Standing work station and standing system

Abstract

The invention relates to a standing workstation and a standing system. The standing workstation comprises a base, and a sample standing module, a visual detection module, a sample interaction module and a manipulator which are respectively arranged on the base, the sample interaction module is used for interacting samples before and after a standing experiment with the outside, and the samples are contained in a sample container; the sample standing module is used for carrying out a standing experiment on the sample; the visual detection module is used for collecting a side image and / or a bottom image of the sample container after the standing experiment so as to carry out crystallization detection; and the manipulator is used for transferring samples among the sample interaction module, the sample standing module and the visual detection module. According to the scheme provided by the invention, the automation degree of the standing experiment can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of experimental equipment, and in particular to a stationary workstation and a stationary system. Background Art

[0002] Static experiments include temperature-controlled static experiments and room-temperature static experiments. Temperature-controlled static experiments are usually low-temperature static experiments, also known as temperature-lowering crystallization experiments. Room-temperature static experiments include volatilization, gas diffusion, and suspension dissolution. During static experiments, the ambient temperature and humidity of the sample have a great influence on the experimental results. Therefore, the ambient temperature and humidity are strictly controlled during static experiments.

[0003] In the low-temperature static technology, the laboratory uses the method of placing the experimental samples in a refrigerator and setting different storage chambers of the refrigerator to different temperatures according to the temperature requirements. However, this requires the experimenters to manually take and place the samples and check and observe them regularly, which has a low degree of automation and affects the efficiency of the experiment. Summary of the invention

[0004] In order to solve or partially solve the problems existing in the related art, the present application provides a static workstation and a static system, which can improve the automation level of static experiments.

[0005] The first aspect of the present application provides a static workstation, comprising a base and a sample static module, a visual inspection module, a sample interaction module and a manipulator respectively arranged on the base; the sample interaction module is used to interact with the outside world before and after the static experiment of the sample, and the sample is placed in a sample container; the sample static module is used to perform a static experiment on the sample; the visual inspection module is used to collect the side image and / or bottom image of the sample container after the static experiment for crystallization detection; the manipulator is used to transfer samples between the sample interaction module, the sample static module and the visual inspection module.

[0006] The second aspect of the present application provides a static system, comprising: a mobile robot and at least one static workstation as described above, the mobile robot being used to place samples before a static experiment in a sample interaction module of the static workstation, and / or to take away samples after a static experiment from the sample interaction module.

[0007] The technical solution provided by the present application may include the following beneficial effects: the sample interaction module is used to load the static workstation, and the manipulator places the samples that need to be static at room temperature and / or temperature-controlled in the sample static module; for samples that need to be tested during the experiment, the manipulator places the sample container in the visual inspection module for crystallization detection; the manipulator transfers the sample container between the modules. Therefore, the above-mentioned static workstation can automatically perform operations such as transfer, detection, and static of sample containers, improve experimental efficiency, and save labor costs.

[0008] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0010] Figure 1 is a schematic structural diagram of a stationary workstation shown in an embodiment of the present application;

[0011] Figure 2 is another structural schematic diagram of a stationary workstation shown in an embodiment of the present application;

[0012] Figure 3 is a schematic structural diagram of a first storage rack shown in an embodiment of the present application;

[0013] Figure 4 is another structural schematic diagram of a stationary workstation shown in an embodiment of the present application;

[0014] Figure 5 is a schematic structural diagram of a second storage rack shown in an embodiment of the present application;

[0015] Figure 6 It is a schematic diagram of the structure of the sample static chamber shown in the embodiment of the present application;

[0016] Figure 7 is a schematic diagram of the structure of a storage box shown in an embodiment of the present application;

[0017] Figure 8 is a schematic diagram of the structure of a sample interaction module shown in an embodiment of the present application;

[0018] Fig. 9 is a schematic diagram of the structure of a visual detection module shown in an embodiment of the present application;

[0019] Fig.10 is a schematic structural diagram of a container surface wiping device shown in an embodiment of the present application;

[0020] Fig.11 is a cross-sectional view of a container surface wiping device shown in an embodiment of the present application;

[0021] Fig.12 It is a schematic diagram of an exploded view of a container surface wiping device shown in an embodiment of the present application.

[0022] Reference numerals:

[0023] 1-base, 2-first storage rack, 3-second storage rack, 31-door panel placement, 4-container cover bracket, 5-switch cover module, 6-visual inspection module, 63-first camera, 62-second camera, 64-first light source, 65-second light source, 7-sample interaction module, 7a-material temporary storage module, 8-manipulator, 9-sample static bin, 91-storage box, 911-frame, 912-first door panel, 913-second door panel, 10-exhaust hood, 101-air outlet, 102-cover, 103-exhaust device, 104-protective door, 105-tool library;

[0024] 20-container surface wiping device, 21-main body; 211-cavity; 212-opening; 213-air inlet; 22-first wiping block; 221-jack; 23-air cavity; 231-first chamber; 232-second chamber; 24-gas transmission mechanism; 241-switch valve; 25-second wiping block; 26-cover plate; 261-through hole; 262-chamfer; 27-convex plate; 28-guide plate; 281-guide hole; 29-sealing ring; 210-mounting seat; 2101-pillar. DETAILED DESCRIPTION

[0025] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0026] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0027] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0028] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0029] Static experiments include temperature-controlled static experiments and room-temperature static experiments. Temperature-controlled static experiments are usually low-temperature static experiments, also known as temperature-lowering crystallization experiments. Room-temperature static experiments include volatilization, gas diffusion, and suspension dissolution. During static experiments, the ambient temperature and humidity of the sample have a great influence on the experimental results. Therefore, the ambient temperature and humidity are strictly controlled during static experiments.

[0030] In the low-temperature static technology, the laboratory uses the method of placing the experimental samples in a refrigerator and setting different storage chambers of the refrigerator to different temperatures according to the temperature requirements. However, this requires the experimenters to manually take and place the samples and check and observe them regularly, which has a low degree of automation and affects the efficiency of the experiment.

[0031] In view of the above problems, the embodiments of the present application provide a static workstation and a static system, which can improve the degree of automation of static experiments.

[0032] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0033] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides a static workstation, including a base 1 and a sample static module, a visual inspection module 6, a sample interaction module 7 and a manipulator 8 respectively arranged on the base 1.

[0034] The sample interaction module 7 is used to interact with the outside world before and after the static experiment, and the sample is placed in a sample container. The sample container can be a test tube, a solvent bottle, etc. The sample static module is used to perform a static experiment on the sample. The visual inspection module 6 is used to collect the side image and / or bottom image of the sample container after the static experiment for crystallization detection.

[0035] The manipulator 8 is used to transfer samples between the sample interaction module 7 , the sample resting module and the visual inspection module 6 .

[0036] Based on the above scheme, the sample interaction module 7 is used to load the sample to the static workstation, and the manipulator 8 places the sample that needs to be static at room temperature and / or temperature-controlled static in the sample static module; for the sample that needs to be tested during the experiment, the manipulator 8 places the sample container in the visual inspection module 6 for crystallization detection; the manipulator 8 transfers the sample container between the modules. Therefore, the above static workstation can automatically perform operations such as transfer, detection, and static of the sample container, improve the experimental efficiency, and save labor costs.

[0037] In one embodiment, the sample rest module includes at least one normal temperature rest module, and the normal temperature rest module is used to place samples that need to be rested at normal temperature. The normal temperature rest module includes a first storage rack 2, which is provided with at least one layer of placement board, and the manipulator 8 transfers the sample container or the container tray carrying the sample container between the sample interaction module 7 and the first storage rack 2. Specifically, a plurality of sample placement positions (sample containers or container trays can be directly placed) can be provided on each layer of placement board, and a positioning member (such as a pin, a groove, etc.) can be provided on each sample placement position to limit the sample container or the container tray. For example, when the sample placement position is used to place the sample container, the positioning member can be a groove opened at the sample placement position to limit the sample container to prevent the sample container from falling. For another example, when the sample placement position is used to place the container tray, the positioning member can be a pin convexly arranged at the sample placement position, and the positioning hole opened at the bottom of the container tray is matched to limit the container tray to prevent the container tray from falling. In order to improve the experimental throughput and efficiency, it is preferred to place the container tray directly in the sample rest module. Specifically, the sample container that needs to be placed in a static experiment will first be placed in a container tray, and then placed on the sample interaction module 7 manually or by an external mobile robot. The manipulator 8 then transfers the entire container tray to the sample static module for the static experiment.

[0038] In one embodiment, the sample resting module includes a temperature-controlled resting module, and the temperature-controlled resting module is used to perform low-temperature resting and / or high-temperature resting on the sample.

[0039] like Figures 5 to 7As shown, the temperature-controlled static module includes at least one sample static chamber 9, and the sample static chamber 9 includes a temperature control component and a plurality of storage boxes 91. The storage box 91 has a accommodating cavity, and the accommodating cavity is used to place a container tray carrying a sample container. The storage box 91 includes a frame 911, a first door panel 912 and a second door panel 913, and the first door panel 912 and the second door panel 913 are relatively arranged on both sides of the frame 911, and the frame 911, the first door panel 912 and the second door panel 913 together enclose the accommodating cavity, and the first door panel 912 is detachably connected to the frame 911.

[0040] The manipulator 8 can remove the first door panel 912 from the frame 911, or cover the first door panel 911 on the frame 911. Preferably, the first door panel 912 and the frame 911 can be detachably connected by magnetic attraction. A grab bar can be provided on the first door panel 912, and the manipulator 8 can grab the grab bar to move the first door panel 912 to remove the first door panel 912 from the frame 911 or cover the first door panel 912 on the frame 911.

[0041] The temperature control assembly includes a temperature control board, a flow channel is provided in the temperature control board, and the temperature control board is provided with a liquid inlet and a liquid outlet connected to the flow channel. The plurality of storage boxes 91 can be arranged in a straight line and respectively attached to the temperature control board to perform heat exchange with the temperature control board. The temperature control static module can also include a circulation pump and a temperature controller. The circulation pump is connected to the liquid inlet and the liquid outlet of the temperature control board through a pipeline. The circulation pump is used to allow the heat exchange medium (such as coolant or hot water, etc.) to enter the flow channel from the liquid inlet and flow out from the liquid outlet. The temperature controller is used to cool or heat the heat exchange medium flowing out from the liquid outlet. The temperature control static module can also include a temperature sensor and a temperature display module, wherein the temperature sensor can be provided in the storage box 91 (such as provided in the frame 911 or the second door panel 913) to detect the temperature in the storage box 91 in real time. The temperature display module is connected to the temperature sensor in communication, and is used to display the temperature detected by the temperature sensor in real time for user reading.

[0042] Specifically, samples that need to be left standing at room temperature may be samples that are tested using volatilization method, gas diffusion method, suspension dissolution method, etc., samples that need to be left standing at low temperature may be samples that are tested using cooling crystallization method, and samples that need to be left standing at high temperature may be samples that are tested using evaporation crystallization method. The sample standing chamber 9 can store the sample container at low or high temperature.

[0043] like Figure 3As shown, in one embodiment, an exhaust hood 10 is provided at the upper end of the first storage rack 2, and the exhaust hood 10 is provided with an air outlet 101. Specifically, the sample container for the volatilization method or the gas diffusion method experiment needs to be opened, so it is placed at the upper layer of the first storage rack 2, and an exhaust hood 10 is provided at the upper end of the first storage rack 2, and the exhaust hood 10 is provided with an air outlet 101, so that the diffused gas is conducive to being quickly guided out of the workstation through the air outlet 101 of the exhaust hood 10. Among them, the exhaust hood 10 can be set to wrap the sample container on the uppermost layer as much as possible to reduce the diffusion of the diffused gas to other parts of the workstation. At the same time, the side of the exhaust hood 10 facing the manipulator 8 is open so as not to affect the manipulator 8 from taking and placing the container tray on the uppermost layer of the first storage rack 2.

[0044] In one embodiment, if Figure 4 As shown, the static workstation also includes a cover 102 arranged on the base 1, and the cover 102 and the base 1 form a storage space, and the sample static module, the visual inspection module 6, the sample interaction module 7 and the manipulator 8 are respectively arranged in the storage space; the upper end of the cover 102 is provided with an exhaust device 103 connected to the air outlet 101; the cover 102 is provided with a protective door 104, and the sample interaction module 7 is arranged close to the protective door 104. The storage space formed by the cover 102 and the base 1 has a certain degree of closure and heat preservation, which can reduce heat exchange with the outside world, and is conducive to ensuring the ambient temperature and humidity in the workstation. The exhaust device 103 can be a fan, an exhaust fan, etc., which is used to discharge the gas diffused by standing at room temperature out of the storage space.

[0045] In this embodiment, there are multiple sample resting chambers 9, and the temperature-controlled resting module also includes a second storage rack 3. The second storage rack 3 is provided with multiple layers of support plates, and each layer of support plates is used to place a sample resting chamber 9; wherein the resting temperatures of multiple sample resting chambers 9 may be partially the same or completely different.

[0046] Specifically, the sample resting bin 9 has a plurality of storage boxes 91 arranged in parallel, and the accommodating cavity of the storage box 91 provides a low temperature or high temperature environment for the sample container. The specific implementation method of the sample resting bin 9 can refer to the scheme recorded in the Chinese patent application with publication number CN219383514U and invention name "Sample Resting Bin and Sample Resting System". The present application sets two sample resting bins 9 on the second storage rack 3, and they are located on different layers of the second storage rack 3, one of the sample resting bins 9 provides a low temperature environment of 4°C, and the other provides a low temperature environment of -15°C. It can be understood that only one or more sample resting bins 9 can be set according to the experimental requirements, and there is no limitation here.

[0047] like Figure 5As shown, the second storage rack 3 is provided with a door panel placement position 31 for placing the first door panel 912. Specifically, the number of the door panel placement position 31 can be at least one, and to avoid interference, it can be set at the top layer or side of the second storage rack 3, and the manipulator 8 takes the first door panel 912 from the frame 911 and places it on the door panel placement position 31. Among them, the door panel placement position 31 can be provided with a magnet to attract the first door panel 912 by magnetic attraction.

[0048] In this embodiment, a tool library 105 is also provided on the base 1. The tool library 105 stores a plurality of grippers, each of which can be detachably connected to the manipulator 8. The grippers can at least include a tray transfer gripper and a container transfer gripper. Figure 5 As shown, in order to save space, the tool library 105 can be set on the top layer of the second storage rack 3. When the manipulator 8 needs to clamp the container tray, the end of the manipulator 8 is connected to the tray transfer clamp, and when the manipulator 8 needs to clamp a single sample container or clamp the container cover, the end of the manipulator 8 is connected to the container transfer clamp. In addition, the clamp can also include a door panel transfer clamp, and when the manipulator 8 needs to open and close the first door panel 912, the end of the manipulator 8 is connected to the door panel transfer clamp.

[0049] In one embodiment, the stationary workstation further comprises a container cover bracket 4 and a cover opening and closing module 5 arranged on the base 1, the cover opening and closing module 5 is used to open and close the cover of the sample container, and the container cover bracket 4 is used to place the container cover of the sample container after opening.

[0050] Specifically, for samples that need to be opened for static experiments, the manipulator 8 transfers the sample container to the switch cover module 5 for opening the cover. The switch cover module 5 can clamp the sample container, and the manipulator 8 replaces the container transfer claw to clamp the container cover, and then rotates the sample container through the switch cover module 5 or the manipulator 8 to rotate the container cover, so as to remove the container cover from the sample container and place it on the container cover bracket 4 for caching. The container cover bracket 4 is provided with a plurality of container cover placement positions, each of which is provided with a container cover supporting claw for limiting and lifting the container cover to prevent the container cover from directly contacting the container cover bracket 4 and causing contamination to the container cover bracket 4.

[0051] The sample interaction module 7 can be used as an interactive station for materials inside and outside the static workstation, that is, when loading, the sample material is first placed on the sample interaction module 7, and then the manipulator 8 transfers the material to the corresponding sample static module. Figure 8As shown, a container tray can be placed on the sample interaction module 7, and each container tray can hold multiple sample containers. The manipulator 8 directly clamps the container tray when transferring the sample container between the sample interaction module 7 and the first storage rack 2, and between the sample interaction module 7 and the second storage rack 3. In addition, the sample interaction module 7 can also be used to cache the container trays in the station. For example, during the cover switch operation or visual inspection, the manipulator 8 can remove the container tray from the sample static module and place it on the sample interaction module 7, and then clamp a single sample container between the sample interaction module 7 and the cover switch module 5, and between the sample interaction module 7 and the visual inspection module 6 for transfer. Preferably, the sample interaction module 7 can hold multiple container trays at the same time, which is convenient for performing pick-and-place operations on the sample interaction module 7 at the same time, thereby improving experimental efficiency and experimental throughput.

[0052] In one embodiment, if the previous experimental operation of the sample that needs to be subjected to a static experiment is an electromagnetic stirring experiment, the gripper also includes a magnetic pick-up and placement module, which is used to take out the magnetic particles in the sample container. The magnetic particles are arranged in the sample container to stir the sample evenly. When the sample container that needs a static experiment is placed in the static workstation, if the magnetic particles have not been taken out, it is necessary to take out the magnetic particles before conducting the static experiment. Therefore, after the sample container is opened, the manipulator 8 replaces the magnetic pick-up and placement module to take the magnetic particles out of the sample container, and then covers the container cover, and finally puts it into the storage box 91, or puts the opened sample container into the first storage rack 2.

[0053] like Fig. 9As shown, in one embodiment, the visual inspection module 6 includes a first inspection component and a second inspection component, wherein the first inspection component includes a first camera 63 and a first light source 64 arranged at intervals in the horizontal direction, and the first light source 64 is arranged opposite to the first camera 63, and is used to illuminate when photographing the side of the sample container; the position between the first camera 63 and the first light source 64 is a first shooting position, and the manipulator 8 can place the sample container at the first shooting position, and the first camera 63 is used to photograph the side image of the sample container. The second inspection component includes a second camera 62 and a second light source 65 arranged at intervals in the vertical direction, and the second light source 65 is used to illuminate when photographing the bottom of the sample container, and the second light source 65 is located above the second camera 62, and the position of the second light source 65 facing away from the second camera 62 is a second shooting position, and the manipulator 8 can place the sample container at the second shooting position, and the second camera 62 is used to photograph the bottom image of the sample container; the first shooting position and the second shooting position are different. Among them, the first light source 64 can be a surface light source, and the second light source 65 can be a ring light source. By setting the visual inspection module 6, the side and bottom of the sample container can be imaged and detected, thereby improving the detection accuracy. It can be understood that if light source interference is ignored, the first shooting position and the second shooting position can be the same, the second camera 62 can be set between the first camera 63 and the first light source 64, and the second light source 65 can be set above the second camera 62 or not.

[0054] In one embodiment, the static workstation further includes a barcode scanner for scanning sample containers and / or container trays, and the barcode scanner is used to read sample container information and / or container tray information in the workstation. Specifically, when loading materials into the static workstation, the manipulator 8 clamps the loaded container tray and scans it on the barcode scanner to record the information of the sample container placed on the corresponding container tray, and places it in the corresponding position for static. At the end of the static experiment, the manipulator 8 clamps the container tray to the barcode scanner for scanning, and then puts it into the sample interaction module 7, and the external mobile robot transports the tray to the next experimental destination.

[0055] In this embodiment, a barcode scanner may not be provided, and the information of materials entering and leaving the static workstation may be tracked through a background algorithm. That is, before loading, the background control system has recorded the information of each container pallet in sequence, and loading and unloading can be carried out in sequence.

[0056] In one embodiment, a waste liquid recovery module is provided in the base 1, and the waste liquid recovery module includes a water pump, a waste liquid buffer barrel, a waste liquid recovery barrel and a liquid level sensor. The liquid level sensor is provided in the waste liquid buffer barrel. One end of the water pump is connected to the waste liquid buffer barrel, and the other end is connected to the waste liquid recovery barrel. The waste liquid buffer barrel is used to collect waste water generated by the static workstation. Specifically, the waste liquid recovery module is used to recover the condensed water generated by the sample static chamber 9, and to recover the waste water discharged by the dehumidifier, wherein the dehumidifier is used to adjust the humidity in the static workstation. When the static workstation operates normally, the waste liquid can be directly discharged into the waste liquid buffer barrel. When the liquid level sensor detects that the liquid in the waste liquid buffer barrel reaches a high liquid level, the water pump starts to work and pumps the waste liquid in the waste liquid buffer barrel into the waste liquid recovery barrel. Compared with the waste liquid recovery barrel, the waste liquid buffer barrel has a smaller volume. The purpose of setting up the waste liquid recovery barrel is to reduce the frequency of operators pouring waste liquid. The background control system records the drainage volume of the water pump. When the drainage volume reaches the high liquid level of the waste liquid recovery barrel, the operator is prompted to take the waste liquid for treatment. At the same time, the water pump stops pumping water. During the waste water treatment, the waste water discharged by the equipment is temporarily stored in the waste liquid buffer barrel.

[0057] In one embodiment, if Figure 1 and Figure 2 As shown, the stationary workstation may further include a material temporary storage module 7a disposed on the base 1, and the material temporary storage module 7a is used to cache the container tray removed from the sample stationary module during detection, and may also be used to cache the container tray when the cover is opened or closed. The material temporary storage module 7a may have one or more tray placement positions, and its structure may be the same as or similar to that of the sample interaction module 7.

[0058] When the temperature control station module performs low temperature stationing on the sample, the temperature of the storage box 91 is relatively low, and the sample container taken out of the storage box 91 will fog in the air, and will also frost when put back into the storage box 91, which will affect the inspection of the sample container by the visual inspection module 6. In order to defog and defrost the sample container at low temperature before the visual inspection module 6 takes pictures, in one embodiment, the station workstation further includes a container surface wiping device 20 provided on the base 1.

[0059] Specifically, Figures 10 to 12 As shown, the container surface wiping device 20 includes a main body 21, a first wiping block 22 and a gas delivery mechanism 24. The first wiping block 22 can remove mist or frost on the surface of the sample container. After the mist or frost is removed from the sample container, the gas delivery mechanism 24 can deliver dry gas to the first wiping block 22 to dry the first wiping block 22.

[0060] like Fig.11 and Fig.12As shown, a cavity 211 is provided in the body 21, an opening 212 is provided at one end of the body 21, and an air inlet 213 is provided in the body 21. The cavity 211 is respectively connected with the opening 212 and the air inlet 213, wherein the air inlet 213 may be one or more, and when there are multiple air inlet holes 213, the air inlet holes 213 may be evenly distributed at the bottom or side of the body 21. The body 21 may be a cube or a column, and the shape of the first wiping block 22 may be adapted to the shape of the cavity 211.

[0061] In some embodiments, the opening 212 is located at the top of the body 21 and the air inlet 213 is located at the bottom of the body 21 ; in other embodiments, the opening 212 may be located at the top of the body 21 and the air inlet 213 may be located at the side of the body 21 .

[0062] See also Figure 11-12 The first wiping block 22 is elastic and can be made of a material that is easy to absorb water. For example, the first wiping block 22 is a sponge, which is convenient for absorbing water mist on the surface of the container and wiping frost on the surface of the container. Preferably, the first wiping block 22 is a nano sponge to ensure that the first wiping block 22 can pass dry gas while absorbing water. The first wiping block 22 is located in the cavity 211, wherein the first wiping block 22 is fixed to the body 21. Specifically, the first wiping block 22 can be inserted into the cavity 211 by embedding, and the first wiping block 22 can also be fixed to the body 21 by glue bonding. The first wiping block 22 is provided with a socket 221, and the socket 221 is used to insert the sample container. One end of the socket 221 is connected to the opening 212. When the sample container is inserted into the socket 221, the sample container can be inserted into the socket 221 through the opening 212, wherein the aperture of the socket 221 is smaller than the outer diameter of the sample container, and the inner wall of the socket 221 abuts against the surface of the sample container and generates elastic deformation. Preferably, the first wiping block 22 is made of elastic material. When the sample container is inserted into the insertion hole 221, the sample container and the first wiping block 22 are interference-fitted, so that the first wiping block 22 can squeeze the sample container and fully absorb the water mist on the surface of the sample container. In addition, the aperture of the insertion hole 221 is smaller than the outer diameter of the sample container. When the sample container is inserted into the insertion hole 221, the first wiping block 22 can wipe the frost on the surface of the sample container.

[0063] See also Fig.11The gas delivery mechanism 24 connects the gas source and the air inlet 213. The gas delivery mechanism 24 is used to deliver dry gas to the first wiping block 22. The dry gas can be nitrogen or dry air. After the first wiping block 22 absorbs the water mist on the surface of the sample container or wipes the frost on the surface of the sample container, there will be residual moisture in the first wiping block 22. The first wiping block 22 can be air-dried by the dry gas delivered by the gas delivery mechanism 24, so that the first wiping block 22 can wipe other sample containers with water mist or frost. The gas delivery mechanism 24 can be an air pump, and the gas delivery mechanism 24 can output dry gas by connecting an external gas tank filled with dry gas. The gas delivery mechanism 24 can also be a gas tank with a gas valve. The gas tank is filled with dry gas, and the gas valve is switched according to actual needs. By providing the insertion hole 221 in the first wiping block 22, the sample container can be inserted into the insertion hole 221 and elastically abut against the inner wall of the insertion hole 221, so that the first wiping block 22 is used to wipe the surface of the sample container and absorb the moisture on the outer surface of the sample container, thereby preventing the water mist or frost on the surface of the sample container from affecting the observation of the sample. After the sample container is dehumidified, the air supply mechanism 24 can be used to provide dry gas to the first wiping block 22, thereby drying the first wiping block 22, which is convenient for the next use of the first wiping block 22.

[0064] See also Figure 11-12 , the socket 221 is set to penetrate the first wiping block 22, that is, the socket 221 is a through hole on the first wiping block 22, and the container surface wiping device 20 also includes a second wiping block 25, the second wiping block 25 is located in the cavity 211, the second wiping block 25 is located on the side of the first wiping block 22 away from the opening 212, and the second wiping block 25 covers the end of the socket 221 facing away from the opening 212. The bottom end of the socket 221 is blocked by the second wiping block 25, so that the socket 221 becomes a blind hole. The second wiping block 25 is used to abut against the bottom wall of the sample container and produce elastic deformation when the sample container is inserted into the socket 221. The first wiping block 22 is used to abut against the side wall of the sample container and produce elastic deformation. The second wiping block 25 is used to assist the first wiping block 22, so that both the side wall and the bottom wall of the sample container can be wiped. Among them, the material of the second wiping block 25 and the first wiping block 22 can be the same. Preferably, the second wiping block 25 is made of nano sponge to ensure that the second wiping block 25 can absorb water and pass dry gas at the same time. In addition to absorbing the water mist on the bottom wall of the sample container or wiping the frost on the bottom wall of the sample container, the second wiping block 25 can also prevent the water mist on the sample container from dripping into the air inlet 213 to avoid clogging of the air inlet 213. In addition, when the first wiping block 22 is saturated with water, the second wiping block 25 can also absorb the water overflowing from the first wiping block 22.

[0065] In other embodiments, the insertion hole 221 may be a blind hole, and when the sample container is inserted into the insertion hole 221 , the first wiping block 22 may wipe and wrap the bottom wall and the side wall of the sample container.

[0066] See also Figure 10-11 The container surface wiping device 20 also includes a cover plate 26, which covers the opening 212. The cover plate 26 is provided with a through hole 261, which is connected to the socket 221, and the sample container can be inserted into the socket 221 through the through hole 261. Since the first wiping block 22 is a sponge, the sponge is easy to expand. In order to ensure that the first wiping block 22 maintains its shape in the cavity 211, the cover plate 26 is pressed on the first wiping block 22 to shape the first wiping block 22. In addition, since the inner wall of the socket 221 will squeeze the surface of the sample container, it is easy to bring up the first wiping block 22 when the sample container is wiped and taken out. By setting the cover plate 26, the first wiping block 22 can be limited to prevent the first wiping block 22 from being brought up. In addition, when the second wiping block 25 is provided, the cover plate 26 can also be used to press the first wiping block 22 and the second wiping block 25 tightly. In order to facilitate the insertion of the sample container into the insertion hole 221 , the diameter of the through hole 261 is larger than the diameter of the insertion hole 221 , and larger than or equal to the outer diameter of the sample container.

[0067] In some embodiments, there are multiple sockets 221, and the number of through holes 261 is the same as the number of sockets 221, and the through holes 261 are connected one-to-one with the sockets 221. Among them, the sockets 221 and the through holes 261 can be arranged in an array, such as 2*4, 3*3, 3*4, etc., so that the device can wipe multiple sample containers at the same time, improving the experimental throughput and efficiency. The apertures of multiple sockets 221 can be the same, or partially the same. When sockets 221 of different sizes are provided, sample containers of various specifications and sizes can be adapted to improve the compatibility and flexibility of the device. In addition, multiple sockets 221 are provided, and after one socket 221 is used to wipe a sample container, another socket 221 can be used to wipe the next sample container. After all the sockets 221 have completed the wiping operation, the gas transmission mechanism 24 is turned on for drying treatment to avoid starting the gas transmission mechanism 24 for each wiping operation, thereby improving the experimental efficiency.

[0068] Preferably, a chamfer 262 is provided at one end of the through hole 261 away from the insertion hole 221. When the manipulator 8 inserts the sample container from the through hole 261 into the insertion hole 221, even if the bottom end of the sample container is slightly deviated from the insertion hole 221 and is not facing the insertion hole 221, it can be inserted into the insertion hole 221 along the chamfer 262 to play a guiding role.

[0069] See also Fig.11The container surface wiping device 20 further includes a conduit 27, which is connected to one end of the body 21 having the air inlet 213. The conduit 27 may be in a basin shape. A conduit groove is provided on the side of the conduit 27 facing the body 21. The body 21 covers the notch of the conduit groove and is surrounded by the conduit groove to form an air cavity 23. The air cavity 23 is connected to the air inlet 213. The conduit 27 also has an air delivery hole, which connects the air cavity 23 with the air source. In this embodiment, since the dry gas can take away the water vapor when entering the humid environment, when the dry gas is input into the air cavity 23, it is convenient for the dry gas to flow in the cavity 211 and take away the water vapor of the first wiping block 22 and the second wiping block 25, and be discharged from the through hole 261.

[0070] See also Figure 11-12 In some embodiments, there are multiple air inlet holes 213, and the container surface wiping device 20 further includes a guide plate 28, which is located in the air cavity 23. The guide plate 28 can be fixed in the air cavity 23 by screwing, gluing, welding, etc., and divides the air cavity 23 into a first chamber 231 and a second chamber 232. The first chamber 231 is connected to the air inlet hole 213, and the second chamber 232 is connected to the gas delivery hole. The guide plate 28 is provided with multiple guide holes 281, which are evenly distributed on the guide plate 28 and are used to connect the first chamber 231 and the second chamber 232. The dry gas enters the second chamber 232 from the gas delivery mechanism 24, and then enters the first chamber 231 from the second chamber 232 through the guide holes 281, and then enters the containing cavity 211 from the air inlet hole 213 and contacts the first wiping block 22 and the second wiping block 25. Since the gas delivery mechanism 24 usually uses a single pipeline to deliver dry gas to the gas cavity 23, the airflow from the second chamber 232 to the first chamber 231 is dispersed by the guide hole 281, so that the gas is evenly distributed, which helps to evenly remove moisture from the first wiping block 22 and the second wiping block 25. In this embodiment, the gas cavity 23 is located below the body 21, the plate surface of the guide plate 28 is horizontally arranged, and the first chamber 231 is located above the second chamber 232. In other embodiments, the gas cavity 23 can be on one side of the body 21, and the first chamber 231 and the second chamber 232 are horizontally distributed.

[0071] Optionally, the confluence groove on the confluence plate 27 may be in a stepped shape, and the guide plate 28 is fixed on the stepped surface of the confluence groove.

[0072] In some embodiments, the number of the guide holes 281 is the same as the number of the air inlet holes 213, and the positions of the guide holes 281 are arranged in a one-to-one correspondence with the positions of the air inlet holes 213. This arrangement allows the dry gas introduced from the guide holes 281 to quickly enter the corresponding air inlet holes 213.

[0073] The container surface wiping device 20 further includes a sealing ring 29, which is sandwiched between the manifold 27 and the body 21, and is disposed outside the air cavity 23. The sealing ring 29 can prevent the dry gas from leaking to the outside from the air cavity 23. Optionally, a groove is provided on one side of the manifold 27 facing the body 21, the groove is provided around the manifold groove, and the sealing ring 29 can be embedded in the groove.

[0074] In some embodiments, the gas delivery mechanism 24 includes a switch valve 241 and a gas delivery pipe. The switch valve 241 connects the gas source and the gas inlet hole 213 through the gas delivery pipe. Specifically, one end of the switch valve 241 is connected to the gas inlet hole 213 or the gas delivery hole of the manifold 27 through the gas delivery pipe, and the other end is connected to the gas source through the gas delivery pipe. The switch valve 241 is used to connect an external gas tank containing dry gas. By controlling the opening and closing of the switch valve 241, the gas path of the dry gas delivered to the cavity 211 is adjusted. The switch valve 241 can be a solenoid valve, a pneumatic valve, a hydraulic valve, etc., which plays a role in controlling the conduction or disconnection of the gas path.

[0075] In some embodiments, the gas delivery mechanism 24 may be only a gas delivery pipe, one end of which is connected to an external gas source, and the other end of which is connected to the gas inlet hole 213 or the gas delivery hole of the manifold 27. In some embodiments, the gas delivery mechanism 24 may also include a pressure proportional valve, which is used to adjust the gas flow rate of the dry gas delivered to the cavity 211.

[0076] See also Fig.11 The main body 21 is in the shape of a cube, including a bottom plate and four side plates arranged on the bottom plate and connected in sequence, and the bottom plate and the four side plates enclose a cavity 211. Preferably, the air inlet 213 is arranged on the bottom plate of the main body 21, and the bottom plate is opposite to the opening 212. The container surface wiping device 20 also includes a mounting seat 210 and a pillar 2101, the switch valve 241 is installed on the mounting seat 210, one end of the pillar 2101 is fixed to the mounting seat 210, and the other end of the pillar 2101 is supported on the bottom plate. The manifold 27 and the guide plate 28 are both arranged below the bottom plate, and the pillar 2101 can support the main body 21 and the manifold 27. The pillar 2101 forms a containing space between the main body 21 and the mounting seat 210, which can be used to set the gas transmission mechanism 24.

[0077] When it is necessary to perform visual inspection on the sample container that has been placed at low temperature, the container tray is first taken out from the sample storage bin 9 by the manipulator 8 and placed in the material temporary storage module 7a, and then the sample container is moved to the top of the cover plate 26 by the manipulator 8, and then the sample container is inserted into the insertion hole 221 through the through hole 261, so that the first wiping block 22 wraps the outer wall of the sample container until the bottom of the sample container abuts against the second wiping block 25. Then the manipulator 8 allows the sample container to move up and down and / or rotate in the insertion hole 221, and repeats this for multiple times to ensure that the water mist and frost on the surface of the sample container are fully absorbed by the first wiping block 22 and the second wiping block 25, and then the sample container is extracted from the insertion hole 221 by the manipulator 8 and transferred to the visual inspection module 6 for inspection. Open the switch valve 241, and the dry gas is delivered to the second chamber 232 through the switch valve 241 and the gas pipe. The dry gas in the second chamber 232 is evenly dispersed into the first chamber 231 through the multiple guide holes 281, and then flows from the first chamber 231 into the containing cavity 211 through the air inlet hole 213. The dry gas first passes through the second wiping block 25 to take away the water vapor of the second wiping block 25, then contacts the first wiping block 22 to take away the water vapor of the first wiping block 22, and finally passes through the through hole 261 to be discharged into the surrounding environment.

[0078] In some embodiments, the gas delivery mechanism 24 can also be connected to a heating module to heat the drying gas so that the drying gas introduced into the cavity 211 has a certain temperature, which is beneficial to accelerate the drying speed of the first wiping block 22 and the second wiping block 25, and facilitate the next round of container wiping operation to be carried out faster.

[0079] It is understandable that, if the sample has no temperature requirements, dry gas can be input into the cavity 211 while wiping the sample container; if the sample has temperature requirements, dry gas can be input into the cavity 211 after wiping and removing the sample container.

[0080] In one embodiment, the sample rest module, the visual inspection module 6 and the sample interaction module 7 are arranged around the manipulator 8, and the sample rest module includes a room temperature rest module and a temperature control rest module, and the room temperature rest module and the temperature control rest module are arranged on different sides of the base 1, so that it is convenient for the manipulator 8 to transport the sample container. This rest workstation can flexibly set different rest modules according to experimental requirements to complete different rest experiments. For example, a room temperature rest module and a low temperature rest module are set at the same time to achieve multifunctional rest requirements.

[0081] An embodiment of the present application also provides a static system, which includes a mobile robot and at least one static workstation described in any of the above embodiments, and the mobile robot is used to place samples before the static experiment in the sample interaction module 7, and / or take away samples after the static experiment from the sample interaction module 7.

[0082] The working process of the static experiment of the embodiment of the present application is as follows:

[0083] Loading process: The mobile robot (such as a transfer vehicle) transfers the experimental samples to the sample interaction module 7, and then the manipulator 8 transfers the experimental samples on the sample interaction module 7 to the first storage rack 2 or the corresponding position of the sample static chamber 9. The manipulator 8 holds the container tray during the transfer. After all the transfers are completed, the protective door 104 of the static workstation is closed, wherein the protective door 104 can be set on the cover 102.

[0084] Uncovering process: the robot 8 transfers the container tray that needs to be opened for static experiment to the sample interaction module 7 or the material temporary storage module 7a, and then the robot 8 replaces the container transfer gripper, grabs the container on the container tray to the switch cover module 5 for opening the cover, and puts the container cover on the corresponding container cover bracket 4, and then puts the container tray with the opened container back to its original position for static experiment.

[0085] Normal temperature static detection process: the manipulator 8 transfers the container tray for normal temperature static experiment on the first storage rack 2 to the sample interaction module 7 or the material temporary storage module 7a, and then the manipulator 8 replaces the container transfer gripper, and grabs the container on the container tray to the visual inspection module 6 for visual inspection. After the inspection is completed, the manipulator 8 puts the container back to the original tray, and then puts the entire tray back to the first storage rack 2, and repeats the cycle until all the containers in the normal temperature static modules have been inspected.

[0086] Low-temperature static detection process: the robot 8 opens the first door panel 912 of the storage box 91, and transfers the container tray for the cooling and crystallization experiment in the cavity to the sample interaction module 7 or the material temporary storage module 7a, then the robot 8 replaces the container transfer gripper, and grabs the container on the container tray to the container surface wiping device 20 for defrosting and defoggering operations. After wiping, it is transferred to the visual inspection module 6 for visual inspection. After the inspection is completed, the robot 8 puts the container back to the original tray, and then puts the entire tray back into the storage box 91, and finally closes the first door panel 912, and the cycle is repeated until all containers in all storage boxes 91 have been inspected.

[0087] Unloading process: When the container in the static workstation finishes the experiment, the robot 8 transfers the tray to the sample interaction module 7 in sequence through the tray transfer claws, and the transfer cart transfers the tray on the sample interaction module 7 to the next experimental destination. After all the transfers are completed, the protective door 104 of the static workstation is closed.

[0088] The scheme of the present application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of the various embodiments have their own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. Those skilled in the art should also be aware that the actions and modules involved in the specification are not necessarily required for the present application. In addition, it can be understood that the steps in the method of the embodiment of the present application can be adjusted in order, merged and deleted according to actual needs, and the modules in the device of the embodiment of the present application can be merged, divided and deleted according to actual needs.

[0089] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A static workstation, characterized in that: include: A base and a sample resting module, a visual inspection module, a sample interaction module and a manipulator respectively arranged on the base; The sample interaction module is used to interact with the outside world before and after the static experiment, and the sample is placed in a sample container; The sample static module is used to perform a static experiment on the sample; The visual inspection module is used to collect the side image and / or bottom image of the sample container after the static experiment to perform crystallization detection; The manipulator is used to transfer samples between the sample interaction module, the sample resting module and the visual inspection module.

2. The stationary workstation according to claim 1, characterized in that: The sample resting module includes at least one normal temperature resting module, and the normal temperature resting module is used to place samples that need to be rested at normal temperature; The normal temperature static module includes a first storage rack, which is provided with at least one layer of placement plates, each layer of the placement plates is provided with a plurality of sample placement positions, the sample placement positions are used to place sample containers or container trays carrying sample containers, and the manipulator transfers sample containers or container trays between the sample interaction module and the first storage rack.

3. The stationary workstation according to claim 2, characterized in that: An exhaust hood is provided at the upper end of the first storage rack, and the exhaust hood is provided with an air outlet.

4. The stationary workstation according to claim 3, characterized in that: It also includes a cover shell disposed on the base, wherein the cover shell and the base form a containing space, and the sample resting module, the visual detection module, the sample interaction module and the manipulator are respectively disposed in the containing space; An exhaust device connected to the air outlet is provided at the upper end of the housing; The cover shell is provided with a protective door, and the sample interaction module is arranged close to the protective door.

5. The stationary workstation according to claim 1, characterized in that: It also includes a tool library arranged on the base, wherein the tool library stores a plurality of clamps, and the plurality of clamps can be detachably connected to the manipulator, and the clamps include a pallet transfer clamp and a container transfer clamp.

6. The stationary workstation according to claim 1, characterized in that: The visual detection module includes a first detection component and a second detection component, the first detection component includes a first camera and a first light source spaced apart in the horizontal direction, the position between the first camera and the first light source is a first shooting position, the manipulator can place the sample container at the first shooting position, and the first camera is used to shoot a side image of the sample container; the second detection component includes a second camera and a second light source spaced apart in the vertical direction, the second light source is located above the second camera, the position of the second light source on the side facing away from the second camera is a second shooting position, the manipulator can place the sample container at the second shooting position, and the second camera is used to shoot a bottom image of the sample container; the first shooting position and the second shooting position are different.

7. The stationary workstation according to claim 1, characterized in that: It also includes a waste liquid recovery module arranged in the base, and the waste liquid recovery module includes a water pump, a waste liquid cache barrel, a waste liquid recovery barrel and a liquid level sensor. The liquid level sensor is arranged in the waste liquid cache barrel. One end of the water pump is connected to the waste liquid cache barrel, and the other end is connected to the waste liquid recovery barrel. The waste liquid cache barrel is used to collect wastewater generated by the static workstation.

8. The stationary workstation according to claim 1, characterized in that: It also includes a cover opening and closing module and a container cover bracket arranged on the base, wherein the cover opening and closing module is used to open and close the cover of the sample container, and the container cover bracket is used to place the container cover of the sample container after opening the cover.

9. The stationary workstation according to claim 1, characterized in that: It also includes a material temporary storage module arranged on the base, and the material temporary storage module is used to cache the container tray taken out from the sample static module during detection.

10. The static workstation according to any one of claims 1 to 9, characterized in that: The sample resting module comprises a temperature control resting module, and the temperature control resting module is used to perform low temperature resting and / or high temperature resting on the sample; The temperature-controlled static module includes at least one sample static chamber, the sample static chamber includes a temperature control component and a plurality of storage boxes, the storage box has a receiving cavity, the receiving cavity is used to place a container tray carrying a sample container, the storage box includes a frame, a first door panel and a second door panel, the first door panel and the second door panel are relatively arranged on two sides of the frame, the frame, the first door panel and the second door panel are jointly enclosed to form the receiving cavity, and the first door panel is detachably connected to the frame; The manipulator can remove the first door panel from the frame, or cover the first door panel on the frame; The temperature control component includes a temperature control plate, a flow channel is provided in the temperature control plate, and the temperature control plate is provided with a liquid inlet and a liquid outlet connected to the flow channel. The plurality of storage boxes are respectively attached to the temperature control plate to perform heat exchange with the temperature control plate.

11. The stationary workstation according to claim 10, characterized in that: There are multiple sample resting bins, and the temperature-controlled resting module further includes a second storage rack, the second storage rack is provided with multiple layers of support plates, and each layer of the support plates is used to place one sample resting bin; wherein the resting temperatures of the multiple sample resting bins are partially the same or completely different; The second storage rack is also provided with a door panel placement position for placing the removed first door panel.

12. The stationary workstation according to claim 10, characterized in that: When the temperature-controlled static module performs low-temperature static operation on the sample, the static workstation further comprises a container surface wiping device disposed on the base, and the container surface wiping device comprises: A body, wherein a cavity is provided in the body, an opening is provided at one end of the body, the body is also provided with an air inlet, and the cavity is respectively connected with the opening and the air inlet; a first wiping block, the first wiping block is located in the containing cavity, the first wiping block is provided with a plug hole, one end of the plug hole is connected with the opening, the plug hole is used to insert a sample container, and when the sample container is inserted into the plug hole, the inner wall of the plug hole abuts against the surface of the sample container and generates elastic deformation; A gas delivery mechanism is connected between a gas source and the gas inlet hole, and is used to deliver dry gas to the first wiping block.

13. The stationary workstation according to claim 12, characterized in that: The insertion hole is configured to pass through the first wiping block. The container surface wiping device also includes a second wiping block, which is located in the cavity and on a side of the first wiping block away from the opening. The second wiping block is used to abut against the bottom wall of the sample container and generate elastic deformation when the sample container is inserted into the insertion hole.

14. The stationary workstation according to claim 12, characterized in that: The container surface wiping device further comprises a cover plate, the cover plate covers the opening, the cover plate is provided with a through hole, and the through hole is connected to the insertion hole; The diameter of the insertion hole is smaller than the outer diameter of the sample container, and the diameter of the through hole is larger than the diameter of the insertion hole and larger than or equal to the outer diameter of the sample container.

15. The stationary workstation according to claim 12, characterized in that: The container surface wiping device also includes a convergence plate, which is connected to one end of the body having the air inlet hole, and a convergence groove is provided on the side of the convergence plate facing the body. The body covers the notch of the convergence groove and is surrounded by the convergence groove to form an air cavity, and the air cavity is connected to the air inlet hole; the convergence plate is also provided with an air supply hole, and the air supply hole connects the air cavity with the air source.

16. The stationary workstation according to claim 15, characterized in that: There are multiple air inlet holes, and the container surface wiping device also includes a guide plate, which is located in the air cavity and divides the air cavity into a first chamber and a second chamber, the first chamber is connected to the air inlet hole, and the second chamber is connected to the air delivery hole. The guide plate is provided with multiple guide holes, and the first chamber is connected to the second chamber through the guide holes.

17. The stationary workstation according to claim 1, characterized in that: The sample resting module, the visual detection module and the sample interaction module are arranged around the manipulator; The sample standing module comprises a room temperature standing module and a temperature control standing module, and the room temperature standing module and the temperature control standing module are arranged on different sides of the base.

18. A static system, characterized in that: include: A mobile robot and at least one static workstation as described in any one of claims 1-17, wherein the mobile robot is used to place samples before a static experiment in a sample interaction module of the static workstation, and / or to take samples after a static experiment from the sample interaction module.

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