Resting station and resting system

Abstract

The application 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 mechanical arm arranged on the base respectively; the sample interaction module is used for interacting with the outside world before and after a standing experiment, and the sample is contained in a sample container; the sample standing module is used for performing the standing experiment on the sample; the visual detection module is used for collecting side images and / or bottom images of the sample container after the standing experiment, so as to perform crystallization detection; and the mechanical arm is used for transferring the sample between the sample interaction module, the sample standing module and the visual detection module. The scheme provided by the application can improve the automation degree of the standing experiment.

Description

Technical Field

[0001] This application relates to the field of experimental equipment technology, and in particular to a static workstation and static system. Background Technology

[0002] Static settling experiments include temperature-controlled static settling and room-temperature static settling. Temperature-controlled static settling is commonly low-temperature static settling, also known as cooling crystallization experiment. Room-temperature static settling includes experimental methods such as volatilization, gas diffusion, and suspension dissolution. During static settling experiments, the ambient temperature and humidity of the sample have a significant impact on the experimental results. Therefore, the ambient temperature and humidity are strictly controlled during static settling experiments.

[0003] In low-temperature static incubation techniques, the laboratory method involves placing experimental samples in a refrigerator and setting different temperatures in different storage compartments according to the required temperature. However, this requires manual handling of samples and regular checks and observations by researchers, resulting in low automation and impacting experimental efficiency. Summary of the Invention

[0004] To address or partially address the problems existing in related technologies, this application provides a static workstation and static system that can improve the automation level of static experiments.

[0005] This application provides a static workstation, including a base and a sample static module, a visual inspection module, a sample interaction module, and a robotic arm respectively disposed on the base; the sample interaction module is used for interaction 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 for performing static experiments on the sample; the visual inspection module is used for acquiring side and / or bottom images of the sample container after the static experiment for crystallization detection; the robotic arm is used for transferring the sample between the sample interaction module, the sample static module, and the visual inspection module.

[0006] A second aspect of this application provides a settling system, comprising: a mobile robot and at least one settling workstation as described above, wherein the mobile robot is used to place a sample before the settling experiment into the sample interaction module of the settling workstation, and / or to remove the sample after the settling experiment from the sample interaction module.

[0007] The technical solution provided in this application can include the following beneficial effects: Samples are fed to the settling workstation via a sample interaction module; a robotic arm places samples requiring room temperature settling and / or temperature-controlled settling into the sample settling module; for samples requiring detection during the experiment, the robotic arm places the sample container into the vision inspection module for crystallization detection; the robotic arm transfers sample containers between modules. Therefore, the aforementioned settling workstation can automate sample container transfer, detection, and settling operations, improving experimental efficiency and saving labor costs.

[0008] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0009] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0010] Figure 1 This is a schematic diagram of the structure of a stationary workstation shown in an embodiment of this application;

[0011] Figure 2 This is another structural schematic diagram of the stationary workstation shown in the embodiments of this application;

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

[0013] Figure 4 This is another structural schematic diagram of the stationary workstation shown in the embodiments of this application;

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

[0015] Figure 6 This is a schematic diagram of the sample settling chamber shown in the embodiments of this application;

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

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

[0018] Figure 9 This is a schematic diagram of the structure of the visual inspection module shown in the embodiments of this application;

[0019] Figure 10 This is a schematic diagram of the container surface wiping device shown in the embodiments of this application;

[0020] Figure 11 This is a cross-sectional view of a container surface wiping device shown in an embodiment of this application;

[0021] Figure 12 This is an exploded view of a container surface wiping device shown in an embodiment of this application.

[0022] Figure label:

[0023] 1-Base, 2-First storage rack, 3-Second storage rack, 31-Door panel placement position, 4-Container lid bracket, 5-Lid switch module, 6-Vision 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-Robot arm, 9-Sample static chamber, 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-Body; 211-Cavity; 212-Opening; 213-Air inlet; 22-First wiping block; 221-Insertion hole; 23-Air chamber; 231-First chamber; 232-Second chamber; 24-Air delivery mechanism; 241-Switch valve; 25-Second wiping block; 26-Cover plate; 261-Through hole; 262-Chamfer; 27-Manifold plate; 28-Guide plate; 281-Guide hole; 29-Sealing ring; 210-Mounting base; 2101-Support column. Detailed Implementation

[0025] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this 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 information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0027] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0028] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0029] Static settling experiments include temperature-controlled static settling and room-temperature static settling. Temperature-controlled static settling is commonly low-temperature static settling, also known as cooling crystallization experiment. Room-temperature static settling includes experimental methods such as volatilization, gas diffusion, and suspension dissolution. During static settling experiments, the ambient temperature and humidity of the sample have a significant impact on the experimental results. Therefore, the ambient temperature and humidity are strictly controlled during static settling experiments.

[0030] In low-temperature static incubation techniques, the laboratory method involves placing experimental samples in a refrigerator and setting different temperatures in different storage compartments according to the required temperature. However, this requires manual handling of samples and regular checks and observations by researchers, resulting in low automation and impacting experimental efficiency.

[0031] To address the aforementioned issues, embodiments of this application provide a static workstation and static system, which can improve the automation level of static experiments.

[0032] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0033] like Figure 1 and Figure 2 As shown, this application embodiment 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 robotic arm 8 respectively disposed on the base 1.

[0034] The sample interaction module 7 is used for interaction between the sample and the external environment before and after the static experiment. The sample is placed in a sample container, which can be a test tube, solvent bottle, etc. The sample static module is used to perform the static experiment on the sample. The visual inspection module 6 is used to acquire side and / or bottom images of the sample container after the static experiment for crystallization detection.

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

[0036] Based on the above scheme, the sample interaction module 7 feeds samples to the settling workstation, and the robotic arm 8 places samples requiring room temperature settling and / or temperature-controlled settling into the sample settling module. For samples requiring testing during the experiment, the robotic arm 8 places the sample container in the vision inspection module 6 for crystallization detection. The robotic arm 8 transfers sample containers between the modules. Therefore, the settling workstation can automate the transfer, inspection, and settling of sample containers, improving experimental efficiency and saving labor costs.

[0037] In one embodiment, the sample settling module includes at least one room temperature settling module for placing samples requiring room temperature settling. The room temperature settling module includes a first storage rack 2, which has at least one layer of placement plates. A robotic arm 8 transfers sample containers or container trays carrying sample containers between the sample interaction module 7 and the first storage rack 2. Specifically, each placement plate may have multiple sample placement positions (where sample containers or container trays can be directly placed), and each sample placement position may have a positioning element (such as a pin, groove, etc.) to limit the position of the sample container or container tray. For example, when a sample placement position is used to place a sample container, the positioning element may be a groove opened at the sample placement position to limit the sample container and prevent it from falling. Similarly, when a sample placement position is used to place a container tray, the positioning element may be a pin protruding at the sample placement position, which, by cooperating with a positioning hole opened at the bottom of the container tray, limits the position of the container tray and prevents it from falling. To improve experimental throughput and efficiency, it is preferable to directly place the container tray in the sample settling module. Specifically, the sample containers that need to be statically placed are first placed in a container tray, and then placed on the sample interaction module 7 by manual labor or an external mobile robot. The robotic arm 8 then transfers the entire container tray to the sample static module for static testing.

[0038] In one embodiment, the sample settling module includes a temperature-controlled settling module, which is used to set the sample at low temperature and / or high temperature.

[0039] like Figures 5 to 7As shown, the temperature-controlled settling module includes at least one sample settling chamber 9. The sample settling chamber 9 includes a temperature control component and multiple storage boxes 91. Each storage box 91 has a receiving cavity for placing a container tray that carries a sample container. Each storage box 91 includes a frame 911, a first door panel 912, and a second door panel 913. The first door panel 912 and the second door panel 913 are disposed opposite each other on both sides of the frame 911. The frame 911, the first door panel 912, and the second door panel 913 together enclose the receiving cavity. The first door panel 912 is detachably connected to the frame 911.

[0040] The robotic arm 8 is capable of removing the first door panel 912 from the frame 911, or placing the first door panel 912 on top of the frame 911. Preferably, the first door panel 912 and the frame 911 are detachably connected by magnetic attraction. The first door panel 912 may be equipped with a gripping rod, and the robotic arm 8 can grasp the gripping rod to move the first door panel 912, thereby removing the first door panel 912 from the frame 911 or placing the first door panel 912 on top of the frame 911.

[0041] The temperature control assembly includes a temperature control plate with a flow channel inside. The temperature control plate has an inlet and an outlet communicating with the flow channel. Multiple storage tanks 91 can be arranged in a straight line and respectively attached to the temperature control plate for heat exchange. The temperature control and settling module may also include a circulating pump and a temperature controller. The circulating pump is connected to the inlet and outlet of the temperature control plate via a pipeline. The circulating pump is used to allow the heat exchange medium (such as coolant or hot water) to enter the flow channel from the inlet and flow out from the outlet. The temperature controller is used to cool or heat the heat exchange medium flowing out from the outlet. The temperature control and settling module may also include a temperature sensor and a temperature display module. The temperature sensor can be installed in the storage tank 91 (e.g., in the frame 911 or the second door panel 913) to detect the temperature inside the storage tank 91 in real time. The temperature display module is communicatively connected to the temperature sensor to display the temperature detected by the sensor in real time for easy reading by the user.

[0042] Specifically, samples that need to be left to stand at room temperature can be those tested using methods such as volatilization, atmospheric diffusion, and suspension dissolution; samples that need to be left to stand at low temperature can be those tested using cooling crystallization; and samples that need to be left to stand at high temperature can be those tested using evaporation crystallization. The sample standing chamber 9 can store the sample container at low or high temperatures.

[0043] like Figure 3As shown, in one embodiment, an exhaust hood 10 is provided at the upper end of the first storage shelf 2, and the exhaust hood 10 has an air outlet 101. Specifically, sample containers used in experiments conducted by evaporation or gaseous diffusion methods need to be opened, so they are placed on the upper layer of the first storage shelf 2, and an exhaust hood 10 is provided at the upper end of the first storage shelf 2. The exhaust hood 10 has an air outlet 101, which facilitates the upward flow of diffused gas through the air outlet 101 of the exhaust hood 10 to be quickly discharged from the workstation. The exhaust hood 10 can be configured to cover the uppermost sample container as much as possible to reduce the diffusion of gas to other parts of the workstation. Meanwhile, the side of the exhaust hood 10 facing the robot arm 8 is open so as not to affect the robot arm 8's handling of container trays on the uppermost layer of the first storage shelf 2.

[0044] In one embodiment, such as Figure 4 As shown, the static workstation also includes a cover 102 mounted on the base 1. The cover 102 and the base 1 form a receiving space, within which the sample static module, visual inspection module 6, sample interaction module 7, and robotic arm 8 are respectively housed. An exhaust device 103 connected to an air outlet 101 is located at the upper end of the cover 102. A protective door 104 is provided on the cover 102, and the sample interaction module 7 is positioned near the protective door 104. The receiving space formed by the cover 102 and the base 1 provides a certain degree of enclosure and insulation, reducing heat exchange with the outside environment and helping to maintain the ambient temperature and humidity within the workstation. The exhaust device 103 can be a fan, exhaust fan, etc., used to exhaust the diffused gas from the static workstation into the receiving space.

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

[0046] Specifically, the sample settling chamber 9 has multiple storage boxes 91 arranged side by side, and the accommodating cavity of the storage box 91 provides a low-temperature or high-temperature environment for the sample container. The specific implementation of the sample settling chamber 9 can be found in the scheme described in Chinese patent application CN219383514U, entitled "Sample Settling Chamber and Sample Settling System". This application sets two sample settling chambers 9 on the second storage shelf 3, located on different layers of the second storage shelf 3. One sample settling chamber 9 provides a low-temperature environment of 4°C, and the other provides a low-temperature environment of -15°C. It is understood that, depending on experimental requirements, only one or more sample settling chambers 9 may be set; this is not limited 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, there can be at least one door panel placement position 31. To avoid interference, it can be set on the top layer or side of the second storage rack 3. After the robot arm 8 removes the first door panel 912 from the frame 911, it is placed on the door panel placement position 31. The door panel placement position 31 can be equipped with a magnet to magnetically attract the first door panel 912.

[0048] In this embodiment, a tool library 105 is also included on the base 1. The tool library 105 stores multiple grippers, all of which can be detachably connected to the robotic arm 8. The grippers may include at least pallet transfer grippers and container transfer grippers. Specifically, as shown... Figure 5 As shown, to save space, the tool library 105 can be placed on the top layer of the second storage shelf 3. When the robotic arm 8 needs to grip a container tray, its end is connected to the tray transfer gripper; when the robotic arm 8 needs to grip a single sample container or a container lid, its end is connected to the container transfer gripper. Additionally, the gripper may include a door panel transfer gripper; when the robotic arm 8 needs to open or close the first door panel 912, its end is connected to the door panel transfer gripper.

[0049] In one embodiment, the static workstation further includes a container lid bracket 4 and a lid opening / closing module 5 disposed on the base 1. The lid opening / closing module 5 is used to open / close the sample container lid, and the container lid bracket 4 is used to place the container lid of the sample container after it has been opened.

[0050] Specifically, for samples requiring opening for static testing, the robotic arm 8 transfers the sample container to the lid-opening module 5 for opening. The lid-opening module 5 holds the sample container, while the robotic arm 8 changes its container transfer gripper to hold the lid. The lid is then removed from the sample container by rotating either the lid-opening module 5 or the robotic arm 8, and placed in the lid holder 4 for buffering. The lid holder 4 has multiple lid placement positions, each equipped with a lid support claw to limit and lift the lid, preventing direct contact and contamination of the lid holder 4.

[0051] The sample interaction module 7 can serve as an interaction station for materials inside and outside the stationary workstation. That is, during loading, the sample material is first placed on the sample interaction module 7, and then the robotic arm 8 transfers the material to the corresponding sample stationary module. For example... Figure 8As shown, the sample interaction module 7 can hold container trays, each tray holding multiple sample containers. The robotic arm 8 directly grips the container trays when transferring sample containers between the sample interaction module 7 and the first storage shelf 2, or between the sample interaction module 7 and the second storage shelf 3. Furthermore, the sample interaction module 7 can also be used to buffer container trays within the station. For example, during lid opening / closing operations or visual inspection, the robotic arm 8 can remove a container tray from the sample holding module and place it in the sample interaction module 7. Then, it can grip and transfer a single sample container between the sample interaction module 7 and the lid opening / closing module 5, or between the sample interaction module 7 and the visual inspection module 6. Preferably, the sample interaction module 7 can hold multiple container trays simultaneously, facilitating simultaneous pick-and-place operations on the sample interaction module 7 and improving experimental efficiency and throughput.

[0052] In one embodiment, if the previous experimental operation for the sample requiring a static test was an electromagnetic stirring experiment, the gripper also includes a magnetic pick-and-place module, which is used to remove the magnetic pick from the sample container. The magnetic pick is placed inside the sample container to stir the sample evenly. If the magnetic pick is not removed when the sample container requiring a static test is placed on the static test station, it needs to be removed before the static test can be performed. Therefore, after the sample container is opened, the robotic arm 8 switches to the magnetic pick-and-place module to remove the magnetic pick from the sample container, then closes the container lid, and then places it in the storage box 91, or places the opened sample container in the first storage rack 2.

[0053] like Figure 9As shown, in one embodiment, the visual inspection module 6 includes a first inspection component and a second inspection component. The first inspection component includes a first camera 63 and a first light source 64 spaced apart in the horizontal direction. The first light source 64 is positioned opposite to the first camera 63 and is used to illuminate the sample container when taking pictures of its side. The position between the first camera 63 and the first light source 64 is a first shooting position, where the robotic arm 8 can place the sample container. The first camera 63 is used to capture a side image of the sample container. The second inspection component includes a second camera 62 and a second light source 65 spaced apart in the vertical direction. The second light source 65 is used to illuminate the sample container when taking pictures of its bottom. 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. The robotic arm 8 can place the sample container at the second shooting position, where the second camera 62 is used to capture a bottom image of the sample container. The first shooting position and the second shooting position are different. 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, images of the side and bottom of the sample container can be acquired and inspected, improving the accuracy of the inspection. It is understandable 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 settling workstation further includes a barcode scanner for scanning sample containers and / or container trays. The barcode scanner is used to read sample container information and / or container tray information within the workstation. Specifically, when loading materials into the settling workstation, the robotic arm 8 holds the loading container tray and scans it on the barcode scanner to record the information of the sample container placed on the corresponding container tray, and then places it in the appropriate position for settling. At the end of the settling experiment, the robotic arm 8 holds the container tray to the barcode scanner for scanning, and then places it on the sample interaction module 7. An external mobile robot then transfers the tray to the next experimental destination.

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

[0056] In one embodiment, the base 1 is equipped with a waste liquid recovery module, which includes a water pump, a waste liquid buffer tank, a waste liquid recovery tank, and a liquid level sensor. The liquid level sensor is located inside the waste liquid buffer tank. One end of the water pump is connected to the waste liquid buffer tank, and the other end is connected to the waste liquid recovery tank. The waste liquid buffer tank is used to collect wastewater generated by the settling station. Specifically, the waste liquid recovery module is used to recover the condensate generated by the sample settling chamber 9 and the wastewater discharged by the dehumidifier, which is used to regulate the humidity inside the settling station. When the settling station is operating normally, the waste liquid can be directly discharged into the waste liquid buffer tank. When the liquid level sensor detects that the liquid level in the waste liquid buffer tank has reached a high level, the water pump starts working, pumping the waste liquid in the waste liquid buffer tank into the waste liquid recovery tank. Compared to the waste liquid recovery tank, the waste liquid buffer tank has a smaller volume. The purpose of setting up the waste liquid recovery tank is to reduce the frequency of waste liquid dumping by operators. 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 tank, it prompts the operator to take the waste liquid for treatment. At the same time, the water pump stops pumping water. During the wastewater treatment, the wastewater discharged by the equipment is temporarily stored in the waste liquid buffer tank.

[0057] In one embodiment, such as Figure 1 and Figure 2 As shown, the stationary workstation may also include a material storage module 7a mounted on the base 1. The material storage module 7a is used to buffer the container tray removed from the sample stationary module during testing, and can also be used to buffer the container tray when opening and closing the lid. The material 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] Because the temperature of the storage box 91 is low when the temperature-controlled settling module sets the sample at a low temperature, the sample container coming out of the storage box 91 will fog up in the air and will frost up when put back into the storage box 91. This will affect the visual inspection module 6's inspection of the sample container. In order to defog and defrost the sample container set at a low temperature before the visual inspection module 6 takes pictures, in one embodiment, the settling workstation also includes a container surface wiping device 20 provided on the base 1.

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

[0060] like Figure 11 and Figure 12As shown, the body 21 has a cavity 211 inside, an opening 212 at one end, and an air inlet 213. The cavity 211 is connected to the opening 212 and the air inlet 213, respectively. There can be one or more air inlets 213. When there are multiple air inlets 213, they can be evenly distributed on the bottom or side of the body 21. The body 21 can be a cube or a cylinder, and the shape of the first wiping block 22 can 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 on the side of the body 21.

[0062] See Figure 11-12 The first wiping block 22 is elastic and can be made of a water-absorbing material, such as a sponge, to easily absorb water mist and wipe away frost from the container surface. Preferably, the first wiping block 22 is a nano-sponge, ensuring that it can absorb water while allowing dry gas to pass through. The first wiping block 22 is located within the cavity 211 and is fixed to the body 21. Specifically, the first wiping block 22 can be inserted into the cavity 211 by embedding or by adhesive bonding. The first wiping block 22 has an insertion hole 221 for inserting a sample container. One end of the insertion hole 221 is connected to the opening 212. When the sample container is inserted into the insertion hole 221, it can pass through the opening 212 and be inserted into the insertion hole 221. The diameter of the insertion hole 221 is smaller than the outer diameter of the sample container, and the inner wall of the insertion hole 221 abuts against the surface of the sample container and undergoes elastic deformation. Preferably, the first wiping block 22 is made of an elastic material. When the sample container is inserted into the socket 221, the sample container and the first wiping block 22 are in an interference fit, allowing the first wiping block 22 to compress the sample container and fully absorb water mist from its surface. Furthermore, the aperture of the socket 221 is smaller than the outer diameter of the sample container, allowing the first wiping block 22 to wipe away any frost buildup on the sample container's surface during insertion.

[0063] See Figure 11The gas delivery mechanism 24 connects the gas source and the air inlet 213. The gas delivery mechanism 24 supplies dry gas to the first wiping block 22. The dry gas can be nitrogen or dry air. After the first wiping block 22 absorbs water mist or wipes away frost from the sample container surface, residual moisture remains inside. This moisture can be dried by the dry gas supplied by the gas delivery mechanism 24, allowing the first wiping block 22 to wipe other sample containers with water mist or frost. The gas delivery mechanism 24 can be an air pump, which outputs dry gas through an externally connected gas cylinder filled with dry gas. Alternatively, the gas delivery mechanism 24 can be a gas cylinder with a valve, filled with dry gas, and the valve can be opened and closed as needed. By providing an 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. This allows the first wiping block 22 to wipe the surface of the sample container and absorb moisture from its outer surface, preventing water mist or frost from affecting sample observation. After dehumidifying the sample container, a drying gas can be supplied to the first wiping block 22 via the gas supply mechanism 24 to dry it, facilitating its next use.

[0064] See Figure 11-12 The insertion hole 221 is configured to penetrate the first wiping block 22, meaning the insertion hole 221 is a through hole on the first wiping block 22. The container surface wiping device 20 also includes a second wiping block 25, which is located within the cavity 211. The second wiping block 25 is located on the side of the first wiping block 22 facing away from the opening 212, and covers the end of the insertion hole 221 facing away from the opening 212. Because the bottom end of the insertion hole 221 is blocked by the second wiping block 25, the insertion hole 221 becomes a blind hole. The second wiping block 25 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 221. The first wiping block 22 is used to abut against the side wall of the sample container and generate elastic deformation. By using the second wiping block 25 to assist the first wiping block 22, both the side wall and the bottom wall of the sample container can be wiped. The second wiping block 25 and the first wiping block 22 can be made of the same material. Preferably, the second wiping block 25 is made of nano-sponge, ensuring that it can absorb water while allowing dry gas to pass through. Besides absorbing water mist or wiping frost from the bottom of the sample container, the second wiping block 25 also prevents water droplets from the sample container from entering the air inlet 213, thus avoiding blockage. Furthermore, when the first wiping block 22 is saturated with water, the second wiping block 25 can also absorb any water that overflows from the first wiping block 22.

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

[0066] See Figure 10-11 The container surface wiping device 20 also includes a cover plate 26, which covers the opening 212. The cover plate 26 has a through hole 261 that communicates with the insertion hole 221, allowing the sample container to pass through the through hole 261 and be inserted into the insertion hole 221. Since the first wiping block 22 is made of sponge, which is prone to expansion, the cover plate 26 presses down on the first wiping block 22 to maintain its shape within the cavity 211, thus shaping it. Furthermore, because the inner wall of the insertion hole 221 presses against the surface of the sample container, the first wiping block 22 may be lifted along with the sample container when it is removed after wiping. The cover plate 26 helps to limit the movement of the first wiping block 22, preventing it from being lifted. Additionally, when a 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 together. 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 is also greater than or equal to the outer diameter of the sample container.

[0067] In some embodiments, there are multiple insertion holes 221, and the number of through holes 261 is the same as the number of insertion holes 221, with each through hole 261 connected to a single insertion hole 221. The insertion holes 221 and through holes 261 can be arranged in an array, such as 2*4, 3*3, or 3*4, allowing the device to simultaneously wipe multiple sample containers, improving experimental throughput and efficiency. The apertures of the multiple insertion holes 221 can be all the same or partially the same. When different sizes of insertion holes 221 are provided, various sample containers of different sizes can be accommodated, improving the compatibility and flexibility of the device. Furthermore, by providing multiple insertion holes 221, after wiping one sample container with one insertion hole 221, another insertion hole 221 can be used to wipe the next sample container. The gas delivery mechanism 24 is activated for drying only after all insertion holes 221 have been wiped, avoiding the need to activate the gas delivery mechanism 24 for each wiping operation, thus improving experimental efficiency.

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

[0069] See Figure 11The container surface wiping device 20 also includes a manifold 27, which is connected to one end of the body 21 with an air inlet 213. The manifold 27 can be basin-shaped, and a manifold groove is provided on the side of the manifold 27 facing the body 21. The body 21 covers the opening of the manifold groove and together with the manifold groove, forms an air cavity 23. The air cavity 23 is connected to the air inlet 213. The manifold 27 also has an air outlet, which connects the air cavity 23 to the air source. In this embodiment, since the dry gas can carry away moisture when it enters 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 carry away the moisture of the first wiping block 22 and the second wiping block 25, and then discharge from the through hole 261.

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

[0071] Optionally, the manifold on the manifold 27 can be stepped, and the guide plate 28 is fixed on the stepped surface of the manifold.

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

[0073] The container surface wiping device 20 also includes a sealing ring 29, which is sandwiched between the manifold 27 and the body 21, and surrounds the gas cavity 23. The sealing ring 29 can prevent dry gas from leaking from the gas cavity 23 to the outside. Optionally, a groove is provided on the side of the manifold 27 facing the body 21, which surrounds 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 switching valve 241 and a gas delivery pipe. The switching valve 241 connects the gas source and the air inlet 213 through the gas delivery pipe. Specifically, one end of the switching valve 241 is connected to the air inlet 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 switching valve 241 is used to connect to an external gas tank containing drying gas. By controlling the opening and closing of the switching valve 241, the gas path supplying the drying gas to the cavity 211 is regulated. The switching valve 241 can be a solenoid valve, pneumatic valve, hydraulic valve, etc., and plays the role of controlling the opening or closing of the gas path.

[0075] In some embodiments, the gas delivery mechanism 24 may be simply a gas delivery pipe, with one end connected to an external gas source and the other end connected to the gas inlet 213 or the gas delivery port 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 flow rate of the dry gas delivered to the cavity 211.

[0076] See Figure 11 The main body 21 is cubic in shape, including a base plate and four side plates arranged on the base plate and connected in sequence. The base plate and the four side plates form a cavity 211. Preferably, the air inlet 213 is arranged on the base plate of the main body 21, and the base plate is opposite to the opening 212. The container surface wiping device 20 also includes a mounting base 210 and a support column 2101. The switching valve 241 is mounted on the mounting base 210, one end of the support column 2101 is fixed to the mounting base 210, and the other end of the support column 2101 is supported on the base plate. The manifold 27 and the guide plate 28 are both arranged below the base plate. The support column 2101 can support the main body 21 and the manifold 27. The support column 2101 creates an accommodating space between the main body 21 and the mounting base 210, which can be used to install the gas delivery mechanism 24.

[0077] When visual inspection of a sample container that has been placed at low temperature is required, the robot arm 8 first removes the container tray from the sample holding chamber 9 and places it in the material storage module 7a. Then, the robot arm 8 moves the sample container above the cover plate 26. Next, an empty insertion hole 221 is selected, and the sample container is inserted into the insertion hole 221 through the through hole 261, so that the first wiping block 22 covers the outer wall of the sample container until the bottom of the sample container touches the second wiping block 25. Then, the robot arm 8 moves the sample container up and down and / or rotates it in the insertion hole 221, repeating this process 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. Finally, the robot arm 8 pulls the sample container out of the insertion hole 221 and transfers it to the visual inspection module 6 for inspection. When the switch valve 241 is opened, the dry gas is transported to the second chamber 232 through the switch valve 241 and the gas supply pipe. The dry gas in the second chamber 232 flows into the first chamber 231 evenly through multiple guide holes 281, and then flows into the container 211 from the first chamber 231 through the air inlet 213. The dry gas first passes through the second wiping block 25, taking away the water vapor of the second wiping block 25, and then contacts the first wiping block 22, taking away the water vapor of the first wiping block 22. Finally, it passes through the through hole 261 and is 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 helps to speed up the drying speed of the first wiping block 22 and the second wiping block 25, and facilitates the next round of container wiping operations to be carried out more quickly.

[0079] It is understandable that if the sample does not have temperature requirements, dry gas can be introduced into cavity 211 while wiping the sample container; if the sample has temperature requirements, dry gas can be introduced into cavity 211 after wiping and removing the sample container.

[0080] In one embodiment, the sample settling module, visual inspection module 6, and sample interaction module 7 are arranged around the robotic arm 8. The sample settling module includes a room temperature settling module and a temperature-controlled settling module, which are located on different sides of the base 1 to facilitate the transfer of sample containers by the robotic arm 8. This settling workstation can flexibly configure different settling modules according to experimental needs to complete different settling experiments. For example, a room temperature settling module and a low temperature settling module can be set simultaneously to meet multifunctional settling requirements.

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

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

[0083] Loading process: A mobile robot (such as a transfer trolley) transfers the experimental samples to the sample interaction module 7. Then, a robotic arm 8 transfers the experimental samples from the sample interaction module 7 to the corresponding positions on the first storage rack 2 or the sample settling chamber 9. During the transfer, the robotic arm 8 holds the container tray. After all transfers are completed, the protective door 104 of the settling workstation is closed. The protective door 104 can be installed on the cover 102.

[0084] Opening process: The robotic arm 8 transfers the container tray that needs to be opened for static testing to the sample interaction module 7 or the material storage module 7a. Then, the robotic arm 8 is equipped with a container transfer gripper to pick up the container on the container tray and open it to the opening and closing module 5. The container lid is then placed on the corresponding container lid bracket 4. Finally, the container tray containing the opened container is returned to its original position for static testing.

[0085] The room temperature static testing process: The robotic arm 8 transfers the container tray for the room temperature static test on the first storage rack 2 to the sample interaction module 7 or the material temporary storage module 7a. Then, the robotic arm 8 replaces the container transfer gripper and picks up the container on the container tray and places it on the vision inspection module 6 for visual inspection. After the inspection is completed, the robotic arm 8 puts the container back into the original tray, and then puts the entire tray back into the first storage rack 2. This process is repeated until all containers in the room temperature static test modules have been inspected.

[0086] The low-temperature static testing process: The robotic arm 8 opens the first door panel 912 of the storage box 91 and transfers the container tray for the cooling and crystallization experiment inside the cavity to the sample interaction module 7 or the material temporary storage module 7a. Then, the robotic arm 8 replaces the container transfer gripper and picks up the container on the container tray and places it on the container surface wiping device 20 for defrosting and defogging. After wiping, it is transferred to the vision inspection module 6 for visual inspection. After the inspection is completed, the robotic arm 8 puts the container back into the original tray, and then puts the entire tray back into the storage box 91. Finally, the first door panel 912 is closed. This process is repeated until all the containers in all the storage boxes 91 have been inspected.

[0087] Material unloading process: When the container in the static workstation finishes the experiment, the robotic arm 8 uses the tray transfer gripper to transfer the tray to the sample interaction module 7 in sequence. The transfer trolley then transfers the tray on the sample interaction module 7 to the next experimental destination. After all transfers are completed, the protective door 104 of the static workstation is closed.

[0088] The solution of this application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have different focuses; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to this application. Furthermore, it is understood that the steps in the method of this application embodiment can be adjusted, combined, and deleted according to actual needs, and the modules in the device of this application embodiment can be combined, divided, and deleted according to actual needs.

[0089] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A rest station, characterized in that The application relates to a static experiment workstation. The static experiment workstation comprises a base and a sample static module, a visual detection module, a sample interaction module and a mechanical arm arranged on the base respectively. The sample interaction module is used for interacting with the outside world before and after the static experiment of the sample, and the sample is contained in a sample container. The sample static module is used for performing the static experiment on the sample. The visual detection module is used for collecting the side image and / or the bottom image of the sample container after the static experiment, so as to detect the crystallization. The mechanical arm is used for transferring the sample between the sample interaction module, the sample static module and the visual detection module. The sample static module comprises a temperature control static module, which is used for performing the low-temperature static experiment on the sample. When the temperature control static module performs the low-temperature static experiment on the sample, the static experiment workstation further comprises a container surface wiping device arranged on the base. The body is internally provided with a cavity, one end of the body is provided with an opening, and the body is further provided with an air inlet hole. The first wiping block is located in the cavity, and the first wiping block is provided with a insertion hole. The insertion hole is in communication with the opening, and the insertion hole is used for inserting the sample container.

2. The rest station of claim 1, wherein: When the sample container is inserted into the insertion hole, the inner wall of the insertion hole is in abutment with the surface of the sample container and is elastically deformed. The gas conveying mechanism is in communication with the air source and the air inlet hole. The sample static module comprises at least one normal-temperature static module, which is used for placing the sample needing normal-temperature static experiment. The normal-temperature static module comprises a first storage rack, and the first storage rack is provided with at least one layer of placing plates. Each layer of the placing plates is provided with a plurality of sample placing positions. The sample placing positions are used for placing the sample containers or the container trays carrying the sample containers. The mechanical arm transfers the sample containers or the container trays between the sample interaction module and the first storage rack.

3. The static experiment workstation according to claim 2, wherein: The first storage rack is provided with an exhaust hood at the upper end.

4. The static experiment workstation according to claim 3, wherein: The static experiment workstation further comprises a cover shell arranged on the base. The cover shell and the base form a containing space. The sample static module, the visual detection module, the sample interaction module and the mechanical arm are arranged in the containing space respectively. The upper end of the cover shell is provided with an exhaust device in communication with the air outlet. The cover shell is provided with a protection door.

5. The static experiment workstation according to claim 1, wherein: The static experiment workstation further comprises a tool library arranged on the base. The tool library stores a plurality of clamping jaws. Each clamping jaw can be detachably connected with the mechanical arm. The clamping jaws comprise tray transfer clamping jaws and container transfer clamping jaws.

6. The static experiment workstation according to claim 1, wherein: The visual detection module comprises a first detection assembly and a second detection assembly. The first detection assembly comprises a first camera and a first light source arranged at intervals in a horizontal direction. The first camera and the first light source are located at a first shooting position. The mechanical arm can place a sample container at the first shooting position. The first camera is used to shoot a side image of the sample container. The second detection assembly comprises a second camera and a second light source arranged at intervals in a vertical direction. The second light source is located above the second camera. The second light source is located at a second shooting position on the side opposite to the second camera. The mechanical arm can place a sample container at the second shooting position. 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 incubation station of claim 1, further comprising: a waste liquid recovery module arranged in the base, the waste liquid recovery module comprising a water pump, a waste liquid buffer tank, a waste liquid recovery tank, and a liquid level sensor, the liquid level sensor being arranged in the waste liquid buffer tank, one end of the water pump being in communication with the waste liquid buffer tank, and the other end of the water pump being in communication with the waste liquid recovery tank, the waste liquid buffer tank being used to collect waste water generated by the incubation station.

8. The incubation station of claim 1, further comprising: a switch cover module and a container cover bracket arranged on the base, the switch cover module being used to switch the cover of a sample container, and the container cover bracket being used to place the cover of the sample container after the cover is switched.

9. The incubation station of claim 1, further comprising: a material temporary storage module arranged on the base, the material temporary storage module being used to buffer the container tray taken out from the sample incubation module during detection.

10. The rest station according to any one of claims 1-9, characterized in that: The temperature-controlled incubation module is further used for high-temperature incubation of samples. The temperature-controlled incubation module comprises at least one sample incubation bin. The sample incubation bin comprises a temperature control assembly and a plurality of storage boxes. The storage box has a containing cavity for placing a container tray carrying a sample container. The storage box comprises a frame, a first door plate, and a second door plate. The first door plate and the second door plate are oppositely arranged on two sides of the frame. The frame, the first door plate, and the second door plate jointly form the containing cavity. The first door plate is detachably connected with the frame. The mechanical arm can take off the first door plate from the frame or cover the first door plate on the frame. The temperature control assembly comprises a temperature control plate. The temperature control plate is provided with a flow channel. The temperature control plate is provided with a liquid inlet and a liquid outlet in communication with the flow channel. A plurality of storage boxes are attached to the temperature control plate for heat exchange with the temperature control plate.

11. The rest station of claim 10, wherein: The temperature-controlled incubation module comprises a plurality of sample incubation bins. The temperature-controlled incubation module further comprises a second bin storage rack. The second bin storage rack is provided with a plurality of support plates. Each layer of the support plates is used to place one sample incubation bin. The incubation temperatures of the plurality of sample incubation bins are partially the same or all different. The second storage rack is further provided with a door plate placement position for placing the first door plate after being removed.

12. The incubation station of claim 1, wherein: The insertion hole is arranged to pass through the first wiping block, and the container surface wiping device further comprises a second wiping block located in the container cavity and on the side of the first wiping block away from the opening, the second wiping block being configured to abut against the bottom wall of the sample container and elastically deform when the sample container is inserted into the insertion hole.

13. The incubation station of claim 1, wherein: The container surface wiping device further comprises a cover plate covering the opening, the cover plate being provided with a through hole in communication with 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 greater than the diameter of the insertion hole and greater than or equal to the outer diameter of the sample container.

14. The incubation station of claim 1, wherein: The container surface wiping device further comprises a flow convergence plate connected to the body at one end of the air inlet hole, the flow convergence plate being provided with a flow convergence groove on the side facing the body, the body covering the groove opening of the flow convergence groove and forming an air cavity together with the flow convergence groove, the air cavity being in communication with the air inlet hole; the flow convergence plate is further provided with an air supply hole in communication between the air cavity and the air source.

15. The incubation station of claim 14, wherein: The air inlet hole is a plurality of air inlet holes, and the container surface wiping device further comprises a flow guide plate located in the air cavity and separating the air cavity into a first chamber and a second chamber, the first chamber being in communication with the air inlet hole, the second chamber being in communication with the air supply hole, the flow guide plate being provided with a plurality of flow guide holes, the first chamber being in communication with the second chamber through the flow guide holes.

16. The incubation station of claim 1, wherein: The sample incubation module, the visual detection module and the sample interaction module are arranged around the robot; The sample incubation module further comprises a normal temperature incubation module, the normal temperature incubation module and the temperature controlled incubation module being arranged on different sides of the base.

17. A rest system characterized by, Comprising: A mobile robot and at least one incubation station according to any one of claims 1-16, the mobile robot being configured to place the sample before incubation in the sample interaction module of the incubation station and / or to take the sample after incubation from the sample interaction module.

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