Test tube clamping system and clamping method

Abstract

The invention relates to the technical field of test tube clamping, in particular to a test tube clamping system and method.The test tube clamping system comprises a clamping mechanism, an identification module, a positioning module, an analysis control module and a clamping adjustment module, and the clamping mechanism completes the action of clamping a test tube and conveying the test tube to a target position; the identification module acquires surface information of the test tube and continuously acquires form information of the sample; the positioning module determines a proper clamping mode and an initial clamping position, and plans a moving path of a test tube from an initial position to a target position; the analysis control module controls the fixing assembly to be adjusted to the corresponding position to clamp all the test tubes; the clamping adjustment module determines a clamping stability characterization parameter according to the form information of the sample in the moving process, and judges whether to adjust the clamping position or not; according to the test tube clamping system, through an intelligent clamping mode and a dynamic adjusting mechanism, the stability and adaptability of the test tube clamping and transporting process in a laboratory are remarkably improved.

Description

Technical Field

[0001] The invention relates to the field of test tube clamping, and in particular to a test tube clamping system and a clamping method. Background Art

[0002] In laboratory automation operations, the clamping and transfer of test tubes is a common and critical operation. However, most traditional test tube clamping systems use fixed clamping structures and clamping forces, which are difficult to adapt to changes in different liquid levels and sample types. This often causes the test tubes to shake or tilt during the clamping process, which in turn affects the accuracy of the experimental results. Especially in high-throughput experimental scenarios, the test tube liquid levels vary greatly, and traditional clamping devices are even more difficult to ensure the stability and accuracy of the operation.

[0003] At present, common test tube clamping systems mainly use two technologies: mechanical clamping and vacuum adsorption. The mechanical clamping device relies on a fixed component structure to clamp the test tube, but its clamping force is fixed and it is difficult to adapt to test tubes of different materials and liquid levels; the vacuum adsorption device uses negative pressure to adsorb the test tube. Although it is suitable for lightweight test tubes, it is not satisfactory for test tubes with high liquid levels or uneven surfaces. Although the existing technology has achieved automated clamping of test tubes to a certain extent, there are still many problems, such as unadjustable clamping force, poor adaptability, and sensitivity to the test tube surface and liquid level. Summary of the invention

[0004] The purpose of the present invention is to provide a test tube clamping system and a clamping method, which can solve the problem that the clamping force of the existing test tube clamping device is not adjustable, is sensitive to the test tube surface and liquid level, and cannot adjust the clamping force in time according to the physical state and sample stability of the sample in the test tube, resulting in poor test tube clamping stability.

[0005] To this end, the present invention provides a test tube clamping system, comprising: The clamping mechanism includes a test tube fixing rod provided with a plurality of movable fixing components, which is used to clamp the test tube at an initial position of the test tube and transport it to a target position; an identification module, which is movably connected to the clamping mechanism, and is used to identify and obtain surface information of each test tube, and continuously obtain morphological information of the sample in the test tube, wherein the surface information includes tube body shape information and surface smoothness, and the sample morphological information includes sample physical state information, state stability information, and liquid level height fluctuation information; A positioning module connected to the recognition module, for determining a clamping mode and an initial clamping position according to the surface information of the test tube combined with the morphological information of the sample, and determining a moving path of the test tube according to the initial position and the target position of each test tube; an analysis control module, which is connected to the clamping mechanism, the identification module and the positioning module respectively, and is used to control the plurality of fixed components of the clamping mechanism to be adjusted to corresponding positions according to the clamping mode and the initial clamping position, and to clamp all the test tubes, and to transport the test tubes at an initial moving speed according to the physical state information of the sample; The clamping adjustment module is connected to the identification module and the clamping mechanism respectively, and is used to determine the clamping stability characterization parameter according to the morphological information of the sample during the movement, judge whether to adjust the clamping position according to the clamping stability characterization parameter, and determine the adjustment method of the clamping position and the adjustment amount of the moving speed.

[0006] As a preferred technical solution of the test tube clamping system, the clamping mechanism includes: A plurality of bottom fixing components, which are used to fix the bottom of the test tube; A plurality of upper fixing assemblies, which are perpendicular to the corresponding bottom fixing assemblies and move in the vertical direction to fix the upper part of the test tube; A plurality of vertical moving rails, one end of each vertical moving rail is fixedly connected to the bottom fixing assembly, so as to fix the bottom fixing assembly and provide a moving path for the upper fixing assembly; Wherein, the bottom fixing components correspond one to one with the upper fixing components.

[0007] As a preferred technical solution for the test tube clamping system, the identification module includes: A surface recognition unit, which is used to recognize and obtain the tube body shape information data of each test tube, and detect the surface smoothness of each test tube; A data acquisition unit, which is used to identify the physical state information of the samples in each test tube, and detect the state stability data and liquid level height data of the samples; A data analysis unit is connected to the surface recognition unit and the data acquisition unit respectively, and is used to process the detection result of the surface recognition unit and the detection result of the sample recognition unit into corresponding information.

[0008] As a preferred technical solution of the test tube clamping system, the positioning module determines the clamping mode according to the physical state information and the surface information of the sample; If the test tube meets the direct clamping condition, the clamping method is direct clamping; If the test tube does not meet the direct clamping condition, the clamping method is adjustable clamping; Wherein, the direct clamping condition is that the physical state information of the sample is solid, or the surface smoothness is greater than a preset smoothness.

[0009] As a preferred technical solution of the test tube clamping system, the positioning module determines the initial clamping position of the upper fixing component in the direct clamping mode according to the tube body shape information of the test tube; Wherein, in the direct clamping method, the initial clamping position of the upper fixing assembly is below the tube mouth of the test tube.

[0010] As a preferred technical solution of the test tube clamping system, the positioning module determines the initial clamping position of the upper fixing component in the adjustable clamping mode according to the liquid level fluctuation information, including: The positioning module obtains an initial liquid level height when the test tube is located at an initial position, and determines the position of the lower edge of the upper fixing component according to the initial liquid level height.

[0011] As a preferred technical solution for the test tube clamping system, the clamping adjustment module determines the clamping stability characterization parameter according to the state stability information of the sample and the liquid level height fluctuation information during the movement.

[0012] As a preferred technical solution of the test tube clamping system, the clamping adjustment module determines whether to adjust the clamping position according to the clamping stability characterization parameter, including: If the clamping stability characterization parameter is within the clamping stability preset range, the clamping adjustment module determines that the clamping position does not need to be adjusted, and maintains the initial moving speed to transport the test tube; If the clamping stability characterization parameter exceeds the clamping stability preset range, the clamping adjustment module determines that the clamping position needs to be adjusted and reduces the actual moving speed of the transported test tube.

[0013] As a preferred technical solution of the test tube clamping system, the clamping adjustment module determines the adjustment method of the clamping position according to the clamping stability characterization parameter combined with the initial clamping position; The clamping adjustment module determines an adjustment amount of the moving speed according to the clamping stability characterization parameter combined with the initial moving speed.

[0014] On the other hand, the present invention also provides a clamping method, the method comprising: Step S1, identifying and acquiring the surface information of each test tube, and continuously acquiring the morphological information of the sample in the test tube; Step S2, determining a clamping method and an initial clamping position according to the surface information of the test tube combined with the morphological information of the sample, and determining a moving path of the test tube according to the initial position and the target position of each test tube; Step S3, controlling several fixing components of the clamping mechanism to adjust to corresponding positions according to the clamping mode and the initial clamping position, so as to clamp all the test tubes; Step S4, transporting the test tube using an initial moving speed according to the physical state information of the sample in the test tube; Step S5 is used to determine the clamping stability characterization parameter according to the morphological information of the sample during the movement process, determine whether to adjust the clamping position according to the clamping stability characterization parameter, and determine the adjustment method of the clamping position and the adjustment amount of the moving speed.

[0015] The beneficial effects of the present invention are: The present invention significantly improves the stability and adaptability of the test tube clamping and transportation process through an intelligent clamping method and a dynamic adjustment mechanism. The device accurately obtains the surface information and sample morphology information of the test tube through the identification module, and combines the positioning module and the clamping adjustment module to flexibly select direct clamping or adjustable clamping methods according to factors such as the physical state of the test tube, surface smoothness, and liquid level fluctuations, and adjusts the clamping position and moving speed in real time, effectively adapting to different test tube characteristics and sample states, reducing the risk of liquid sloshing and sample failure, and ensuring the efficiency and safety of the clamping operation by dynamically adjusting the clamping parameters. The present invention not only ensures the accuracy and reliability of the experimental results, but also improves the efficiency and safety of laboratory operations. The system can adapt to test tubes of different materials, different liquid levels, and different surface states. Whether it is a solid sample or a liquid sample, it can achieve stable clamping, greatly enhancing the versatility and flexibility of the system, and significantly improving the overall quality and efficiency of experimental operations.

[0016] Furthermore, when the sample is solid or the surface of the test tube is relatively smooth, the positioning module determines it as a direct clamping method. This method is suitable for test tubes that are easy to stably clamp, and can efficiently complete the test tube clamping operation in the laboratory, saving time and energy. When the test tube does not meet the direct clamping conditions, it switches to an adjustable clamping method, demonstrating the flexibility and adaptability of the device. In actual situations, the surface conditions of test tubes are complex and changeable due to a variety of factors. The positioning module can intelligently adjust the clamping method according to the actual roughness of the test tube surface by clearly defining the preset smoothness. For test tubes with a higher degree of surface roughness, a relatively small clamping force is used, while for test tubes with smooth surfaces, a greater force is applied to ensure stable clamping, effectively avoiding problems such as test tube slipping or clamping caused by improper clamping force, greatly improving the accuracy, stability and reliability of clamping operations in the laboratory.

[0017] Furthermore, the positioning module improves the stability and reliability of the clamping by accurately positioning the clamping position, and optimizes the clamping height by combining the prediction of the liquid level fluctuation amplitude, ensuring the stability of the sample during dynamic operation, while providing greater flexibility and safety for experimental operation. In addition, this method also takes into account the diversity of different liquid properties and test tube sizes, improving the applicability of the system in the face of diverse sample situations in the laboratory.

[0018] Furthermore, the clamping adjustment module can accurately adapt to the dynamic changes of the liquid in the test tube by comparing the clamping position adjustment amount with the maximum value of the liquid level fluctuation, avoiding operational errors caused by improper clamping position, and ensuring the safety and accuracy of clamping. In terms of movement speed adjustment, the speed adjustment amount is calculated based on the difference between the clamping stability characterization parameter and the upper and lower limits of the preset range. This approach can sensitively respond to changes in the stability of the solution. When the clamping stability characterization parameter is higher than the upper limit, reducing the movement speed can effectively reduce the interference of too fast movement on the stability of the solution; when the clamping stability characterization parameter is lower than the lower limit, increasing the movement speed can ensure that the operation is completed within a reasonable time, taking into account both operational efficiency and solution stability, thereby achieving fine and reasonable regulation of the clamping operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a structural block diagram of a test tube clamping system in an embodiment of the present invention; Figure 2 Schematic diagram of the clamping mechanism in an embodiment of the present invention; Figure 3 It is a structural schematic diagram of a group of fixing components of the clamping mechanism in an embodiment of the present invention; Figure 4 It is a structural block diagram of an identification module in an embodiment of the present invention; Figure 5 A logic diagram for determining whether to adjust the clamping position in an embodiment of the present invention; Figure 6 Flow chart of the test tube clamping method in an embodiment of the present invention; in the figure: 1, vertical moving rail; 2, upper fixing assembly; 3, bottom fixing assembly; 4, tube cap; 5, tube body; 6, connecting component; 7, connecting rod. DETAILED DESCRIPTION

[0020] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0023] See also Figure 1 and Figure 2 As shown, Figure 1 is a structural block diagram of a test tube clamping system in an embodiment of the present invention, Figure 2 Schematic diagram of a clamping mechanism in an embodiment of the present invention. The present invention provides a test tube clamping system, including: The clamping mechanism includes a test tube fixing rod provided with a plurality of movable fixing components, which is used to clamp the test tube at an initial position of the test tube and transport it to a target position; an identification module, which is movably connected to the clamping mechanism, and is used to identify and obtain surface information of each test tube, and continuously obtain morphological information of the sample in the test tube, wherein the surface information includes tube body shape information and surface smoothness, and the sample morphological information includes sample physical state information, state stability information, and liquid level height fluctuation information; A positioning module connected to the recognition module, for determining a clamping mode and an initial clamping position according to the surface information of the test tube combined with the morphological information of the sample, and determining a moving path of the test tube according to the initial position and the target position of each test tube; an analysis control module, which is connected to the clamping mechanism, the identification module and the positioning module respectively, and is used to control the plurality of fixed components of the clamping mechanism to be adjusted to corresponding positions according to the clamping mode and the initial clamping position, and to clamp all the test tubes, and to transport the test tubes at an initial moving speed according to the physical state information of the sample; The clamping adjustment module is connected to the identification module and the clamping mechanism respectively, and is used to determine the clamping stability characterization parameter according to the morphological information of the sample during the movement, judge whether to adjust the clamping position according to the clamping stability characterization parameter, and determine the adjustment method of the clamping position and the adjustment amount of the moving speed.

[0024] The present invention does not impose any specific limitation on the specific structure and connection method of the fixing assembly of the clamping mechanism and the test tube fixing rod, and it only needs to be able to realize the action of clamping the test tube and moving the test tube in the laboratory; the present invention does not impose any limitation on the specific structure of the positioning module, the analysis control module and the clamping adjustment module, which can be composed of logical components, and the logical components include a field programmable processor, a computer and a microprocessor in the computer.

[0025] When the positioning module determines the moving path of the test tube, the shortest path that does not touch the test tube is preferred. This is a prior art and will not be described in detail.

[0026] The initial moving speed is determined by the average value of the final moving speeds of the same samples in the historical clamping moving data.

[0027] In the present invention, the present invention significantly improves the stability and adaptability of the test tube clamping and transportation process through intelligent clamping methods and dynamic adjustment mechanisms. The device accurately obtains the surface information and sample morphology information of the test tube through the identification module, and combines the positioning module and the clamping adjustment module. According to factors such as the physical state of the test tube, the surface smoothness, and the liquid level fluctuation, it flexibly selects direct clamping or adjustable clamping methods, and adjusts the clamping position and moving speed in real time, effectively adapting to different test tube characteristics and sample states, reducing the risk of liquid shaking and sample failure, and can also ensure the efficiency and safety of the clamping operation by dynamically adjusting the clamping parameters. The present invention not only ensures the accuracy and reliability of the experimental results, but also improves the efficiency and safety of laboratory operations. The system can adapt to test tubes of different materials, different liquid levels, and different surface states. Whether it is a solid sample or a liquid sample, it can achieve stable clamping, greatly enhancing the versatility and flexibility of the system, and significantly improving the overall quality and efficiency of experimental operations.

[0028] See also Figure 3 As shown, it is a schematic diagram of the structure of a group of fixing components of the clamping mechanism in an embodiment of the present invention, and the clamping mechanism includes: A plurality of bottom fixing components, which are used to fix the bottom of the test tube; A plurality of upper fixing assemblies, which are perpendicular to the corresponding bottom fixing assemblies and move in the vertical direction to fix the upper part of the test tube; A plurality of vertical moving rails, one end of each vertical moving rail is fixedly connected to the bottom fixing assembly, so as to fix the bottom fixing assembly and provide a moving path for the upper fixing assembly; Wherein, the bottom fixing components correspond one to one with the upper fixing components.

[0029] In implementation, the fixing assembly clamps the test tube by clamping the main test tube body on the left and right sides with two buckles; Each vertical movable rail 1 is placed vertically, and the bottom fixing component 3 is arranged at the lower end of the vertical movable rail 1, and the upper fixing component 2 moves on the upper part of the bottom fixing component, so that the clamping mechanism can adjust the clamping position according to the volume of the sample in the test tube, thereby ensuring the stability of the shape of the sample in the test tube, thereby ensuring the stability of the properties of the sample.

[0030] The vertical moving track 1 is connected to the test tube fixing rod through the connecting component 6 and the connecting rod 7. The connection method is not specifically limited. This is the existing technology and will not be repeated.

[0031] The length of the vertical moving track is greater than the sum of the lengths of the test tube and the upper fixing assembly.

[0032] Understandably, it is crucial to ensure the stability of the test tube, because the properties of the sample in the test tube directly affect the accuracy of the experimental results, the integrity of the sample, and the safety of the experimental process. The liquid or solid sample in the test tube may be used for biological detection, chemical reaction or physical measurement in the experiment. Any vibration, impact or instability may cause the sample to change in nature, separate components, break cells or abnormal chemical reactions, thus affecting the accuracy of the experimental results.

[0033] For example, violent vibrations redistribute suspended particles in liquids, destroying their special structures and properties and affecting the accuracy of subsequent analysis. For biological samples, instability in test tubes may lead to loss of cell activity or protein denaturation, which in turn affects experimental results. For chemical reagents, such as volatile, flammable and explosive organic solvents, or unstable special chemicals, shaking test tubes can easily lead to dangers such as accelerated evaporation, pressure changes, and even explosions. In addition, the stability of the test tubes themselves is also related to laboratory safety, avoiding sample leakage, contamination, or personal injury caused by tipping or rupture of the test tubes. Therefore, ensuring the stability of test tubes during experiments, transportation, and storage is the basis for ensuring experimental success, reliable data, and laboratory safety.

[0034] See also Figure 4 As shown, it is a structural block diagram of the identification module in an embodiment of the present invention, and the identification module includes: A surface recognition unit, which is used to recognize and obtain the tube body shape information data of each test tube, and detect the surface smoothness of each test tube; A data acquisition unit, which is used to identify the physical state information of the samples in each test tube, and detect the state stability data and liquid level height data of the samples; A data analysis unit is connected to the surface recognition unit and the data acquisition unit respectively, and is used to process the detection result of the surface recognition unit and the detection result of the sample recognition unit into corresponding information.

[0035] In this embodiment, the surface recognition unit scans the surface of the test tube through a profilometer to obtain the smoothness of the test tube surface. The stylus of the profilometer moves on the surface of the test tube to accurately measure the height change of the surface profile. By processing and analyzing the measurement data, various parameters of the surface roughness, such as the arithmetic mean roughness (Ra), the maximum profile height (Rz), etc., can be obtained. In this embodiment, the arithmetic mean roughness Ra is preferably used as the characterization parameter of the surface smoothness. In practice, there is no unique way to measure the smoothness of the test tube surface. This is a prior art and is not specifically limited.

[0036] The surface recognition unit obtains the contour information of the test tube through machine vision technology, and then extracts the contour of the test tube through image processing algorithms (such as Canny edge detection). The vertical part of the test tube is usually represented by two parallel vertical lines. Hough transform is used to detect the straight lines in the image and identify the vertical edge of the test tube. By screening out nearly vertical straight lines, the vertical part of the test tube can be determined, the contour of the test tube is analyzed, and the direction of its long axis is calculated. If the test tube is vertical, the long axis should be aligned with the vertical axis in the image coordinate system. This process is a prior art and will not be repeated.

[0037] The data acquisition unit obtains the liquid level data through the liquid level sensor and the state stability data of the sample through the light scattering instrument. This is a prior art and the selected equipment is not specifically limited. It can be understood that the liquid in the test tube is irradiated with a laser and the stability of the liquid is judged according to the intensity and distribution of the scattered light. When the particles or molecules in the liquid are evenly distributed and the scattered light intensity is stable and regularly distributed, the liquid is in a stable state; if the scattered light intensity fluctuates significantly or the distribution is abnormal, it may mean that there are unstable phenomena such as particle aggregation and convection in the liquid.

[0038] The state stability information is the refraction deflection angle; the liquid level fluctuation information is the liquid level fluctuation image. For pure liquids or simple solutions with relatively simple components and stable properties, such as pure water, sodium chloride solution, etc., under normal environmental conditions, the refraction angle changes very little. For complex liquid systems, such as biological sample solutions containing multiple components, polymer solutions, etc., generally, when the refraction angle changes by more than ±0.2° to ±0.3°, it means that the liquid has undergone significant changes, such as aggregation of polymers in the solution and conformational changes of biological molecules.

[0039] In detail, the positioning module determines the clamping mode according to the physical state information and the surface information of the sample; If the test tube meets the direct clamping condition, the clamping method is direct clamping; If the test tube does not meet the direct clamping condition, the clamping method is adjustable clamping; Wherein, the direct clamping condition is that the physical state information of the sample is solid, or the surface smoothness is greater than a preset smoothness.

[0040] In practice, the preset smoothness is 1.6μm. The larger the Ra value, the rougher the test tube surface, and vice versa. The smaller the Ra value, the smoother the test tube surface. When the Ra value is between 0.8μm and 1.6μm, the test tube surface is relatively flat at the microscopic level, without obvious unevenness or sharp protrusions. At this time, the test tube and the clamping tool can fit more closely, and the contact area is relatively large and uniform. According to the friction formula F=μ×N (where F is friction, μ is friction factor, and N is positive pressure), the friction factor is constant. In order to clamp the test tube, the fixed component needs to provide a greater clamping force, that is, to provide a greater pressure on the outer wall of the test tube. If the value is less than 0.8μm, it means that the test tube surface is too smooth and may slip.

[0041] It is understandable that during the experiment, if the test tube is improperly used or not cleaned thoroughly, some chemicals will remain on the outer surface of the test tube. At the same time, some chemicals will react with the moisture in the air to make the surface of the test tube rough, or crystals will adhere to the outer surface of the test tube after the water in the solution evaporates, making the outer surface rough. In addition, the test tube will frequently contact other experimental equipment. For example, when taking or putting the test tube from the test tube rack, it may rub against the test tube rack; when using a test tube clamp to clamp the test tube, the test tube clamp will also rub against the outer surface of the test tube. In the long run, these frictions will cause small scratches on the outer surface of the test tube, resulting in increased surface roughness.

[0042] For test tubes with a relatively rough surface, a relatively small force can be used to stably clamp them, while for test tubes with a relatively smooth surface, a larger force is required to ensure stable clamping.

[0043] In detail, the positioning module determines the initial clamping position of the upper fixing assembly in the direct clamping mode according to the tube body shape information of the test tube; Wherein, in the direct clamping method, the initial clamping position of the upper fixing assembly is below the tube mouth of the test tube.

[0044] In practice, in the direct clamping method, the fixing component below the test tube mouth clamped by the upper fixing component does not cover the test tube mouth and is close to the test tube mouth. If the test tube includes a tube cap 4, the upper fixing component 2 is clamped close to the tube cap 4.

[0045] For the bottom fixing assembly, in both the adjustable clamping mode and the direct clamping mode, the clamping position is the vertical portion of the tube body 5 close to the bottom of the test tube. In the actual clamping process, the upper fixing assembly and the bottom fixing assembly clamp the test tube at the same time.

[0046] In the present invention, when the sample is solid or the surface of the test tube is relatively smooth, the positioning module determines that it is a direct clamping method. This method is suitable for test tubes that are easy to stably clamp, can efficiently complete the operation, and save time and energy. When the test tube does not meet the direct clamping conditions, it switches to an adjustable clamping method, showing the flexibility and adaptability of the device. In actual situations, the surface conditions of the test tube are complex and changeable due to various factors. The positioning module can intelligently adjust the clamping method according to the actual roughness of the test tube surface by clearly defining the preset smoothness. For test tubes with a higher degree of surface roughness, a relatively small clamping force is used, while for test tubes with smooth surfaces, a greater force is applied to ensure stable clamping, which effectively avoids problems such as test tube slipping or clamping caused by improper clamping force, and greatly improves the accuracy, stability and reliability of the clamping operation.

[0047] In detail, the positioning module determines the initial clamping position of the upper fixing component in the adjustable clamping mode according to the liquid level fluctuation information, including: The positioning module obtains an initial liquid level height when the test tube is located at an initial position, and determines the position of the lower edge of the upper fixing component according to the initial liquid level height.

[0048] In implementation, the lower edge of the upper fixing assembly is located higher than the initial liquid level, so as to facilitate monitoring of the liquid level fluctuation information of the liquid sample in the test tube during the process of clamping the test tube and moving the test tube; It is understandable that when the test tube is clamped and moved in the laboratory, the amplitude of the liquid surface fluctuation caused by the shaking of the liquid depends on many factors, including the size of the test tube, the physical properties of the liquid, the speed and acceleration of the movement, etc. The diameter of the test tube. The smaller the diameter of the test tube, the smaller the amplitude of the liquid surface fluctuation is usually because the inertia of the liquid is limited; the fluctuation amplitude of high-viscosity liquids (such as glycerol) is smaller because the viscous force will inhibit the movement of the liquid surface. The inertia of liquids with higher density (such as mercury) is larger, and the fluctuation amplitude may be smaller; while the fluctuation amplitude of liquids with lower density (such as ethanol) may be larger. In addition, the faster the test tube moves, the larger the amplitude of the liquid surface fluctuation is usually. The greater the acceleration (such as emergency stop or rapid start), the amplitude of the liquid surface fluctuation will increase significantly. For the moving path, the fluctuation generated by straight-line movement is usually smaller than that generated by curved movement, because curved movement will introduce centrifugal force and aggravate the shaking of the liquid; the higher the liquid level, the larger the amplitude of the liquid surface fluctuation may be because the inertia of the liquid is enhanced.

[0049] The liquid level fluctuation amplitude can be calculated by the simple harmonic vibration model in fluid mechanics, A≈a×h / g, where A is the liquid level fluctuation amplitude (maximum height difference), a is the test tube movement acceleration, h is the liquid level height, and g is the gravity acceleration; Generally, when moving test tubes in the laboratory, there is a high-speed or emergency stop state, and the fluctuation amplitude may reach 10 to 20 mm of the liquid level in the test tube. Therefore, the positioning module determines the lower edge position of the upper fixed component according to the initial liquid level height to be 20 mm higher than the initial liquid level, which is to determine the initial clamping position of the upper fixed component.

[0050] In the present invention, the positioning module accurately determines the initial clamping position of the upper fixing component through the tube body shape information and the liquid level fluctuation information, thereby optimizing the clamping and transportation process of the test tube. For the direct clamping method, the initial clamping position of the upper fixing component is set below the tube mouth of the test tube, and does not cover the tube mouth, but is close to the bottom of the tube mouth, which not only ensures the stability of the clamping, but also avoids interference with the tube mouth, which is convenient for subsequent operations. At the same time, the bottom fixing component is close to the vertical part of the tube body at the bottom of the test tube, ensuring that the test tube is evenly stressed during the clamping process, avoiding tilting or shaking, and using fixed position clamping, which saves the process of continuous monitoring and calculation, and improves the clamping and transportation efficiency of the device.

[0051] For the adjustable clamping method, the positioning module determines the position of the lower edge of the upper fixed component according to the initial liquid level height, fully considering the factors affecting the amplitude of liquid level fluctuation during the movement of the test tube, such as test tube size, liquid physical properties, movement speed and acceleration, etc. In addition, the position of the lower edge of the upper fixed component is set above the maximum possible height of the liquid level fluctuation, providing space for real-time monitoring of liquid level fluctuations.

[0052] The positioning module improves the stability and reliability of clamping by accurately locating the clamping position. Combined with the prediction of the liquid level fluctuation amplitude, the clamping height is optimized to ensure the stability of the sample during dynamic operation, while providing greater flexibility and safety for experimental operation. In addition, this method also takes into account the diversity of different liquid properties and test tube sizes, improving the applicability of the system in the face of diverse sample situations in the laboratory.

[0053] In detail, the clamping adjustment module determines the clamping stability characterization parameter according to the state stability information of the sample and the liquid level height fluctuation information during the movement process.

[0054] In this embodiment, the clamping stability characterization parameter is the ratio of the average deviation of the liquid level height fluctuation information to the average value of the height fluctuation, multiplied by the stability influence coefficient, where the stability influence coefficient is the sum of 1 and the refraction deflection angle value.

[0055] It can be understood that the fluctuation of the liquid surface and the change in the refraction angle of the liquid sample can both reflect the stability of the current test tube clamping and moving process. Combining the two parameters to determine the clamping stability characterization parameter can more comprehensively reflect the stability of the sample in the test tube, making it easier to determine whether to adjust the clamping position and the moving speed in the future.

[0056] See also Figure 5 As shown, it is a logic diagram for determining whether to adjust the clamping position in an embodiment of the present invention. The clamping adjustment module determines whether to adjust the clamping position according to the clamping stability characterization parameter, including: If the clamping stability characterization parameter is within the clamping stability preset range, the clamping adjustment module determines that the clamping position does not need to be adjusted, and maintains the initial moving speed to transport the test tube; If the clamping stability characterization parameter exceeds the clamping stability preset range, the clamping adjustment module determines that the clamping position needs to be adjusted and reduces the actual moving speed of the transported test tube.

[0057] In this embodiment, the median of the clamping stability preset range is determined based on the average value of the clamping stability characterization parameters of the samples in the test tube that have not failed after transportation in the historical data. The lower limit of the interval is determined, optionally, by taking the 25% quantile of all valid data. The reason is that this value can cover the lower levels of most normal stable states, ensuring that when the lower limit is set, there are enough normal sample data above the lower limit. The upper limit can be selected from the historical data. The higher value that can also ensure that the sample has not failed, optionally, the 75% quantile is taken. This value can exclude a very small number of abnormal values ​​that are too high due to accidental factors, and at the same time cover almost all normal upper limits of stable data, preventing unstable data from being included in the normal range due to the upper limit being set too high, thereby constructing a reasonable and stable clamping stability preset range.

[0058] In detail, the clamping adjustment module determines the adjustment method of the clamping position according to the clamping stability characterization parameter combined with the initial clamping position; The clamping adjustment module determines an adjustment amount of the moving speed according to the clamping stability characterization parameter combined with the initial moving speed.

[0059] In this embodiment, the clamping adjustment module determines the adjustment amount of the clamping position according to the clamping stability characterization parameter, and the adjustment amount of the clamping position is the product of 20 mm and the clamping stability characterization parameter. If the actual clamping position after being reduced according to the clamping position adjustment amount is lower than the maximum value of the liquid level fluctuation, the adjusted clamping position is such that the lower edge of the upper fixed component is the same as the maximum height of the liquid level fluctuation, otherwise the upper fixed component is moved downward according to the clamping position adjustment amount. The clamping adjustment module calculates the difference between the clamping stability characterization parameter and the upper limit of the clamping stability preset range, and the reduction in moving speed is the product of the difference and the initial moving speed; If the clamping stability characterization parameter is lower than the clamping stability preset range, the clamping position is not adjusted, and the moving speed can be increased. The clamping adjustment module calculates the difference between the clamping stability characterization parameter and the lower limit of the clamping stability preset range; the increase in moving speed is the product of the difference and the initial moving speed.

[0060] It is understandable that if the clamping position is close to the top of the test tube, the center of gravity of the test tube is higher, and it is easy to produce a large swing when moving, resulting in increased liquid shaking, thereby causing uneven sample mixing and affecting the experimental results. Conversely, if the clamping position is close to the bottom of the test tube, although the center of gravity is lower, the clamping force may cause greater pressure on the bottom of the test tube, especially for glass test tubes, which may cause the test tube to break.

[0061] In the present invention, the clamping adjustment module can accurately adapt to the dynamic changes of the liquid in the test tube by comparing the clamping position adjustment amount with the maximum value of the liquid level fluctuation, avoiding operational errors caused by improper clamping position, and ensuring the safety and accuracy of clamping. In terms of moving speed adjustment, the speed adjustment amount is calculated based on the difference between the clamping stability characterization parameter and the upper and lower limits of the preset range. This approach can sensitively respond to changes in the stability of the solution. When the clamping stability characterization parameter is higher than the upper limit, reducing the moving speed can effectively reduce the interference of too fast movement on the stability of the solution; when the clamping stability characterization parameter is lower than the lower limit, increasing the moving speed can ensure that the operation is completed within a reasonable time, taking into account both operational efficiency and solution stability, thereby achieving fine and reasonable regulation of the clamping operation.

[0062] See also Figure 6 As shown, it is a flow chart of a test tube clamping method in an embodiment of the present invention. The present invention also provides a flow chart of a test tube clamping method, including: Step S1, identifying and acquiring the surface information of each test tube, and continuously acquiring the morphological information of the sample in the test tube; Step S2, determining a clamping method and an initial clamping position according to the surface information of the test tube combined with the morphological information of the sample, and determining a moving path of the test tube according to the initial position and the target position of each test tube; Step S3, controlling several fixing components of the clamping mechanism to adjust to corresponding positions according to the clamping mode and the initial clamping position, so as to clamp all the test tubes; Step S4, transporting the test tube using an initial moving speed according to the physical state information of the sample in the test tube; Step S5 is used to determine the clamping stability characterization parameter according to the morphological information of the sample during the movement process, determine whether to adjust the clamping position according to the clamping stability characterization parameter, and determine the adjustment method of the clamping position and the adjustment amount of the moving speed.

[0063] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the devices, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0064] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A test tube clamping system, characterized in that: include; The clamping mechanism includes a test tube fixing rod provided with a plurality of movable fixing components, which is used to clamp the test tube at an initial position of the test tube and transport it to a target position; an identification module, which is movably connected to the clamping mechanism, and is used to identify and obtain surface information of each test tube, and continuously obtain morphological information of the sample in the test tube, wherein the surface information includes tube body shape information and surface smoothness, and the sample morphological information includes sample physical state information, state stability information, and liquid level height fluctuation information; A positioning module connected to the recognition module, for determining a clamping mode and an initial clamping position according to the surface information of the test tube combined with the morphological information of the sample, and determining a moving path of the test tube according to the initial position and the target position of each test tube; an analysis control module, which is connected to the clamping mechanism, the identification module and the positioning module respectively, and is used to control the plurality of fixed components of the clamping mechanism to be adjusted to corresponding positions according to the clamping mode and the initial clamping position, and to clamp all the test tubes, and to transport the test tubes at an initial moving speed according to the physical state information of the sample; The clamping adjustment module is connected to the identification module and the clamping mechanism respectively, and is used to determine the clamping stability characterization parameter according to the morphological information of the sample during the movement, judge whether to adjust the clamping position according to the clamping stability characterization parameter, and determine the adjustment method of the clamping position and the adjustment amount of the moving speed.

2. The test tube clamping system according to claim 1, characterized in that: The clamping mechanism comprises: A plurality of bottom fixing components, which are used to fix the bottom of the test tube; A plurality of upper fixing assemblies, which are perpendicular to the corresponding bottom fixing assemblies and move in the vertical direction to fix the upper part of the test tube; A plurality of vertical moving rails, one end of each vertical moving rail is fixedly connected to the bottom fixing assembly, so as to fix the bottom fixing assembly and provide a moving path for the upper fixing assembly; Wherein, the bottom fixing components correspond one to one with the upper fixing components.

3. The test tube clamping system according to claim 2, characterized in that: The identification module comprises: A surface recognition unit, which is used to recognize and obtain the tube body shape information data of each test tube, and detect the surface smoothness of each test tube; A data acquisition unit, which is used to identify the physical state information of the samples in each test tube, and detect the state stability data and liquid level height data of the samples; A data analysis unit is connected to the surface recognition unit and the data acquisition unit respectively, and is used to process the detection result of the surface recognition unit and the detection result of the sample recognition unit into corresponding information.

4. The test tube clamping system according to claim 3, characterized in that: The positioning module determines the clamping method according to the physical state information and the surface information of the sample; If the test tube meets the direct clamping condition, the clamping method is direct clamping; If the test tube does not meet the direct clamping condition, the clamping method is adjustable clamping; Wherein, the direct clamping condition is that the physical state information of the sample is solid, or the surface smoothness is greater than a preset smoothness.

5. The test tube clamping system according to claim 4, characterized in that: The positioning module determines the initial clamping position of the upper fixing assembly in the direct clamping mode according to the tube body shape information of the test tube; Wherein, in the direct clamping method, the initial clamping position of the upper fixing assembly is below the tube mouth of the test tube.

6. The test tube clamping system according to claim 5, characterized in that: The positioning module determines the initial clamping position of the upper fixing component in the adjustable clamping mode according to the liquid level fluctuation information, including: The positioning module obtains an initial liquid level height when the test tube is located at an initial position, and determines the position of the lower edge of the upper fixing component according to the initial liquid level height.

7. The test tube clamping system according to claim 6, characterized in that: The clamping adjustment module determines the clamping stability characterization parameter according to the state stability information of the sample and the liquid level height fluctuation information during the movement.

8. The test tube clamping system according to claim 7, characterized in that: The clamping adjustment module determines whether to adjust the clamping position according to the clamping stability characterization parameter, including: If the clamping stability characterization parameter is within the clamping stability preset range, the clamping adjustment module determines that the clamping position does not need to be adjusted, and maintains the initial moving speed to transport the test tube; If the clamping stability characterization parameter exceeds the clamping stability preset range, the clamping adjustment module determines that the clamping position needs to be adjusted and reduces the actual moving speed of the transported test tube.

9. The test tube clamping system according to claim 8, characterized in that: The clamping adjustment module determines an adjustment method of the clamping position according to the clamping stability characterization parameter combined with the initial clamping position; The clamping adjustment module determines an adjustment amount of the moving speed according to the clamping stability characterization parameter combined with the initial moving speed.

10. A clamping method for a test tube clamping system according to any one of claims 1 to 9, characterized in that the steps include: Step S1, identifying and acquiring the surface information of each test tube, and continuously acquiring the morphological information of the sample in the test tube; Step S2, determining a clamping method and an initial clamping position according to the surface information of the test tube combined with the morphological information of the sample, and determining a moving path of the test tube according to the initial position and the target position of each test tube; Step S3, controlling several fixing components of the clamping mechanism to adjust to corresponding positions according to the clamping mode and the initial clamping position, so as to clamp all the test tubes; Step S4, transporting the test tube using an initial moving speed according to the physical state information of the sample in the test tube; Step S5 is used to determine the clamping stability characterization parameter according to the morphological information of the sample during the movement process, determine whether to adjust the clamping position according to the clamping stability characterization parameter, and determine the adjustment method of the clamping position and the adjustment amount of the moving speed.

Images