Automatic sampling system, method and related products

Abstract

The present disclosure provides an automatic sampling system, method and related products. The automatic sampling system is provided with an assembly robot; a stock liquid orifice plate and a liquid separation orifice plate; N syringes for absorbing liquid in the stock liquid orifice plate; a syringe bracket for accommodating N syringes; N syringe pumps for providing power so that the needles of the corresponding syringes extract liquid from the outside; a syringe feeding device for pressing the pressing pad on the top of the syringe; an assembly robot for moving the syringe pump, the syringe bracket and the syringe feeding device in a plane and up and down; an electronic balance in the sampling area for weighing the mass during the sampling process; a tray lifting device having a tray provided with a positioning card slot, the positioning card slot is used to position the liquid separation orifice plate, and the middle of the positioning card slot is hollowed out to expose the weighing pan of the electronic balance in the sampling area; a control device, which is connected to the N syringe pumps, the syringe feeding device, the assembly robot, the electronic balance in the sampling area and the tray lifting device for communication.

Description

Technical Field

[0001] The present disclosure relates to the technical field of biological fermentation liquid sampling, and in particular to an automatic sampling system, method and related products. Background Art

[0002] In biological fermentation systems, mass balance and carbon balance are very important. Among them:

[0003] Mass balance refers to the accurate measurement and tracking of the mass of all material components in a system. The purpose of mass balance is to ensure a balance between the input and output of materials in the system in order to better understand and control the material flow of the system.

[0004] The application of mass balance in biological fermentation mainly includes the following aspects:

[0005] a) Substrate Utilization: Mass balance helps to track the consumption of substrate during the fermentation process. By measuring the input of substrate and the output of product, the efficiency of substrate utilization can be calculated. This is very important for optimizing the fermentation process and determining the appropriate substrate supply strategy.

[0006] b) Product formation: Mass balance allows the measurement of product formation during fermentation. By quantifying the production of product, scientists can assess the yield and efficiency of the fermentation process. If the mass balance indicates that product production is lower than expected, the fermentation process can be optimized by adjusting conditions such as nutrient supply, pH, temperature or oxygen supply.

[0007] c) Biomass growth: Mass balances also help monitor microbial growth during fermentation. By measuring the increase in biomass, scientists can assess the growth rate and overall health of the microorganisms. If the mass balance indicates insufficient biomass growth, adjustments can be made by optimizing nutrient supply or other growth conditions.

[0008] d) Losses and Efficiency: Mass balances can identify any losses or inefficiencies in the fermentation process. By comparing the input and output masses of components, scientists can determine where losses occur, such as evaporation, product degradation, or incomplete substrate utilization. This information can guide process optimization to reduce losses.

[0009] Carbon balance refers to the accurate measurement and tracking of the input and output of carbon in a system. It is a special form of mass balance that focuses on tracking and measuring the flow of carbon in chemical, biological and environmental processes.

[0010] Carbon balance is similar to mass balance, but it focuses precisely on the carbon element from the total mass. It is also widely used in biological fermentation carbon balance.

[0011] Taking into account the needs of mass balance and carbon balance, the accuracy of mass weighing is required to reach thousandths, and the mass change of a single well position after each liquid dispensing needs to be accurately known.

[0012] However, when performing pipetting and sampling, the existing sample separation device injects and controls the flow of the liquid being operated towards a single hole position, and can only measure the volume of the separated liquid but not the mass of the separated liquid. Alternatively, after the pipetting and separation operations are completed at each hole position, the mass of the entire well plate is weighed. In this way, only the total mass change of the well plate during the entire pipetting and separation process can be obtained, and the mass change of the liquid path corresponding to a single hole position cannot be determined. Summary of the invention

[0013] The present disclosure proposes an automatic sample sorting system, method and related products.

[0014] In a first aspect, the present disclosure provides an automatic sample sorting system, comprising:

[0015] Assembly robot, including robot body, upper arm and lower arm;

[0016] Original liquid orifice plate and liquid separation orifice plate;

[0017] N syringes, used to absorb the liquid in the stock liquid orifice plate, where N is a natural number greater than 1;

[0018] A syringe holder is used to accommodate N syringes and is fixedly arranged on the forearm of the assembly robot. A pressing pad is arranged on the top of each syringe and a needle is arranged on the bottom, and the needle is placed vertically downward in the accommodation hole of the syringe holder;

[0019] N syringe pumps are fixedly arranged on the forearm of the assembly robot, wherein each syringe pump corresponds to each syringe one by one and the output end is connected to the corresponding syringe through a pipeline, and the syringe pump is used to provide power so that the needle of the corresponding syringe extracts liquid from the outside;

[0020] A syringe feeding device is fixedly mounted on the forearm of the assembly robot and is used to press the pressing pad on the top of the syringe to move the syringe downward until the needle tip is located in the hole of the original liquid orifice plate or the liquid separation orifice plate;

[0021] The assembly robot is used to move the syringe pump, syringe holder and syringe feeder in the plane and up and down;

[0022] The electronic balance in the sampling area is used to weigh the mass during the sampling process;

[0023] A tray lifting device is arranged above the electronic balance in the sample separation area. The tray lifting device has a tray provided with a positioning slot, the positioning slot is used to position the liquid separation orifice plate, and the middle of the positioning slot is hollowed out to expose the weighing pan of the electronic balance in the sample separation area;

[0024] The control device is communicatively connected with N syringe pumps, a syringe feeding device, an assembly robot, an electronic balance in the sample separation area, and a tray lifting device.

[0025] In some optional embodiments, the pallet lifting device further comprises:

[0026] The frame base and the top frame are respectively arranged at the bottom and the top, and the tray is arranged between the frame base and the top frame;

[0027] At least two connecting rods, each connecting rod having two ends fixedly connected and radially perpendicular to the frame base and the top frame;

[0028] At least two guide rods, each of which is fixedly connected at both ends and radially perpendicular to the frame base and the top frame, and each guide rod is provided with a guide bearing at the periphery thereof, the guide bearing being fixedly connected to the rear portion of the tray close to the frame base and the top frame, and a positioning slot being provided at the front portion of the tray away from the frame base and the top frame;

[0029] The first electric cylinder has a piston rod, the lower end of the piston rod of the first electric cylinder is fixedly connected to the rear of the tray, and the upper end is fixedly connected to the top frame, which is used to provide power to drive the guide bearings and the tray to move up and down along the guide rods.

[0030] In some optional embodiments, when the liquid separation orifice plate is placed on the positioning slot, it can be separated from the weighing pan of the electronic balance in the sampling area by moving the positioning slot upward under the power of the first electric cylinder, and can be contacted with the weighing pan of the electronic balance in the sampling area by moving the positioning slot downward.

[0031] In some optional embodiments, the automatic sampling system further comprises:

[0032] A cleaning device is used for cleaning N syringes.

[0033] In some optional embodiments, the cleaning device comprises:

[0034] A cleaning liquid container, the cleaning liquid container is used to contain cleaning liquid;

[0035] A cleaning tank is used to contain cleaning fluid and N syringes.

[0036] In some optional embodiments, the cleaning device further comprises:

[0037] The cleaning liquid peristaltic pump is connected to the cleaning liquid container and the cleaning tank respectively, and is used to pump the cleaning liquid in the cleaning liquid container to the cleaning tank when the cleaning liquid in the cleaning tank is insufficient.

[0038] In some optional embodiments, the cleaning tank comprises:

[0039] There are N cleaning holes, each of which is used to accommodate a syringe. Each syringe can be accommodated in each cleaning hole in the cleaning tank by moving the syringe bracket, and each cleaning hole can accommodate cleaning liquid to clean the needle of each syringe.

[0040] In some optional embodiments, the syringe holder has N accommodating holes, each of which is used to accommodate a syringe.

[0041] In some optional embodiments, the stock solution well plate is provided with an identification code, and the automatic sample separation system further comprises:

[0042] A first identity recognition device, disposed in the first identity recognition area and communicatively connected with the control device;

[0043] Preferably, the liquid separation orifice plate is provided with an identification code, and the automatic sample separation system further comprises:

[0044] The second identity recognition device is arranged in the second identity recognition area and is communicatively connected with the control device.

[0045] In some optional embodiments, the automatic sampling system further comprises:

[0046] The robot arm is used to hold and move the stock liquid orifice plate and the liquid separation orifice plate.

[0047] In some optional embodiments, the syringe feeding device has a second electric cylinder for providing downward pressing power to the syringe feeding device.

[0048] In some optional embodiments, the syringe support comprises two layers of support discs arranged in parallel and fixedly connected, and at least two syringe receiving holes for receiving syringes are arranged at positions corresponding to the horizontal projections of the two layers of support discs, and each syringe can pass through the upper and lower layers of the support discs through the syringe receiving holes;

[0049] A wrist rotating shaft is arranged at the front end of the forearm of the assembly robot. The wrist rotating shaft can rotate around the Z axis perpendicular to the horizontal plane and move up and down along the Z axis. The centers of the upper and lower layers of the bracket discs surround and are fixed to the wrist rotating shaft of the assembly robot. The wrist rotating shaft is used to drive the syringe bracket to move up and down and rotate. The horizontal center points of the syringe feeding device, the pressing pad of the designated syringe in the syringe bracket and the designated hole position in the original liquid orifice plate form a straight line along the Z axis.

[0050] In some optional embodiments, the automatic sampling system further comprises:

[0051] The stock liquid orifice plate fixing structure is fixedly arranged in the stock liquid area, and the top of the stock liquid orifice plate fixing structure matches the bottom of the stock liquid orifice plate, and is used for detachably fixing the stock liquid orifice plate.

[0052] In some optional embodiments, the automatic sampling system further comprises:

[0053] The position sensor is fixedly arranged around the raw liquid orifice plate fixing structure and is connected to the control device for communication. It is used to detect the position information of the raw liquid orifice plate set above the raw liquid orifice plate fixing structure and send the detected position information to the control device.

[0054] In some optional implementations, the identification code is a barcode or a QR code.

[0055] In some optional implementations, the first identity recognition device and the second identity recognition device are barcode scanners or cameras.

[0056] In a second aspect, the present disclosure provides an automatic sampling method, applied to the automatic sampling system as described in any one of the first aspects, the method comprising:

[0057] Perform the sample splitting operation, which includes:

[0058] Place the stock solution well plate in the stock solution area;

[0059] For each target stock liquid well position in the stock liquid well plate, the following stock liquid well position sampling operation is performed: the first target syringe corresponding to the target stock liquid well position is positioned above the target stock liquid well position through the movement of the assembly robot, and the syringe feeding device is positioned above the first target syringe; the syringe feeding device presses the pressing pad on the top of the first target syringe, so that the first target syringe moves downward and the needle enters the target stock liquid well position; the injection pump corresponding to the first target syringe is started, and liquid is extracted from the target stock liquid well position according to the target sampling volume corresponding to the target stock liquid well position, and the extracted liquid flows into the first target syringe through the corresponding pipeline; the injection pump corresponding to the first target syringe is turned off; the syringe feeding device returns upward to leave the pressing pad on the top of the first target syringe, so as to complete the stock liquid well position sampling operation for the target stock liquid well position;

[0060] Place the liquid separation orifice plate in the positioning groove of the tray of the tray lifting device;

[0061] Move the tray in the tray lifting device downward so that the scoring liquid orifice plate contacts the weighing pan of the electronic balance in the sampling area;

[0062] The electronic balance in the sample separation area measures the mass to obtain the mass of the liquid separation orifice plate before sample separation;

[0063] For each target liquid separation hole position in the liquid separation hole plate, the following liquid separation hole position sampling operations are performed: the tray in the tray lifting device is moved upward to make the liquid separation hole plate leave the weighing pan of the electronic balance in the sampling area; the second target syringe corresponding to the target liquid separation hole position is located above the target liquid separation hole position in the liquid separation hole plate through the movement of the assembly robot, and the syringe feeding device is located above the second target syringe; the syringe feeding device presses the pressing pad on the top of the second target syringe to make the second target syringe move downward and the needle enter the target liquid separation hole position; start the operation with The injection pump corresponding to the second target syringe injects the liquid in the second target syringe into the target liquid dispensing hole position according to the target liquid dispensing capacity corresponding to the target liquid dispensing hole position; the injection pump corresponding to the second target syringe is turned off; the syringe feeding device returns upward to leave the pressing pad on the top of the second target syringe; the tray of the tray lifting device is moved downward to make the liquid dispensing hole plate contact the weighing pan of the electronic balance in the sampling area; the electronic balance in the sampling area measures the mass to obtain the mass of the liquid dispensing hole plate after sampling for the target liquid dispensing hole position, so as to complete the liquid dispensing hole position sampling operation for the target liquid dispensing hole position.

[0064] In some optional embodiments, the automatic sample separation system further comprises: a cleaning liquid container and a cleaning tank, wherein the cleaning liquid container is used to contain the cleaning liquid, and the cleaning tank is used to contain the cleaning liquid and at least one syringe; and

[0065] After the sample splitting operation, the method further includes: performing a syringe cleaning operation, and the syringe cleaning operation specifically includes:

[0066] Through the movement of the assembly robot, each syringe placed on the syringe holder is located above the cleaning tank, and the cleaning liquid in the cleaning tank can be pumped to the corresponding syringe through the syringe pump corresponding to each syringe;

[0067] Start each injection pump, draw a preset cleaning liquid volume from the cleaning tank into the corresponding syringe at least once, and then inject the liquid into the cleaning tank.

[0068] In some optional embodiments, the method further comprises:

[0069] When the height of the cleaning liquid in the cleaning tank is lower than the set threshold, the cleaning liquid peristaltic pump is turned on, and the cleaning liquid in the cleaning liquid container is pumped into the cleaning tank by the cleaning liquid peristaltic pump until the height of the cleaning liquid in the cleaning tank reaches the set threshold, and the cleaning liquid peristaltic pump stops working.

[0070] In some optional embodiments, the stock solution orifice plate is provided with an identification code, and the automatic sample separation system further comprises a first identification device provided in the first identification area and communicatively connected to the control device; and

[0071] Place the stock solution plate in the stock solution area, including:

[0072] Placing the stock liquid orifice plate in a first identity recognition area corresponding to a first identity recognition device for identity recognition;

[0073] In response to the verification of the stock liquid orifice plate according to the identification information of the stock liquid orifice plate, the stock liquid orifice plate is placed in the stock liquid area.

[0074] In some optional embodiments, the liquid separation orifice plate is provided with an identification code, and the automatic sample separation system further comprises a second identification device provided in the second identification area and communicatively connected with the control device; and

[0075] The dispensing orifice plate is placed in the positioning slot in the tray of the tray lifting device, including:

[0076] Placing the liquid separation orifice plate in the second identity recognition area corresponding to the second identity recognition device for identity recognition;

[0077] In response to the verification of the liquid separation orifice plate according to the identification information recognition result of the liquid separation orifice plate, the liquid separation orifice plate is placed in the positioning groove of the tray of the tray lifting device.

[0078] In a third aspect, the present disclosure provides a control device, comprising: one or more processors; a storage device having one or more programs stored thereon, wherein when the one or more programs are executed by the one or more processors, the automatic sampling system described in any implementation manner in the first aspect implements the method described in any implementation manner in the second aspect.

[0079] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by one or more processors, the automatic sampling system described in any implementation manner in the first aspect implements the method described in any implementation manner in the second aspect.

[0080] In a fifth aspect, the present disclosure provides a computer program product, comprising a computer program / instruction, which, when executed by a processor, enables the automatic sampling system described in any implementation manner in the first aspect to implement the method described in any implementation manner in the second aspect.

[0081] The automatic sampling system, method and related products provided by the present disclosure are provided in the automatic sampling system, which comprises an assembly robot, a robot body, a main arm and a forearm; a stock liquid orifice plate and a liquid separation orifice plate; N syringes for absorbing liquid in the stock liquid orifice plate, where N is a natural number greater than 1; a syringe bracket for accommodating N syringes, which is fixedly arranged on the forearm of the assembly robot, wherein each syringe is provided with a pressing pad on the top and a needle on the bottom, and the needle is vertically placed downward in the accommodating hole of the syringe bracket; N injection pumps are fixedly arranged on the forearm of the assembly robot, wherein each injection pump corresponds to each syringe one by one and the output end is connected to the corresponding syringe through a pipeline, and the injection pump is used to provide power so that the needle of the corresponding syringe extracts liquid from the outside Liquid; a syringe feeding device, fixedly mounted on the forearm of the assembly robot, used to press the pressing pad on the top of the syringe so that the syringe moves downward until the needle is located in the hole of the original liquid orifice plate or the liquid separation orifice plate; the assembly robot is used to move the syringe pump, syringe bracket and syringe feeding device in a plane and up and down; the electronic balance in the sampling area is used to weigh the mass during the sampling process; a tray lifting device is arranged above the electronic balance in the sampling area, and the tray lifting device has a tray with a positioning slot, the positioning slot is used to position the liquid separation orifice plate, and the middle of the positioning slot is hollowed out to expose the weighing pan of the electronic balance in the sampling area; a control device is connected to communicate with N syringe pumps, syringe feeding devices, assembly robots, electronic balances in the sampling area and tray lifting devices. That is, through the setting of the above-mentioned automatic sampling system and by coordinating the sampling process, the following technical effects can be achieved, including but not limited to:

[0082] First, the mass of the liquid in a single hole of the separation plate can be independently weighed through the electronic balance in the sample separation area and the tray lifting device, and the liquid data of a single hole of the separation plate can be independently processed, as well as independent biological analysis of the liquid in a single hole of the separation plate can be performed.

[0083] Second, the injection pumps are isolated from each other and correspond to each syringe one by one, and the output ends are connected to the corresponding syringes through pipelines, which can avoid confusion between different types of fermentation liquids.

[0084] Third, automatic sampling can be achieved through the overall setting of the automatic sampling system to reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] Other features, objects and advantages of the present disclosure will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0086] Figure 1 is an exemplary structural schematic diagram of an embodiment of an automatic sample sorting system according to the present disclosure;

[0087] Figure 2is an exemplary structural schematic diagram of an embodiment of a syringe support according to the present disclosure;

[0088] Figure 3 is an exemplary structural schematic diagram of an embodiment of a pallet lifting device according to the present disclosure;

[0089] Figure 4 is an exemplary structural diagram of an embodiment of a position sensor according to the present disclosure;

[0090] Figure 5A is a process 500 of an automatic sampling method according to the present disclosure;

[0091] Figure 5B is a decomposed flow chart of one embodiment of step 501 according to the present disclosure;

[0092] Figure 5C is a decomposed flow chart of one embodiment of step 5012 according to the present disclosure;

[0093] Figure 5D is a decomposed flow chart of one embodiment of step 5016 according to the present disclosure;

[0094] Figure 5E is a decomposed flow chart of one embodiment of step 502 according to the present disclosure. DETAILED DESCRIPTION

[0095] The present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0096] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0097] Please refer to Figure 1 , Figure 1 A schematic structural diagram of an embodiment of an automatic sample sorting system according to the present disclosure is shown.

[0098] like Figure 1 As shown, the automatic sampling system 10 may include: an assembly robot 110, a raw liquid orifice plate 120, a liquid separation orifice plate 130, syringes 140, 150, 160, 170, 180, 190, 200, 210, a syringe bracket 220, injection pumps 230, 240, 250, 260, 270, 280, 290, 300, an injection feeding device 310, a sampling area electronic balance 320, a tray lifting device 330, and a control device 340.

[0099] The assembly robot 110 includes a robot body, an upper arm and a lower arm, wherein the upper arm and the lower arm of the assembly robot 110 can rotate horizontally on a horizontal plane.

[0100] The stock liquid orifice plate 120 has at least one hole, and the hole is used to contain liquid, and different holes are isolated from each other. The liquid contained in the hole of the stock liquid orifice plate 120 can be fermentation liquid extracted from the fermentation tank.

[0101] Optionally, the holes of the stock solution orifice plate 120 may be arranged in a regular pattern, for example, in an array in two vertical directions, or in a circular or arc shape around a central point.

[0102] In order to ensure that the liquid in the stock liquid orifice plate 120 is not contaminated by external bacteria, a sealed hole cover, such as a silicone cover, may be provided above the holes of the stock liquid orifice plate 120 .

[0103] It should be noted that the stock solution orifice plate 120 can be set in the stock solution area when dividing the samples, and can be set in other areas before or after dividing the samples, for example, it can be set in a refrigeration device, or in a orifice plate warehouse. When necessary, it can be moved to the stock solution area manually or by a robot arm.

[0104] Similarly, the liquid separation orifice plate 130 also has at least one hole position, and the hole position is used to contain liquid, and different hole positions are isolated from each other. Optionally, the holes of the liquid separation orifice plate 130 can be arranged in a regular pattern, for example, they can be arranged in an array in two vertical directions, or they can be arranged in a circle or arc around a center point.

[0105] In order to ensure that the liquid in the liquid separation orifice plate 130 is not contaminated by external bacteria, a sealed hole cover, such as a silicone cover, may be provided above the holes of the liquid separation orifice plate 130 .

[0106] In some optional embodiments, the number of wells in the liquid separation orifice plate 130 may be greater than the number of wells in the stock solution orifice plate 120, for example, the number of wells in the liquid separation orifice plate 130 may be an integer multiple greater than 1 of the number of wells in the stock solution orifice plate 120. For example, the stock solution orifice plate 120 may be a 48-well plate with 6 rows and 8 columns or 8 rows and 6 columns, while the liquid separation orifice plate 130 may be a 96-well plate with 12 rows and 8 columns or 8 rows and 12 columns, so that each well in the stock solution orifice plate 120 may be sampled at least twice.

[0107] It should be noted that the liquid separation orifice plate 130 can be set on the positioning slot of the tray lifting device 330 of the liquid separation area or above the electronic balance 320 of the sample separation area of ​​the liquid separation area when performing the sample separation operation. Before or after the sample separation, it can be set in other areas, for example, it can be set in a refrigeration device or in a perforated plate bin. When necessary, it can be moved to the positioning slot of the tray lifting device 330 of the liquid separation area or above the electronic balance 320 of the sample separation area of ​​the liquid separation area by manual or mechanical arms.

[0108] N syringes are used to absorb the liquid in the stock liquid orifice plate 120, where N is a natural number greater than 1.

[0109] For example, the N syringes may be syringes 140 , 150 , 160 , 170 , 180 , 190 , 200 , 210 .

[0110] The syringe support 220, such as Figure 2 As shown, Figure 2 A schematic diagram of a syringe holder 220 according to the present disclosure is shown.

[0111] The syringe holder 220 may be used to accommodate the N syringes mentioned above. For example, the syringe holder 220 may accommodate the syringes 140 , 150 , 160 , 170 , 180 , 190 , 200 , and 210 .

[0112] The syringe support 220 is fixedly mounted on the forearm of the assembly robot 110 . A pressing pad is disposed on the top of each syringe and a needle is disposed on the bottom. The needle is vertically placed downward in the receiving hole of the syringe support.

[0113] Optionally, the syringe support 220 has N accommodating holes, each of which is used to accommodate a syringe. For example, each of the N accommodating holes can be used to accommodate syringes 140, 150, 160, 170, 180, 190, 200, 210 respectively.

[0114] Optionally, the syringe support 220 includes two upper and lower support discs that are arranged in parallel and fixedly connected. At least two syringe receiving holes for receiving syringes are arranged at positions corresponding to the horizontal projections of the two layers of support discs, and each syringe can pass through the upper and lower layers of support discs through the syringe receiving holes. A wrist rotation axis is arranged at the front end of the forearm of the assembly robot 110. The wrist rotation axis can rotate around the Z axis perpendicular to the horizontal plane and move up and down along the Z axis. The centers of the upper and lower layers of support discs surround and are fixed to the wrist rotation axis of the assembly robot 110. The wrist rotation axis is used to drive the syringe support 220 to move up and down and rotate. The syringe feeding device 310, the pressing pad of the designated syringe in the syringe support 220, and the horizontal center point of the designated hole position in the original liquid orifice plate 120 form a straight line along the Z axis.

[0115] N injection pumps are fixedly arranged on the forearm of the assembly robot, wherein each injection pump corresponds to each syringe one by one and the output end is connected to the corresponding syringe through a pipeline. The injection pump is used to provide power so that the needle of the corresponding syringe draws liquid from the outside.

[0116] For example, the N syringe pumps may be syringe pumps 230 , 240 , 250 , 260 , 270 , 280 , 290 , 300 .

[0117] For example, the injection pump 230 can correspond to the syringe 140, and the output end of the injection pump 230 is connected to the syringe 140 through a pipeline. The injection pump 240 can correspond to the syringe 150, and the output end of the injection pump 240 is connected to the syringe 150 through a pipeline. The situations in which other injection pumps 250, 260, 270, 280, 290, and 300 are connected to the corresponding syringes through pipelines are basically the same and will not be repeated here.

[0118] The syringe feeding device 310 is fixedly mounted on the forearm of the assembly robot 110 and is used to press the pressing pad on the top of the syringe to move the syringe downward until the needle is located in the hole of the original liquid orifice plate 120 or the liquid separation orifice plate 130 .

[0119] Optionally, the syringe feeding device 310 has a second electric cylinder for providing downward pressing power to the syringe feeding device 310 .

[0120] The assembly robot 110 is used to move each syringe pump, syringe support 220 and syringe feeding device 310 in a plane and up and down. That is, the upper arm and lower arm of the assembly robot 110 are used to move each syringe pump, syringe support 220 and syringe feeding device 310 in a plane and up and down.

[0121] By means of the above-mentioned assembly robot 110, syringes 140, 150, 160, 170, 180, 190, 200, 210, syringe holder 220, injection pumps 230, 240, 250, 260, 270, 280, 290, 300 and syringe feeding device 310, sampling operations for designated wells of the original liquid well plate 120 can be realized.

[0122] For example, the wrist rotary shaft at the front end of the forearm of the assembly robot 110 drives the syringe holder 220 to move up and down and rotate, so that the injection feeding device 310, the pressing pad of the syringe 140 in the syringe holder 220 and the horizontal point of the designated hole position in the stock liquid orifice plate 120 form a straight line along the Z axis, so that the pressing pad of the syringe 140 can be contacted and pressed by the downward feeding movement of the syringe holder 220, and the syringe 140 moves downward and the needle enters the hole position designated by the stock liquid orifice plate 120. After the corresponding injection pump 230 is turned on, liquid can be drawn from the hole position of the stock liquid orifice plate 120 to the syringe 140.

[0123] The electronic balance 320 in the sample separation area is used to measure the mass during the sample separation process. The area where the electronic balance 320 in the sample separation area is located can be called the sample separation area. The electronic balance 320 in the sample separation area can send the measured mass data to the control device 340.

[0124] like Figure 3 As shown, Figure 3 It is a schematic diagram of an exemplary structure of an embodiment of a pallet lifting device according to the present disclosure.

[0125] like Figure 3 As shown, the tray lifting device 330 is arranged above the electronic balance 320 in the sample separation area. The tray lifting device 330 has a tray 3302 provided with a positioning slot 3301. The positioning slot 3301 is used to position the liquid separation orifice plate 130, and the middle of the positioning slot 3301 is hollowed out to expose the weighing pan of the electronic balance 320 in the sample separation area.

[0126] Optionally, when the liquid separation orifice plate 130 is placed on the positioning slot 3301, it can be separated from the weighing pan of the electronic balance 320 in the sample separation area by the upward movement of the positioning slot 3301 under the power of the first electric cylinder 3303, and can be contacted with the weighing pan of the electronic balance 320 in the sample separation area by the downward movement of the positioning slot 3301.

[0127] The tray lifting device 330 can move up and down under the power of the first electric cylinder 3303. When the liquid separation orifice plate 130 is placed on the positioning slot 3301, the positioning slot 3301 can be driven to move upward by moving the tray lifting device 330 upward, thereby driving the liquid separation orifice plate 130 placed on the positioning slot 3301 to move upward, so that the liquid separation orifice plate 130 leaves the weighing pan of the electronic balance 320 in the sample separation area. The positioning slot 3301 can be driven to move downward by moving the tray lifting device 330 downward, thereby driving the liquid separation orifice plate 130 placed on the positioning slot 3301 to move downward, so that the liquid separation orifice plate 130 contacts the weighing pan of the electronic balance 320 in the sample separation area.

[0128] Optionally, the pallet lifting device 330 also includes: a frame base 3304 and a top frame 3305, which are respectively arranged at the bottom and the top, and the pallet 3302 is arranged between the frame base 3304 and the top frame 3305. At least two connecting rods 3306, for example, can be 4 connecting rods, and the two ends of each connecting rod are respectively fixedly connected and radially perpendicular to the frame base 3304 and the top frame 3305. At least two guide rods 3307, and the two ends of each guide rod 3307 are respectively fixedly connected and radially perpendicular to the frame base 3304 and the top frame 3305. A guide bearing 3308 is arranged on the periphery of each guide rod 3307, and the guide bearing 3308 is fixedly connected to the rear of the pallet 3302 close to the frame base 3304 and the top frame 3305. The positioning slot 3301 is arranged at the front of the pallet 3302 away from the frame base 3304 and the top frame 3305. The first electric cylinder 3303 has a piston rod ( Figure 3 (not shown), the lower end of the piston rod of the first electric cylinder 3303 is fixedly connected to the rear of the tray 3302, and the upper end is fixedly connected to the top frame 3305, which is used to provide power to drive each guide bearing 3308 and the tray 3302 to move up and down along each guide rod.

[0129] Exemplarily, in the sampling operation, first, the liquid separation orifice plate 130 is placed in the positioning slot 3301 of the tray lifting device 330, and the piston rod of the first electric cylinder 3303 drives the guide bearing 3308 and the tray 3302 to move downward along the guide rod, so that the liquid separation orifice plate 130 in the positioning slot 3301 contacts the scale pan of the electronic balance 320 in the sampling area to weigh the mass of the liquid separation orifice plate 130 before sampling. Then, the piston rod of the first electric cylinder 3303 drives the guide bearing 3308 and the tray 3302 to move upward, so that the liquid separation orifice plate 130 in the positioning slot 3301 leaves the electronic balance 320 in the sampling area. When the liquid separation orifice plate 130 in the positioning slot 3301 leaves the electronic balance 320 in the sampling area, the movement of the assembly robot 110 makes the syringe corresponding to the designated hole position of the liquid separation orifice plate 130 be located above the hole position. For example, the corresponding syringe can be the syringe 140, and the injection feeding device 310 is located above the syringe 140. After the designated hole positions of the syringe 140, the injection feeding device 310 and the liquid separation orifice plate 130 are aligned, the injection feeding device 310 presses the pressing pad on the top of the syringe 140 to make the syringe 140 move downward and The needle enters the designated hole position, and the injection pump 230 corresponding to the syringe 140 is started to inject the liquid in the syringe 140 into the designated hole position of the liquid separation orifice plate 130. After the injection is completed, the injection feeding device 310 returns upward to leave the pressing pad of the syringe 140, and then, the piston rod of the first electric cylinder 3303 drives the guide bearing 3308 and the tray 3302 to move downward along the guide rod again, so that the liquid separation orifice plate 130 in the positioning slot 3301 contacts the scale pan of the electronic balance 320 in the sampling area, so as to weigh the mass of the designated hole position of the sampling orifice plate 130 after sampling, and complete the sampling operation for the hole position. When the sampling operation is performed on another hole position next time, the mass of the other designated hole position of the sampling orifice plate 130 after sampling can be weighed through the above operation.

[0130] By measuring the difference in the mass of the separation orifice plate 130 after each sampling operation, it is possible to independently weigh the mass of the liquid in a single hole of the separation orifice plate 130, independently process the liquid mass data of a single hole of the separation orifice plate 130, and independently perform biological analysis on the liquid in a single hole of the separation orifice plate 130.

[0131] The control device 340 is connected to each syringe pump, the syringe feeding device 310, the assembly robot 110, the electronic balance 320 of the sample distribution area and the tray lifting device 330. The control device 340 is used to execute locally stored or remotely from a host computer ( Figure 1The automatic sampling instructions received by the control device 340 (not shown in the figure) are decomposed and sent to each syringe pump that needs to perform the corresponding operation, and the syringe feeding device 310, the assembly robot 110, the electronic balance 320 in the sampling area and the tray lifting device 330 are executed, and optionally, the control device 340 can also send instructions to the mechanical arm 390. For example, the control device 340 can send instructions to a specific syringe pump to control the corresponding syringe pump to open and work at what pump speed and how long it will stop working after working. Instructions can also be sent to the injection feeding device 310 to control the injection feeding device 310 to feed downward at what speed, the distance of feeding downward, and the speed of upward return and the distance of upward return, etc. Instructions can also be sent to the assembly robot 110 to control the displacement of the assembly robot 110 in the horizontal direction, the displacement of the vertical direction, and the assembly operation in the vertical direction. Instructions can also be sent to the electronic balance 320 in the sampling area to control the electronic balance 320 in the sampling area to weigh, and obtain the weighed mass from the electronic balance 320 in the sampling area. Instructions may also be sent to the tray lifting device 330 to control the tray lifting device 330 to move upward or downward and the distance of the upward or downward movement.

[0132] The control device 340 may be any electronic device with logic operation, data storage and data communication functions. For example, the control device 340 may be a separately set controller, such as a programmable logic controller (PLC), a single-chip microcomputer, an industrial control machine, a desktop computer, a laptop computer, a server, etc.; or it may be a device composed of other electronic devices with input / output ports and operation control functions. For example, the control device 340 may include but is not limited to the following devices: FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), central processing unit (CPU), etc.

[0133] The cleaning device 350 is used to clean N syringes.

[0134] During the sample splitting operation, some liquid will remain in the syringe, and the remaining liquid can be regarded as sample splitting waste liquid. After the sample splitting operation is completed, each syringe can be cleaned.

[0135] Optionally, the cleaning device 350 may include: a cleaning liquid container and a cleaning tank. The cleaning liquid container is used to contain the cleaning liquid. The cleaning tank is used to contain the cleaning liquid and N syringes. The cleaning liquid may be, for example, alcohol or hydrogen peroxide.

[0136] Optionally, the cleaning tank has N cleaning holes, each cleaning hole is used to accommodate a syringe, and each syringe can be accommodated in each cleaning hole in the cleaning tank by moving the syringe bracket 220, and each cleaning hole can accommodate cleaning liquid to clean the needle of each syringe.

[0137] For example, the cleaning holes of the cleaning tank may have a plurality of regularly arranged receiving holes, similar to the stock solution orifice plate 120 or the liquid separation orifice plate 130. Optionally, a sealed sealing cover may be provided above the cleaning holes of the cleaning tank, such as a silicone cover.

[0138] Optionally, the cleaning tank can be in the shape of a semi-disc, and the N accommodating holes of the syringe holder 220 and the N cleaning holes of the cleaning tank can correspond one to one. When the syringe holder 220 moves to the top of the cleaning tank, the assembly robot 110 moves the syringe holder 220 downward so that each syringe in the N accommodating holes of the syringe holder 220 is located in each cleaning hole of the cleaning tank. Then, the cleaning liquid in the cleaning tank is pumped into the corresponding syringe by the injection pump corresponding to each syringe, and the liquid used to clean the syringe is injected into the cleaning tank. This process is repeated many times, and the needles of each syringe can be cleaned, sterilized and disinfected by the cleaning liquid contained in the cleaning tank.

[0139] Optionally, the cleaning device 350 further includes a cleaning liquid peristaltic pump 360, which is respectively connected to the cleaning liquid container and the cleaning tank, and is used to pump the cleaning liquid in the cleaning liquid container to the cleaning tank when the cleaning liquid in the cleaning tank is insufficient.

[0140] In some optional embodiments, the automatic sample separation system 10 may further include a robotic arm 390, which is used to clamp and move the original liquid orifice plate and the liquid separation orifice plate.

[0141] It should be noted that the robotic arm 390 can be controlled by the control device 340, so the robotic arm 390 is connected to the control device 340 by communication. The robotic arm 390 can also be controlled by a host computer connected to the control device 340 by network, which is not specifically limited in the present disclosure, and accordingly, the robotic arm 390 is connected to the host computer by communication.

[0142] In some optional embodiments, the automatic sample separation system 10 may further include a stock liquid orifice plate fixing structure 400 , which is fixedly disposed in the stock liquid area, and the top of the stock liquid orifice plate fixing structure 400 matches the bottom of the stock liquid orifice plate 120 for detachably fixing the stock liquid orifice plate 120 .

[0143] For example, the top of the stock liquid orifice plate fixing structure 400 may be provided with a recess, and the bottom of the stock liquid orifice plate 120 may be detachably matched with the recess at the top of the stock liquid orifice plate fixing structure 400, and in order to use the mechanical arm 390 to grab the stock liquid orifice plate 120, the front end of the mechanical arm 390 may be provided with a clamp along the first direction. Here, the first direction can be understood as: when the mechanical arm 390 is parallel to the horizontal plane, the direction perpendicular to the extension direction of the mechanical arm 390 (i.e., the front-to-back direction) (i.e., the left-right direction).

[0144] In some optional embodiments, the automatic sample sorting system 10 may further include a position sensor 410. Figure 4 , Figure 4 FIG. 4 is a schematic structural diagram of an embodiment of a position sensor 410 according to the present disclosure.

[0145] The position sensor 410 is fixedly disposed around the raw liquid orifice plate fixing structure 400 and is in communication connection with the control device 340 , and is used for detecting the position information of the raw liquid orifice plate 120 disposed above the raw liquid orifice plate fixing structure 400 and sending the detected position information to the control device 340 .

[0146] like Figure 4 As shown, the position sensor 410 may include a first position sensor 4101 and a second position sensor 4102. The first position sensor 4101 and the second position sensor 4102 may be photoelectric sensors, fixedly disposed on two adjacent sides of the stock liquid orifice plate fixing structure 400. When the stock liquid orifice plate 120 is placed at an appropriate position of the stock liquid orifice plate fixing structure 400, the first position sensor 4101 and the second position sensor 4102 may return a signal to the control device 340 indicating that the stock liquid orifice plate 120 is correctly placed. For example, the first position sensor 4101 and the second position sensor 4102 may send a signal 1 to the control device 340 to indicate that the stock liquid orifice plate 120 is correctly placed. When the stock liquid orifice plate 120 is not accurately placed at a suitable position of the stock liquid orifice plate fixing structure 400, at least one of the first position sensor 4101 and the second position sensor 4102 may return a signal to the control device 340 indicating that the stock liquid orifice plate 120 is incorrectly placed. For example, at least one of the first position sensor 4101 and the second position sensor 4102 may send a signal of 0 to the control device 340 , thereby indicating that the raw liquid orifice plate 120 is incorrectly placed.

[0147] In some optional embodiments, the stock solution orifice plate 120 is provided with an identification code. For example, an identification code may be pasted on the side wall of the stock solution orifice plate 120. The identification code may be a barcode or a QR code, etc. Accordingly, the automatic sample sorting system 10 may further include a first identification device 370. The first identification device 370 is disposed in the first identification area. The first identification device 370 is in communication connection with the control device 340. The control device 340 may send an instruction to the first identification device 370 so that the first identification device 370 performs an identity information collection operation (e.g., scanning a code or taking a photo, etc.), and feeds back the collected identity information (e.g., scanning results or photos, etc.) to the control device 340. As an example, the first identity identification device 370 may be a barcode scanning gun, a camera, etc. Then, the control device 340 may identify the identity information recognition result of the stock solution orifice plate 120 according to the identity information fed back by the first identity identification device 370.

[0148] In some optional embodiments, the liquid separation orifice plate 130 is provided with an identity recognition code, and accordingly the automatic sample separation system 10 may further include a second identity recognition device 380. The second identity recognition device 380 is arranged in the second identity recognition area. The second identity recognition device 380 is in communication connection with the control device 340. The control device 340 may send an instruction to the second identity recognition device 380 so that the second identity recognition device 380 performs an identity information collection operation (e.g., scanning a code or taking a photo, etc.), and feeds back the collected identity information (e.g., a scanning result or a photo, etc.) to the control device 340. As an example, the second identity recognition device 380 may be a barcode scanning gun, a camera, etc. Then, the control device 340 may identify the identity information recognition result of the liquid separation orifice plate 130 according to the identity information fed back by the second identity recognition device 380.

[0149] Reference below Figure 5A . Figure 5A A flow chart 500 of an automatic sampling method according to the present disclosure is shown, and the method can be applied to Figure 1 The automatic sampling system shown.

[0150] like Figure 5A As shown, the process of the automatic sampling method includes step 501:

[0151] Step 501, perform sample division operation.

[0152] It should be noted that each step of the process 500 corresponds to the control device 340 executing a locally stored or remotely received data from a host computer ( Figure 1The automatic sampling instruction received by the control device 340 (not shown) is decomposed to obtain corresponding instructions executed by different devices in the automatic sampling system, and the decomposed instructions are respectively sent to each syringe pump, syringe feeding device 310, assembly robot 110, electronic balance 320 in the sampling area, and tray lifting device 330 in the automatic sampling system that need to execute the corresponding instructions for execution. That is, each syringe pump, syringe feeding device 310, assembly robot 110, electronic balance 320 in the sampling area, and tray lifting device 330 involved in each step of the process 500 is under the control of the control device 340, and performs corresponding operations according to the execution order in the process 500.

[0153] In this embodiment, the automatic sampling instruction can be used to indicate which sampling holes to be sampled in the stock liquid orifice plate of the automatic sampling system need to be sampled for this sampling, the volume of the stock liquid to be sampled from each sampling hole, and which syringe to inject the sampled stock liquid into, and also to indicate which specific syringe liquid among the N syringes is injected into which specific liquid separation hole in the liquid separation orifice. Therefore, the automatic sampling instruction may include a sampling instruction and a sampling instruction. Among them, the sampling instruction includes a stock liquid orifice plate identifier and Q sampling instructions, Q is a natural number, and each sampling instruction includes: a target stock liquid hole position identifier, a target sampling capacity, and a first target syringe identifier. The sampling instruction is used to instruct the first target syringe indicated by the first target syringe identifier to sample a target sampling capacity of liquid from the target stock liquid hole position indicated by the target stock liquid hole position identifier in the stock liquid orifice. The sampling instruction includes a sampling orifice plate identifier and F sampling instructions, F is a natural number, and each sampling instruction includes: a target liquid separation hole position identifier, a target sampling capacity, and a second target syringe identifier. The sample separation instruction is used to instruct the second target syringe indicated by the second target syringe identifier to inject (or, dispense) a target sample separation volume of liquid into a target liquid separation hole position indicated by a target liquid separation hole position identifier in the liquid separation hole plate.

[0154] In this embodiment, the sampling operation may specifically include: Figure 5B Steps 5011 to 5016 shown:

[0155] Step 5011, placing the stock solution orifice plate in the stock solution area.

[0156] In this embodiment, the stock solution orifice plate 120 may be placed manually. Alternatively, when the automatic sample separation system 10 includes a robotic arm 390, the stock solution orifice plate 120 may also be placed by the robotic arm 390. It should be noted that the stock solution orifice plate 120 may be placed manually by the refrigeration device ( Figure 1 Take the stock liquid orifice plate 120 from the raw liquid well (not shown) and place it in the stock liquid area.

[0157] Optionally, the raw liquid area may be provided with a raw liquid orifice plate fixing structure 400 .

[0158] In the process of taking the stock solution orifice plate 120, in order to prevent the stock solution orifice plate 120 from being taken and placed (for example, the liquid separation orifice plate 130, etc.), in some optional embodiments, the stock solution orifice plate 120 may be provided with an identification code, and the automatic sample separation system 10 may further include a first identification device 370 provided in the first identification area and communicatively connected to the control device 340. Accordingly, step 5011, placing the stock solution orifice plate at the stock solution orifice plate fixing structure 400 in the stock solution area, may be performed as follows:

[0159] First, the stock solution orifice plate 120 is placed in the first identity recognition area corresponding to the first identity recognition device 370 for identity recognition.

[0160] For example, the first identification device 370 may be a barcode scanner or a camera. Accordingly, the identification of the stock solution well plate 120 may be performed by using the barcode scanning result of the barcode scanner as the identification information result, or by performing image recognition on the image taken by the camera to obtain the identification information result.

[0161] The control device 340 may send a command to the first identity recognition device 370, so that the first identity recognition device 370 performs an identity information collection operation (e.g., scanning a code or taking a photo, etc.), and feeds back the collected identity information (e.g., a code scanning result or a photo, etc.) to the control device 340. Then, the control device 340 may perform identification based on the identity information fed back by the first identity recognition device 370 to obtain an identity information identification result of the sampling well plate.

[0162] Then, the stock solution orifice plate 120 may be verified according to the identification information recognition result of the stock solution orifice plate 120 .

[0163] If the verification is passed, the raw liquid orifice plate 120 is placed at the location of the raw liquid orifice plate fixing structure 400 in the raw liquid area.

[0164] It should be noted that a preset verification method can be used here to verify the stock liquid orifice plate 120 according to the identification result of the stock liquid orifice plate 120. For example, the identification information identification result can be a string text, and whether the stock liquid orifice plate 120 is verified can be determined by determining whether the character at a specified position (for example, the first 5 characters) in the identification information identification result is a specified character used to characterize the stock liquid orifice plate 120.

[0165] Optionally, if the verification fails, the stock solution plate 120 may be placed in a waiting area (a specific area in the automatic sample separation system 10, Figure 1 ), and generates and outputs a prompt message indicating that the object grasped by the robot arm 390 is not the raw liquid orifice plate 120, so that the staff can perform troubleshooting.

[0166] By pre-verifying the raw liquid orifice plate 120 , it is possible to avoid placing other items that are not raw liquid orifice plates at the location of the raw liquid orifice plate fixing structure 400 in the raw liquid area for sampling, thereby achieving a fool-proof effect in the sampling process.

[0167] In practice, in the process of using the robot arm 390 to place the stock liquid orifice plate 120 at the location of the stock liquid orifice plate fixing structure 400 in the stock liquid area, the clamping claws provided at the front end of the robot arm 390 can clamp the stock liquid orifice plate 120 for movement. For example, the stock liquid orifice plate 120 is taken from the refrigeration equipment and placed at the location of the stock liquid orifice plate fixing structure 400 in the stock liquid area after being moved. However, since the clamping claws at the front end of the robot arm 390 will only fix the stock liquid orifice plate on the left and right sides, there are no fixing parts in the up and down directions and the front and back directions. Here, when the robot arm 390 is parallel to the horizontal plane, the direction perpendicular to the extension direction of the robot arm 390 (i.e., the front and back direction) is the left and right direction. Therefore, there may be inaccurate problems in the positioning of the robot arm 390 up and down and front and back. In particular, the robot arm 390 has paused halfway, and there may be deviations in the positioning of the up and down directions and the front and back directions. The concave portion provided on the top of the stock liquid orifice plate fixing structure 400 in the stock liquid area needs to be precisely matched with the bottom of the stock liquid orifice plate 120, otherwise the stock liquid orifice plate 120 may shift, which will cause the positioning of the subsequent syringe needle entering the hole position of the stock liquid orifice plate 120 to be biased, causing the needle to pierce the wrong hole, and the entire system may be stuck, resulting in sampling failure, or the sampling syringe needle enters the wrong hole position. In order to improve the positioning accuracy of the robot arm 390 placing the stock liquid orifice plate 120, a position sensor 410 can be set.

[0168] In some optional embodiments, when the automatic sample sorting system 10 includes a position sensor 410, accordingly, in the process of the robot arm 390 placing the stock liquid orifice plate 120 on the stock liquid orifice plate fixing structure 400, when the stock liquid orifice plate 120 is placed in the correct position, the first position sensor 4101 and the second position sensor 4102 can send a signal of correct position placement to the control device 340 respectively, to indicate that the stock liquid orifice plate 120 is placed correctly. When the stock liquid orifice plate 120 is placed in an incorrect position, at least one of the first sensor 4101 and the second position sensor 4102 can send a signal of incorrect position placement to the control device 340, to indicate that the stock liquid orifice plate 120 is placed incorrectly.

[0169] Through the above-mentioned position sensor 410, it can be determined whether the position of the robot arm 390 for the original liquid orifice plate 120 is correct, thereby avoiding the positioning deviation of the subsequent syringe needle entering the hole inside the original liquid orifice plate 120, causing the needle to pierce the hole, the entire system may be stuck, and then the sampling may fail, or the sampling syringe needle enters the wrong hole.

[0170] Step 5012, performing a stock solution well position sampling operation for each target stock solution well position in each stock solution well plate.

[0171] Here, for each target stock solution well position in the stock solution well plate, performing the stock solution well position sampling operation may include: Figure 5C Steps 50121 to 50125 shown:

[0172] Step 50121, through the movement of the assembly robot, the first target syringe corresponding to the target raw liquid hole position is located above the target raw liquid hole position, and the syringe feeding device is located above the first target syringe.

[0173] In this embodiment, the movement of the assembly robot 110 can be controlled by the control device 340, and then the movement of the syringe bracket 220 can be controlled, so that the first target syringe corresponding to the target raw liquid hole position is located above the target raw liquid hole position, and by controlling the movement of the assembly robot 110, the movement of the syringe feeding device 310 is controlled, so that the syringe feeding device 310 is located above the first target syringe.

[0174] Here, the first target syringe corresponding to the target raw liquid hole position may be the raw liquid hole position indicated by the target raw liquid hole position identifier in a sampling instruction and the syringe indicated by the first target syringe identifier.

[0175] Step 50122, the syringe feeding device presses the pressing pad on the top of the first target syringe so that the first target syringe moves downward and the needle enters the target raw liquid hole.

[0176] When the holes of the stock liquid orifice plate 120 are covered with a sealed hole cover, the syringe feeding device 310 presses the pressing pad on the top of the first target syringe, so that the first target syringe moves downward and the needle tube enters the target stock liquid hole. The needle at the front end of the needle tube will pierce the hole cover of the target stock liquid hole so that the needle can absorb the liquid in the target stock liquid hole, or, optionally, the needle can reach the bottom of the target stock liquid hole to fully absorb the liquid.

[0177] Step 50123, start the injection pump corresponding to the first target syringe, extract liquid from the target stock liquid hole position according to the target sampling volume corresponding to the target stock liquid hole position, and the extracted liquid flows into the first target syringe through the corresponding pipeline.

[0178] Here, the target stock liquid well position and the target sampling volume corresponding to the target stock liquid well position may be the target stock liquid well position and the target sampling volume indicated by the target stock liquid well position identifier in a sampling instruction, respectively.

[0179] It is understandable that, before the sampling process, the mass and volume of the liquid in the target stock liquid well position may have been sent to the control device 340 for storage in advance. Optionally, during the sampling process, the target sampling volume specified in the sampling instruction should be less than or equal to the volume of the liquid in the target stock liquid well position stored by the control device 340.

[0180] Here, for example, the first target syringe may be the syringe 140 , and correspondingly, the first syringe pump may be the syringe pump 230 .

[0181] The injection pump 230 corresponding to the syringe 140 is started to extract liquid from the target stock liquid hole position according to the target sampling volume corresponding to the target stock liquid hole position, and the extracted liquid flows into the syringe 140 through the corresponding pipeline.

[0182] Step 50124, turn off the injection pump corresponding to the first target syringe.

[0183] Here, after the extraction operation of the stock solution in the target stock solution well is completed, the injection pump corresponding to the first target syringe may be turned off, for example, the injection pump 230 may be turned off.

[0184] Step 50125, the syringe feeding device returns upward to leave the pressing pad on the top of the first target syringe to complete the stock liquid well position sampling operation for the target stock liquid well position.

[0185] After step 5012, the stock solution well position sampling operation for all target stock solution well positions can be completed, and then the process can proceed to step 5013 for execution.

[0186] Step 5013, placing the liquid separation orifice plate in the positioning groove in the tray of the tray lifting device.

[0187] In this embodiment, similar to the placement operation of the stock solution orifice plate 120, the liquid separation orifice plate 130 may be placed manually. Alternatively, when the automatic sample system 10 includes a robot arm 390, the liquid separation orifice plate 130 may also be placed by the robot arm 390. It should be noted that the liquid separation orifice plate 130 may be placed from a refrigeration device ( Figure 1 Not shown) or orifice bin ( Figure 1 The liquid separation orifice plate 130 is taken out from the tray (not shown) and placed in the positioning slot 3301 in the tray 3302 of the tray lifting device 330.

[0188] In the process of taking the liquid separation orifice plate 130, in order to prevent the liquid separation orifice plate 130 from being taken and placed (for example, the original liquid orifice plate 120, etc.), in some optional embodiments, the liquid separation orifice plate 130 may be provided with an identity recognition code, and the automatic sample separation system 10 may further include a second identity recognition device 380 provided in the second identity recognition area and communicatively connected to the control device 340. Accordingly, step 5013, placing the liquid separation orifice plate in the positioning card slot 3301 in the tray 3302 of the tray lifting device 330, may be performed as follows:

[0189] First, the liquid separation orifice plate 130 is placed in the second identity recognition area corresponding to the second identity recognition device 380 for identity recognition.

[0190] For example, the second identification device 380 may be a barcode scanner or a camera. Accordingly, the identification of the liquid separation orifice plate 130 may be performed by using the barcode scanning result of the barcode scanner as the identification information result, or by performing image recognition on the image taken by the camera to obtain the identification information result.

[0191] The control device 340 may send a command to the second identity recognition device 380, so that the second identity recognition device 380 performs an identity information collection operation (e.g., scanning a code or taking a photo, etc.), and feeds back the collected identity information (e.g., a code scanning result or a photo, etc.) to the control device 340. Then, the control device 340 may perform identification based on the identity information fed back by the second identity recognition device 380 to obtain an identity information identification result of the liquid separation orifice plate.

[0192] Then, the liquid separation orifice plate 130 may be verified according to the identification information recognition result of the liquid separation orifice plate 130 .

[0193] If the verification is successful, the liquid separation orifice plate 130 is placed in the positioning slot 3301 in the tray 3302 of the tray lifting device 330 .

[0194] It should be noted that a preset verification method can be used here to verify the liquid separation orifice plate 130 according to the identity recognition result of the liquid separation orifice plate 130. For example, the identity information recognition result can be a string text, and whether the character at a specified position (for example, the first 5 characters) in the identity information recognition result is a specified character used to characterize the liquid separation orifice plate 130 can be determined to determine whether the liquid separation orifice plate 130 has been verified.

[0195] Optionally, if the verification fails, the liquid separation orifice plate 130 may be placed in a waiting area (a specific area in the automatic sample separation system 10, Figure 1 ), and generates and outputs a prompt message indicating that the object grasped by the robot arm 390 is not the liquid separation orifice plate 130, so that the staff can perform troubleshooting.

[0196] By pre-verifying the above-mentioned liquid separation orifice plate 130, it is possible to avoid placing other items that are not liquid separation orifice plates into the positioning slots 3301 in the tray 3302 of the tray lifting device 330 for sample separation, thereby achieving a fool-proof effect in the sample separation process.

[0197] Step 5014, move the tray in the tray lifting device downward so that the scoring liquid well plate contacts the weighing pan of the electronic balance in the sampling area.

[0198] Here, the tray lifting device 330 is arranged above the electronic balance 320 in the sample sorting area, and is used to lift and lower the tray 3302 .

[0199] In some optional embodiments, when the pallet lifting device 330 includes: a frame base 3304 and a top frame 3305, which are respectively arranged at the bottom and the top, the pallet 3302 is arranged between the frame base 3304 and the top frame 3305. At least two connecting rods 3306, for example, can be 4 connecting rods, and the two ends of each connecting rod are respectively fixedly connected and radially perpendicular to the frame base 3304 and the top frame 3305. At least two guide rods 3307, and the two ends of each guide rod 3307 are respectively fixedly connected and radially perpendicular to the frame base 3304 and the top frame 3305. A guide bearing 3308 is arranged on the periphery of each guide rod 3307, and the guide bearing 3308 is fixedly connected to the rear of the pallet 3302 close to the frame base 3304 and the top frame 3305, and the positioning slot 3301 is arranged at the front of the pallet 3302 away from the frame base 3304 and the top frame 3305. The first electric cylinder 3303 has a piston rod ( Figure 3 (not shown), the lower end of the piston rod of the first electric cylinder 3303 is fixedly connected to the rear of the tray 3302, and the upper end is fixedly connected to the top frame 3305, which is used to provide power to drive each guide bearing 3308 and the tray 3302 to move up and down along each guide rod.

[0200] Here, in order to accurately weigh the mass of the liquid separation orifice plate before liquid separation, the liquid separation orifice plate 130 can be placed in the positioning slot 3301 of the tray 3302 of the tray lifting device 330 in a state where the positioning slot 3301 of the tray 3302 of the tray lifting device 330 and the electronic balance 320 of the sample separation area are not in contact. That is, the piston rod of the first electric cylinder 3303 drives the guide bearing 3308 and the tray 3302 to move upward, so that the liquid separation orifice plate 130 in the positioning slot 3301 is separated from the electronic balance 320 of the sample separation area, and then the liquid separation orifice plate 130 is placed in the positioning slot 3301 of the tray 3302 of the tray lifting device 330. Then, the tray 3302 in the tray lifting device 330 is moved downward so that the liquid separation orifice plate 130 contacts the weighing pan of the electronic balance 320 of the sample separation area. Specifically, the piston rod of the first electric cylinder 3303 drives the guide bearing 3308 and the tray 3302 to move downward along the guide rod, so that the liquid separation orifice plate 130 in the positioning slot 3301 contacts the weighing pan of the electronic balance 320 in the sample separation area.

[0201] Step 5015: the electronic balance in the sample separation area measures the mass to obtain the mass of the liquid separation orifice plate before sample separation.

[0202] When the liquid separation orifice plate 130 contacts the scale plate of the sample separation area electronic balance 320 , the mass of the liquid separation orifice plate 130 before sample separation can be obtained by measuring the mass with the sample separation area electronic balance 320 .

[0203] It is understandable that after the electronic balance 320 in the sample separation area measures the mass to obtain the pre-liquid separation mass of the liquid separation orifice plate 130, the pre-sampling mass of the liquid separation orifice plate 130 can be sent to the control device 340 for storage. Optionally, the control device 340 can store the pre-liquid separation mass of the liquid separation orifice plate 130 in correspondence with the identification of the sample separation orifice plate.

[0204] Step 5016: For each target liquid separation well position in the liquid separation well plate, perform a liquid separation well position sample separation operation.

[0205] After obtaining the pre-sampling mass of the liquid separation well plate, the following liquid separation well position sampling operation can be performed for each target liquid separation well position in the liquid separation well plate.

[0206] Here, for each target liquid separation well position in the liquid separation well plate, a liquid separation well position sampling operation is performed. The liquid separation well position sampling operation may include: Figure 5D Steps 50161 to 50167 shown:

[0207] Step 50161, move the tray in the tray lifting device upward so that the scoring liquid well plate leaves the weighing pan of the electronic balance in the sampling area.

[0208] In order to prevent the sample-dividing area electronic balance from being damaged during the sample-dividing process, the syringe feeding device 310 is required to press the pressing pad of the second target syringe downward, which will generate a downward pressure, which will be transmitted to the liquid-dividing orifice plate 130 because the needle of the second target syringe pierces the liquid-dividing orifice plate. If the tray contacts the weighing pan of the sample-dividing area electronic balance 320 during this process, the downward pressure will also be transmitted to the sample-dividing area electronic balance 320 through the liquid-dividing orifice plate 130, thereby causing damage to the sample-dividing area electronic balance 320, and may also cause the liquid-dividing orifice plate 130 to be displaced, affecting the injection position of the syringe. Therefore, before each injection, it is necessary to move the tray 3302 in the tray lifting device 330 upward so that the liquid-dividing orifice plate 130 leaves the weighing pan of the sample-dividing area electronic balance 320. Similarly, the piston rod of the first electric cylinder 3303 drives the guide bearing 3308 and the tray 3302 to move upward, so that the liquid-dividing orifice plate 130 in the positioning card slot 3301 leaves the sample-dividing area electronic balance 320. In this way, damage to the electronic balance 320 in the sample separation area can be avoided, and accurate injection can be achieved at the same time.

[0209] Step 50162: through the movement of the assembly robot, the second target syringe corresponding to the target liquid dispensing hole position is located above the target liquid dispensing hole position in the liquid dispensing hole plate, and the syringe feeding device is located above the second target syringe.

[0210] In this embodiment, the movement of the assembly robot 110 can be controlled by the control device 340, and then the movement of the syringe bracket 220 can be controlled, so that the second target syringe corresponding to the target liquid dispensing hole position is located above the target liquid dispensing hole position in the liquid dispensing orifice plate, and the movement of the assembly robot 110 can be controlled to control the movement of the syringe feeding device 310, so that the syringe feeding device 310 is located above the second target syringe.

[0211] Step 50163, the syringe feeding device presses the pressing pad on the top of the second target syringe, so that the second target syringe moves downward and the needle enters the target dispensing hole position.

[0212] When the holes of the liquid dispensing orifice plate 130 are covered with a sealed hole cover, the syringe feeding device 310 presses the pressing pad on the top of the second target syringe, so that the second target syringe moves downward and the needle tube enters the target liquid dispensing hole. The needle at the front end of the needle tube will pierce the hole cover of the target liquid dispensing hole, so that the liquid in the second target syringe can enter the target liquid dispensing hole from the needle tube.

[0213] Step 50164, start the injection pump corresponding to the second target syringe, and inject the liquid in the second target syringe into the target liquid dispensing hole position according to the target liquid dispensing volume corresponding to the target liquid dispensing hole position.

[0214] Here, for example, the second target syringe may be the syringe 150 , and correspondingly, the second syringe pump may be the syringe pump 240 .

[0215] The syringe pump 240 corresponding to the syringe 150 is started to inject the liquid in the syringe 150 into the target liquid dispensing hole position according to the target liquid dispensing volume corresponding to the target liquid dispensing hole position.

[0216] Here, the liquid in one syringe may be injected into one hole of the liquid separation orifice plate 130 , or may be injected into multiple holes of the liquid inlet orifice plate 130 .

[0217] Step 50166, turn off the injection pump corresponding to the second target syringe.

[0218] Here, after the dispensing operation on the liquid in the second target syringe is completed, the syringe pump corresponding to the second target syringe may be turned off, for example, the syringe pump 240 may be turned off.

[0219] Step 50165, the syringe feed device returns upward to leave the pressure pad on top of the second target syringe.

[0220] Step 50166, move the tray of the tray lifting device downward so that the scoring liquid well plate contacts the weighing pan of the electronic balance in the sampling area.

[0221] In this embodiment, since the tray and the liquid separation orifice plate on the tray leave the scale pan of the electronic balance 320 in the sample separation area before liquid separation is performed for each target liquid separation hole position, after liquid separation for a target liquid separation hole position is completed, in order to measure the mass of the liquid separated to the target liquid separation hole position, the tray 3302 in the tray lifting device 330 can be moved downward again to make the liquid separation orifice plate 130 contact the scale pan of the electronic balance 320 in the sample separation area. Specifically, the piston rod of the first electric cylinder 3303 drives the guide bearing 3308 and the tray 3302 to move downward along the guide rod, so that the liquid separation orifice plate 130 in the positioning slot 3301 contacts the scale pan of the electronic balance 320 in the sample separation area.

[0222] Step 50167, the electronic balance in the sample separation area measures the mass to obtain the mass of the liquid separation plate after sample separation for the target liquid separation hole position, so as to complete the sample separation operation for the target liquid separation hole position.

[0223] After step 50166, the electronic balance 320 in the sample separation area measures the mass to obtain the mass of the sample separation hole plate after sample separation for the target sample separation hole position.

[0224] Similarly, after the electronic balance 320 in the sample separation area measures the mass to obtain the mass of the sample separation orifice plate 130 for the target sample separation orifice position after sample separation, the mass of the sample separation orifice plate 130 for the target sample separation orifice position after sample separation can be sent to the control device 340 for storage. Optionally, the control device 340 can store the mass of the sample separation orifice plate 130 for the target sample separation orifice position after sample separation in correspondence with the target sample separation orifice position identifier.

[0225] It can be understood that the control device can obtain the actual liquid separation mass for each target liquid separation hole position by calculating the difference between the post-sampling mass for the target liquid separation hole position and the post-sampling mass of the target liquid separation hole position where the liquid separation hole position sampling operation was performed last time.

[0226] It should be noted that, for the target liquid-separating hole position where the liquid-separating hole position sampling operation is performed for the first time, the mass after sampling of the target liquid-separating hole position where the liquid-separating hole position sampling operation is performed for the first time is subtracted from the mass before sampling of the liquid-separating hole plate 130 to obtain the actual liquid-separating mass of the target liquid-separating hole position where the liquid-separating hole position sampling operation is performed for the first time.

[0227] Thereby, it is possible to independently weigh the mass of the liquid in a single hole of the separation orifice plate, independently process the liquid data of a single hole of the separation orifice plate, and independently perform biological analysis on the liquid in a single hole of the separation orifice plate.

[0228] In some optional embodiments, a complete sampling operation can be completed through step 501. In practice, other sampling operations may be performed again after a sampling operation. However, after this sampling operation, a trace amount of liquid may remain in the pipeline. In addition, the needles of each syringe may be contaminated by bacteria due to exposure to the air. Therefore, optionally, the automatic sampling system also includes a cleaning device 350, and the cleaning device 350 has a cleaning liquid container and a cleaning tank. The cleaning liquid container is used to hold the cleaning liquid, and the cleaning tank is used to hold the cleaning liquid and at least one syringe. Accordingly, after a sampling operation is completed, that is, after executing step 501, the automatic sampling method 500 may also include the following steps 502:

[0229] Step 502, performing a syringe cleaning operation.

[0230] Here, the syringe cleaning operation includes Figure 5E Step 5021 and step 5022 shown:

[0231] Step 5021, through the movement of the assembly robot, each syringe placed on the syringe holder is located above the cleaning tank, and the cleaning liquid in the cleaning tank can be pumped to the corresponding syringe through the syringe pump corresponding to each syringe.

[0232] Here, the cleaning tank may have N cleaning holes, and the N accommodating holes of the syringe holder 220 and the N cleaning holes of the cleaning tank may correspond one to one.

[0233] The movement of the assembly robot 110 can be used to move the syringe holder 220 to the top of the cleaning tank, and to make each syringe in the syringe holder correspond to each cleaning hole of the cleaning tank one by one. Then, the assembly robot 110 can move the syringe holder 220 downward so that each syringe in the N accommodating holes of the syringe holder 220 can be located in a corresponding cleaning hole of the cleaning tank.

[0234] Step 5022, start each injection pump, extract a preset cleaning liquid volume from the cleaning tank into the corresponding syringe at least once, and then inject the liquid into the cleaning tank.

[0235] By starting the injection pump corresponding to each syringe, the cleaning liquid in the cleaning tank can be pumped into the corresponding syringe, and the liquid used to clean the syringe can be injected into the cleaning tank. In this way, the needles of each syringe can be cleaned, sterilized and disinfected by the cleaning liquid contained in the cleaning tank.

[0236] Optionally, the cleaning device 350 further includes a cleaning liquid peristaltic pump 360, which is respectively connected to the cleaning liquid container and the cleaning tank, and is used to pump the cleaning liquid in the cleaning liquid container to the cleaning tank when the cleaning liquid in the cleaning tank is insufficient.

[0237] Specifically, when the height of the cleaning liquid in the cleaning tank is lower than a set threshold, the cleaning liquid peristaltic pump is turned on, and the cleaning liquid in the cleaning liquid container is pumped into the cleaning tank by the cleaning liquid peristaltic pump until the height of the cleaning liquid in the cleaning tank reaches the set threshold, and then the cleaning liquid peristaltic pump stops working. In this way, the cleaning liquid in the cleaning tank can be replenished in time.

[0238] It is understandable that after step 5022, each syringe pump may be turned off, and each syringe placed on the syringe holder 220 may be moved away from above the cleaning tank through the movement of the assembly robot 110.

[0239] Then, the liquid in the cleaning tank can be drained. For example, the liquid in the cleaning tank can be poured into a separately provided waste liquid container manually or by a robotic arm 390. Alternatively, a drain hole can be provided at the bottom of the cleaning tank, a plug can be embedded in the drain hole, and the drain hole is connected to the waste liquid container. Accordingly, the plug in the drain hole can be opened to allow the cleaning liquid in the cleaning tank to be drained into the waste liquid container.

[0240] Accordingly, before step 5021, step 502 may also include: starting the cleaning liquid peristaltic pump to pump cleaning liquid into the cleaning tank until the liquid height in the cleaning tank reaches a set threshold. In this way, when step 5021 is executed, the cleaning liquid in the cleaning tank is fresh, sterile and sufficient.

[0241] As another aspect, the present disclosure further provides a control device, comprising: one or more processors; a storage device having one or more programs stored thereon, wherein when the one or more programs are executed by the one or more processors, Figure 1 The automatic sampling system described in the embodiment shown and its optional implementation mode is implemented as follows Figure 5A and the methods described in its optional embodiments.

[0242] As another aspect, the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by one or more processors, Figure 1 The automatic sampling system described in the embodiment shown and its optional implementation mode is implemented as follows Figure 5A and the methods described in its optional embodiments.

[0243] As another aspect, the present disclosure further provides a computer program product, including a computer program / instruction, which, when executed by a processor, enables Figure 1 The automatic sampling system described in the embodiment shown and its optional implementation mode is implemented as follows Figure 5A and the methods described in its optional embodiments.

[0244] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0245] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present disclosure is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above invention concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other.

Claims

1. An automatic sample sorting system, comprising: Assembly robot, including robot body, upper arm and lower arm; Original liquid orifice plate and liquid separation orifice plate; N syringes, used to absorb the liquid in the stock liquid orifice plate, where N is a natural number greater than 1; A syringe holder, used to accommodate the N syringes, fixedly arranged on the forearm of the assembly robot, each of the syringes is provided with a pressing pad on the top and a needle on the bottom, and the needle is placed vertically downward in the accommodation hole of the syringe holder; N syringe pumps, fixedly arranged on the forearm of the assembly robot, wherein each syringe pump corresponds to each syringe one by one and the output end is connected to the corresponding syringe through a pipeline, and the syringe pump is used to provide power so that the needle of the corresponding syringe extracts liquid from the outside; A syringe feeding device, fixedly arranged on the forearm of the assembly robot, is used to press the pressing pad on the top of the syringe to move the syringe downward until the needle is located in the hole position of the original liquid orifice plate or the liquid separation orifice plate; The assembly robot is used to move the syringe pump, the syringe support and the syringe feeding device in a plane and up and down; The electronic balance in the sampling area is used to weigh the mass during the sampling process; A tray lifting device is arranged above the electronic balance in the sample dividing area, and the tray lifting device has a tray provided with a positioning slot, the positioning slot is used to position the liquid separation orifice plate, and the middle of the positioning slot is hollowed out to expose the weighing pan of the electronic balance in the sample dividing area, wherein the tray lifting device also includes a first electric cylinder, when the liquid separation orifice plate is placed on the positioning slot, the positioning slot can be moved upward under the power of the first electric cylinder to separate from the weighing pan of the electronic balance in the sample dividing area, and the positioning slot can be moved downward to contact with the weighing pan of the electronic balance in the sample dividing area; A control device is communicatively connected with the N injection pumps, the syringe feeding device, the assembly robot, the electronic balance of the sample distribution area and the tray lifting device.

2. The automatic sample sorting system according to claim 1, wherein: The pallet lifting device also includes: A frame base and a top frame are respectively arranged at the bottom and the top, and the tray is arranged between the frame base and the top frame; At least two connecting rods, each connecting rod having two ends fixedly connected and radially perpendicular to the frame base and the top frame; At least two guide rods, each of which is fixedly connected at both ends and radially perpendicular to the frame base and the top frame, each of which is provided with a guide bearing at the periphery, the guide bearing being fixedly connected to the rear portion of the tray close to the frame base and the top frame, and the positioning slot being provided at the front portion of the tray away from the frame base and the top frame; The first electric cylinder has a piston rod, the lower end of the piston rod of the first electric cylinder is fixedly connected to the rear of the tray, and the upper end is fixedly connected to the top frame. The first electric cylinder is used to provide power to drive each of the guide bearings and the tray to move up and down along each of the guide rods.

3. The automatic sample sorting system according to claim 1, further comprising: A cleaning device is used for cleaning the N syringes.

4. The automatic sample sorting system according to claim 3, wherein: The cleaning device comprises: A cleaning liquid container, the cleaning liquid container is used to contain cleaning liquid; The cleaning tank is used to contain the cleaning liquid and N syringes.

5. The automatic sample sorting system according to claim 4, wherein: The cleaning device also includes: A cleaning liquid peristaltic pump is connected to the cleaning liquid container and the cleaning tank respectively, and is used to pump the cleaning liquid in the cleaning liquid container to the cleaning tank when the cleaning liquid in the cleaning tank is insufficient.

6. The automatic sample sorting system according to claim 4, wherein: The cleaning tank comprises: There are N cleaning holes, each of which is used to accommodate one of the syringes. Each of the syringes can be accommodated in each of the cleaning holes in the cleaning tank by moving the syringe bracket, and each of the cleaning holes can accommodate cleaning liquid to clean the needle of each of the syringes.

7. The automatic sample sorting system according to claim 1, wherein: The syringe support has N accommodating holes, each of which is used to accommodate a syringe.

8. The automatic sample sorting system according to claim 1, wherein: The stock solution orifice plate is provided with an identification code, and the automatic sample sorting system further comprises: The first identity recognition device is arranged in the first identity recognition area and is communicatively connected with the control device.

9. The automatic sample sorting system according to claim 8, wherein: The liquid separation orifice plate is provided with an identification code, and the automatic sample separation system further comprises: The second identity recognition device is arranged in the second identity recognition area and is communicatively connected with the control device.

10. The automatic sample sorting system according to claim 1, further comprising: A mechanical arm is used for clamping and moving the original liquid orifice plate and the liquid separation orifice plate.

11. The automatic sample sorting system according to claim 1, wherein: The syringe feeding device has a second electric cylinder for providing downward pressing power to the syringe feeding device.

12. The automatic sample sorting system according to claim 1, wherein: The syringe support comprises two layers of support discs arranged in parallel and fixedly connected, and at least two syringe receiving holes for receiving syringes are arranged at positions corresponding to the horizontal projections of the two layers of support discs, and each of the syringes can pass through the two layers of support discs through the syringe receiving holes; A wrist rotating shaft is arranged at the front end of the forearm of the assembly robot, and the wrist rotating shaft can rotate around the Z axis perpendicular to the horizontal plane and move up and down along the Z axis. The centers of the upper and lower layers of the bracket discs surround and are fixed to the wrist rotating shaft of the assembly robot. The wrist rotating shaft is used to drive the syringe bracket to move up and down and rotate. The horizontal center points of the syringe feeding device, the pressing pad of the designated syringe in the syringe bracket and the designated hole position in the original liquid orifice plate form a straight line along the Z axis.

13. The automatic sample sorting system according to claim 1, further comprising: The stock liquid orifice plate fixing structure is fixedly arranged in the stock liquid area, and the top of the stock liquid orifice plate fixing structure matches the bottom of the stock liquid orifice plate, and is used for detachably fixing the stock liquid orifice plate.

14. The automatic sample sorting system according to claim 13, further comprising: A position sensor is fixedly arranged around the raw liquid orifice plate fixing structure and is communicatively connected with the control device, and is used for detecting the position information of the raw liquid orifice plate arranged above the raw liquid orifice plate fixing structure and sending the detected position information to the control device.

15. The automatic sample sorting system according to claim 9, wherein: The identity identification code is a barcode or a QR code.

16. The automatic sample sorting system according to claim 9, wherein: The first identity recognition device and the second identity recognition device are barcode scanners or cameras.

17. An automatic sampling method, applied to the automatic sampling system according to any one of claims 1 to 16, the method comprising: Performing a sample splitting operation, the sample splitting operation comprising: placing the stock solution orifice plate in the stock solution area; For each target stock liquid well position in the stock liquid well plate, the following stock liquid well position sampling operation is performed: the first target syringe corresponding to the target stock liquid well position is located above the target stock liquid well position through the movement of the assembly robot, and the syringe feeding device is located above the first target syringe; the syringe feeding device presses the pressing pad on the top of the first target syringe, so that the first target syringe moves downward and the needle enters the target stock liquid well position; the injection pump corresponding to the first target syringe is started, and liquid is extracted from the target stock liquid well position according to the target sampling volume corresponding to the target stock liquid well position, and the extracted liquid flows into the first target syringe through the corresponding pipeline; the injection pump corresponding to the first target syringe is turned off; the syringe feeding device returns upward to leave the pressing pad on the top of the first target syringe to complete the stock liquid well position sampling operation for the target stock liquid well position; Placing the liquid separation orifice plate in a positioning groove in the tray of the tray lifting device; Moving the tray in the tray lifting device downward so that the liquid separation orifice plate contacts the weighing pan of the electronic balance in the sample separation area; The electronic balance of the sample separation area measures the mass to obtain the mass of the liquid separation orifice plate before sample separation; For each target liquid separation hole position in the liquid separation hole plate, the following liquid separation hole position sampling operations are performed: the tray in the tray lifting device is moved upward so that the liquid separation hole plate leaves the weighing pan of the electronic balance in the sampling area; the second target syringe corresponding to the target liquid separation hole position is located above the target liquid separation hole position in the liquid separation hole plate through the movement of the assembly robot, and the syringe feeding device is located above the second target syringe; the syringe feeding device presses the pressing pad on the top of the second target syringe, so that the second target syringe moves downward and the needle enters the target liquid separation hole position; start The injection pump corresponding to the second target syringe injects the liquid in the second target syringe into the target liquid dispensing hole position according to the target liquid dispensing capacity corresponding to the target liquid dispensing hole position; the injection pump corresponding to the second target syringe is turned off; the syringe feeding device returns upward to leave the pressing pad on the top of the second target syringe; the tray of the tray lifting device is moved downward to make the liquid dispensing hole plate contact the weighing pan of the electronic balance in the sampling area; the electronic balance in the sampling area measures the mass to obtain the mass of the liquid dispensing hole plate after sampling for the target liquid dispensing hole position, so as to complete the liquid dispensing hole position sampling operation for the target liquid dispensing hole position.

18. The automatic sampling method according to claim 17, wherein: The automatic sample separation system further comprises: a cleaning liquid container and a cleaning tank, wherein the cleaning liquid container is used to contain the cleaning liquid, and the cleaning tank is used to contain the cleaning liquid and at least one of the syringes; and After the sample dividing operation, the method further includes: performing a syringe cleaning operation, and the syringe cleaning operation specifically includes: The movement of the assembly robot enables each of the syringes placed on the syringe support to be located above the cleaning tank, and the syringe pump corresponding to each of the syringes can pump the cleaning liquid in the cleaning tank to the corresponding syringe; Each of the injection pumps is started to extract a preset cleaning liquid volume from the cleaning tank into a corresponding syringe at least once and then inject the liquid into the cleaning tank.

19. The automatic sampling method according to claim 18, wherein: The method further comprises: When the height of the cleaning liquid in the cleaning tank is lower than a set threshold, the cleaning liquid peristaltic pump is turned on, and the cleaning liquid in the cleaning liquid container is pumped into the cleaning tank by the cleaning liquid peristaltic pump until the height of the cleaning liquid in the cleaning tank reaches the set threshold, and the cleaning liquid peristaltic pump stops working.

20. The automatic sampling method according to claim 17, wherein: The stock solution orifice plate is provided with an identification code, and the automatic sample separation system further comprises a first identification device which is provided in the first identification area and is in communication connection with the control device; as well as Placing the stock solution orifice plate in the stock solution area comprises: Placing the stock solution orifice plate in a first identity recognition area corresponding to a first identity recognition device for identity recognition; In response to the verification of the stock solution orifice plate according to the identification information recognition result of the stock solution orifice plate, the stock solution orifice plate is placed in the stock solution area.

21. The automatic sampling method according to claim 17, wherein: The liquid separation orifice plate is provided with an identification code, and the automatic sample separation system further comprises a second identification device which is arranged in the second identification area and is communicatively connected with the control device; as well as The method for placing the liquid separation orifice plate in the positioning groove of the tray of the tray lifting device comprises: Placing the liquid separation orifice plate in a second identity recognition area corresponding to a second identity recognition device for identity recognition; In response to the verification of the liquid separation orifice plate according to the identification information recognition result of the liquid separation orifice plate, the liquid separation orifice plate is placed in the positioning groove of the tray of the tray lifting device.

22. A control device comprising: one or more processors; a storage device having one or more programs stored thereon, When the one or more programs are executed by the one or more processors, the automatic sample sorting system according to any one of claims 1 to 16 implements the method according to any one of claims 17 to 21.

23. A computer-readable storage medium having a computer program stored thereon, wherein: When the computer program is executed by one or more processors, the automatic sample sorting system according to any one of claims 1 to 16 implements the method according to any one of claims 17 to 21.

24. A computer program product, comprising a computer program / instruction, wherein when the computer program / instruction is executed by a processor, the automatic sampling system according to any one of claims 1 to 16 implements the method according to any one of claims 17 to 21.

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