Chromatographic column assembly system and control method, equipment and medium thereof

Abstract

This application discloses a chromatographic column assembly system and its control method, equipment, and medium, relating to the technical field of chemical laboratory instruments. The chromatographic column assembly system includes a chromatographic column assembly platform, a chromatographic column rack, and a robotic arm. The method comprises the following steps: in response to an assembly instruction for a target chromatographic column, controlling the robotic arm to grab the target chromatographic column from the chromatographic column rack according to a preset first target path; and controlling the robotic arm to assemble the target chromatographic column onto the chromatographic column assembly platform according to a preset second target path. This application achieves fully automated operation of the chromatographic column assembly process, improving experimental efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of chemical laboratory instruments, and in particular to a chromatographic column assembly system and a control method, equipment, and medium thereof. Background Art

[0002] Column chromatography is a common laboratory method for separating sample components, but routine experimental procedures rely heavily on manual labor. Conventional column chromatography requires manual identification of the appropriate column, vertical placement of the column on an assembly stand, and securing it by manually tightening clamps or snaps. Consequently, conventional column assembly relies on manual labor, from selecting the appropriate column from the column rack to installing it on the column assembly stand. The entire process involves multiple, delicate steps, resulting in cumbersome operations and low efficiency. Summary of the Invention

[0003] The main purpose of the present application is to provide a chromatography column assembly system and its control method, equipment and medium, aiming to solve the technical problem of low efficiency in conventional chromatography column assembly process due to manual operation.

[0004] To achieve the above objectives, an embodiment of the present application provides a control method for a chromatographic column assembly system, wherein the chromatographic column assembly system includes a chromatographic column assembly platform, a chromatographic column rack, and a robotic arm, and the method includes the following steps:

[0005] In response to an assembly instruction of a target chromatographic column, controlling the robotic arm to grab the target chromatographic column from the chromatographic column rack along a preset first target path;

[0006] The robotic arm is controlled to assemble the target chromatographic column on the chromatographic column assembly platform according to a preset second target path.

[0007] In a feasible embodiment, before the step of controlling the robotic arm to grab the target chromatographic column from the chromatographic column rack according to the preset first target path, the method further includes:

[0008] Acquiring position information of the target chromatographic column on the chromatographic column rack;

[0009] The first target path is determined according to the location information.

[0010] In a feasible embodiment, the robotic arm includes a gripper, and after the step of determining the first target path according to the position information, the step further includes:

[0011] When the robot arm completes the operation according to the first target path, obtaining a current distance between the fingers of the gripper of the robot arm;

[0012] When the current distance is within a preset distance range, the chromatographic column gripped by the gripper is determined to be a target chromatographic column.

[0013] In a feasible embodiment, before the step of obtaining the position information of the target chromatographic column on the chromatographic column rack, the method further includes:

[0014] In response to the column selection instruction, determining a target type of column;

[0015] The position information of the target chromatographic column is determined according to the target type of the chromatographic column and the chromatographic column numbering rule preset on the chromatographic column rack.

[0016] In a feasible embodiment, the chromatographic column assembly platform includes a frame, a slider, a first mounting plate, a second mounting plate, a driving member and a clamping assembly, wherein the first mounting plate is arranged on the frame, and the second mounting plate is slidably arranged below the first mounting plate along the height direction of the frame; the slider is slidably arranged between the first mounting plate and the second mounting plate along the height direction of the frame, the driving member is arranged on the slider and connected to the second mounting plate, the clamping assembly is arranged on the slider and is used to clamp the target chromatographic column, the first mounting plate is provided with a liquid injection joint, and the second mounting plate is provided with a liquid outlet joint; the step of controlling the robotic arm to assemble the target chromatographic column on the chromatographic column assembly platform according to a preset second target path includes:

[0017] controlling the robotic arm to transfer the target chromatographic column to a target position of the chromatographic column assembly platform according to the second target path, and controlling the clamping assembly of the chromatographic column assembly platform to clamp the target chromatographic column;

[0018] Controlling the slider to move along the height direction of the rack toward the first mounting plate so that the first end of the target chromatographic column is connected to the injection connector;

[0019] The driving member is controlled to drive the second mounting plate to slide, so that the second end of the target chromatographic column is connected to the liquid outlet connector.

[0020] In a feasible embodiment, the step of controlling the slider to move along the height direction of the rack toward the first mounting plate so that the first end of the target chromatographic column is connected to the injection connector includes:

[0021] Controlling the slider to move along the height direction of the rack toward the first mounting plate at a preset speed;

[0022] When the first end of the target chromatographic column contacts the injection joint, controlling the clamping assembly to apply pressure to the target chromatographic column in a direction close to the first mounting plate;

[0023] A current pressure sensed at the first end of the target chromatographic column is obtained, and when the current pressure meets a preset contact force threshold, it is determined that the first end of the target chromatographic column is connected to the injection connector.

[0024] In a feasible embodiment, the injection joint is provided with an adapter block, the adapter block is provided with a guide hole, and the guide hole is provided with a guide cone surface at one end close to the clamping assembly, and the guide cone surface is used to guide the first end of the target chromatographic column to be inserted into the guide hole of the adapter block and connected to the injection joint provided in the guide hole.

[0025] The present application embodiment provides a chromatographic column assembly system, which includes:

[0026] Chromatographic column rack, used for placing chromatographic columns;

[0027] Chromatographic column assembly station, used for assembling the target chromatographic column;

[0028] a robotic arm, configured to transfer the target chromatographic column from the chromatographic column rack to the chromatographic column assembly station;

[0029] The control module is used to control the robotic arm to grab the target chromatographic column from the chromatographic column rack according to a preset first target path in response to an assembly instruction of the target chromatographic column; and control the robotic arm to assemble the target chromatographic column on the chromatographic column assembly platform according to a preset second target path.

[0030] An embodiment of the present application proposes a control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the control method for the chromatographic column assembly system as described above.

[0031] The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the chromatographic column assembly system as described above are implemented.

[0032] The embodiment of the present application provides a chromatographic column assembly system and a control method thereof, wherein the chromatographic column assembly system includes a chromatographic column assembly station, a chromatographic column rack, and a robotic arm. By responding to the assembly instruction of the target chromatographic column, the robotic arm is controlled to grab the target chromatographic column from the chromatographic column rack according to the first target path, and grab the target chromatographic column according to the planned path, thereby shortening the time of grabbing the target chromatographic column. Furthermore, the robotic arm is controlled to assemble the target chromatographic column on the chromatographic column assembly station according to the second target path, eliminating the need for the experimenter to repeatedly manually install the chromatographic column during the experiment. The present application realizes a fully automated chromatographic column assembly process through the control method of the chromatographic column assembly system, improves experimental efficiency, and solves the technical problem that the conventional chromatographic assembly process relies on manual operation with low efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] Figure 1 A flow chart illustrating an embodiment of a control method for a chromatographic column assembly system of the present application;

[0036] Figure 2 This is a schematic diagram of an assembly system for a chromatography column provided in one embodiment of the present application;

[0037] Figure 3 Schematic diagram of a chromatography column assembly station provided in one embodiment of the present application Figure 1 ;

[0038] Figure 4 Schematic diagram of a chromatography column assembly station provided in one embodiment of the present application Figure 2 ;

[0039] Figure 5 A schematic diagram of a chromatography column assembly system provided in one embodiment of the present application;

[0040] Figure 6 This is a schematic diagram of the control equipment structure involved in the control method of the chromatographic column assembly system of this application.

[0041] Description of Figure Numbers:

[0042] 100, chromatographic column rack; 200, chromatographic column assembly table; 210, rack; 220, slider;

[0043] 230, first mounting plate; 231, injection connector; 240, second mounting plate;

[0044] 250, driving member; 260, clamping assembly; 270, target chromatographic column;

[0045] 280, adapter block; 281, guide hole; 282, guide cone; 300, robotic arm;

[0046] 400. Control module.

[0047] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0049] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0050] The main solution of the embodiment of the present application is: the chromatographic column assembly system includes a chromatographic column assembly table, a chromatographic column rack and a robotic arm, and the method includes the following steps: in response to the assembly instruction of the target chromatographic column, controlling the robotic arm to grab the target chromatographic column from the chromatographic column rack according to a preset first target path; controlling the robotic arm to assemble the target chromatographic column on the chromatographic column assembly table according to a preset second target path.

[0051] Since conventional chromatographic column assembly operations mainly rely on manual operation of each process, the efficiency is low and prone to errors.

[0052] The present application provides a chromatographic column assembly system and a control method thereof, wherein the chromatographic column assembly system includes a chromatographic column assembly station, a chromatographic column rack, and a robotic arm. By responding to the assembly instruction of the target chromatographic column, the robotic arm is controlled to grab the target chromatographic column from the chromatographic column rack according to a preset first target path, and the target chromatographic column is grabbed according to a planned path, thereby shortening the time to grab the target chromatographic column and avoiding the situation in which the manual grabbing process may cause mistakes or grab the wrong target chromatographic column due to unskilled operation or lack of concentration. Furthermore, the robotic arm is controlled to assemble the target chromatographic column on the chromatographic column assembly station according to a preset second target path, eliminating the need for the experimenter to repeatedly manually install the chromatographic column during the experiment. Furthermore, the robotic arm can accurately control the force and position of the clamping claw to ensure that the interface between the chromatographic column and the assembly station is perfectly docked, and also avoids the situation in which the chromatographic column and the assembly station are not tightly connected due to uneven force during manual installation, thereby causing leakage; or introducing impurities during the installation process, contaminating the target chromatographic column and the sample. The present application realizes a fully automated chromatographic column assembly process through the control method of the chromatographic column assembly system, improves experimental efficiency, and avoids the situation in which errors are prone to occur during conventional manual operation.

[0053] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, smart watch, etc., or an electronic device or control device capable of implementing the above functions. The following uses a control device as an example to illustrate this embodiment and the following embodiments.

[0054] Based on this, the first embodiment of the present application provides a control method for a chromatographic column assembly system, referring to Figure 1 The chromatographic column assembly system includes a chromatographic column assembly platform, a chromatographic column rack, and a robotic arm. The control method of the chromatographic column assembly system includes steps S10 to S20:

[0055] Step S10, in response to an assembly instruction of a target chromatographic column, controlling the robotic arm to grab the target chromatographic column from the chromatographic column rack according to a preset first target path;

[0056] In one feasible embodiment, to automatically capture a target column, a user can input or click on the target column through a software interface of a control device. Specifically, the user inputs assembly instructions for the target column. Upon receiving the assembly instructions, the control device operates according to the instructions, which include information such as the type of the target column, the location of the target column, and the robot arm's operating path. The control device controls the robot arm to move along a pre-set first target path to the target column in the column rack and capture the target column.

[0057] Optionally, the chromatographic column is a component used for column chromatography separation, which is filled with a specific stationary phase material, and the target chromatographic column refers to a chromatographic column determined according to sample information and analysis requirements.

[0058] Optionally, the chromatographic column rack is a storage device for storing chromatographic columns to be assembled, and has multiple positions for storing multiple chromatographic columns. Multiple chromatographic columns are placed on the chromatographic column rack, and each chromatographic column has a corresponding position number.

[0059] Optionally, the robotic arm is an automated manipulation device with multiple degrees of freedom that can precisely move and grasp objects in three-dimensional space, and is used to implement transfer operations of sample fractions and finished products.

[0060] Optionally, the robotic arm can include a six-axis industrial robot arm or a SCARA (Selective Compliance Assembly Robot Arm) robot arm. The six-axis industrial robot arm features six movable joints, enabling extreme flexibility and freedom of movement in three dimensions. Like a human arm, it can perform complex movements in all directions, easily completing grasping, handling, and manipulation tasks at various angles and positions. The SCARA robot arm typically consists of two parallel rotary joints and one perpendicular linear joint, resulting in good horizontal compliance and high vertical rigidity.

[0061] Optionally, the preset first target path refers to a preset path for the manipulator to move from an initial position to the position of the target chromatographic column on the chromatographic column rack. The preset first target path is pre-planned based on factors such as the layout of the chromatographic column rack, the range of motion of the manipulator, and the position of the target chromatographic column, so as to ensure that the manipulator can accurately reach the target position. For example, the positions of the chromatographic column rack, the manipulator, and the chromatographic column assembly table are fixed, the specific position and spatial coordinates of the chromatographic column rack in space are clarified, and through the kinematic model of the manipulator, combined with the parameters such as the range of motion angles of each joint and the length of the connecting rod, all positions that the manipulator can reach in the workspace are calculated, and the positions that the manipulator can reach and the position information of each chromatographic column in the chromatographic column rack are combined for unified processing, and the optimal path corresponding to the position of the target chromatographic column on the chromatographic column rack is provided based on the path planning algorithm, which is the preset first target path. In addition, when the positions of the chromatographic column rack, robotic arm and chromatographic column assembly table are not fixed, high-precision positioning sensors are installed for the chromatographic column rack, robotic arm and chromatographic column assembly table respectively. The positioning sensors can obtain the position and posture information of the chromatographic column rack, robotic arm and chromatographic column assembly table in the workspace in real time. Based on the dynamic path planning algorithm, the control device can control the robotic arm to adjust the path in time during operation to ensure that the robotic arm can accurately grab the target chromatographic column from the chromatographic column rack.

[0062] Alternatively, grasping refers to the process by which the robotic arm's end effector (e.g., gripper) secures and lifts the target column. Before using the gripper, the robotic arm must accurately locate the target column and adjust the gripper's posture and force to ensure a secure grip. For example, the robotic arm's gripper can adaptively adjust based on the diameter and shape of the target column, closing the gripper hydraulically or electrically to secure the column.

[0063] In another feasible embodiment, before the step of controlling the robotic arm to grab the target chromatographic column from the chromatographic column rack according to the preset first target path, the method further includes:

[0064] Step S11, obtaining the position information of the target chromatographic column on the chromatographic column rack;

[0065] In a feasible embodiment, the first target path of the robotic arm is determined by obtaining the position information of the target chromatographic column on the chromatographic column rack. The control device can obtain the position information of the target chromatographic column on the chromatographic column rack from a pre-stored database, sensor feedback data, etc. For example, a database is provided in the laboratory management system to record the position information of each chromatographic column on the chromatographic column rack. The database can be a local database or a cloud-based data storage platform. The stored position information usually includes the coordinates of the chromatographic column in three-dimensional space (such as X, Y, Z coordinates), and possible posture information (such as tilt angle, etc.). At the same time, in order to facilitate management and query, the type, number and other related information of each chromatographic column will be associated with the position information and stored. The user enters the type or number of the target chromatographic column in the software interface, or clicks on the position number of the target chromatographic column. The control device can obtain the position information corresponding to the target chromatographic column by querying the database;

[0066] Optionally, a position sensor can be installed on the column rack to monitor the position of each column in real time and store this information in a database. When the user enters the type or number of a target column or clicks the position number of a target column, the control device retrieves the target column's position information from the database. The primary function of the position sensor is to monitor the position of each column in the rack in real time. During an experiment, the position of a column may shift for various reasons. The position sensor can promptly capture these changes and provide accurate position information.

[0067] Optionally, the position information refers to a specific description of the position of the target chromatographic column on the chromatographic column rack. For example, the position of the target chromatographic column in space can be represented by three-dimensional coordinates (X, Y, Z).

[0068] Step S12: determining a first target path according to the location information.

[0069] In one feasible embodiment, the control device plans a specific path for the robotic arm from its initial position to the target column position based on the acquired target column position information, combined with the robotic arm's motion characteristics and surrounding environmental factors. This path typically takes into account the range of motion of the robotic arm's joints and avoidance of collisions with obstacles to calculate an optimal first target path.

[0070] In this embodiment, by obtaining the position information of the target chromatographic column on the chromatographic column holder, the robotic arm can clearly determine the specific location of the target chromatographic column. Based on the position information, a first target path is determined, enabling the robotic arm to move to the target chromatographic column along the optimal path. Accurate position information and reasonable path planning enable the robotic arm to automatically and accurately complete the grasping operation, reducing the need for human intervention. The operator does not need to manually adjust the position and posture of the robotic arm, reducing labor costs and the possibility of human error.

[0071] In another feasible embodiment, the robotic arm includes a gripper, and after the step of determining the first target path according to the position information, the step further includes:

[0072] Step S121, when the robot arm completes the operation according to the preset first target path, obtaining the current distance between the grippers of the robot arm;

[0073] In one feasible embodiment, a control device determines a first target path for the robotic arm based on the position information of the target chromatographic column. The control device controls the robotic arm to move along the first target path to the target chromatographic column and controls the robotic arm's gripper to grasp the target chromatographic column. The robotic arm's gripper is equipped with a sensor that captures data on the current spacing between the gripper's fingers after the gripper grasps the target chromatographic column. Optionally, a visual sensor can be used to monitor the relative position and posture of the gripper and the column in real time. Using image processing and analysis techniques, the visual sensor can provide accurate position information to facilitate adjustment of the gripper's spacing.

[0074] Optionally, a gripper refers to a component on a robotic arm used to grasp objects. A robotic arm typically consists of multiple fingers that open and close to grasp and release objects. In this embodiment, the gripper's fingers are used to grasp a chromatography column. For example, if the gripper is a parallel gripper, the two fingers can move in parallel to clamp or release an object.

[0075] Optionally, the gripper fingers are integral to the gripper, directly contacting the column being grasped. The shape and material of the gripper fingers can be designed to suit different grasping requirements. For example, to better grasp a target column, the gripper fingers might be designed with a curved shape to increase the contact area with the column.

[0076] Alternatively, the current spacing refers to the actual distance between the gripper's fingers when the robotic arm's gripper is gripping a chromatographic column. The current spacing reflects the gripper's current open or closed state and is related to the size of the gripped column. For example, when gripping a thicker column, the spacing between the gripper fingers will be larger; when gripping a thinner column, the spacing will be smaller.

[0077] Optionally, after the robotic arm reaches the target column, the control device fine-tunes the position and angle of the gripper based on the specific position and posture of the target column, ensuring that the gripper's fingers are accurately aligned with the column's gripping area. Once the gripper is aligned with the target column, the control device issues a closing command, and the gripper's drive device (e.g., a motor, cylinder, etc.) begins operating, gradually closing the gripper fingers. During the closing process, the current spacing between the grippers and their gripping force are monitored in real time. Relevant data is captured by sensors mounted on the grippers (e.g., distance sensors, force sensors, etc.) and fed back to the control device. The gripper's closing action ceases when the current spacing between the grippers reaches a value that matches the column dimensions and the gripping force reaches the desired set value.

[0078] Optionally, when it is detected that the current spacing between the fingers of the robotic arm gripper is zero, it is determined that the robotic arm has failed to successfully grasp the target chromatographic column, and the control device feeds back an error message, and the user can determine whether to re-grab the target chromatographic column based on the feedback information.

[0079] Optionally, when it is detected that the current spacing between the fingers of the robotic arm's gripper is outside a preset spacing range, the chromatographic column currently grasped by the robotic arm is not the target chromatographic column, and the control device feeds back the current information. The user can determine the information of the currently grasped chromatographic column based on the feedback information and determine whether to re-grab the target chromatographic column.

[0080] Optionally, if the current spacing between the gripper fingers is detected to be greater than a preset spacing range, indicating that the gripper fingers are too open, exceeding the appropriate spacing required to grasp the target column, i.e., the currently grasped column is not the target column. The control device will provide feedback in various ways, such as displaying a warning message on the user interface stating "Gripper fingers spacing is too large, the currently grasped column may not be the target column" or emitting a specific audible alarm to alert the user. Furthermore, the current specific spacing value of the gripper fingers and the preset spacing range can be displayed to facilitate the user's intuitive understanding of the situation.

[0081] Optionally, if the current spacing between the gripper fingers is detected to be less than a preset spacing range, this indicates that the gripper fingers are closed too tightly and the spacing is too small. This may indicate that the column being grasped by the robotic arm is thinner than the target column, or that a deviation occurred during the grasping process, resulting in the target column not being completely enclosed. The control device will provide feedback to the user. This feedback may include displaying a prompt message on the user interface stating "Gripper spacing is too small, the currently grasped column may not be the target column," along with a comparison of the current gripper finger spacing and the preset spacing range. This feedback may also be addressed by flashing an indicator light or other means to draw the user's attention.

[0082] Optionally, if it is detected that the currently grasped chromatographic column is not the target chromatographic column, the control device can directly control the robotic arm to return the currently grasped chromatographic column to its original position in the chromatographic column rack and continue grasping the target chromatographic column based on the preset chromatographic column numbering rule until the correct target chromatographic column is grasped. The control device can also receive feedback from the user and input the next operation instruction on the operation interface, and then perform the next operation in response to the instruction input by the user. For example, the instruction input by the user can be to control the robotic arm to grasp the chromatographic column at a specific position determined by the user.

[0083] Step S122 : When the current spacing is within a preset spacing range, determining that the chromatographic column gripped by the grippers is a target chromatographic column.

[0084] In one feasible embodiment, a comparison between the current spacing and a preset spacing range is used to determine whether the chromatographic column grasped by the gripper is the target chromatographic column. If the current spacing is within the preset spacing range, the gripper is deemed to be the target chromatographic column; otherwise, the gripper is deemed not to be the target chromatographic column.

[0085] Optionally, the preset spacing range refers to a pre-set distance between the gripper fingers of the robotic arm corresponding to the size of the target column. Chromatography columns of different specifications have different diameters, and an appropriate spacing range is set based on the diameter of the target column. For example, if the target column has a diameter of 10 mm, the preset spacing range can be set to 9.5 mm to 10.5 mm to allow for a certain degree of tolerance and gripping stability.

[0086] This embodiment ensures accurate grasping of the target column by measuring the current spacing between the gripper fingers after grasping the column. Since different columns have different diameters, proper spacing verifies whether the target column has been grasped, avoiding grasping errors. This improves operational efficiency. Proper spacing also prevents damage to the column due to excessive squeezing, stabilizes grasping, reduces collision risk, reduces equipment repair and replacement costs, and enhances the stability of the column assembly system.

[0087] In another feasible embodiment, the step of obtaining the position information of the target chromatographic column on the chromatographic column rack includes:

[0088] Step A10, in response to the chromatographic column selection instruction, determining a target type of the chromatographic column;

[0089] In one feasible embodiment, a user can input a target column type through a software interface of a control device, i.e., input a column selection instruction. The instruction can be parsed to obtain information about the target column type, such as the stationary phase type and size type of the column. The control device responds to the instruction by selecting the target column type from the column rack. The user can also input a sample type and sample information through the software interface of the control device, and the control device determines the target column type that matches the sample based on a conditional prediction model.

[0090] Step A20: Determine the position information of the target chromatographic column according to the target type of the chromatographic column and the chromatographic column numbering rule preset on the chromatographic column rack.

[0091] In a feasible embodiment, when there are multiple target types of compatible chromatographic columns on the chromatographic column rack, in order to quickly determine the position information of the target chromatographic column and output the position information to the robotic arm, a numbering rule for the chromatographic columns is pre-set in the control device, and the position information of the target chromatographic column is determined according to the numbering rule for the chromatographic columns.

[0092] Optionally, each chromatographic column on the chromatographic column rack has a specific number, and a preset chromatographic column numbering rule is used to identify and locate the chromatographic columns placed thereon. After determining the target type of the chromatographic column, in the case where the chromatographic column rack includes multiple target types of compatible chromatographic columns, the position information of the target chromatographic column to be assembled is determined according to the preset chromatographic column numbering rule. For example, the chromatographic columns on the chromatographic column rack are selected in order from small to large. When the types of the chromatographic columns at position 1 and position 2 both meet the type of the target chromatographic column, since the number of position 1 is smaller than the number of position 2, position 1 is selected as the position information of the target chromatographic column according to the preset numbering rule.

[0093] This embodiment allows the user to directly input the target column type or output the target column type based on a conditional prediction model. Based on the target column type and a preset numbering rule, the target column location information is determined. This allows the control device to quickly determine the target column location based on the target column type and numbering information, eliminating the need for complex search and comparison processes. This optimizes the process of column selection and assembly, improving experimental operation efficiency.

[0094] Step S20, controlling the robotic arm to assemble the target chromatographic column on the chromatographic column assembly platform according to a preset second target path;

[0095] In a feasible embodiment, in order to ensure that the target chromatographic column can be accurately assembled on the chromatographic column assembly table, the control device pre-sets a second target path. When the robotic arm successfully grabs the target chromatographic column from the chromatographic column rack, the control device controls the robotic arm to move the target chromatographic column to the chromatographic column assembly table according to the preset second target path, so that the chromatographic column can be used for subsequent experimental operations after assembly.

[0096] Optionally, the chromatographic column assembly station is a platform for performing chromatographic column assembly operations, and is usually equipped with corresponding positioning devices and connection interfaces so as to accurately install the chromatographic column.

[0097] Optionally, the preset second target path refers to a preset path for the robotic arm to move from the position where the target chromatographic column is grasped to the chromatographic column assembly platform. Similar to the preset first target path, the preset second target path is also pre-planned, taking into account factors such as the range of motion of the robotic arm, the position of the chromatographic column assembly platform, and the surrounding environment, to ensure that the robotic arm can accurately place the target chromatographic column on the chromatographic column assembly platform.

[0098] Optionally, refer to Figure 2 , controlling the robot arm 300 to operate, transferring the target chromatographic column 270 from the chromatographic column rack 100 to the chromatographic column assembly station 200 , and clamping the target chromatographic column 270 by the clamping assembly 260 of the chromatographic column assembly station 200 .

[0099] This embodiment realizes the automation of chromatographic column assembly, and solves the problems of low efficiency and easy error in traditional manual assembly. After the control device responds to the start command, it can accurately determine the target chromatographic column according to the sample properties or preset scheme, avoiding the subjectivity and error of manual selection. The robotic arm can accurately grab the target chromatographic column from the chromatographic column rack according to the position information and transfer it to the chromatographic assembly station, reducing the damage that may be caused by manual handling. The chromatographic column assembly station completes the assembly process of the target chromatographic column through automated design, improves operating efficiency and reduces labor costs. At the same time, automated operation ensures the consistency of each assembly, improves the repeatability and accuracy of column chromatography experiments, and provides a basis for subsequent sample separation and analysis.

[0100] Based on the first embodiment of the present application, a second embodiment of the present application is provided. In the second embodiment, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction and will not be repeated hereafter. On this basis, the chromatographic column assembly station includes a frame, a slider, a first mounting plate, a second mounting plate, a driving member and a clamping assembly. The first mounting plate is arranged on the frame, and the second mounting plate is slidably arranged below the first mounting plate along the height direction of the frame; the slider is slidably arranged between the first mounting plate and the second mounting plate along the height direction of the frame, the driving member is arranged on the slider and connected to the second mounting plate, the clamping assembly is arranged on the slider and is used to clamp the target chromatographic column, the first mounting plate is provided with a liquid injection joint, and the second mounting plate is provided with a liquid outlet joint; the steps of controlling the robotic arm to assemble the target chromatographic column on the chromatographic column assembly station according to the preset second target path include:

[0101] Step B10, controlling the robotic arm to transfer the target chromatographic column to the target position of the chromatographic column assembly platform according to the second target path, and controlling the clamping assembly of the chromatographic column assembly platform to clamp the target chromatographic column;

[0102] In one feasible embodiment, a control device issues a movement instruction to the robotic arm, the movement instruction including information about the robotic arm's second target path. The robotic arm moves according to the preset second target path, ensuring that the robotic arm accurately transfers the target chromatographic column to the target position on the chromatographic column assembly platform. Once the target chromatographic column reaches the target position, the control device activates a clamping assembly on the chromatographic column assembly platform to clamp the target chromatographic column, securing its position on the chromatographic column assembly platform and preventing displacement of the target chromatographic column during subsequent connection operations.

[0103] Step B20, controlling the slider to move along the height direction of the rack toward the first mounting plate, so that the first end of the target chromatographic column is connected to the injection connector;

[0104] In one feasible embodiment, after the target chromatographic column is secured by the clamping assembly, a control device controls the movement of a slider. The slider is designed to slide along the height of the rack. As the slider moves toward the first mounting plate, the target chromatographic column, clamped by the slider, is lifted along with it. As the slider rises, the first end of the target chromatographic column gradually approaches and connects with the injection connector on the first mounting plate, thereby establishing initial connectivity with the injection channel and preparing for subsequent injection of liquid into the chromatographic column.

[0105] In another feasible embodiment, the step of controlling the slider to move along the height direction of the rack toward the first mounting plate so that the first end of the target chromatographic column is connected to the injection connector includes:

[0106] Step C10, controlling the slider to move along the height direction of the rack toward the first mounting plate at a preset speed;

[0107] Step C20, when the first end of the target chromatographic column contacts the injection connector, controlling the clamping assembly to apply pressure to the target chromatographic column in a direction approaching the first mounting plate;

[0108] In one feasible embodiment, after the first end of the target chromatographic column contacts the injection connector, the control device controls the clamping assembly to apply pressure to the target chromatographic column toward the first mounting plate to ensure a tight connection between the two. This ensures a more secure connection and prevents loosening or leakage.

[0109] Step C30 , obtaining the current pressure sensed at the first end of the target chromatographic column, and determining that the first end of the target chromatographic column is connected to the injection connector when the current pressure meets a preset contact force threshold.

[0110] In one feasible embodiment, during the process of applying pressure to the target chromatographic column, a current pressure value sensed at the first end of the target chromatographic column is acquired in real time. The current pressure value is compared with a preset contact force threshold. If the current pressure meets the preset contact force threshold, the first end of the target chromatographic column is tightly connected to the injection connector.

[0111] Optionally, refer to Figure 3 The chromatographic column assembly station 200 includes a frame 210, a slider 220, a first mounting plate 230, a second mounting plate 240, a driving member 250 and a clamping assembly 260. The first mounting plate 230 is arranged on the frame 210, and the second mounting plate 240 is slidably arranged below the first mounting plate 230 along the height direction of the frame 210; the slider 220 is slidably arranged between the first mounting plate 230 and the second mounting plate 240 along the height direction of the frame 210, the driving member 250 is arranged on the slider 220 and connected to the second mounting plate 240, the clamping assembly 260 is arranged on the slider 220 and is used to clamp the target chromatographic column 270, and the first mounting plate 230 is arranged on the frame 210. The mounting plate 230 is provided with an injection connector 231, and the second mounting plate 240 is provided with a liquid outlet connector. When the clamping assembly 260 clamps the target chromatographic column 270, the slider 220 can move along the height direction of the frame 210 toward the first mounting plate 230 to connect the first end of the target chromatographic column 270 with the injection connector 231. When the first end of the target chromatographic column 270 is connected to the injection connector 231, the driving member 250 can drive the second mounting plate 240 to slide, thereby connecting the second end of the target chromatographic column 270 with the liquid outlet connector. In this embodiment, the sliding movement of the slider 220 along the height direction of the frame 210 is driven by a drive motor. In a specific embodiment, the driving member 250 can be a driving cylinder.

[0112] This embodiment controls the slider to approach the first mounting plate at a preset speed, providing basic movement guarantee for subsequent connection and avoiding connection problems caused by improper speed. Then, when the first end of the target chromatographic column contacts the injection joint, the clamping assembly is controlled to apply pressure to enhance the connection firmness and effectively prevent the connection from loosening or leaking. Finally, by obtaining the current pressure sensed at the first end of the target chromatographic column and comparing it with the preset contact force threshold, it is possible to accurately determine whether the connection is complete, thereby achieving precise control of the connection process, improving the reliability and stability of the connection, ensuring the normal operation of related equipment during use, and reducing failures and losses caused by connection problems.

[0113] In another feasible embodiment, the injection joint is provided with an adapter block, the adapter block is provided with a guide hole, and a guide cone surface is provided at one end of the guide hole close to the clamping assembly. The guide cone surface is used to guide the first end of the target chromatographic column to be inserted into the guide hole of the adapter block and connected to the injection joint provided in the guide hole.

[0114] In one feasible embodiment, to ensure that the first end of the target chromatographic column can be accurately connected to the injection connector, thereby enabling subsequent injection and other operations, an adapter block is provided on the injection connector, a guide hole is provided in the adapter block, and a guide cone is provided at the end of the guide hole near the clamping assembly. The guide cone serves to guide the first end of the target chromatographic column smoothly into the guide hole. When the target chromatographic column approaches the adapter block, the guide cone automatically aligns the target chromatographic column with the guide hole, completing the connection, even if the target chromatographic column is slightly misaligned.

[0115] Optionally, the adapter block refers to a block-shaped component that plays a role of adapter and provides a transition and positioning structure for the connection between the target chromatographic column and the injection connector.

[0116] Optionally, the guide hole is a hole on the adapter block for guiding the insertion of the target chromatographic column, which specifies the path and position of the insertion of the target chromatographic column.

[0117] Optionally, refer to Figure 4The guide cone surface refers to a tapered surface located at one end of the guide hole near the clamping assembly, and its function is to guide the target chromatographic column to smoothly enter the guide hole. The injection joint 231 is provided with an adapter block 280, and the adapter block 280 is provided with a guide hole 281, and the end of the guide hole 281 near the clamping assembly 260 is provided with a guide cone surface 282. In this embodiment, by providing the guide cone surface 282, the first end of the target chromatographic column 270 can be more accurately docked with the injection joint 231. Taking the docking of the first end of the target chromatographic column 270 with the injection joint 231 as an example, specifically, when the driving motor drives the slider 220 to move along the height direction of the frame 210 toward the direction close to the first mounting plate 230, the first end of the target chromatographic column 270 will gradually be inserted into the guide hole 281 under the guidance of the guide cone surface 282, and docked with the injection joint 231 provided in the guide hole 281.

[0118] This embodiment reduces the difficulty of positioning during chromatographic column assembly by providing a guide cone, avoiding manual alignment errors. At the same time, the modular design of the adapter block improves system compatibility and is suitable for rapid switching of chromatographic columns of multiple specifications.

[0119] Step B30: Control the driving member to drive the second mounting plate to slide, so that the second end of the target chromatographic column is connected to the liquid outlet connector.

[0120] In one feasible embodiment, after the first end of the target chromatographic column is connected to the injection connector, the control device controls the driver to begin operation. The driver provides power for the sliding of the second mounting plate, driving the second mounting plate to slide along the height of the rack, thereby controlling the connection of the second end of the target chromatographic column to the outlet connector provided on the second mounting plate, completing the assembly of the target chromatographic column. The target chromatographic column can then undergo normal injection and outlet cycles for subsequent experiments such as chromatographic analysis.

[0121] Optionally, the rack is the basic supporting structure of the chromatography column assembly station, providing a framework for the installation and movement of other components.

[0122] Optionally, the slider is a component that can slide freely in the height direction of the rack, is connected to the target chromatographic column, and drives the chromatographic column to move in the vertical direction through its own sliding.

[0123] Optionally, the first mounting plate is a plate fixedly mounted on the rack, located above the assembly table, and is mainly used for installing an injection joint to provide a connection interface for the first end of the target chromatographic column.

[0124] Optionally, a plate is slidably arranged below the first mounting plate along the height direction of the rack, on which a liquid outlet connector is mounted, which is connected to the second end of the target chromatographic column.

[0125] Optionally, a clamping assembly is provided on the slider, and is used to clamp the target chromatographic column, fix the position of the target chromatographic column, and prevent the chromatographic column from moving during the assembly process.

[0126] Optionally, the liquid injection connector refers to an interface component installed on the first mounting plate and used to connect to the first end of the target chromatographic column to inject liquid into the chromatographic column.

[0127] Optionally, the liquid outlet connector refers to an interface component mounted on the second mounting plate and used to connect to the second end of the target chromatographic column to enable liquid to flow out of the chromatographic column.

[0128] Optionally, the system includes a host computer and PLC (Programmable Logic Controller) registers. The host computer communicates with the PLC, robotic arm, and chromatographic column assembly station using Python. The host computer receives sample information input by the user and feeds it into a conditional prediction model. The model then generates experimental methods and parameters, which are then output to the PLC, robotic arm, and chromatographic column assembly station for processing according to the experimental methods and parameters. The host computer communicates with the PLC registers via Python using Modbus (serial communication protocol), sending instructions to the PLC to control the operation of hardware devices in the system, such as the driver. Based on the acquired experimental method, the host computer sends specified instructions to the robotic arm via Python, causing it to perform the corresponding actions.

[0129] Optionally, the system also includes a software control module that collects and analyzes data from the column assembly platform and robotic arm, providing experimental configuration workflow and a data display interface. The robotic arm generates data such as its position, movement speed, and gripping force during movement. The column assembly platform also generates data such as applied pressure during column assembly. The software control module collects and analyzes this data and adjusts relevant parameters in a timely manner to ensure system stability and accuracy.

[0130] This embodiment accurately transfers the target chromatographic column through a robotic arm and fixes it with the clamping assembly of the chromatographic column assembly station, thereby ensuring the stability of the target chromatographic column position. The control slider drives the chromatographic column to rise and connect with the injection joint, and through the preset speed, applied pressure and pressure threshold judgment, accurate connection is achieved, thereby improving reliability and stability. The adapter block and guide cone surface design of the injection joint reduce the difficulty of positioning, avoid alignment errors, and improve the accuracy of chromatographic column assembly. Finally, the driving member drives the second mounting plate to connect the second end of the chromatographic column with the liquid outlet joint to complete the assembly, ensuring that the chromatographic column can normally perform the injection and liquid outlet cycle, and ensuring the smooth progress of subsequent experiments.

[0131] Based on the first and second embodiments of the present application, a third embodiment of the present application is provided. In the third embodiment, the same or similar contents as those in the above embodiments can be referred to above and will not be described in detail. Figure 5 , the chromatography column assembly system includes:

[0132] Chromatographic column rack 100, used for placing chromatographic columns;

[0133] Chromatographic column assembly station 200, used for assembling a target chromatographic column;

[0134] A robotic arm 300 is used to transfer a target chromatographic column from a chromatographic column rack to a chromatographic column assembly station;

[0135] The control module 400 is used to control the robot arm to grab the target chromatographic column from the chromatographic column rack according to a preset first target path in response to the assembly instruction of the target chromatographic column; and control the robot arm to assemble the target chromatographic column on the chromatographic column assembly station according to a preset second target path.

[0136] The control module 400 is further configured to obtain position information of the target chromatographic column on the chromatographic column rack before controlling the robotic arm to grab the target chromatographic column from the chromatographic column rack according to the preset first target path; determine the first target path based on the position information; and further configured to respond to a chromatographic column assembly instruction, determine the target chromatographic column; control the robotic arm to grab the target chromatographic column from the chromatographic column rack and place it on the chromatographic column assembly platform; and control the chromatographic column assembly platform to assemble the target chromatographic column.

[0137] The control module 400, the robotic arm includes a gripper, which is further used to obtain the current spacing between the claws of the robotic arm when the robotic arm completes the operation according to the first target path after the step of determining the first target path according to the position information; when the current spacing is within a preset spacing range, determine that the chromatographic column grasped by the gripper is the target chromatographic column.

[0138] The control module 400 is further configured to determine the target type of the chromatographic column in response to the chromatographic column selection instruction in the step of obtaining the position information of the target chromatographic column on the chromatographic column rack; and to determine the position information of the target chromatographic column according to the target type of the chromatographic column and the chromatographic column numbering rule preset on the chromatographic column rack.

[0139] The control module 400 includes a chromatographic column assembly station, a slider, a first mounting plate, a second mounting plate, a driving member and a clamping assembly. The first mounting plate is arranged on the frame, and the second mounting plate is slidably arranged below the first mounting plate along the height direction of the frame; the slider is slidably arranged between the first mounting plate and the second mounting plate along the height direction of the frame, the driving member is arranged on the slider and connected to the second mounting plate, the clamping assembly is arranged on the slider and is used to clamp the target chromatographic column, the first mounting plate is provided with an injection joint, and the second mounting plate is provided with a liquid outlet joint; it is also used to control the robotic arm to transfer the target chromatographic column to the target position of the chromatographic column assembly station according to a preset second target path, and control the clamping assembly of the chromatographic column assembly station to clamp the target chromatographic column; control the slider to move along the height direction of the frame toward the direction close to the first mounting plate so that the first end of the target chromatographic column is connected to the injection joint; control the driving member to drive the second mounting plate to slide so that the second end of the target chromatographic column is connected to the liquid outlet joint.

[0140] The control module 400 is further configured to control the slider to move at a preset speed along the height direction of the rack toward the first mounting plate; when the first end of the target chromatographic column contacts the injection connector, control the clamping assembly to apply pressure to the target chromatographic column in the direction toward the first mounting plate; obtain the current pressure sensed at the first end of the target chromatographic column, and determine that the first end of the target chromatographic column is connected to the injection connector when the current pressure meets a preset contact force threshold.

[0141] Control module 400, the injection connector is provided with an adapter block, the adapter block is provided with a guide hole, and a guide cone is provided at one end of the guide hole close to the clamping assembly. The guide cone is used to guide the first end of the target chromatographic column to be inserted into the guide hole of the adapter block, and is also used to be connected to the injection connector provided in the guide hole.

[0142] Optionally, the control module is the same as the control device. The system includes a host computer and PLC (Programmable Logic Controller) registers. The host computer communicates with the PLC, robotic arm, and chromatographic column assembly station using Python. The host computer accepts sample information input by the user and feeds it into a conditional prediction model. The conditional prediction model then generates experimental methods and parameters. The experimental method and parameters are then output to the PLC, robotic arm, and chromatographic column assembly station for processing according to the experimental method and parameters. The host computer communicates with the PLC registers via Python using Modbus (serial communication protocol), sending instructions to the PLC to control the operation of hardware devices in the system, such as the driver. Based on the acquired experimental method, the host computer sends specified instructions to the robotic arm using Python, causing the robotic arm to perform the corresponding actions.

[0143] Optionally, the system also includes a software control module that collects and analyzes data from the column assembly platform and robotic arm, providing experimental configuration workflow and a data display interface. The robotic arm generates data such as its position, movement speed, and gripping force during movement. The column assembly platform also generates data such as applied pressure during column assembly. The software control module collects and analyzes this data and adjusts relevant parameters in a timely manner to ensure system stability and accuracy.

[0144] The present application provides a control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the control method of the chromatographic column assembly system in the above-mentioned embodiment 1.

[0145] Reference below Figure 6 , which shows a schematic diagram of the structure of a control device suitable for implementing the embodiments of the present application. The control device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The control device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0146] like Figure 6As shown, the control device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory 1002 or programs loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the control device. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems may be connected to the input / output interface 1006: an input device 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; a storage device 1003 including, for example, a magnetic tape or hard disk; and a communication device 1009. The communication device 1009 may allow the control device to communicate with other devices wirelessly or wired to exchange data. Although the figures show a control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0147] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a read-only memory 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are performed.

[0148] The control device provided in the present application adopts the control method of the chromatographic column assembly system in the above-mentioned embodiment. Compared with the prior art, the beneficial effects of the control device provided in the present application are the same as the beneficial effects of the control method of the chromatographic column assembly system provided in the above-mentioned embodiment, and other technical features in the control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0149] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0150] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0151] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, wherein the computer-readable program instructions are used to execute the control method of the chromatographic column assembly system in the above-mentioned embodiment.

[0152] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0153] The computer-readable storage medium may be included in the control device, or may exist independently without being assembled into the control device.

[0154] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by a control device, the control device: in response to an assembly instruction for a target chromatographic column, controls the robotic arm to grab the target chromatographic column from the chromatographic column rack according to a preset first target path; and controls the robotic arm to assemble the target chromatographic column on the chromatographic column assembly station according to a preset second target path.

[0155] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, Python, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. Where a remote computer is involved, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0156] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing 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 than that 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 flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0157] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0158] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., a computer program) for executing the above-mentioned control method of the chromatographic column assembly system. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the control method of the chromatographic column assembly system provided in the above-mentioned embodiment, and will not be elaborated here.

[0159] The present application also provides a computer program product, comprising a computer program, which implements the steps of the control method of the chromatography column assembly system as described above when the computer program is executed by a processor.

[0160] The computer program product provided in this application can solve the technical problems of the control method of the chromatographic column assembly system. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the control method of the chromatographic column assembly system provided in the above embodiment, and will not be repeated here.

[0161] The above are only some embodiments of the present application and are not intended to limit the patent scope of the present application. All equivalent structural transformations made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A control method for a chromatographic column assembly system, characterized in that: The chromatographic column assembly system includes a chromatographic column assembly platform, a chromatographic column rack and a robotic arm. The chromatographic column assembly platform includes a frame, a slider, a first mounting plate, a second mounting plate, a driving member and a clamping assembly. The first mounting plate is arranged on the frame, and the second mounting plate is slidably arranged below the first mounting plate along the height direction of the frame. The slider is slidably arranged between the first mounting plate and the second mounting plate along the height direction of the frame. The driving member is arranged on the slider and connected to the second mounting plate. The clamping assembly is arranged on the slider and is used to clamp the target chromatographic column. The first mounting plate is provided with a liquid injection joint, and the second mounting plate is provided with a liquid outlet joint. The method includes the following steps: In response to an assembly instruction of the target chromatographic column, controlling the robotic arm to grab the target chromatographic column from the chromatographic column rack along a preset first target path; controlling the robotic arm to transfer the target chromatographic column to a target position of the chromatographic column assembly platform according to a preset second target path, and controlling the clamping assembly of the chromatographic column assembly platform to clamp the target chromatographic column; Controlling the slider to move along the height direction of the rack toward the first mounting plate so that the first end of the target chromatographic column is connected to the injection connector; The driving member is controlled to drive the second mounting plate to slide, so that the second end of the target chromatographic column is connected to the liquid outlet connector.

2. The control method of the chromatographic column assembly system according to claim 1, wherein: Before the step of controlling the robotic arm to grab the target chromatographic column from the chromatographic column rack according to the preset first target path, the method further includes: Acquiring position information of the target chromatographic column on the chromatographic column rack; The first target path is determined according to the location information.

3. The control method of the chromatographic column assembly system according to claim 2, wherein: The robotic arm includes a gripper, and after the step of determining the first target path according to the position information, further includes: When the robot arm completes the operation according to the first target path, obtaining a current distance between the fingers of the gripper of the robot arm; When the current distance is within a preset distance range, the chromatographic column gripped by the gripper is determined to be a target chromatographic column.

4. The control method of the chromatographic column assembly system according to claim 2, wherein: The step of obtaining the position information of the target chromatographic column on the chromatographic column rack comprises: In response to the column selection instruction, determining a target type of column; The position information of the target chromatographic column is determined according to the target type of the chromatographic column and the chromatographic column numbering rule preset on the chromatographic column rack.

5. The control method of the chromatographic column assembly system according to claim 1, wherein: The step of controlling the slider to move along the height direction of the rack toward the first mounting plate so that the first end of the target chromatographic column is connected to the injection joint comprises: Controlling the slider to move along the height direction of the rack toward the first mounting plate at a preset speed; When the first end of the target chromatographic column contacts the injection joint, controlling the clamping assembly to apply pressure to the target chromatographic column in a direction close to the first mounting plate; A current pressure sensed at the first end of the target chromatographic column is obtained, and when the current pressure meets a preset contact force threshold, it is determined that the first end of the target chromatographic column is connected to the injection connector.

6. The control method of the chromatographic column assembly system according to claim 1, wherein: The injection joint is provided with an adapter block, and the adapter block is provided with a guide hole. The guide hole is provided with a guide cone surface at one end close to the clamping assembly. The guide cone surface is used to guide the first end of the target chromatographic column to be inserted into the guide hole of the adapter block and connected to the injection joint provided in the guide hole.

7. A chromatography column assembly system, characterized in that: The chromatographic column assembly system comprises: Chromatographic column rack, used for placing chromatographic columns; A chromatographic column assembly platform, for assembling a target chromatographic column, comprising a frame, a slider, a first mounting plate, a second mounting plate, a driving member, and a clamping assembly, wherein the first mounting plate is arranged on the frame, the second mounting plate is slidably arranged below the first mounting plate along the height direction of the frame, the slider is slidably arranged between the first mounting plate and the second mounting plate along the height direction of the frame, the driving member is arranged on the slider and connected to the second mounting plate, the clamping assembly is arranged on the slider and used to clamp the target chromatographic column, the first mounting plate is provided with a liquid injection joint, and the second mounting plate is provided with a liquid outlet joint; a robotic arm, configured to transfer the target chromatographic column from the chromatographic column rack to the chromatographic column assembly station; The control module is configured to control the robotic arm to grab the target chromatographic column from the chromatographic column rack according to a preset first target path in response to an assembly instruction of the target chromatographic column; control the robotic arm to transfer the target chromatographic column to a target position of the chromatographic column assembly station according to a preset second target path, and control the clamping assembly of the chromatographic column assembly station to clamp the target chromatographic column; control the slider to move in a direction close to the first mounting plate along the height direction of the rack so that the first end of the target chromatographic column is connected to the liquid injection joint; and control the driving member to drive the second mounting plate to slide so that the second end of the target chromatographic column is connected to the liquid outlet joint.

8. A control device, characterized in that: The control device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for controlling the chromatography column assembly system according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for controlling a chromatography column assembly system according to any one of claims 1 to 6 are implemented.

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