An automatic cup processing system

Abstract

The present invention relates to the field of sample processing, specifically an automatic cupping system. It comprises a gripper assembly for automatically gripping sample tubes and automatically screwing on caps; a pipetting assembly for automatically aspirating and transferring samples for loading; a cantilever assembly, including transverse guides for lateral movement of the gripper assembly and pipetting assembly, and a fixed connection to a barcode scanner; and a clamping assembly for clamping the sample tubes. This technical solution improves work efficiency, enhances the accuracy of aspiration and loading, and ensures operator safety.

Description

Technical Field

[0001] The present invention relates to the field of sample processing, and in particular to an automatic cup separation processing system. Background Art

[0002] In the fields of medical care, disease control, customs, third-party monitoring agencies, criminal investigation, etc., there is a demand for accurate sampling and addition of large numbers of samples. When the number of sampling tubes is large, manual capping is used. Long-term operation will increase the operator's physical exertion and hand discomfort, affecting the accuracy of sampling and addition, and there is a risk of cross-contamination.

[0003] To address this situation, the inventors hope to develop a fully automatic cupping processing system with automatic capping, automatic sample aspiration, and automatic sample addition functions to solve the problems of low work efficiency, reduced accuracy, and easy cross-contamination caused by physical exhaustion and hand discomfort during long-term operation, so as to play an important role in large-scale sample monitoring. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic cupping processing system, which can improve work efficiency, improve the accuracy of sample aspiration and addition, avoid cross contamination between samples, and ensure the safety of samples and operators.

[0005] To solve the above problems, the present invention provides a basic solution: an automatic cup processing system, including a clamping claw assembly, used for automatically grabbing sample tubes and automatically screwing on caps, including a gripping mechanism, a rotating mechanism, and a first vertical guide rail, the first vertical guide rail is slidably connected to a guide rail connecting plate, the guide rail connecting plate includes a bearing seat, the guide rail connecting plate is fixedly connected to the rotating mechanism through the bearing seat, and the rotating mechanism is rotatably connected to the gripping mechanism; a pipetting assembly, used for automatically aspirating samples and automatically transferring samples for adding samples, is provided with a second vertical guide rail, a guide rail connecting block is slidably connected to the second vertical guide rail, and the guide rail connecting block is fixedly connected to a TIP head mounting seat; a cantilever assembly, including a transverse guide rail, used to move the clamping claw assembly and the pipetting assembly for transverse movement, and the cantilever assembly is also fixedly connected to a barcode scanner; a clamping assembly, including a bilateral clamping block, used to clamp the sample tube.

[0006] Beneficial effects of the basic scheme: After the clamping claw assembly of this technical scheme grabs the sample tube, it can place the sample tube in the required position and rotate it through the rotating mechanism, so that the barcode scanner can scan the barcode information on the sample tube to ensure the accuracy of the monitoring correspondence; the clamping claw assembly cooperates with the clamping assembly to automatically screw the cap on the sample tube after clamping it, and realizes the decapping or capping action by vertical movement through the first vertical guide rail; the cantilever assembly is also provided with a transverse guide rail, so that the clamping claw assembly and the pipetting assembly installed thereon can move laterally, and the pipetting assembly itself is provided with a second vertical guide rail, so that it can move in the vertical direction, which is convenient for it to insert the TIP head into the sample tube after installing the TIP head for automatic sample aspiration and addition; this technical scheme can fully automate the sample cupping operation, improve work efficiency, improve the accuracy of sample aspiration and addition, and at the same time reduce the contact between personnel and samples to ensure the safety of operators.

[0007] As a preferred solution, an optical fiber seat and an optical fiber sensor are further provided at the bottom of the clamping jaw assembly, and the probe of the optical fiber sensor is aligned with the direction of the gripper.

[0008] The fiber optic sensor is firmly mounted on the fiber optic holder, and the probe of the fiber optic sensor is aligned with the direction of the gripper, so that the change in the optical properties of the light can be used to detect whether the sample tube is successfully grasped and whether the cover is successfully removed or replaced. The advantage of using a fiber optic sensor is that it will not be affected by electromagnetic interference.

[0009] As a preferred solution, the pipetting assembly includes an air pressure sensor for monitoring air pressure changes in the TIP head cavity.

[0010] When the TIP head enters below the liquid level in the sample tube, the depth of the TIP head can be determined by the air pressure value in the cavity, preventing the TIP head from entering too deep, avoiding sample waste and cross contamination; at the same time, the air pressure sensor can also monitor abnormal problems such as TIP head blockage by monitoring sudden changes in air pressure inside the cavity.

[0011] As a preferred solution, the cantilever assembly is provided with a double row of parallel installed transverse guide rails, and the double row of transverse guide rails are slidably connected to multiple mounting plates, which are respectively used to install the clamping jaw assembly and the pipetting assembly; the cantilever assembly also includes a screw rod, and multiple screw motors are slidably connected to the screw rod, and the screw motor is fixedly connected to the mounting plate.

[0012] The double-row horizontal guide rails ensure stability during overall movement. Driven by a lead screw motor, the system boasts higher efficiency, better precision, and more stable braking. Each motor can operate independently without interfering with each other, optimizing the operating process and saving time on individual instrument tasks.

[0013] As a preferred solution, the clamping assembly further includes a deceleration stepping motor and a bidirectional screw rod, the deceleration stepping motor is used to drive the bidirectional screw rod, and the bilateral clamping block is provided with a buffer pad.

[0014] The motor uses a deceleration stepper motor, which can better control the clamping position, avoid damaging the sample tube by excessive force, and ensure sufficient clamping force; through the synchronous movement of the bidirectional spiral screw, the synchronization of the bilateral clamping speed and the uniformity of the clamping force can be guaranteed, effectively solving the problem that the existing clamping structure adopts unilateral clamping and the sample tube is easy to deflect; at the same time, buffer pads are set on the bilateral clamping blocks to increase friction to achieve a better clamping effect, and at the same time, the appearance of clamping parts such as sample tubes can be protected to prevent hard damage.

[0015] As a preferred solution, the clamping opening formed by the double-sided clamping blocks of the clamping assembly is a V-shaped structure.

[0016] The V-shaped structure design also enables the clamping assembly to adapt to sample tubes with different outer diameters, and cooperates with the clamping jaw assembly to realize the automatic capping function on sample tubes with different outer diameters.

[0017] As a preferred solution, it also includes a bearing assembly, which includes a screw motor. The screw of the screw motor is provided with a bearing connection block, the bearing connection block is fixedly connected to a linear guide rail, and the linear guide rail is slidably connected to a bearing frame.

[0018] The carrier can be used to carry sample tubes and TIP heads. The lead screw motor drives the lead screw to rotate forward and reverse, thereby driving the connecting block to move horizontally along the lead screw. The position of the carrier is convenient for adding and removing sample tubes and TIP heads, and also facilitates automated coordination with the gripper assembly and pipetting assembly.

[0019] As a preferred solution, the clamping jaw assembly is provided with an adaptive mechanism, so that the gripping mechanism can adaptively clamp sample tubes of different outer diameters.

[0020] When in use, there is no need to manually set the tube diameter, and it can adaptively clamp sample tubes with different outer diameters.

[0021] As a preferred solution, the adaptive mechanism includes a linear motor, a motor shaft, a gripper body, a spring, a sensing photoelectric switch, a sensing photoelectric mounting seat, a gripper guide rail, a gripper finger, a lever, a limit block and a spring mounting seat; the linear motor is located at the top of the clamping jaw assembly, the linear motor is mounted on the gripper body, the limit block is mounted on the motor shaft of the linear motor, the motor shaft and the spring mounting seat are elastically connected by a spring, the spring mounting seat is rotatably connected to the lever through a pin, the bottom of the lever is embedded in the groove where the gripper guide rail is located, the two gripper fingers are fixedly connected to the gripper guide rail, the sensing photoelectric mounting seat is mounted on the spring mounting seat, and the sensing photoelectric switch is mounted on the sensing photoelectric mounting seat.

[0022] The motor drives the spring mounting seat to move up and down to open and close the gripper. A spring is installed between the motor shaft and the spring mounting seat. When the gripper body is in different states such as grabbing or putting down an object, the state of the spring mounting seat will switch between stopping and moving, causing the spring to expand and contract. In this way, the sensing photoelectric switch switches between being blocked and not blocked by the spring mounting seat, realizing the detection of the gripper state, and then controlling the gripping force to adaptively grip the object by controlling the movement of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural diagram of an automatic cup separation processing system proposed by the present invention;

[0024] Figure 2 This is a structural diagram of a clamping claw assembly in an automatic cup separation processing system proposed by the present invention;

[0025] Figure 3 This is a structural diagram of a cantilever assembly in an automatic cup separation processing system proposed by the present invention;

[0026] Figure 4 This is a structural diagram of a clamping assembly in an automatic cup-dispensing processing system proposed by the present invention;

[0027] Figure 5 This is a structural diagram of a carrier assembly in an automatic cup separation processing system proposed by the present invention;

[0028] Figure 6 Schematic diagram of the V-shaped structure of the double-sided clamp proposed in the second embodiment of the present invention;

[0029] Figure 7 Schematic diagram of the structure of the pipetting assembly proposed in Example 3 of the present invention;

[0030] Figure 8 It is a structural diagram of the adaptive structure proposed in the fourth embodiment of the present invention. DETAILED DESCRIPTION

[0031] The technical solution of this application is further described in detail below through specific implementation methods:

[0032] The reference numerals are as follows: gripper assembly 1, cantilever assembly 2, pipetting assembly 3, clamping assembly 4, barcode scanner 5, bearing assembly 6, gripper mechanism 101, rotating mechanism 102, first vertical guide rail 103, first motor 104, guide rail connecting plate 105, bearing seat 106, gripper 107, optical fiber seat 108, optical fiber sensor 109, second motor 110, upper support plate 201, fourth motor 202, transverse guide rail 203, mounting plate 204, second vertical guide rail 301, guide rail connecting block 30 2. Third motor 303, backlight panel 304, TIP head mounting seat 305, bidirectional screw rod 401, fifth motor 402, bilateral clamping block 403, sixth motor 601, load-bearing connecting block 602, linear guide rail 603, load-bearing frame 604, linear motor 111, motor shaft 112, limit block 113, sensing photoelectric switch 114, spring 115, gripper body 116, lever 117, gripper guide rail 118, reset photoelectric switch 119, spring mounting seat 120, gripper finger 121.

[0033] Example 1

[0034] like Figure 1 As shown, an automatic cup-dispensing processing system includes a clamping claw assembly 1, a pipetting assembly 3, a cantilever assembly 2, a clamping assembly 4, a barcode scanner 5, and a carrying assembly 6.

[0035] like Figure 2 As shown, the clamping jaw assembly 1 includes a gripping mechanism 101, a rotating mechanism 102, a first vertical guide rail 103, and a first motor 104. The first vertical guide rail 103 is slidably connected to a guide rail connecting plate 105. The guide rail connecting plate 105 includes a bearing seat 106. The guide rail connecting plate 105 is fixedly connected to the rotating mechanism 102 via the bearing seat 106. The rotating mechanism 102 is rotationally connected to the gripping jaw assembly 101. In this embodiment, the first motor 104 preferably adopts a reduction stepper motor to control the opening and closing of the gripper 107. The gripper 107 adopts a bilateral clamping method, and the grippers 107 on both sides adopt line contact to maintain the same clamping force. The second motor 110 drives the guide rail connecting plate 105 to drive the clamping jaw assembly 1 to move vertically on the first vertical guide rail 103. The second motor 110 is preferably a screw motor. On the one hand, the clamping jaw assembly 1 can grasp the sample tube and rotate it as a whole so that it is fully exposed to the barcode scanner 5 to ensure the scanning success rate; on the other hand, after the sample tube is transferred, the clamping jaw assembly 1 can also screw on the cap and automatically remove or cover it through displacement.

[0036] like Figure 2, an optical fiber holder 108 and an optical fiber sensor 109 are also provided at the bottom of the gripper assembly 1. In this embodiment, an optical fiber sensor 109 of model FU-42TZ is preferably used. The optical fiber holder 108 is used to install and fix the optical fiber sensor 109. The probe of the optical fiber sensor 109 is aligned with the direction of the gripper 107, so that after the gripper 107 grabs the sample tube, it can detect that the grabbing is successful, or detect that the operation is successful after the cover is removed and covered. In order to improve the accuracy of the detection, a plurality of optical fiber sensors 109 can be installed on the optical fiber holder 108. In addition, in this embodiment, the optical fiber of the optical fiber sensor 109 is preferably a multimode optical fiber. In other embodiments, distance sensors, infrared sensors, and other sensors familiar to those skilled in the art can also be used to detect whether the grabbing is successful. Since the principles and installation methods of the above sensors are common knowledge in the field, and can be implemented by selecting commonly used models, they will not be described in detail here.

[0037] like Figure 7 The pipetting assembly 3 shown is provided with a second vertical guide rail 301, and a guide rail connecting block 302 is slidably connected to the second vertical guide rail 301, and the guide rail connecting block 302 is fixedly connected to the TIP head mounting seat 305. The guide rail connecting block 302 is driven by a third motor 303. The third motor 303 is preferably a screw motor. The screw of the screw motor passes through the guide rail connecting block 302, so that the guide rail connecting block 302 is installed on the screw to drive the pipetting assembly 3 to move vertically; the cantilever assembly 2 includes a fourth motor 202 and a transverse guide rail 203, which is used to drive the mobile clamping jaw assembly 1 and the pipetting assembly 3 to move horizontally. The cantilever assembly 2 is also fixedly connected to a barcode scanner 5 for scanning the barcode information on the sample tube and automatically entering it into the system to ensure that the monitoring correspondence is accurate; the clamping assembly 4 includes a motor and a bilateral clamping block 403, which is used to clamp the sample tube.

[0038] like Figure 7As shown, the liquid transfer assembly 3 includes an air pressure sensor, which is arranged on the TIP head mounting base 305. In this embodiment, the air pressure sensor preferably adopts a pressure sensor with a model number of SDP810-125PA. When the pipette needs to absorb liquid, the TIP head is mounted on the TIP head mounting base 305 and performs a liquid level detection action. When the TIP head plunges into the liquid surface to a certain depth, the air pressure inside the cavity of the TIP mounting base will change. After the air pressure sensor monitors this change, it feeds back to the controller. In this technical solution, the controller preferably adopts a commonly used STM series single-chip microcomputer. Its specific installation, configuration and other operations are well known to those skilled in the art, so they are not described in detail. The TIP head will stop continuing to penetrate the liquid surface. During the aspiration, if the air pressure sensor detects that the air pressure inside the cavity is abnormal, this signal will be fed back to the controller, which can trigger an automatic alarm or pause. A piston and a piston mounting seat are also provided inside the pipetting component 3, both of which are automatically driven by a motor. Liquid aspiration and liquid addition are mainly completed automatically by the up and down movement of the piston. In this embodiment, the measuring range of the TIP head is 0-1000ul.

[0039] like Figure 3 As shown, the cantilever assembly 2 is provided with a double row of horizontal guide rails 203 installed in parallel, and the double row of horizontal guide rails 203 are slidably connected with multiple mounting plates 204, which are respectively used to install the clamping jaw assembly 1 and the pipetting assembly 3; the cantilever assembly 2 also includes an upper support plate 201 for installing the fourth motor 202, and the fourth motor 202 preferably adopts a screw motor, and multiple screw motors are slid on the screw, and the screw motor is fixedly connected to the mounting plate 204, and brake pins are provided at both ends of the screw to fix the screw to prevent the screw from rotating.

[0040] like Figure 4 As shown, the clamping assembly 4 is also provided with a bidirectional screw 401, which can ensure the synchronization of bilateral clamping speed and uniform clamping force, effectively solving the problem that the clamping structure of the prior art adopts unilateral clamping and the sample tube is easy to skew; at the same time, the clamping assembly also includes a fifth motor 402, and the fifth motor 402 adopts a reduction stepping motor to drive the bidirectional screw 401, and the rotation of the motor drives the rotation of the screw, and when the bidirectional screw rotates, the two test tube clamps can realize the clamping and releasing actions, thereby realizing the clamping and releasing of the test tube. The bidirectional screw preferably adopts a small lead screw, which can make the moving distance during clamping more accurate and better adjusted; the bilateral clamping block 403 is provided with a buffer pad, which can increase the friction force to achieve a better clamping effect, and also can protect the appearance of clamping parts such as sample tubes to prevent hard damage. The buffer pad is made of elastic material, preferably sponge, silicone and other materials.

[0041] like Figure 5As shown, the supporting assembly 6 includes a sixth motor 601, and the sixth motor 601 is preferably a screw motor. The screw of the screw motor is provided with a supporting connection block 602, and the supporting connection block 602 is fixedly connected to a linear guide 603, and the linear guide 603 is slidably connected to a supporting frame 604. In this embodiment, there are two supporting assemblies, one for carrying sample tubes, and the other for carrying spare TIP heads, TIP head recovery boxes, and sample liquid collection well plates. The screw motor drives the screw to rotate forward and backward, thereby driving the supporting connection block to move horizontally along the screw, thereby causing the supporting frame 604 to move horizontally. When the supporting frame 604 is pushed out, it is convenient to replenish and remove consumables and samples. During operation, it can be aligned with the clamping jaw assembly 1 and the pipetting assembly 3 to achieve automated coordination.

[0042] The specific implementation steps are as follows:

[0043] S1: Push out the carrier assembly 6, place the sample tube and TIP head on the carrier assembly 6 on both sides respectively, ensure that there are enough consumables, and confirm that the clamping assembly 4 is in an empty state, and then complete the setting and start the system.

[0044] S2: The carrier assembly 6 automatically adjusts to the corresponding working position, the gripper assembly 1 automatically reaches the sample tube position, the gripper mechanism 101 grabs the first test tube and moves it above the clamping assembly 4, where it hovers in a semi-empty position for 2 seconds and rotates the test tube via the rotating mechanism 102. The barcode scanner 5 automatically begins scanning and recording the barcode. Once completed, the test tube is lowered, the clamping assembly 4 operates to clamp the sample tube, and the gripper assembly 1 rotates to remove the sample tube cap and moves aside for standby.

[0045] S3: The pipetting assembly simultaneously moves to the corresponding position of the TIP tip. The first TIP tip is taken and installed. It is moved above the clamping assembly 4 and lowered to the set height for sample aspiration. After aspiration is complete, the assembly moves to the sample collection well plate for drainage. After pipetting is complete, the assembly moves to the TIP tip recovery box and removes the used TIP tip.

[0046] S4: The clamping jaw assembly 1 moves again to the upper portion of the clamping opening of the clamping assembly 4 and caps the sample tube according to the set procedure. After completion, the clamping assembly 4 opens and the clamping jaw assembly 11 returns the sample tube to its initial position.

[0047] The system will automatically repeat the above steps S2-S4 to automatically perform subsequent cupping work until all sample cupping work is completed and the system is closed.

[0048] Example 2

[0049] like Figure 6As shown, this embodiment differs from the first embodiment in that the clamping opening formed by the double-sided clamping blocks 403 of the clamping assembly 4 is a V-shaped structure. The V-shaped design also enables the clamping assembly 4 to adapt to sample tubes of different outer diameters and, in conjunction with the clamping jaw assembly 1, to achieve the automatic capping function on sample tubes of different outer diameters.

[0050] Example 3

[0051] like Figure 7 As shown, the difference between this embodiment and the second embodiment is that the pipetting assembly 3 also includes a backlight panel 304 and a visual system. The backlight panel 304 includes a panel, a light-emitting module, and a power module. The panel is located at the outermost layer and should have good light transmittance and durability. The light-emitting module preferably uses an LED light bar, which is easy to maintain and replace and has low cost. The LED light bar is evenly installed on the back of the panel to make the light uniform. The visual system includes a camera, a controller, etc., which takes a picture after each TIP head aspirates a sample and performs image recognition and analysis to ensure that the sample is successfully aspirated every time.

[0052] Example 4

[0053] like Figure 8 As shown, the difference between this embodiment and the third embodiment is that the clamping jaw assembly 1 is provided with an adaptive mechanism, so that the gripping mechanism 101 can adaptively clamp sample tubes of different outer diameters. Figure 3 The adaptive mechanism includes a linear motor 111, a motor shaft 112, a limit block 113, a sensing photoelectric switch 114, a spring 115, a gripper body 116, a lever 117, a gripper guide rail 118, a reset photoelectric switch 119, a spring mounting seat 120 and a gripper finger 121. The linear motor 111 is located at the top of the gripper assembly. The linear motor 111 is mounted on the gripper body 116. The linear motor 111 includes a motor shaft 112. The motor shaft 112 is preferably a screw. The limit block 113 is mounted on the motor shaft 112 of the linear motor 111. The motor shaft 112 is elastically connected to the spring mounting seat 120 via a spring 115. The spring mounting seat is rotatably connected to the lever 117 via a pin. The bottom of the lever 117 is embedded in the groove where the gripper guide rail 118 is located. The two gripper fingers 121 are fixedly connected to the gripper guide rail 118. The sensing photoelectric mounting seat is mounted on the spring mounting seat. The sensing photoelectric switch 114 is mounted on the sensing photoelectric mounting seat. The reset photoelectric switch 119 is mounted on one side of the gripper body. In this embodiment, the spring 113 is preferably a rectangular spring, which has the advantages of large elasticity and good fatigue resistance, and is more suitable for scenes with frequent extension and retraction.

[0054] When it is necessary to grasp an object, the linear motor 111 drives the motor shaft 112 to move upward. Due to the elastic force of the spring 115, the spring mounting seat 120 also starts to move upward. Through the pin between the spring mounting seat 120 and the lever 117, the lever 117 is driven to start rotating. The left lever 117 rotates counterclockwise and the right lever 117 rotates clockwise, that is, the lower end of the lever 117 starts to close, so the gripper guide rail 118 starts to close, thereby driving the gripper finger 121 to close.

[0055] like Figure 8 When the gripper finger 121 touches the object being grasped during its closing process, the rigidity of the object prevents the gripper finger 121 from closing, causing the lever 117 to stop rotating and the spring mount 120 to be unable to continue moving upward. At this time, when the motor shaft 112 continues to move upward, it will only cause the spring 115 to stretch, and the sensing photoelectric switch 114 will change from being blocked by the limit block 113 to being unblocked. This indicates that the gripper assembly 1 has grasped the object, and the linear motor 111 is then controlled to stop moving. This allows the clamping force of the grasped object to adapt to the grasped object. In this embodiment, it can be used to adapt to sample tubes of different outer diameters. In addition, due to the provision of the spring 115, before the spring mount 120 stops moving but before the sensing photoelectric switch 114 is triggered, the kinetic energy generated by the brief upward movement of the motor shaft 112 is only converted into the elastic force of the spring 115 and does not directly act on the gripper finger 121, thus preventing damage to the sample tube. If the object on the gripper finger 121 falls, the resistance to closing the gripper finger 121 disappears, causing the spring mounting seat 120 to move upward under the elastic force of the spring 115. At this time, the sensing photoelectric switch 114 will be in a blocked state, and it can be determined that the gripping has failed.

[0056] The above are only embodiments of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme are not described in detail here. Ordinary technicians in the field are aware of all common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the field can improve and implement this scheme in combination with their own abilities under the inspiration given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. An automatic cupping processing system, characterized by: include: A gripper assembly, for automatically grasping sample tubes and automatically screwing on caps, comprising a gripper mechanism, a rotating mechanism, and a first vertical guide rail, wherein the first vertical guide rail is slidably connected to a guide rail connecting plate, the guide rail connecting plate comprising a bearing seat, the guide rail connecting plate being fixedly connected to the rotating mechanism via the bearing seat, and the rotating mechanism being rotationally connected to the gripper mechanism; A pipetting assembly, used for automatically aspirating and transferring samples for addition, is provided with a second vertical guide rail, a guide rail connecting block is slidably connected to the second vertical guide rail, and a TIP head mounting seat is fixedly connected to the guide rail connecting block; A cantilever assembly, including a transverse guide rail, for moving the clamping assembly and the pipetting assembly to move laterally, and the cantilever assembly is also fixedly connected to a barcode scanner; A clamping assembly, including a double-sided clamping block, for clamping the sample tube; The bottom of the clamping jaw assembly is also provided with an optical fiber seat and an optical fiber sensor, and the probe of the optical fiber sensor is aligned with the direction of the gripper; The clamping jaw assembly is provided with an adaptive mechanism, so that the gripping mechanism can adaptively clamp sample tubes of different outer diameters; The adaptive mechanism includes a linear motor, a motor shaft, a gripper body, a spring, a sensing photoelectric switch, a sensing photoelectric mounting seat, a gripper guide rail, a gripper finger, a lever, a limit block and a spring mounting seat; the linear motor is located at the top of the clamping jaw assembly, the linear motor is mounted on the gripper body, the limit block is mounted on the motor shaft of the linear motor, the motor shaft and the spring mounting seat are elastically connected by a spring, the spring mounting seat is rotatably connected to the lever through a pin, the bottom of the lever is embedded in the groove where the gripper guide rail is located, the two gripper fingers are fixedly connected to the gripper guide rail, the sensing photoelectric mounting seat is mounted on the spring mounting seat, and the sensing photoelectric switch is mounted on the sensing photoelectric mounting seat.

2. The automatic cupping processing system according to claim 1, characterized in that: The pipetting assembly includes an air pressure sensor for monitoring air pressure changes in the TIP head cavity.

3. The automatic cupping processing system according to claim 1, characterized in that: The cantilever assembly is provided with a double row of parallel installed transverse guide rails, and the double row of transverse guide rails are slidably connected to multiple mounting plates, which are respectively used to install the clamping jaw assembly and the pipetting assembly; the cantilever assembly also includes a screw rod, and multiple screw motors are slidably connected to the screw rod, and the screw motor is fixedly connected to the mounting plate.

4. The automatic cupping processing system according to claim 1, characterized in that: The clamping assembly also includes a deceleration stepping motor and a bidirectional screw rod. The deceleration stepping motor is used to drive the bidirectional screw rod. The bilateral clamping block is provided with a buffer pad.

5. The automatic cupping processing system according to claim 4, characterized in that: The clamping opening formed by the double-sided clamping blocks of the clamping assembly is a V-shaped structure.

6. The automatic cupping processing system according to claim 1, characterized in that: It also includes a bearing assembly, which includes a screw motor. The screw of the screw motor is provided with a bearing connection block, the bearing connection block is fixedly connected to a linear guide rail, and the linear guide rail is slidably connected to a bearing frame.

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