Rice glue consistency automatic detection device and detection method

Abstract

The present application relates to rice detection technical field, specifically to a kind of rice glue consistency automatic detection device and detection method.The present application is matched with sample tray with multiple test tube grooves by water cooling module, heating oscillation module, transmission module, mechanical arm and corresponding execution element, realize the large batch, automatic detection of rice glue consistency, and detection efficiency and detection result accuracy are high, solve the existing detection technology batch difference, high labor cost problem;Device structure is compact, each functional module is closely arranged according to use demand, and the integration is high, so that the overall area of device is small, and no external equipment is needed, easy to operate, detection site requirement is not high, suitable for most experimental occasions;The present application proposes a kind of detection method for multi-batch sample cycle detection, solves the problem of idle device caused by the time required for sample cooling being much greater than the mixing and heating time, greatly shortens the idle waiting time of detection device, further improves the detection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of rice detection, and in particular to an automatic detection device and method for rice gel consistency. Background Art

[0002] Rice starch is gelatinized with dilute alkali to form rice gelatin. After cooling, it stretches to a certain extent in a horizontal test tube. The length of the rice gelatin after extension is measured as the rice gel consistency. This reflects the fluidity and extensibility of the starch gel after forming a gel, and is a result of the combined effects of amylose and amylopectin in the rice endosperm. Gel consistency is a key indicator of rice taste. Gel flow length is generally used as the criterion, and gel consistency is classified into three levels: less than 40 mm is considered hard, 40 mm to 60 mm is considered medium, and 60 mm and above is considered soft. Rice with a hard gel consistency is typically dry and cracked, with a hard texture and poor taste after cooling. Rice with a soft gel consistency is plump and shiny, and remains soft and flavorful after cooling. High-quality rice (non-glutinous rice) generally has a gel consistency of 60 mm to 70 mm. The national standard (GB / T17891-2017) requires a gel consistency of at least 100 mm for high-quality glutinous rice.

[0003] However, existing technical standards for measuring rice gel consistency typically use relatively simple testing tools, which are cumbersome to use, require multiple people to complete, have limited testing capacity, and exhibit significant batch variability. Rice selection, evaluation, and promotion all rely on rice quality identification, and the demand for such identification is enormous across the country each year. As a mandatory test item for rice quality, gel consistency urgently requires a rapid and intelligent alternative to existing methods. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: in view of the deficiencies in the prior art, a device and method for automatically detecting the consistency of rice jelly are provided, which can greatly improve the detection efficiency and accuracy of the detection results of the rice jelly consistency and realize large-scale and automatic detection.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] 1. An automatic detection device for rice glue consistency

[0007] The present invention provides an automatic detection device for rice gel consistency, which mainly includes a device base 18, wherein a water cooling module and a heating and oscillating module 5 are arranged side by side on the upper end surface of the device base 18, a transverse slide rail 1 is arranged above the device base 18 in a direction parallel to the water cooling module and the heating and oscillating module 5, a transmission module 2 is arranged on the transverse slide rail 1, and the transmission module 2 is driven by a transmission motor 11 to move left and right along the transverse slide rail 1, a longitudinal slide rail 12 is arranged in the middle of the transmission module 2, and a mechanical arm 16 is arranged on the longitudinal slide rail 12, and the mechanical arm 16 is driven by a linear motor to move up and down along the longitudinal slide rail 12;

[0008] The lower part of the robotic arm 16 is provided with a mechanical gripper 13 for grabbing a sample tray 17, and the sample tray 17 is provided with a plurality of test tube slots for storing sample tubes. The upper part of the robotic arm 16 is provided with a sample tube cover 6 adapted to the size of the sample tray, and the top of the sample tube cover 6 is provided with a splash-proof fan 3;

[0009] The water cooling module, the heating oscillation module 5, the transmission motor 11, the linear motor, the mechanical gripper 13, and the anti-splashing fan 3 are all electrically connected to the automatic control system.

[0010] Preferably, the water cooling module includes a cooling water bath cabin 7, the size of the cooling water bath cabin 7 is adapted to the sample tray 17, a cooling diode is provided in the cooling water bath cabin 7, a cooling water bath cabin cover 8 is provided on the top of the cooling water bath cabin 7, and the cooling water bath cabin cover 8 is driven by a hydraulic mechanism 14 to open and close; the cooling diode and the hydraulic mechanism 14 are both electrically connected to the automatic control system.

[0011] Preferably, the heating oscillation module 5 includes a heating oscillation tank, the size of which is adapted to the sample tray 17 , and a heating tube and an oscillation mixing mechanism are provided in the heating oscillation tank.

[0012] Preferably, the sample tubes are fixed in the tube slots of the sample tray 17 through a metal kit, and the number of the tube slots on the sample tray 17 is not less than 50.

[0013] Preferably, the inner wall of the sample tube cover 6 is provided with a heat-insulating layer.

[0014] Preferably, the transverse slide rail 1 is fixed above the device base 18 through a support 4 .

[0015] Preferably, an emergency brake button 9 and a switch button 10 are provided on the front side of the device base 18 , and a power module 15 and a voice reminder module are provided on the rear side of the device base 18 .

[0016] Preferably, the emergency brake button 9, the switch button 10, the power module 15, and the voice reminder module are all electrically connected to the automatic control system, and the automatic control system is provided with an HMI human-machine interface.

[0017] Preferably, the cooling water bath chamber 7 is specifically provided with two groups, and the two groups of cooling water bath chambers 7 are respectively arranged side by side on the left and right sides of the heating oscillation tank, and the sizes of the two groups of cooling water bath chambers 7 are adapted to the sample tray 17. The sample tray 17 is provided with two of the same size, namely the main sample tray and the auxiliary sample tray.

[0018] 2. A method for detecting the consistency of rice glue

[0019] Based on the same inventive concept, the present invention also provides a rice glue consistency detection method, which adopts the above-mentioned rice glue consistency automatic detection device, specifically comprising the steps:

[0020] S1, test sample preparation: weigh a preset amount of rice powder, indicator (thymol blue reagent) and sodium hydroxide solution and put them into n (n ≥ 100) sample tubes in sequence;

[0021] S2, loading the sample tubes into the sample tray: loading n / 2 sample tubes into the main sample tray, and loading another n / 2 sample tubes into the auxiliary sample tray;

[0022] S3, the main sample tray and the auxiliary sample tray are alternately mixed, heated, left to stand, and water-cooled;

[0023] In step S4, the experimenter takes out the sample tubes from the sample tray in batches, places them horizontally for a preset time, and then uses a standard reading plate to measure the gel length of the rice sample in each tube.

[0024] The main sample tray and the auxiliary sample tray are alternately mixed, heated, left to stand, and water-cooled, specifically comprising the following steps:

[0025] S31, the mechanical gripper moves to the initial position, places the main sample tray on the mechanical gripper and covers the sample tube with a cap, turns on the splash-proof fan, and proceeds to step S32;

[0026] S32, placing the main sample tray into a heated oscillating tank using a mechanical gripper, oscillating and mixing for 2 minutes, then rapidly heating to 100° C. to bring the rice noodle solution in the test tube of the main sample tray to a boil. After 8 minutes, heating is stopped and step S33 is continued;

[0027] S33: The hydraulic mechanism drives the left cooling water bath hatch to open, and the main sample tray is picked up by the mechanical gripper, left to stand for 5 minutes, and then placed into the left cooling water bath hatch. Then, steps S34 and S35 are executed simultaneously.

[0028] S34, the hydraulic mechanism drives the left cooling water bath hatch to close, allowing the main sample tray to cool in the left cooling water bath hatch for 30 minutes, and then executing step S4;

[0029] S35, the mechanical gripper moves to the initial position, places the auxiliary sample tray on the mechanical gripper and covers the sample tube with a cap, turns on the splash-proof fan, and continues to step S36;

[0030] S36, placing the auxiliary sample tray into the heated oscillation tank by a mechanical gripper, oscillating and mixing for 2 minutes, and then rapidly heating to 100° C. to boil the rice noodle solution in the test tube of the auxiliary sample tray. After 8 minutes, heating is stopped and step S37 is continued;

[0031] S37, the hydraulic mechanism drives the right cooling water bath hatch to open, the mechanical gripper grabs the auxiliary sample tray, leaves it to rest for 5 minutes, and then places it into the right cooling water bath hatch, and then steps S38 and S1 are executed simultaneously;

[0032] S38, the hydraulic mechanism drives the right cooling water bath hatch to close, allowing the auxiliary sample tray to cool in the right cooling water bath hatch for 30 minutes, and then executing step S4.

[0033] Compared with the prior art, the present invention has the following main advantages:

[0034] 1. The present invention cooperates with a sample tray provided with a plurality of test tube slots through a water-cooling module, a heating oscillation module, a transmission module, a mechanical arm and corresponding actuators, thereby realizing large-scale and automated detection of rice glue consistency, and having high detection efficiency and accuracy of test results, thereby solving the problems of large batch differences and high labor costs in existing detection technologies;

[0035] 2. The automatic detection device used in the present invention has a compact structure, and the functional modules are arranged closely according to the use requirements, with high integration, so that the overall device occupies a small area, and does not require external equipment. It is easy to operate and has low requirements for the detection site, making it suitable for most experimental occasions;

[0036] 3. The present invention proposes a detection method for cyclic detection of multiple batches of samples, which solves the problem of idle equipment caused by the time required for sample cooling being much longer than the mixing and heating time. By setting up multiple cooling water bath chambers and multiple spare sample trays, while ensuring the compact structure of the device, the idle waiting time of the detection device is greatly shortened, further improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The overall schematic diagram of the automatic detection device for rice gel consistency in Example 1 of the present invention;

[0038] Figure 2It is a front view of the automatic detection device for rice gel consistency in embodiment one of the present invention;

[0039] Figure 3 It is a top view of the automatic detection device for rice gel consistency in embodiment one of the present invention;

[0040] Figure 4 2 is a top view of the automatic detection device for rice gel consistency in embodiment 2 of the present invention.

[0041] In the figure: 1. Horizontal slide rail; 2. Transmission module; 3. Anti-splash fan; 4. Support; 5. Heating and oscillating module; 6. Sample tube cover; 7. Cooling water bath; 8. Cooling water bath cover; 9. Emergency brake button; 10. Switch button; 11. Transmission motor; 12. Longitudinal slide rail; 13. Mechanical gripper; 14. Hydraulic mechanism; 15. Power module; 16. Mechanical arm; 17. Sample tray; 18. Device base. DETAILED DESCRIPTION

[0042] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0043] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, or two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0044] Embodiment 1, a kind of rice glue consistency automatic detection device provided by this embodiment, as Figures 1 to 3 As shown, it mainly includes a sample tray with multiple test tube slots (more than 50), a heating and oscillation module, a water cooling module, a robotic arm transmission module, a sample tube cover insulation module, a fan splash protection module, a device base, a power supply module and an automatic control system (with an HMI human-machine interface).

[0045] Specifically, a heating and oscillating module 5 and a water-cooling module are arranged side by side on the upper end surface of the device base 18 (in order to make the rice noodles form a gel, the test tube needs to be quickly placed in a cooling water bath at a temperature of 0°C after heating). In order to transfer the test tube as a whole and quickly switch the sample between the heating and ice bath environments, a transverse slide 1 is provided above the device base 18 in a direction parallel to the water-cooling module and the heating and oscillating module 5. The transverse slide 1 is fixed to the top of the device base 18 by a support 4;

[0046] A transmission module 2 is provided on the transverse slide rail 1, and the transmission module 2 is driven by a transmission motor 11 to move left and right along the transverse slide rail 1; a longitudinal slide rail 12 is provided in the middle of the transmission module 2, and a robotic arm 16 is provided on the longitudinal slide rail 12, and the robotic arm 16 is driven by a linear motor to move up and down along the longitudinal slide rail 12; a robotic gripper 13 is provided at the lower part of the robotic arm 16 for grabbing a sample tray 17, and the sample tray 17 is provided with a plurality of test tube slots for storing sample tubes, and the sample tubes are fixed in the test tube slots of the sample tray 17 by a metal kit, and the number of test tube slots on the sample tray 17 is not less than 50.

[0047] At the same time, in order to ensure that the heating temperature of the sample is uniform, a sample tube cover 6 that is adapted to the size of the sample tray is provided on the upper part of the robotic arm 16. After the sample tubes in the sample tray are covered with the insulation tube cover, mixing and heating treatment are performed; and in order to prevent the sample from splashing during the heating process, an anti-splash fan 3 is provided on the top of the sample tube cover 6. Wind can be transmitted into each test tube through the test tube cover, and the airflow is adjusted to prevent the rice slurry from splashing during the heating process.

[0048] Furthermore, the water cooling module, the heating oscillation module 5, the transmission motor 11, the linear motor, the mechanical gripper 13, and the anti-splashing fan 3 are all electrically connected to the automatic control system.

[0049] Furthermore, the water cooling module includes a cooling water bath cabin 7, the size of the cooling water bath cabin 7 is adapted to the sample tray 17, a cooling diode is provided in the cooling water bath cabin 7, and a cooling water bath cabin cover 8 is provided on the top of the cooling water bath cabin 7 (to ensure the cooling effect), and the cooling water bath cabin cover 8 is driven by a hydraulic mechanism 14 to open and close; the cooling diode and the hydraulic mechanism 14 are both electrically connected to the automatic control system.

[0050] Furthermore, the heating oscillation module 5 includes a heating oscillation tank, the size of which is compatible with the sample tray 17. A heating tube and an oscillation mixing mechanism are provided in the heating oscillation tank, which can increase the temperature to about 100°C after oscillation mixing according to the settings.

[0051] Furthermore, an emergency brake button 9 and a switch button 10 are provided on the front side of the device base 18 , and a power module 15 and a voice reminder module are provided on the rear side of the device base 18 .

[0052] Furthermore, the emergency brake button 9, the switch button 10, the power module 15, and the voice reminder module are all electrically connected to the automatic control system, and the automatic control system is provided with an HMI human-machine interface.

[0053] Example 2: The principle and technical solution of this embodiment are basically the same as those of Example 1, except that:Figure 4 As shown, the water cooling module (including the cooling water bath cabin 7 and the matching cooling water bath cabin cover 8 and the hydraulic mechanism 14) is provided with two sets (or multiple sets), and the two groups of cooling water bath cabins 7 are respectively arranged side by side on the left and right sides of the heating oscillation tank;

[0054] The sample tray 17 is also provided with two (or multiple) sample trays, which are specifically divided into a main sample tray and an auxiliary sample tray.

[0055] During the inspection process, the two (or multiple) sample trays are used in alternation with the two sets (or multiple sets) of water cooling modules, which solves the problem that the sample cooling time is much longer than the mixing and heating time in the existing detection technology, resulting in idle detection equipment.

[0056] In this embodiment, based on the same inventive concept, an automatic rice gum consistency detection device is also provided, which comprises the following components:

[0057] S1, sample preparation: a predetermined amount of rice powder, indicator (thymol blue reagent) and sodium hydroxide solution are sequentially loaded into n (n≥100) sample test tubes;

[0058] S2, loading the sample test tubes into the sample tray: n / 2 sample test tubes are loaded into the main sample tray, and the other n / 2 sample test tubes are loaded into the auxiliary sample tray;

[0059] S3, the main sample tray and the auxiliary sample tray are alternately mixed, heated, placed and water-cooled, specifically as follows:

[0060] S31, the mechanical gripper moves to the initial position, and the main sample tray is placed on the mechanical gripper and covered with a sample tube cover

[0061] Cover, while starting the anti-splashing fan, and continue to execute step S32;

[0062] S32, the main sample tray is placed in the heating oscillation tank by the mechanical gripper, first mixed by oscillation for 2 minutes, then quickly heated to 100℃, so that the rice powder solution in the main sample tray test tube reaches boiling, and stops after 8 minutes

[0063] Heating, and continue to execute step S33;

[0064] S33, the hydraulic mechanism drives the left cooling water bath cabin cover to open, and the main sample tray is grabbed by the mechanical gripper and placed for 5 minutes

[0065] Then execute steps S34 and S35 synchronously;

[0066] S34, the hydraulic mechanism drives the left cooling water bath hatch to close, so that the main sample tray is in the left cooling water bath hatch

[0067] After cooling for 30 minutes, proceed to step S4;

[0068] S35, the mechanical gripper moves to the initial position, places the auxiliary sample tray on the mechanical gripper and covers the sample tube

[0069] The cover is closed, the splash-proof fan is turned on, and step S36 is continued;

[0070] S36: Place the auxiliary sample tray into the heated oscillating tank using a mechanical gripper, oscillate and mix for 2 minutes, then quickly heat to 100°C to boil the rice flour solution in the test tube of the auxiliary sample tray. Continue for 8 minutes and then stop.

[0071] Heating, and continuing to step S37;

[0072] S37, the hydraulic mechanism drives the right cooling water bath hatch to open, and the mechanical gripper grabs the auxiliary sample tray and

[0073] After 5 minutes, place it in the cooling water bath chamber on the right side, and then execute step S38 and step S1 simultaneously;

[0074] S38, the hydraulic mechanism drives the right cooling water bath hatch to close, so that the auxiliary sample tray is in the right cooling water bath hatch

[0075] After cooling for 30 minutes, proceed to step S4;

[0076] S4: The experimenter takes out the sample tubes from the sample tray in batches, places them horizontally for a preset time (60 minutes), and then uses a standard reading plate to measure the gel length of the rice sample in each tube.

[0077] Furthermore, all parts of this application that are not described in detail are the same as the existing technology or are implemented using the existing technology.

[0078] In summary:

[0079] 1. The present invention cooperates with a sample tray provided with a plurality of test tube slots through a water-cooling module, a heating oscillation module, a transmission module, a mechanical arm and corresponding actuators, thereby realizing large-scale and automated detection of rice glue consistency, and having high detection efficiency and accuracy of test results, thereby solving the problems of large batch differences and high labor costs in existing detection technologies;

[0080] 2. The automatic detection device used in the present invention has a compact structure, and the functional modules are arranged closely according to the use requirements, with high integration, so that the overall device occupies a small area, and does not require external equipment. It is easy to operate and has low requirements for the detection site, making it suitable for most experimental occasions;

[0081] 3. The present invention proposes a detection method for cyclic detection of multiple batches of samples, which solves the problem in existing detection technologies that the time required for sample cooling is much longer than the mixing and heating time, resulting in idle detection equipment. By setting up multiple cooling water bath chambers and multiple spare sample trays for alternating and cyclic use, while ensuring the compact structure of the device, the idle waiting time of the detection device is greatly shortened, further improving the detection efficiency.

[0082] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A rice glue consistency automatic detection device, characterized in that, The invention comprises a device base (18), wherein a water cooling module and a heating oscillation module (5) are arranged side by side on the upper end surface of the device base (18), a transverse slide rail (1) is arranged above the device base (18) in a direction parallel to the water cooling module and the heating oscillation module (5), a transmission module (2) is arranged on the transverse slide rail (1), and the transmission module (2) is driven by a transmission motor (11) to move left and right along the transverse slide rail (1), a longitudinal slide rail (12) is arranged in the middle of the transmission module (2), a mechanical arm (16) is arranged on the longitudinal slide rail (12), and the mechanical arm (16) is driven by a linear motor to move up and down along the longitudinal slide rail (12); The lower part of the robotic arm (16) is provided with a robotic gripper (13) for grabbing a sample tray (17), the sample tray (17) is provided with a plurality of test tube slots for storing sample test tubes, the upper part of the robotic arm (16) is provided with a sample tube cover (6) adapted to the size of the sample tray, and the top of the sample tube cover (6) is provided with a splash-proof fan (3); The water cooling module, the heating oscillation module (5), the transmission motor (11), the linear motor, the mechanical gripper (13), and the anti-splash fan (3) are all electrically connected to the automatic control system; The water cooling module includes a cooling water bath chamber (7), the size of the cooling water bath chamber (7) is adapted to the sample tray (17), a cooling diode is provided in the cooling water bath chamber (7), a cooling water bath chamber cover (8) is provided on the top of the cooling water bath chamber (7), and the cooling water bath chamber cover (8) is driven by a hydraulic mechanism (14) to open and close; the cooling diode and the hydraulic mechanism (14) are both electrically connected to the automatic control system; The heating oscillation module (5) comprises a heating oscillation tank, the size of which is adapted to the sample tray (17), and a heating tube and an oscillation mixing mechanism are provided in the heating oscillation tank; The cooling water bath chambers (7) are specifically provided with two groups, and the two groups of cooling water bath chambers (7) are respectively arranged side by side on the left and right sides of the heating oscillation tank, and the sizes of the two groups of cooling water bath chambers (7) are adapted to the sample tray (17). The sample tray (17) is provided with two of the same size, namely a main sample tray and a sub-sample tray.

2. a kind of rice glue consistency automatic detection device according to claim 1, is characterized in that, The sample tube is fixed in the tube slot of the sample tray (17) through a metal kit, and the inner wall of the sample tube cover (6) is provided with a heat-insulating layer.

3. a kind of rice glue consistency automatic detection device according to claim 1, is characterized in that, The transverse slide rail (1) is fixed above the device base (18) via a support (4).

4. a kind of rice glue consistency automatic detection device according to claim 1, is characterized in that, An emergency brake button (9) and a switch button (10) are provided on the front side of the device base (18), and a power module (15) and a voice reminder module are provided on the rear side of the device base (18).

5. a kind of rice glue consistency automatic detection device according to claim 4, is characterized in that, The emergency brake button (9), the switch button (10), the power module (15), and the voice reminder module are all electrically connected to the automatic control system, and the automatic control system is provided with an HMI human-machine interaction interface.

6. A rice glue consistency detection method, comprising the step of: adopting the rice glue consistency automatic detection device as claimed in any one of claims 1 to 5, characterized in that: The steps include: S1, test sample preparation: weigh preset amounts of rice powder, indicator, and sodium hydroxide solution and sequentially place them into n sample test tubes; S2, loading the sample tubes into the sample tray: loading n / 2 sample tubes into the main sample tray, and loading another n / 2 sample tubes into the auxiliary sample tray; S3, the main sample tray and the auxiliary sample tray are alternately mixed, heated, left to stand, and water-cooled; In step S4, the experimenter takes out the sample tubes from the sample tray in batches, places them horizontally for a preset time, and then uses a standard reading plate to measure the gel length of the samples in each tube.

7. a kind of rice glue consistency detection method according to claim 6, is characterized in that, The main sample tray and the auxiliary sample tray are alternately mixed, heated, left to stand and water-cooled, specifically comprising the following steps: S31, the mechanical gripper moves to the initial position, places the main sample tray on the mechanical gripper and covers the sample tube with a cap, turns on the splash-proof fan, and proceeds to step S32; S32, placing the main sample tray into a heated oscillating tank using a mechanical gripper, first oscillating and mixing for time t1, then rapidly heating to 100°C to bring the rice flour solution in the test tube of the main sample tray to a boil. After t2, heating is stopped and step S33 is continued; S33: The hydraulic mechanism drives the left cooling water bath hatch to open, and the main sample tray is picked up by the mechanical gripper and placed in the left cooling water bath after being left for t3 seconds. Then, steps S34 and S35 are executed simultaneously. S34, the hydraulic mechanism drives the left cooling water bath hatch to close, and the main sample tray cools in the left cooling water bath hatch for t4 time, and then executes step S4; S35, the mechanical gripper moves to the initial position, places the auxiliary sample tray on the mechanical gripper and covers the sample tube with a cap, turns on the splash-proof fan, and continues to step S36; S36, placing the auxiliary sample tray into the heated oscillation tank by a mechanical gripper, first oscillating and mixing for time t1, then rapidly heating to 100°C to bring the rice noodle solution in the test tube of the auxiliary sample tray to boiling. After t2, heating is stopped and step S37 is continued; S37: The hydraulic mechanism drives the right cooling water bath hatch to open, and the mechanical gripper grabs the auxiliary sample tray, leaves it to rest for t3 seconds, and then places it into the right cooling water bath hatch. Then, step S38 and step S1 are executed simultaneously. S38, the hydraulic mechanism drives the right cooling water bath hatch to close, and after the auxiliary sample tray cools in the right cooling water bath hatch for t4 time, step S4 is executed; Among them, t1+ t2+ t3≥t4.

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