An analytical device and working method for sample vial detection

Abstract

The present invention relates to the technical field of liquid detection, and particularly relates to an analysis device and a working method for detecting a sample injection bottle. The analysis device includes a platform, a guide rail, a robot, a robotic arm, and a driving mechanism. The platform is provided with at least one detection station, and each detection station is provided with a detector which has a sample feeding port; the guide rail is arranged on the platform; the robot moves along the guide rail and can move between the detection stations; the robotic arm is installed on the robot. The robotic arm includes a robotic arm body, and a first gripper and a second gripper are arranged on the robotic arm body. The first gripper is provided with a first clamping portion for clamping a sample injection bottle rack and a second clamping portion for clamping a tray, and the second gripper is used for clamping a sample injection bottle; the driving mechanism is used to drive the robot to move along the guide rail. The analysis device of the present invention can be used in cooperation with an automated use scenario, and is sent to the detector through a dedicated robot for detection, thereby improving the efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of liquid detection, and in particular to an analysis device and a working method for detecting a sample injection bottle. Background Art

[0002] Liquid chromatography-mass spectrometry (LC / MS) is used in the fields of medicine, chemistry, bioengineering, etc. It is an essential routine sample testing instrument in laboratories. However, in most cases it is still used manually by chemists and is rarely used in the field of automation.

[0003] If there is no automated equipment, chemists need to register samples for testing in the instrument system and manually place them in the wells assigned by the system. Manual sample delivery and testing cannot work 24 hours a day.

[0004] The previously developed automation solution is that the AGV car takes the sampled injection bottles one by one from the unloading area of the sampling equipment to the back of the AGV, and then the AGV transports them to the front of the LC / MS instrument. The mechanical arm on the AGV takes pictures to locate them, and then discards the tested injection bottles. The mechanical arm then sends the injection bottles on the back to the internal tray to be tested of the LC / MS instrument one by one. Disadvantages of this solution: 1. This set of processes is completed by AGV, and the efficiency will be relatively low because the injection bottles are clamped one by one; there is a certain distance between the sampling device and the LC / MS instrument, and the AGV has a travel time, and each station AGV needs to take pictures to locate after arriving, which takes a long time. 2. Since the sample bottles are taken one by one from the temporary storage station on the back of the AGV to the tray inside the LC / MS instrument by the robotic arm on the AGV, the claws on the robotic arm are large, and the 54 holes in the tray cannot be fully utilized. The clamps will interfere with the placed sample bottles, and only 3 of the 54 holes can be used. 3. The process from the sampling device to the LCMS detection is completed by the AGV, which will take up most of the AGV's time and greatly reduce the efficiency of other work. Laboratory testing instruments are often relatively scarce, and the same is true for LC / MS, so it is inevitable that the instruments will be mixed with automation and chemists. However, this kind of mixed use of man and machine often results in the paralysis of the entire process automation due to chemists' unfamiliarity with automation or misoperation, causing the AGV to be unable to work in front of the instrument and suspending the entire process. Summary of the invention

[0005] In order to solve the problem of low efficiency in loading materials to a detection device through an AGV trolley in the prior art, the present invention provides an analysis device and a working method for sample bottle detection with improved efficiency.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] An analysis device for sample vial detection, comprising:

[0008] A platform, where at least one detection station is provided on the platform, and each detection station is provided with a detector which has a sample feeding port;

[0009] A guide rail, which is arranged on the platform;

[0010] A robot, which moves along the guide rail and can move between the detection stations;

[0011] A robotic arm, which is installed on the robot. The robotic arm includes a robotic arm body, and a first gripper and a second gripper are arranged on the robotic arm body. The first gripper is provided with a first clamping part for clamping a sample vial rack and a second clamping part for clamping a tray. The second gripper is used for clamping a sample vial; the first clamping part is arranged on the inner side wall of the first gripper.

[0012] A driving mechanism, which is used for driving the robot to move along the guide rail.

[0013] Furthermore, the tray includes a tray body, and a plate member is detachably fixed on the tray body. The plate member has an outer folding part, and there is a gap between the outer folding part and the tray body. The outer folding part is provided with a notch, and the second clamping part extends into the notch for clamping. The second clamping part includes an inserting part for extending into the inner side of the outer folding part.

[0014] Furthermore, the inserting part is in a hook shape for hooking the inner wall of the outer folding part, and the second gripper is in a long strip column shape. The long strip column shape saves space and reduces the interference space with the sample vial.

[0015] Furthermore, the platform is provided with a sample vial rack temporary storage station and a tray temporary storage station. The tray has 54 holes. The sample vial rack is output by an upstream sampling device and can carry at most 5 sample vials. The sample vial rack temporary storage station can receive the sample vial rack output by the upstream sampling device, and the number of sample vial rack temporary storage stations is 3, and the number of tray temporary storage stations is 4.

[0016] Furthermore, a barcode scanner is arranged on the robotic arm, and two-dimensional codes are arranged on the sample vial rack and the tray.

[0017] Furthermore, a manual lifting door is installed outside the platform.

[0018] Furthermore, the full-automatic analysis device further includes a detection device for detecting whether the manual lifting door is opened.

[0019] Furthermore, a waste vial disposal opening is provided on the platform, and a waste bin is arranged below the waste vial disposal opening.

[0020] Further, the number of the detection stations is two, and the detector includes a first detector and a second detector correspondingly arranged at the two stations.

[0021] A working method of an analysis device for sampling bottle detection as described above includes an automatic detection mode and a human-machine mixed mode:

[0022] The automatic detection mode includes the following steps:

[0023] S11: After the upstream sampling device of the device finishes sampling, it outputs a sampling bottle rack containing the sample to be detected;

[0024] S12: The first jaw of the robotic arm of the device grabs the sampling bottle rack to the sampling bottle rack temporary storage station for code scanning;

[0025] S13: The second jaw of the robotic arm stacks the sampling bottles to be detected on the sampling bottle rack onto the tray at the tray temporary storage station;

[0026] S14: The first jaw of the robotic arm returns the sampled bottle rack that has been stacked to the upstream sampling device;

[0027] S15: When the first detector or the second detector is idle, the robotic arm receives a signal. The first jaw of the robotic arm takes out the tray in the first detector or the second detector, pours the sampled bottles that have been detected in the tray into the waste bin, and then places the tray on the empty tray temporary storage station;

[0028] S16: The first jaw of the robotic arm places the tray containing the sampling bottles to be detected into the first detector or the second detector for internal detection;

[0029] S17: The robotic arm returns to the origin position and waits for a new task;

[0030] The human-machine mixed mode includes the following steps:

[0031] S21: When a chemical sample to be detected needs to be separately used with the first detector or the second detector, it is necessary to come to the manual operation side of the device, open the manual lifting door on the device, put the sample to be detected into the instrument from the sample feeding port, and then close the manual lifting door after completion;

[0032] S22: If when the manual lifting door is open and the robotic arm of the device is interacting with the first detector or the second detector, the robotic arm will pause until the manual lifting door is closed after the sample is manually placed and then the robotic arm can resume the process;

[0033] S23: If the robotic arm is not interacting with the first detector or the second detector when the manual lifting door is open, the process will not be affected.

[0034] Beneficial effects:

[0035] (1) The analysis device of the present invention can be used in conjunction with an automated usage scenario. This automated analysis device can be connected to the upstream reaction device, sampling device, and AGV to form a complete automated process line. By setting up a dedicated robot to send the tray into the detector for inspection, the efficiency can be improved.

[0036] (2) The robotic arm at the front end of the robot integrates multiple functions. The second gripper can pick up the sample injection bottle, the first gripper can pick up the tray and the sample injection bottle rack, and a barcode scanner is integrated, with complete functions.

[0037] (3) The first gripper is provided with a hook-shaped embedding part. By embedding the embedding part into the inner side of the outer folding part of the plate member, the first gripper can stably grip the tray, preventing the tray from shaking during gripping and even causing the entire tray together with the sample injection bottles on the tray to fall.

[0038] (4) The embedding part of the first gripper is arranged at the head of the first gripper. In this way, the sample injection bottle rack can be directly picked up through the inner side wall of the first gripper without the need to additionally set up a gripping structure. Moreover, since the embedding part is arranged at the head of the first gripper, it will not interfere with the sample injection bottle rack.

[0039] (5) The second gripper is in the shape of a long strip column, occupying a small space. It can achieve the close arrangement of the sample injection bottles on the tray, increasing the number of sample injection bottles for each test and further improving the efficiency.

[0040] (6) It can operate continuously for 24 hours without the need for human supervision, solving the problem that samples completed in the evening cannot be sampled and sent for inspection.

[0041] (7) It can save labor costs. The sample is mainly sent to the detector by the robot, saving the chemist's time for sample placement and sending compared to manual sample sending.

[0042] (8) This device can connect two LC / MS devices in series. When operating automatically, no matter which instrument is idle, the robotic arm will automatically determine to send the sample to be inspected into the idle instrument for inspection, improving the utilization rate of the instrument.

[0043] (9) Considering the human-machine hybrid mode, both manual and automated operations can use the detection instrument, and it ensures that the operation of the automated device and manual operation do not affect each other and the safety issues during manual sample sending. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0045] Figure 1 Structural schematic diagram of the full-automatic analysis device (without manual lifting door) of the present invention;

[0046] Figure 2 Structural schematic diagram of the full-automatic analysis device (with manual lifting door) of the present invention;

[0047] Figure 3 Top view of the full-automatic analysis device (without manual lifting door) of the present invention;

[0048] Figure 4 Structural schematic diagram of the robot of the present invention;

[0049] Figure 5 Structural schematic diagram of the tray;

[0050] Figure 6 Structural schematic diagram of the sample injection bottle rack;

[0051] Figure 7 Schematic diagram of the robotic arm grasping the tray;

[0052] Figure 8 Schematic diagram of the robotic arm grasping the sample injection bottle rack;

[0053] Figure 9 Schematic diagram of the robotic arm grasping the sample injection bottle;

[0054] Figure 10 Position relationship diagram of the upstream sampling device and the platform.

[0055] Wherein, 1, platform; 1-1, waste bottle disposal port; 1-2, sample injection bottle rack temporary storage station; 1-3, tray temporary storage station; 2-1, first detector; 2-2, second detector; 2-3, sample delivery port; 3, guide rail; 4, robot; 5, robotic arm; 5-1, first jaw; 5-11, first clamping part; 5-12, second clamping part; 5-121, embedding part; 5-2, second jaw; 6, sample injection bottle rack; 7, tray; 7-1, tray body; 7-2, plate member; 7-21, outer folding part; 7-22, notch; 8, sample injection bottle; 9, manual lifting door; 10, upstream sampling device. Specific embodiments

[0056] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way restrictive of the present invention and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0057] It should be noted that the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0058] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, further discussion thereof is not required in subsequent drawings.

[0059] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, top, bottom, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. are usually based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus should not be construed as limiting the protection scope of the present invention; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0060] For ease of description, spatial relative terms, such as "above", "over", "on the upper surface", "upper", etc., may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or structures will then be oriented "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both orientations of "above" and "below". The device may also be oriented in other different ways (rotated 90 degrees or at other orientations), and corresponding explanations will be made for the spatial relative descriptions used herein.

[0061] In addition, it should be noted that the use of terms such as "first", "second", etc. to define components is only for the convenience of distinguishing the corresponding components. Without further statement, the above terms have no special meaning and thus should not be construed as limiting the protection scope of the present invention.

[0062] The present invention provides an analytical device for sample vial detection. Upstream of it is an on-line sampling and sample preparation device used in the synthesis process. After the sampling device is completed, it outputs a sample vial rack, and the sample vial rack contains sample vials to be detected.

[0063] An analytical device for sample vial detection according to the present invention includes a platform 1, a guide rail 3, a robot 4, a robotic arm 5 and a driving mechanism. The robotic arm 5 is a collaborative robotic arm and is a six-axis robotic arm, which can be applicable to the entire application scenario.

[0064] Platform 1 is provided with at least one detection station, and each detection station is provided with a detector which has a sample feeding port 2-3; a guide rail 3 is arranged on platform 1; a robot 4 moves along the guide rail 3 and can move between each detection station; a robotic arm 5 is installed on the robot 4. The robotic arm 5 includes a robotic arm body, and a first gripper 5-1 and a second gripper 5-2 are arranged on the robotic arm body. The first gripper 5-1 is provided with a first clamping portion 5-11 for clamping a sample injection bottle rack 6 and a second clamping portion 5-12 for clamping a tray 7. The second gripper 5-2 is used for clamping a sample injection bottle 8. The second gripper 5-2 is in a long strip column shape, and two columnar long strips are arranged on each side of the gripper 5-2. When clamping, the columnar long strips are attached to the outer wall of the sample injection bottle 8 for clamping. Further, in order to increase the friction, a rubber sleeve or other structures can be arranged on the second gripper 5-2; a driving mechanism is used for driving the robot 4 to move along the guide rail 3. The driving mechanism includes a servo motor and a gear-rack transmission mechanism, and can also include a lead screw or other mechanisms. In the present invention, two stations are provided, and this mechanism can drive the robotic arm to move between the two stations, so that the working range of one robotic arm can cover the two stations. The robot 4 is a collaborative robot, and the robotic arm 5 at the front end of the robot 4 integrates 4 functions. The second gripper 5-2 can clamp the sample injection bottle 8, the first gripper 5-1 can clamp the tray 7 and the sample injection bottle rack 6, and a barcode scanner is integrated.

[0065] The tray 7 includes a tray body 7-1, and a plate member 7-2 is detachably fixed to the tray body 7-1. The plate member 7-2 has an outer folded portion 7-21, and there is a gap between the outer folded portion 7-21 and the tray body 7-1. The outer folded portion 7-21 is provided with a notch 7-22, and the second clamping portion 5-12 extends into the notch 7-22 for clamping. The second clamping portion 5-12 includes an embedded portion 5-121 for extending into the inner side of the outer folded portion 7-21. As a preferred embodiment of the present invention, the embedded portion 5-121 is in a hook shape for hooking the inner wall of the outer folded portion 7-21. The hook-shaped embedded portions 5-121 at the head of the first gripper 5-1 respectively extend into the notches 7-22, and then the first gripper 5-1 closes, and the two hook-shaped embedded portions 5-121 are embedded into the inner side of the outer folded portion 7-21. In order to increase the stability, preferably, the maximum thickness of the embedded portion 5-121 can match the distance between the outer folded portion 7-21 and the tray body 7-1, and the embedded portion 5-121 is set in a hook shape, which can facilitate the embedded portion 5-121 to escape from the inner side of the outer folded portion 7-21, that is, it has the effect of stable clamping without jamming.

[0066] The platform 1 is provided with a sample injection bottle rack temporary storage station 1-2 and a tray temporary storage station 1-3. The number of the sample injection bottle rack temporary storage stations 1-2 is 3, and the number of the tray temporary storage stations 1-3 is 4.

[0067] A manual lift door 9 is installed outside the platform 1. The fully automatic analysis device further includes a detection device for detecting whether the manual lift door 9 is open. The detection device can adopt components such as sensors or microswitches.

[0068] The number of detection stations is two. The detector includes a first detector 2-1 and a second detector 2-2 correspondingly arranged at the two stations. In the present invention, the detector is a liquid chromatography-mass spectrometry instrument, which is a standard detection instrument. The main frame structure of this device is welded by Q235 square tubes and is composed of two independent frames combined and spliced together left and right; there is one LC / MS detection instrument on each independent frame; the robot 4 is loaded on a moving mechanism containing a servo mechanism and can move parallel between the two stations and can cover all working areas. A waste bottle disposal port 1-1 is correspondingly arranged on the platform 1 for each detector, and a waste bucket is arranged below the waste bottle disposal port 1-1.

[0069] A working method of an analysis device for sampling bottle detection as described above includes an automatic detection mode and a human-machine mixed use mode:

[0070] The automatic detection mode includes the following steps:

[0071] S11: When the upstream sampling device of the device finishes sampling, it outputs a sampling bottle rack 6 containing the sample to be detected; the upstream sampling device can include an AGV trolley.

[0072] S12: The first gripper 5-1 of the robotic arm 5 of the device grabs the sampling bottle rack 6 to the temporary storage station of the sampling bottle rack 6 for code scanning.

[0073] S13: The second gripper 5-2 of the robotic arm 5 stacks the sampling bottles 8 to be detected on the sampling bottle rack 6 into the tray 7 at the temporary storage station of the tray.

[0074] S14: The first gripper 5-1 of the robotic arm 5 returns the sampled bottle rack 6 that has been stacked to the upstream sampling device.

[0075] S15: When the first detector 2-1 or the second detector 2-2 is idle, the robotic arm 5 receives a signal. The first gripper 5-1 of the robotic arm 5 takes out the tray 7 in the first detector 2-1 or the second detector 2-2, pours the sampled bottles 8 that have been detected in the tray 7 into the waste bucket, and then puts the tray 7 into the empty temporary storage station of the tray.

[0076] S16: The first gripper 5-1 of the robotic arm 5 puts the tray 7 containing the sampling bottles 8 to be detected into the first detector 2-1 or the second detector 2-2 for internal detection.

[0077] S17: The robotic arm 5 returns to the origin position and waits for a new task.

[0078] Testing instruments in the laboratory are often relatively scarce, and the same is true for LC / MS. Therefore, it is inevitable that the instruments will be used by both automated systems and chemists. However, this situation of human-machine mixed use often leads to the paralysis of the full-process automation due to chemists' unfamiliarity with automation or misoperation. Considering the above situation, this device is equipped with a human-machine mixed use mode, which can effectively solve the problem of human-machine mixed use and further ensure the safety of the human during the mixed use. The human-machine mixed use mode includes the following steps:

[0079] S21: When a chemical sample to be tested needs to be used alone with the first detector 2-1 or the second detector 2-2, it is necessary to come to the manual operation side of the device, open the manual lifting door 9 on the device, put the sample to be tested into the instrument from the sample feeding port 2-3, and then close the manual lifting door 9 after completion;

[0080] S22: If when the manual lifting door 9 is open and the robotic arm 5 on the device is interacting with the first detector 2-1 or the second detector 2-2, the robotic arm 5 will pause until the manual lifting door 9 is closed after the sample is manually placed, and then the robotic arm 5 can resume the process;

[0081] S23: If when the manual lifting door 9 is open and the robotic arm 5 is not interacting with the first detector 2-1 or the second detector 2-2, the process will not be affected.

[0082] The sample feeding port 2-3 of the robot and the sample feeding port of the human can use one. Preferably, the sample feeding ports are separately arranged, that is, a dedicated sample feeding port for the robot and a dedicated sample feeding port for the human are set.

[0083] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An analytical device for sample vial detection, characterized in that : It includes: A platform (1), at least one detection station is provided on the platform (1), and each detection station is provided with a detector, and the detector has a sample feeding port (2-3); A guide rail (3), the guide rail (3) is arranged on the platform (1); A robot (4), the robot (4) moves along the guide rail (3) and can move between each detection station; A robotic arm (5), the robotic arm (5) is installed on the robot (4), the robotic arm (5) includes a robotic arm body, a first gripper (5-1) and a second gripper (5-2) are provided on the robotic arm body, the first gripper (5-1) is provided with a first clamping part (5-11) for clamping the sample injection bottle rack (6) and a second clamping part (5-12) for clamping the tray (7), and the second gripper (5-2) is used for clamping the sample injection bottle (8); A driving mechanism, the driving mechanism is used to drive the robot (4) to move along the guide rail (3); The tray (7) includes a tray body (7-1), a plate member (7-2) is detachably fixed on the tray body (7-1), the plate member (7-2) has an outer folding part (7-21), there is a gap between the outer folding part (7-21) and the tray body (7-1), a notch (7-22) is provided on the outer folding part (7-21), and the second clamping part (5-12) extends into the notch (7-22) for clamping, and the second clamping part (5-12) includes an embedded part (5-121) for extending into the inner side of the outer folding part (7-21); The embedded part (5-121) is in a hook shape for hooking the inner wall of the outer folding part (7-21), and the second gripper (5-2) is in a long strip column shape; A manual lifting door (9) is installed outside the platform (1). When manual operation is required, the manual lifting door (9) is opened for sample feeding; It also includes a detection device for detecting whether the manual lifting door (9) is opened.

2. The analytical device for sample vial detection according to claim 1, characterized in that: The platform (1) is provided with a sample injection bottle rack temporary storage station (1-2) and a tray temporary storage station (1-3).

3. The analytical device for sample vial detection according to claim 2, wherein: A barcode scanner is provided on the robotic arm (5), and two-dimensional barcodes are provided on the sample injection bottle rack (6) and the tray (7).

4. An analysis device for sample vial detection according to claim 3, characterized in that: A waste bottle treatment port (1-1) is provided on the platform (1), and a waste bin is provided below the waste bottle treatment port (1-1).

5. An analysis device for sampling vial detection according to claim 4, characterized in that: The number of detection stations is two, and the detector includes a first detector (2-1) and a second detector (2-2) corresponding to the two stations.

6. A working method of an analysis device for sample vial detection as described in claim 5, characterized in that: It includes an automatic detection mode and a human-machine mixed use mode: The automatic detection mode includes the following steps: S11: After the upstream sampling device of this device finishes sampling, it outputs a sample injection bottle rack (6) containing the sample to be detected; S12: The first gripper (5-1) of the robotic arm (5) of this device grabs the sample injection bottle rack (6) and places it at the sample injection bottle rack temporary storage station for barcode scanning; S13: The second gripper (5-2) of the robotic arm (5) stacks the sample injection bottles (8) to be detected on the sample injection bottle rack (6) into the tray (7) at the tray temporary storage station; S14: The first gripper (5-1) of the robotic arm (5) returns the sample injection bottle rack (6) that has been stacked to the upstream sampling device; S15: When the first detector (2-1) or the second detector (2-2) is idle, the robotic arm (5) receives a signal, and the first gripper (5-1) of the robotic arm (5) takes out the tray (7) in the first detector (2-1) or the second detector (2-2), pours the sampled vials (8) that have been detected in the tray (7) into the waste bin, and then places the tray (7) at the empty tray temporary storage station; S16: The first gripper (5-1) of the robotic arm (5) places the tray (7) containing the sampled vials (8) to be detected into the first detector (2-1) or the second detector (2-2) for internal detection; S17: The robotic arm (5) returns to the origin position and waits for a new task; The human-machine mixed mode includes the following steps: S21: When a chemical sample to be detected needs to use the first detector (2-1) or the second detector (2-2) alone, one needs to come to the manual operation side of the device, open the manual lifting door (9) on the device, put the sample to be detected into the instrument from the sample feeding port (2-3), and then close the manual lifting door (9) after completion; S22: If when the manual lifting door (9) is open and the robotic arm (5) at the device end is interacting with the first detector (2-1) or the second detector (2-2), the robotic arm (5) will pause until the manual lifting door (9) is closed after the sample is manually placed, and then the robotic arm (5) can resume the process; S23: If the manual lifting door (9) is open and the robotic arm (5) is not interacting with the first detector (2-1) or the second detector (2-2), the process will not be affected.

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