A test tube clamping system and a clamping method

Abstract

The present invention relates to the technical field of test tube clamping, and particularly to a test tube clamping system and a clamping method, including: a clamping mechanism, an identification module, a positioning module, an analysis and control module, and a clamping adjustment module. The clamping mechanism completes the actions of clamping the test tube and transporting it to the target position; the identification module obtains the surface information of the test tube and continuously obtains the morphological information of the sample; the positioning module determines the appropriate clamping method and the initial clamping position, and simultaneously plans the movement path of the test tube from the initial position to the target position; the analysis and control module controls the fixing components to adjust to the corresponding positions to clamp all the test tubes; the clamping adjustment module determines the clamping stability characterization parameters according to the morphological information of the sample during the movement process and judges whether to adjust the clamping position. The test tube clamping system of the present invention significantly improves the stability and adaptability of the test tube clamping and transportation processes in the laboratory through an intelligent clamping method and a dynamic adjustment mechanism.

Description

Technical Field

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

[0002] In laboratory automation operations, the clamping and transfer of test tubes are common and critical operations. However, most traditional test tube clamping systems adopt fixed clamping structures and clamping forces, making it difficult to adapt to changes in different liquid levels and sample types. This often causes the test tubes to shake or tilt during clamping, thereby affecting the accuracy of experimental results. Especially in high-throughput experimental scenarios where there are significant differences in test tube liquid levels, traditional clamping devices are even more difficult to ensure the stability and precision of operations.

[0003] Currently, common test tube clamping systems mainly utilize two technologies: mechanical clamping and vacuum adsorption. Mechanical clamping devices rely on fixed component structures to clamp test tubes, but their clamping force is fixed and it is difficult to adapt to test tubes of different materials and liquid levels; vacuum adsorption devices use negative pressure to adsorb test tubes. Although they are suitable for lightweight test tubes, their effects are not satisfactory for test tubes with high liquid levels or uneven surfaces. Although existing technologies have achieved automated clamping of test tubes to a certain extent, there are still many problems, such as non-adjustable clamping force, poor adaptability, and high sensitivity to the surface and liquid level of test tubes. Summary of the Invention

[0004] The purpose of the present invention is to provide a test tube clamping system and a clamping method that can solve the problems of non-adjustable clamping force of existing test tube clamping devices, high sensitivity to the surface and liquid level of test tubes, and inability to adjust the clamping force in a timely manner according to the physical state and sample stability of the samples in the test tubes, resulting in poor stability of test tube clamping.

[0005] To this end, the present invention provides a test tube clamping system, including:

[0006] A clamping mechanism, including a test tube fixing rod provided with a number of movable fixing components, for clamping a test tube at its initial position and transporting it to a target position;

[0007] An identification module, which is movably connected to the clamping mechanism, for identifying and obtaining the surface information of each test tube, and continuously obtaining the morphological information of the samples in the test tubes. Among them, the surface information includes the tube body shape information and the surface smoothness, and the morphological information of the samples includes the physical state information of the samples, the state stability information, and the liquid level height fluctuation information;

[0008] A positioning module, which is connected to the identification module, for determining the clamping method and the initial clamping position according to the surface information of the test tube in combination with the morphological information of the sample, and determining the movement path of the test tube according to the initial position and the target position of each test tube;

[0009] An analysis and control module, which is respectively connected to the clamping mechanism, the identification module and the positioning module, is used to control a plurality of fixing components of the clamping mechanism to be adjusted to corresponding positions according to the clamping method and the initial clamping position, clamp all test tubes, and transport the test tubes at an initial moving speed according to the physical state information of the sample;

[0010] A clamping adjustment module, which is respectively connected to the identification module and the clamping mechanism, is used to determine a 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.

[0011] As a preferred technical solution of the test tube clamping system, the clamping mechanism includes:

[0012] A plurality of bottom fixing components, which are used to fix the bottom of the test tube;

[0013] A plurality of upper fixing components, which are perpendicular to the corresponding bottom fixing components and move in the vertical direction to fix the upper part of the test tube;

[0014] A plurality of vertical moving tracks, one end of a single vertical moving track is fixedly connected to the bottom fixing component, which is used to fix the bottom fixing component and provide a moving path for the upper fixing component;

[0015] Wherein, the bottom fixing component and the upper fixing component correspond to each other one by one.

[0016] As a preferred technical solution of the test tube clamping system, the identification module includes:

[0017] A surface identification unit, which is used to identify and obtain the data of the tube body shape information of each test tube, and detect the surface smoothness of each test tube;

[0018] A data acquisition unit, which is used to identify the physical state information of the sample in each test tube, and detect the state stability data and the liquid level height data of the sample;

[0019] A data analysis unit, which is respectively connected to the surface identification unit and the data acquisition unit, and is used to process the detection results of the surface identification unit and the sample identification unit into corresponding information.

[0020] As a preferred technical solution of the test tube clamping system, the positioning module determines the clamping method according to the physical state information of the sample and the surface information;

[0021] If the test tube meets the direct clamping condition, the clamping method is direct clamping;

[0022] If the test tube does not meet the direct clamping conditions, the clamping method is adjustable clamping;

[0023] Among them, the direct clamping conditions are that the physical state information of the sample is solid, or the surface smoothness is greater than the preset smoothness.

[0024] 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 method according to the tube body shape information of the test tube;

[0025] Among them, the initial clamping position of the upper fixing component in the direct clamping method is below the tube mouth of the test tube.

[0026] 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 method according to the liquid level height fluctuation information, including;

[0027] The positioning module obtains the initial liquid level height of the test tube at the initial position, and determines the lower edge position of the upper fixing component according to the initial liquid level height.

[0028] As a preferred technical solution of 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.

[0029] 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:

[0030] If the clamping stability characterization parameter is within the preset clamping stability range, the clamping adjustment module determines that there is no need to adjust the clamping position, and transports the test tube at the initial moving speed;

[0031] If the clamping stability characterization parameter exceeds the preset clamping stability range, the clamping adjustment module determines that it is necessary to adjust the clamping position, and reduces the actual moving speed of transporting the test tube.

[0032] 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;

[0033] The clamping adjustment module determines the adjustment amount of the moving speed according to the clamping stability characterization parameter combined with the initial moving speed.

[0034] On the other hand, the present invention also provides a clamping method, the method includes:

[0035] Step S1, identify and obtain the surface information of each test tube, and continuously obtain the morphological information of the sample in the test tube;

[0036] Step S2: Determine the clamping method and the initial clamping position based on the surface information of the test tube and the morphological information of the sample, and determine the movement path of the test tube according to the initial position and the target position of each test tube.

[0037] Step S3: Control several fixing components of the clamping mechanism to adjust to the corresponding positions according to the clamping method and the initial clamping position, and clamp all the test tubes.

[0038] Step S4: Transport the test tube at the initial moving speed according to the physical state information of the sample in the test tube.

[0039] Step S5: 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.

[0040] The beneficial effects of the present invention are as follows:

[0041] Through the intelligent clamping method and the dynamic adjustment mechanism, the present invention significantly improves the stability and adaptability of the test tube clamping and transportation processes. The device accurately obtains the surface information of the test tube and the morphological information of the sample through the recognition module. Combining 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 of the sample, it flexibly selects the direct clamping or adjustable clamping method, and adjusts the clamping position and the 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 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, stable clamping can be achieved, greatly enhancing the versatility and flexibility of the system, and significantly improving the overall quality and efficiency of experimental operations.

[0042] Furthermore, when the sample is solid or the surface of the test tube is highly smooth, the positioning module determines it as the direct clamping method. This method is applicable to test tubes that are easy to clamp stably, can efficiently complete the clamping operation of test tubes in the laboratory, and save time and energy. When the test tube does not meet the conditions for direct clamping, it switches to the adjustable clamping method, demonstrating the flexibility and adaptability of the device. In actual situations, the surface condition of the test tube is complex and variable due to various factors. Through a clear definition of the preset smoothness, the positioning module can intelligently adjust the clamping method according to the actual roughness of the test tube surface. For test tubes with a relatively high surface roughness, a relatively small clamping force is used, while for smooth test tubes, a greater force is applied to ensure stable clamping, effectively avoiding problems such as test tube slipping or clamping damage caused by improper clamping force, and greatly improving the accuracy, stability, and reliability of the clamping operation in the laboratory.

[0043] Furthermore, the positioning module improves the stability and reliability of clamping by accurately positioning the clamping position. Combining with the prediction of the liquid level fluctuation amplitude, it optimizes the clamping height to ensure the stability of the sample during dynamic operations, and at the same time provides greater flexibility and safety for experimental operations. 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.

[0044] 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 liquid level fluctuation value, avoiding operation errors caused by improper clamping positions, and ensuring the safety and accuracy of clamping. In terms of the adjustment of the moving speed, 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 the stability changes of the solution. When the clamping stability characterization parameter is higher than the upper limit, reducing the moving speed can effectively reduce the interference to the solution stability caused by too fast movement; when the clamping stability characterization parameter is lower than the lower limit, increasing the moving speed can ensure the completion of the operation within a reasonable time, taking into account both the operation efficiency and the solution stability, thus achieving a fine and reasonable control of the clamping operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is the structural block diagram of the test tube clamping system in the embodiment of the present invention;

[0046] Figure 2 It is the schematic diagram of the clamping mechanism in the embodiment of the present invention;

[0047] Figure 3 It is the schematic diagram of the structure of a set of fixed components of the clamping mechanism in the embodiment of the present invention;

[0048] Figure 4 It is the structural block diagram of the recognition module in the embodiment of the present invention;

[0049] Figure 5 It is a logic diagram for determining whether to adjust the clamping position in the embodiment of the present invention;

[0050] Figure 6 It is a flowchart of the test tube clamping method in the embodiment of the present invention; In the figure: 1, vertical moving rail; 2, upper fixing component; 3, bottom fixing component; 4, tube cap; 5, tube body; 6, connecting component; 7, connecting rod. Detailed implementation manners

[0051] Next, the technical solutions of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0052] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" 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 directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0053] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as a limitation of the present invention.

[0054] Please refer to Figure 1 and Figure 2 as shown, Figure 1 It is a structural block diagram of the test tube clamping system in the embodiment of the present invention, Figure 2 It is a schematic diagram of the clamping mechanism in the embodiment of the present invention. The present invention provides a test tube clamping system, including;

[0055] A clamping mechanism, including a test tube fixing rod provided with a plurality of movable fixing components, for clamping a test tube at an initial position and transporting it to a target position;

[0056] An identification module, which is movably connected to the clamping mechanism, is used to identify and obtain the surface information of each test tube, and continuously obtain the morphological information of the sample in the test tube. Among them, the surface information includes the tube body shape information and the surface smoothness, and the morphological information of the sample includes the physical state information of the sample, the state stability information, and the liquid level height fluctuation information;

[0057] A positioning module, which is connected to the identification module, is used to determine the clamping method and the initial clamping position according to the surface information of the test tube in combination with the morphological information of the sample, and determine the moving path of the test tube according to the initial position and the target position of each test tube;

[0058] An analysis and control module, which is respectively connected to the clamping mechanism, the identification module and the positioning module, is used to control a plurality of fixing components of the clamping mechanism to be adjusted to corresponding positions according to the clamping method and the initial clamping position, and clamp all the test tubes, and transport the test tubes at an initial moving speed according to the physical state information of the sample;

[0059] A clamping adjustment module, which is respectively connected to the identification module and the clamping mechanism, 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.

[0060] The present invention does not specifically limit the specific structure and connection method of the fixing components of the clamping mechanism and the test tube fixing rod, as long as the action of moving the test tube in the laboratory can be realized after clamping the test tube; the present invention does not limit the specific structure of the positioning module, the analysis and control module, and the clamping adjustment module, which can be composed of logic components, and the logic components include a field programmable processor, a computer, and a microprocessor in the computer.

[0061] When determining the moving path of the test tube by the positioning module, it is preferable to move the shortest path that will not touch the test tube. This is the prior art and will not be elaborated here.

[0062] The initial moving speed is determined according to the average value of the final moving speeds of the same samples in the historical clamping movement data.

[0063] In the present invention, through an intelligent clamping method and a dynamic adjustment mechanism, the stability and adaptability of the test tube clamping and transportation process are significantly improved. The device accurately obtains the surface information and sample morphology information of the test tube through an identification module, and combines a positioning module and a clamping adjustment module. According to factors such as the physical state of the test tube, the smoothness of the surface, and the liquid level fluctuation, it flexibly selects either a direct clamping or an adjustable clamping method, 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. It 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, stable clamping can be achieved, greatly enhancing the versatility and flexibility of the system, and significantly improving the overall quality and efficiency of experimental operations.

[0064] Please refer to Figure 3 as shown, which is a schematic structural diagram of a set of fixed components of the clamping mechanism in an embodiment of the present invention. The clamping mechanism includes:

[0065] A number of bottom fixed components for fixing the bottom of the test tube;

[0066] A number of upper fixed components perpendicular to the corresponding bottom fixed components and moving in the vertical direction for fixing the upper part of the test tube;

[0067] A number of vertical moving tracks, with one end of a single vertical moving track fixedly connected to the bottom fixed component for fixing the bottom fixed component and providing a moving path for the upper fixed component;

[0068] Among them, the bottom fixed components and the upper fixed components correspond one by one.

[0069] In implementation, the fixed components clamp the test tube by clamping the tube body of the test tube from left and right with two buckles;

[0070] Each vertical moving track 1 is vertically placed, the bottom fixed component 3 is arranged at the lower end of the vertical moving track 1, and the upper fixed component 2 moves on the upper part of the bottom fixed component, facilitating the clamping mechanism to adjust the clamping position when clamping according to the volume of the sample in the test tube, ensuring the stable morphology of the sample in the test tube, and thus ensuring the stable nature of the sample.

[0071] The vertical moving track 1 is connected to the test tube fixing rod through a connecting component 6 and a connecting rod 7, and the connection method is not specifically limited. This is prior art and will not be elaborated further.

[0072] The length of the vertical moving track is greater than the sum of the lengths of the test tube and the upper fixed component.

[0073] 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.

[0074] 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.

[0075] 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:

[0076] 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;

[0077] 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;

[0078] 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.

[0079] 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.

[0080] 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 usually appears as two parallel vertical lines. The Hough transform is used to detect the lines in the image to identify the vertical edges of the test tube. By screening out the lines close to vertical, the vertical part of the test tube can be determined, and the contour of the test tube is analyzed to calculate its major axis direction. If the test tube is vertical, the major axis should be aligned with the vertical axis in the image coordinate system. This process is prior art and will not be elaborated here.

[0081] The data acquisition unit obtains the liquid level height data through a liquid level sensor and the sample state stability data through a light scattering instrument. This is prior art and no specific limitation is imposed on the selected equipment. It can be understood that the liquid in the test tube is irradiated with 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, the scattered light intensity is stable and the distribution is regular, the liquid is in a stable state; if the scattered light intensity shows obvious fluctuations or abnormal distribution, it may mean that there are unstable phenomena such as particle aggregation and convection in the liquid.

[0082] The state stability information is the refraction deflection angle; the liquid level height fluctuation information is the liquid level height 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 change in the refraction angle is very small. For complex liquid systems, such as biological sample solutions and polymer solutions containing multiple components, generally, when the change in the refraction angle exceeds ±0.2° to ±0.3°, it indicates that the liquid has undergone a relatively significant change, such as the aggregation of macromolecules in the solution or the conformational change of biomolecules.

[0083] Specifically, the positioning module determines the clamping method according to the physical state information and the surface information of the sample;

[0084] If the test tube meets the direct clamping condition, the clamping method is direct clamping;

[0085] If the test tube does not meet the direct clamping condition, the clamping method is adjustable clamping;

[0086] Among them, the direct clamping condition is that the physical state information of the sample is solid, or the surface smoothness is greater than the preset smoothness.

[0087] In implementation, the preset smoothness is 1.6 μm. The larger the Ra value, the rougher the test tube surface; conversely, the smaller the Ra value, the smoother the test tube surface. When the Ra value is between 0.8 μm and 1.6 μm, the test tube surface is relatively flat microscopically, without obvious unevenness or sharp protrusions. At this time, the test tube can fit more closely with the clamping tool, and the contact area is relatively large and uniform. According to the friction formula F = μ×N (where F is the frictional force, μ is the friction coefficient, and N is the normal force), with a certain friction coefficient, in order to clamp the test tube, the fixing component needs to provide a greater clamping force, that is, a greater pressure on the outer wall of the test tube. If the value is less than 0.8 μm, it means that the test tube surface is too smooth and slippage may occur.

[0088] It can be understood that during the experiment, if the test tube is used improperly or not thoroughly cleaned, some chemical substances will remain on the outer surface of the test tube. At the same time, some chemical substances will react with the moisture in the air, causing the test tube surface to become rough, or crystals will adhere to the outer surface of the test tube after the water in the solution evaporates, making the outer surface not smooth. In addition, the test tube will come into frequent contact with other experimental equipment. For example, when taking the test tube from or putting it back on the test tube rack, it may rub against the test tube rack; when using a test tube clamp to hold the test tube, there will also be friction between the test tube clamp and the outer surface of the test tube. Over time, these frictions will cause fine scratches on the outer surface of the test tube, resulting in an increase in the surface roughness.

[0089] For a test tube with a relatively high surface roughness, a relatively small force can be used to stably clamp it during clamping, while for a relatively smooth test tube surface, a greater force is required to ensure stable clamping.

[0090] Specifically, the positioning module determines the initial clamping position of the upper fixing component in the direct clamping method according to the body shape information of the test tube;

[0091] Among them, the initial clamping position of the upper fixing component in the direct clamping method is below the tube mouth of the test tube.

[0092] In implementation, in the direct clamping method, below the tube mouth of the test tube clamped by the upper fixing component, the fixing component does not cover the tube mouth and is close to the tube mouth. If the test tube includes a tube cap 4, the upper fixing component 2 is close to the tube cap 4 for clamping.

[0093] For the bottom fixing component, in both the adjustable clamping method and the direct clamping method, the clamping position is the vertical part of the tube body 5 close to the bottom of the test tube. During the actual clamping process, the upper fixing component and the bottom fixing component clamp the test tube simultaneously.

[0094] In the present invention, when the sample is in a solid state or the surface of the test tube has a relatively high smoothness, the positioning module determines it as the direct clamping method. This method is applicable to 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 conditions for direct clamping, it switches to the adjustable clamping method, demonstrating the flexibility and adaptability of the device. In actual situations, the surface condition of the test tube is complex and variable due to various factors. The positioning module can intelligently adjust the clamping method according to the actual roughness of the test tube surface through a clear definition of the preset smoothness. For test tubes with a relatively high surface roughness, a relatively small clamping force is used, while for smooth test tubes, a greater force is applied to ensure stable clamping, effectively avoiding problems such as test tube slipping or clamping damage caused by improper clamping force, and greatly improving the accuracy, stability, and reliability of the clamping operation.

[0095] Specifically, the positioning module determines the initial clamping position of the upper fixing component in the adjustable clamping method according to the liquid level height fluctuation information, including;

[0096] The positioning module obtains the initial liquid level height of the test tube at the initial position, and determines the lower edge position of the upper fixing component according to the initial liquid level height.

[0097] In implementation, the lower edge position of the upper fixing component is higher than the initial liquid level height, which is convenient for monitoring the liquid level height fluctuation information of the liquid sample in the test tube during the process of clamping the test tube and moving the test tube;

[0098] It can be understood that when clamping and moving a test tube in a laboratory, the amplitude of the liquid level fluctuation during liquid shaking depends on various factors, including the size of the test tube, the physical properties of the liquid, the moving speed and acceleration, etc. For the test tube diameter, the smaller the test tube diameter, the smaller the liquid level fluctuation amplitude usually, because the inertial effect of the liquid is limited; for high-viscosity liquids (such as glycerol), the fluctuation amplitude is smaller, because the viscous force inhibits the movement of the liquid level, and for liquids with a larger density (such as mercury), the inertia is larger and the fluctuation amplitude may be smaller; while for liquids with a smaller density (such as ethanol), the fluctuation amplitude may be larger. In addition, the faster the moving speed of the test tube, the larger the liquid level fluctuation amplitude usually, and the greater the acceleration (such as sudden stop or rapid start), the more significant the increase in the liquid level fluctuation amplitude. For the moving path, linear movement usually generates less fluctuation than curved movement, because curved movement introduces centrifugal force and exacerbates liquid shaking; the higher the liquid level, the larger the liquid level fluctuation amplitude may be, because the inertial effect of the liquid is enhanced.

[0099] The amplitude of the liquid level fluctuation can be calculated through the simple harmonic vibration model in fluid mechanics, A≈a×h / g, where A is the amplitude of the liquid level fluctuation (maximum height difference), a is the acceleration of the test tube movement, h is the liquid level height, and g is the acceleration due to gravity;

[0100] Generally, when moving test tubes in a laboratory, there are high-speed or sudden stop states. At this time, the fluctuation amplitude may reach 10 - 20 millimeters of the liquid level in the test tube. Therefore, the lower edge position of the upper fixing component determined by the positioning module according to the initial liquid level height is 20 millimeters above the initial liquid level, that is, the initial clamping position of the upper fixing component is determined.

[0101] 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 height 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 test tube mouth and does not cover the mouth, closely adhering to the lower part of the mouth. This not only ensures the clamping stability but also avoids interference with the mouth, facilitating subsequent operations. At the same time, the bottom fixing component closely adheres to the vertical part of the tube body at the bottom of the test tube, ensuring uniform force on the test tube during the clamping process, avoiding tilting or shaking, using a fixed position for clamping, saving the process of continuous monitoring and calculation, and improving the clamping and transportation efficiency of the device.

[0102] For the adjustable clamping method, the positioning module determines the position of the lower edge of the upper fixing component according to the initial liquid level height, fully considering the influencing factors of the liquid level fluctuation amplitude during the movement of the test tube, such as the test tube size, liquid physical properties, movement speed, and acceleration. In addition, the position of the lower edge of the upper fixing component is set above the maximum possible height of the liquid level fluctuation, providing space for real-time monitoring of the liquid level fluctuation.

[0103] The positioning module improves the clamping stability and reliability through accurate positioning of the clamping position. Combining the prediction of the liquid level fluctuation amplitude, it optimizes the clamping height, ensures the stability of the sample during dynamic operations, and at the same time provides greater flexibility and safety for experimental operations. 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.

[0104] Specifically, 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.

[0105] In this embodiment, the clamping stability characterization parameter is the product of the ratio of the average deviation of the liquid level height fluctuation information to the average value of the height fluctuation and the stability influence coefficient, where the stability influence coefficient is the sum of 1 and the numerical value of the refraction deflection angle.

[0106] It can be understood that both the fluctuation situation of the liquid level and the change situation of the refraction angle of the liquid sample can reflect the stability degree during the current clamping and movement of the test tube. Combining the two parameters to determine the clamping stability characterization parameter can more comprehensively reflect the stability of the sample in the test tube, facilitating subsequent determination of whether to adjust the clamping position and the movement speed.

[0107] Please refer to Figure 5 as shown, which 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:

[0108] If the clamping stability characterization parameter is within the preset range of clamping stability, the clamping adjustment module determines that there is no need to adjust the clamping position, and at the same time transports the test tube at the initial moving speed;

[0109] If the clamping stability characterization parameter exceeds the preset range of clamping stability, the clamping adjustment module determines that it is necessary to adjust the clamping position and reduces the actual moving speed of transporting the test tube.

[0110] In this embodiment, the median of the preset range of clamping stability is determined according to the average value of the clamping stability characterization parameters of the samples in the test tubes that have not failed after transportation in the historical data. For the determination of the lower limit of the interval, optionally, the 25th percentile of all valid data is taken. The reason is that this value can cover most of the lower levels in the normal stable state, ensuring that there are enough normal sample data above the set lower limit. For the upper limit, a higher value in the historical data that can also ensure that the sample has not failed can be selected. Optionally, the 75th percentile is taken. This value can exclude extremely high abnormal values caused by accidental factors, and at the same time can cover almost all the upper limits of normal stable data, preventing unstable data from being included in the normal range due to too high an upper limit setting, thereby constructing a reasonable and stable preset range of clamping stability.

[0111] Specifically, the clamping adjustment module determines the adjustment method of the clamping position according to the clamping stability characterization parameter in combination with the initial clamping position;

[0112] The clamping adjustment module determines the adjustment amount of the moving speed according to the clamping stability characterization parameter in combination with the initial moving speed.

[0113] In this embodiment, the clamping adjustment module determines the adjustment amount of the clamping position according to the clamping stability characterization parameter. 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 reduction according to the adjustment amount of the clamping position is lower than the maximum value of the liquid level fluctuation, the adjusted clamping position is the same as the lower edge of the upper fixing component and the maximum height of the liquid level fluctuation. Otherwise, the upper fixing component is moved down according to the adjustment amount of the clamping position;

[0114] The clamping adjustment module calculates the difference between the clamping stability characterization parameter and the upper limit of the preset range of clamping stability. The reduction amount of the moving speed is the product of the difference and the initial moving speed;

[0115] If the clamping stability characterization parameter is lower than the preset range of clamping stability, the clamping position is not adjusted, the moving speed can be increased, and the clamping adjustment module calculates the difference between the clamping stability characterization parameter and the lower limit of the preset range of clamping stability; the increase in the moving speed is the product of the difference and the initial moving speed.

[0116] It can be understood that if the clamping position is close to the top of the test tube, the center of gravity of the test tube is relatively high, and large swings are likely to occur during movement, resulting in more intense liquid sloshing, which may lead to uneven mixing of the samples and affect the experimental results. On the contrary, if the clamping position is close to the bottom of the test tube, although the center of gravity is relatively low, the clamping force may cause greater pressure on the bottom of the test tube. Especially for glass test tubes, it may cause the test tube to break.

[0117] 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 operation errors caused by improper clamping positions, 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 the stability changes of the solution. When the clamping stability characterization parameter is higher than the upper limit, reducing the moving speed can effectively reduce the interference to the solution stability caused by too fast movement; 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 the operation efficiency and the solution stability, thus realizing fine and reasonable control of the clamping operation.

[0118] Please refer to Figure 6 as shown, which is a flowchart of the test tube clamping method in an embodiment of the present invention. The present invention also provides a flowchart of a test tube clamping method, including:

[0119] Step S1, identifying and obtaining the surface information of each test tube, and continuously obtaining the morphological information of the samples in the test tube;

[0120] Step S2, determining the clamping method and the initial clamping position according to the surface information of the test tube in combination with the morphological information of the sample, and determining the moving path of the test tube according to the initial position and the target position of each test tube;

[0121] Step S3, used to control several fixed components of the clamping mechanism to adjust to the corresponding positions according to the clamping method and the initial clamping position, and clamp all the test tubes;

[0122] Step S4, transporting the test tube at the initial moving speed according to the physical state information of the sample in the test tube;

[0123] Step S5 is used to determine a 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.

[0124] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of apparatuses, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of 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 blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based device for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0125] Obviously, the above-mentioned embodiments of the present invention are merely examples for clearly explaining the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill 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 implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A test tube clamping system, characterized in that, including; a clamping mechanism including a test tube fixing rod provided with a number of movable fixing components for clamping a test tube at its initial position and transporting it to a target position; an identification module movably connected to the clamping mechanism for identifying and obtaining the surface information of each test tube and continuously obtaining the morphological information of the samples in the test tubes, wherein the surface information includes the tube body shape information and the surface smoothness, and the morphological information of the samples includes the physical state information, the state stability information, and the liquid level height fluctuation information of the samples; wherein the state stability information is the refraction deflection angle; a positioning module connected to the identification module for determining the clamping method and the initial clamping position according to the surface information of the test tube in combination with the morphological information of the sample, and determining the moving path of the test tube according to the initial position and the target position of each test tube; an analysis and control module respectively connected to the clamping mechanism, the identification module, and the positioning module for controlling a number of fixing components of the clamping mechanism to be adjusted to corresponding positions according to the clamping method and the initial clamping position, clamping all the test tubes, and transporting the test tubes at an initial moving speed according to the physical state information of the samples; a clamping adjustment module respectively connected to the identification module and the clamping mechanism for determining the clamping stability characterization parameter according to the morphological information of the sample during the movement, judging whether to adjust the clamping position according to the clamping stability characterization parameter, and determining the adjustment method of the clamping position and the adjustment amount of the moving speed; the clamping adjustment module determines the clamping stability characterization parameter according to the state stability information and the liquid level height fluctuation information of the sample during the movement; the clamping adjustment module judges whether to adjust the clamping position according to the clamping stability characterization parameter, including: if the clamping stability characterization parameter is within the preset clamping stability range, the clamping adjustment module determines that there is no need to adjust the clamping position and transports the test tube at the initial moving speed; if the clamping stability characterization parameter exceeds the preset clamping stability range, the clamping adjustment module determines that the clamping position needs to be adjusted and reduces the actual moving speed of transporting the test tube; the clamping adjustment module determines the adjustment method of the clamping position according to the clamping stability characterization parameter in combination with the initial clamping position; the clamping adjustment module determines the adjustment amount of the moving speed according to the clamping stability characterization parameter in combination with the initial moving speed.

2. The test tube clamping system according to claim 1, wherein, The clamping mechanism includes: a number of bottom fixing components for fixing the bottom of the test tube; a number of upper fixing components perpendicular to the corresponding bottom fixing components and moving in the vertical direction for fixing the upper part of the test tube; a number of vertical moving tracks, one end of a single vertical moving track being fixedly connected to the bottom fixing component for fixing the bottom fixing component and providing a moving path for the upper fixing component; wherein the bottom fixing components and the upper fixing components are in one-to-one correspondence.

3. The test tube clamping system according to claim 2, wherein The identification module includes: a surface identification unit for identifying and obtaining the data of the tube body shape information of each test tube and detecting 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 status stability data and liquid level height data of the samples; A data analysis unit, which is respectively connected to the surface recognition unit and the data acquisition unit, and is used to process the detection results of the surface recognition unit and the sample recognition unit into corresponding information.

4. The test tube clamping system according to claim 3, wherein The positioning module determines the clamping method according to the physical state information of the sample and the surface information; 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, wherein, The positioning module determines the initial clamping position of the upper fixing component in the direct clamping method according to the tube body shape information of the test tube; Wherein, the initial clamping position of the upper fixing component in the direct clamping method is below the tube mouth of the test tube; 6. The test tube clamping system according to claim 5, wherein, The positioning module determines the initial clamping position of the upper fixing component in the adjustable clamping method according to the liquid level height fluctuation information, including; The positioning module obtains the initial liquid level height of the test tube at the initial position, and determines the lower edge position of the upper fixing component according to the initial liquid level height; 7. The clamping method of the test tube clamping system according to any one of claims 1-6, characterized in that the steps Including: Step S1, identify and obtain the surface information of each test tube, and continuously obtain the morphological information of the samples in the test tubes; Step S2, determine the clamping method and the initial clamping position according to the surface information of the test tube combined with the morphological information of the sample, and determine the movement path of the test tube according to the initial position and the target position of each test tube; Step S3, used to control several fixing components of the clamping mechanism to be adjusted to the corresponding positions according to the clamping method and the initial clamping position, and clamp all the test tubes; Step S4, transport the test tubes at the initial moving speed according to the physical state information of the samples in the test tubes; Step S5, 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.

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