:
the second robot body 401 and the second robot gripper 402 are used for sequentially gripping the sample containers 405 from the sample container placing holes 404 according to a set control program and placing the sample containers on the tray of the electronic balance 301; after the sample is weighed, the sample container 405 is picked up according to a set control program and moved from the tray of the electronic balance 301 to be inserted into the sample container placing hole 404.
The sample container tray 403 is used for placing sample containers 405, is placed on one side of the second robot body 401, is made of plastic or metal, is generally square, is provided with sample container placing holes 404 at the upper part, is continuously numbered according to natural numbers (in the case, the sample containers are continuously numbered from Fzk 1), is used for inserting the sample containers 405, and has a diameter slightly larger than that of the sample containers; the sample container 405 is used for containing the weighed samples 106, and may be a beaker, a crucible, a cuvette, a centrifuge tube, etc., which are numbered continuously according to natural numbers (in this case, numbered continuously from Sym 1), and the weighed samples are sequentially placed in the sample container placing holes 404 for standby.
The control section includes a controller 501 and an electrical box 502.
The functions of each part are as follows:
the controller 501 is electrically connected to the first robot body 101, the first robot gripper 102, the electric lift table 202, the vibrator 208, the electric clamp mechanism 209, the electric level shift fork 210, the stepping motor 211, the electronic balance 301, the second robot body 401, the second robot gripper 402, and the electric box 502 via the computer 302, and turns on and off the electric elements and components according to a set program. The electric box 502 is used for installing hardware and electric elements of the full-automatic intelligent sample weighing instrument.
Example two:
the use method of the full-automatic intelligent sample weighing instrument comprises the following specific steps:
1. starting instrument commercial power, opening the computer, and displaying a working interface on a screen: reset → sampling → vibration and weighing → sampling → reset.
2. And clicking reset, and enabling the instrument to enter a reset self-checking program.
At this time, the first robot body 101 and the first robot gripper 102 are in the home position; the electric lifting platform 202 is at a position close to the bottom of the support upright 201 in a home position; the vibrator 208 is in an off state; the motorized clasping mechanism 209 is in a released state; the electric flat turning fork 210 is in a position far away from the sample storage tank sleeve hole 207; the stepping motor 211 is in a standby working state; the electronic balance 301 is in a standby operating state; the second robot body 401 and the second robot gripper 402 are in situ.
3. And (6) sampling.
The "reset" procedure ends and the instrument enters the "sample" procedure.
1) Clamping sample storage tank
Starting the first robot body 101 and the first robot claw 102, moving the robot claw 102 to the position above the sample storage tank containing disc 104 according to a set control program, clamping the No. Cyg1 sample storage tank 103 in the No. Sfk1 sample storage tank containing hole 105, and transferring the sample storage tank 103 to the position right above the sample storage tank sleeving hole 207 so that the bottom end of the No. Cyg1 sample storage tank 103 is vertically opposite to the sample storage tank sleeving hole 207; at this time, according to a set time interval, a signal is fed back to the electric lifting platform 202 by the controller 501, the electric lifting platform 202 is started, the sample storage tank No. Cyg1 is lifted from the original position by a set distance, the sample storage tank No. Cyg1 penetrates through the sample storage tank sleeve hole 207, the outer brim 1032 is placed in the sample storage tank sleeve hole 207 by means of the tank body limiting sleeve, and the electric lifting platform 202 is closed; at this time, the electric clamping mechanism 209 is started to make No. Cyg1 sample storage tank 103 be horizontally pressed or squeezed tightly against the inner wall of the sample storage tank sleeve hole 207 and firmly placed in the sample storage tank sleeve hole 207; releasing the robot gripper 102; and starting the electric lifting platform 202 to reversely rotate to drive the sample storage tank 103 to descend to the original position, and closing the electric lifting platform 202.
2) Pinch sample container and balance peeling zero clearing
Starting the second robot body 401 and the second robot paw 402, moving the second robot paw 402 to a position above a Fzk1 sample container placing hole 404 of the sample container tray 403, clamping a Sym1 sample container 405, moving the sample container 405 to a sample weighing tray of the electronic balance 301, enabling a sample receiving port of the sample container 405 to be upward, and vertically facing a sample outlet 1033 of the Cyg1 sample storage tank 103; release the second robot gripper 402 and return to the home position; at this time, a signal is fed back to the electronic balance 301 from the controller 501 according to a set program, the peeling key is started to clear, and the weighing reading is ready to be accessed when the reading of the electronic balance 301 is stable and the sample is to be weighed.
3) Opening a sample outlet hole
Starting the stepping motor 211 to drive the electric flat turning fork 210 to horizontally rotate from the original position by a set angle, so that the F-shaped fork at the front end of the electric flat turning fork 210 is inserted into the blocking plate displacement limiting groove 1034 to complete the limiting and fixing of the sample outlet blocking plate 1036; according to a set time interval, a signal is fed back to the electric lifting platform 202 by the controller 501, the electric lifting platform 202 is started, and the electric lifting platform 202 is lifted from the original position by a set distance, so that the sample outlet blocking plate 1036 overcomes the magnetic attraction between the first magnet 1037 and the second magnet 1038, and the sample outlet blocking plate 1036 is kept on a plane supporting plate at the front end of the electric flat-turning fork handle 210; the stepping motor 211 is started, and the electric flat turning fork 210 drives the sample outlet blocking plate 1036 to horizontally rotate reversely by a set angle, and returns to the original position. Thus, the sample outlet 1033 is opened, so that the sample outlet 1033 is opposite to the sample receiving port of the sample container 405 on the sample weighing plate of the electronic balance 301.
4. Shaking and weighing sample
The "sample" procedure ends and the instrument enters the "shake and weigh" procedure.
1) Sample preparation
According to a set time interval, a signal is fed back to the electric lifting platform 202 by the controller 501, the electric lifting platform 202 is started to descend, the electric lifting platform exceeds the original position and continues to descend for a set distance, and the protruding part of the sample outlet 1033 extends into the sample receiving port of the sample container 405 by about 1 mm-5 mm;
2) vibration sample
Starting the vibrator 208, enabling the vibration platform 204, the sample storage tank 103 and the Sy1 sample 106 to vibrate according to a set amplitude and a set vibration intensity, enabling the Sy1 sample 106 to continuously vibrate and flow out of the sample outlet 1033 into the sample container 405, enabling the screen display reading of the electronic balance 301 to be continuously changed and increased, feeding back a signal to the vibrator 208 by the controller 501 when the reading is close to the set sample weighing weight, and gradually reducing the amplitude and the vibration intensity of the vibrator 208; when the sample weighing reading of the electronic balance gradually approaches the set sample weighing weight, starting the electric lifting platform 202 to ascend back to the original position; the vibrator 208 is turned off until the electronic balance weigh reading equals the set weigh weight.
The stepping motor 211 is started to enable the electric flat turning fork 210 to horizontally rotate for a set angle from the original position to the position right below the sample outlet 1033, so that the sample outlet blocking plate 1036 left on the plane supporting plate at the front end of the electric flat turning fork 210 is attracted to the bottom of the sample storage tank 103 by virtue of the magnetic attraction between the first magnet 1037 and the second magnet 1038 to complete the action of blocking the sample outlet 1033, and the sample vibration action is finished.
3) Sample weighing and data storage
The stepper motor 211 is activated to reverse the motorized pan fork 210 back to the home position.
At this time, a signal is fed back from the controller 501 to the electronic balance 301 according to a set program, and after the screen display reading of the electronic balance 301 is stabilized, the weighed sample weight of the so-called Sy1 sample 106 is accessed and stored in the computer 302 via a data line.
4) Withdrawing sample storage tank
Starting the electric lifting platform 202 to drive the Cyg1 th sample storage tank 103 with the sample outlet 1033 blocked to ascend for a set distance from the original position;
starting the first robot body 101 and the first robot paw 102, moving the robot paw 102 to the position above the sample storage tank 103 according to a set control program, and clamping the No. Cyg1 sample storage tank 103; closing the electric clamping mechanism 209 and releasing the clamp on the No. Cyg1 sample storage tank 103;
starting the electric lifting platform 202, and descending to the original position to make No. Cyg1 sample storage tank 103 completely separated from the sample storage tank sleeve hole 207; the mobile robot gripper 102 returns the Cyg1 th sample container 103 to the Sfk1 th sample container receiving hole 105.
So far the "shake and weigh" procedure is finished.
5. The "shake and weigh" procedure ends and the instrument enters the "collect" procedure.
And starting the second robot body 401 and the second robot gripper 402, moving the second robot gripper 402 from the original position to the position above the sample weighing plate of the electronic balance 301, clamping the Sym1 sample container 405 (containing the quantitatively weighed part of the Sy1 sample 106), and moving the Sym1 sample container to the Fzk1 sample container placing hole 404 of the sample container tray 403. The second robot gripper 402 is released and returned to the home position. By this time sample number Sy1, sample 106 weighing is completed, the sample collection procedure is completed, and the instrument automatically enters a "reset" procedure.
6. And repeating the working process 2-5 to finish the sample weighing work of the set batch of samples.
7. And disconnecting the main commercial power of the instrument, and finishing the sample weighing work.
Use two robots to replace artifically, a neotype storage sample jar has been proposed and designed, store up closing and opening of appearance jar bottom appearance hole with the help of control, accomplished continuous vibration and appeared appearance, the artifical intermediate link that uses the title appearance sword of title appearance of title has been cancelled, the intercrossing who has avoided between different samples to save in the air completely pollutes, zero error in operation has been realized, the zero error of title appearance weight, intensity of labour has been reduced, production efficiency has been promoted, economic benefits has been improved, help guaranteeing analysis test quality, the automatic production degree of trade has been promoted.
In summary, the embodiments of the present invention are merely exemplary and should not be construed as limiting the scope of the invention. All equivalent changes and modifications made according to the content of the claims of the present invention should fall within the technical scope of the present invention.
Claims (15)
1. Full-automatic intelligent appearance of weighing, its characterized in that: comprises a sampling part used for grabbing a sample storage tank (103) containing a sample and putting the sample storage tank (103) into a sample vibrating part;
a sample vibrating part for fixing the sample storage tank (103) conveyed by the sampling part and vibrating the sample storage tank (103) to realize sample display;
the sample weighing part is positioned below the sample vibrating part and is used for weighing the sample vibrated out of the sample storage tank (103) in real time;
and a control part respectively connected with the sampling part, the sample vibrating part and the sample weighing part.
2. The full-automatic intelligent sample weighing instrument according to claim 1, characterized in that: the sample vibrating part comprises a supporting upright column (201) and a vibrating platform (204) which is used for fixing the sample storage tank (103) and can ascend and descend along the supporting upright column (201).
3. The full-automatic intelligent sample weighing instrument according to claim 2, characterized in that: the vibration platform (204) is provided with a sample storage tank sleeve hole (207) for installing the sample storage tank (103), an electric clamping mechanism (209) for fixing the sample storage tank (103) and a vibrator (208).
4. The full-automatic intelligent sample weighing instrument according to claim 2, characterized in that: vibration platform (204) are installed on vibration platform frame (203), vibration platform (204) with vibration platform frame (203) are connected with spring (206) vibration platform (204) with vibration platform frame (203) all are equipped with spring mounting hole (205).
5. The full-automatic intelligent sample weighing instrument according to claim 2, characterized in that: the supporting upright post (201) is provided with an electric lifting platform (202), and the electric lifting platform (202) is fixedly connected with a vibration platform frame (203).
6. The full-automatic intelligent sample weighing instrument according to claim 1, characterized in that: the sample vibrating part comprises an electric horizontal rotating fork hand (210) capable of rotating on the horizontal plane, and the electric horizontal rotating fork hand (210) is used for disassembling or assembling a sample outlet hole blocking plate (1036) positioned on the sample storage tank (103).
7. The full-automatic intelligent sample weighing instrument according to claim 6, characterized in that: the electric horizontal rotation fork arm (210) comprises a fork arm body (2101) and a clamping block (2102) positioned on the fork arm body (2101), the electric horizontal rotation fork arm (210) is connected with a stepping motor (211) for controlling the electric horizontal rotation fork arm (210) to rotate, and the stepping motor (211) is fixedly connected with a support upright post (201).
8. The full-automatic intelligent sample weighing instrument according to any one of claims 1-7, characterized in that: the sample storage tank (103) comprises a tank body (1031) provided with a sample outlet hole (1033), a tank body sleeving limiting outer brim (1032) positioned at one end of the tank body (1031), a sample storage tank sealing cover (1035) fixedly connected with the tank body sleeving limiting outer brim (1032), and a sample outlet hole blocking plate (1036) connected with the tank body (1031) through a magnet;
the outer circular surface of one side of the tank body (1031) close to the sample outlet blocking plate (1036) is provided with a blocking plate moving limiting groove (1034).
9. The full-automatic intelligent sample weighing instrument according to claim 8, characterized in that: the jar body (1031) is equipped with first magnet (1037), go out appearance hole closure plate (1036) and be equipped with second magnet (1038) that first magnet (1037) correspond.
10. The full-automatic intelligent sample weighing instrument according to claim 6, characterized in that: a clamping block (2102) on the electric flat turning fork (210) can be rotatably inserted into a blocking plate moving limiting groove (1034) on the tank body (1031).
11. The full-automatic intelligent sample weighing instrument according to any one of claims 1-7, characterized in that: the sampling part comprises a first robot body (101), a first robot claw (102) positioned at the front end of the first robot body (101) and a sample storage tank containing disc (104), wherein the sample storage tank containing disc (104) is provided with a sample storage tank containing hole (105) for containing a sample storage tank (103).
12. The full-automatic intelligent sample weighing instrument according to any one of claims 1-7, characterized in that: the sample weighing part comprises an electronic balance (301) and a computer (302) for storing sample weighing data.
13. The full-automatic intelligent sample weighing instrument according to any one of claims 1-7, characterized in that: the sampling system is used for grabbing the sample container (405) subjected to sample weighing and putting the sample container (405) into the sample container tray (403);
the sampling system comprises a second robot body (401), a second robot paw (402) positioned at the front end of the second robot body (401) and a sample container tray (403), wherein the sample container tray (403) is provided with a sample container placing hole (404) for placing a sample container (405).
14. The full-automatic intelligent sample weighing instrument according to any one of claims 1-7, characterized in that: the control section includes a controller (501) and an electrical box (502).
15. The use method of the full-automatic intelligent sample weighing instrument is characterized by comprising the following steps:
s1, sampling, namely, controlling the first robot paw (102) to grab the sample storage tank (103) by starting the controller (501), clamping the sample storage tank (103) and transferring the sample storage tank to the position right above the sample storage tank sleeving hole (207); controlling the electric lifting platform (202) to ascend from the original position to enable the sample storage tank (103) to penetrate through the sample storage tank sleeving hole (207); controlling an electric clamping mechanism (209) to clamp the sample storage tank (103) and controlling the first robot paw (102) to reset; controlling the electric lifting platform (202) to return to the original position;
s2, clamping a sample container, controlling a second robot paw (402) to grab the sample container (405) to an electronic balance (301), enabling an opening of the sample container (405) to correspond to a sample outlet hole (1033) of a sample storage tank, and controlling the second robot paw (402) to reset; the electronic balance (301) is adjusted to be peeled and reset through the controller (501), the electronic balance enters a working state, sample weighing is waited, and weighing reading is prepared to be stored and taken;
s3, opening the sample outlet hole, starting the stepping motor (211), driving the electric horizontal turning fork hand (210) to be screwed into the plug plate of the sample storage tank (103) to be moved in the limit groove (1034), and controlling the electric lifting platform (202) to ascend from the original position to separate the sample outlet hole plug plate (1036) from the sample storage tank (103); controlling a stepping motor (211) to reset the electric flat turning fork (210);
s4, vibrating the sample, and controlling the electric lifting platform (202) to descend to enable the sample outlet hole (1033) to extend into the sample container (405) by 1-5 mm; starting a vibrator (208) to drive the sample storage tank (103) to vibrate out of a sample, reading data of the electronic balance (301) by a computer (302), and controlling the electric lifting platform (202) to ascend to the original position when the sample weighing reading of the electronic balance (301) gradually approaches to the set sample weighing weight; when the weighing reading of the electronic balance (301) is equal to the set weighing weight, the vibrator (208) is turned off; starting a stepping motor (211), enabling an electric flat turning fork (210) to rotate for a set angle to a position right below a sample outlet (1033), and enabling a sample storage tank (103) and a sample outlet blocking plate (1036) to be mutually connected in an adsorption mode; controlling a stepping motor (211) to reset the electric flat turning fork (210);
s5, storing data, feeding back a signal to the electronic balance (301) by the controller (501), and storing the sample weighing weight of the weighed sample in the computer (302) after the screen display reading of the electronic balance (301) is stable;
s6, withdrawing the sample storage tank, and controlling the electric clamping mechanism (209) to release the clamping of the sample storage tank 103; controlling a first robot paw (102) to grab the sample storage tank (103) positioned in the sample storage tank sleeving hole (207), and moving the sample storage tank (103) out of the sample storage tank sleeving hole (207) and placing the sample storage tank into a sample storage tank containing disc (104);
and S7, collecting samples, controlling the second robot paw (402) to grab the sample container (405) on the electronic balance (301), and transferring the sample container (405) to the sample container placing hole (405) of the sample container tray (404).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011238713.3A CN112212953A (en) | 2020-11-09 | 2020-11-09 | Full-automatic intelligent sample weighing instrument and use method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011238713.3A CN112212953A (en) | 2020-11-09 | 2020-11-09 | Full-automatic intelligent sample weighing instrument and use method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305820A (en) * | 2021-07-28 | 2021-08-27 | 深圳超磁机器人科技有限公司 | Robot module for powder weighing |
| CN113859596A (en) * | 2021-08-26 | 2021-12-31 | 河海大学 | Full-automatic trace sample weighing and sample packaging instrument |
| CN115096686A (en) * | 2022-08-24 | 2022-09-23 | 成都青软智控科技有限公司 | Automatic weighing and sample separating equipment for soil powder |
-
2020
- 2020-11-09 CN CN202011238713.3A patent/CN112212953A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305820A (en) * | 2021-07-28 | 2021-08-27 | 深圳超磁机器人科技有限公司 | Robot module for powder weighing |
| CN113859596A (en) * | 2021-08-26 | 2021-12-31 | 河海大学 | Full-automatic trace sample weighing and sample packaging instrument |
| CN115096686A (en) * | 2022-08-24 | 2022-09-23 | 成都青软智控科技有限公司 | Automatic weighing and sample separating equipment for soil powder |
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