Device and method for automatically storing and sampling penicillin bottles and treating bottle caps

Abstract

The invention discloses an automatic storage and sampling and bottle cap processing device and method for penicillin bottles, and belongs to the field of laboratory automation. The device is characterized in that a multi-storage-position tray warehouse is connected to the rear end of a transfer lifting mechanism, and a workstation is arranged at the front end of the transfer lifting mechanism; the four-axis mechanical arm is arranged at the upper part in the working station; the warehouse-out support is arranged on the side of the work station. The bottle cap processing mechanism is arranged in the work station and can execute penicillin bottle cap opening operation. The control system is electrically connected with the multi-storage-position tray warehouse, the transfer lifting mechanism, the work station, the four-axis mechanical arm and the bottle cap processing mechanism and can control the multi-storage-position tray warehouse, the transfer lifting mechanism, the work station, the four-axis mechanical arm and the bottle cap processing mechanism to execute corresponding operation. According to the method, intelligent scheduling, task optimization, storage position optimization, data analysis and other processing are executed through the control system, full-process automation of taking out specified penicillin bottles from a multi-storage-position tray warehouse and automatically uncovering the penicillin bottles is achieved, and the operation efficiency and the management level of the system are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of laboratory automation technology, and in particular to an integrated device and method capable of realizing automated storage, retrieval, transportation and cap processing of sample containers such as vials. Background Art

[0002] In modern scientific research and production activities, such as chemical synthesis, large numbers of samples are typically stored and managed in vials. With the rapid development of high-throughput technologies, the number of samples that need to be processed has increased dramatically, ranging from hundreds to tens of thousands or even millions. Traditional sample management methods rely heavily on manual operations, including manual recording, searching, placing and retrieving samples, and manually opening and closing bottle caps. This model is not only labor-intensive and inefficient, failing to meet the needs of large-scale sample processing, but is also prone to human error, such as incorrect sample collection, sample cross-contamination, and incorrect sample information recording. These errors can directly affect the accuracy and reliability of experimental results and may even lead to the failure of the entire research project.

[0003] The Chinese invention patent application with application number CN202411327013.X discloses an intelligent vial management system and automatic distribution method. Although it can realize intelligent management and access of vials, the system is mainly used for human-computer interaction to access vials by experimenters and is not suitable for the automated experimental process of modern chemical laboratories.

[0004] Chinese invention patent application number CN201510846341.5 discloses an intelligent three-dimensional warehouse. Although it can realize unmanned storage and retrieval of large-scale pallets, the system only treats sample pallets as a whole unit for storage and retrieval. The remaining detailed operations of the samples still need to be transferred to independent workstations. This leads to an inconsistent workflow, increased sample transportation time and contamination risk, and is not suitable for application in modern chemical laboratories.

[0005] Due to the small size and fragility of vials, the complex bottle cap handling operations, and the difficulty in managing multiple batches, there is currently no vial automation device that can simultaneously achieve efficient warehousing, bottle cap handling and precise management, and it is impossible to solve the technical problem of how to fully automate the warehousing, intelligent management and bottle cap handling of vials.

[0006] In view of this, the present invention is proposed. Summary of the Invention

[0007] The purpose of the present invention is to provide a device and method for intelligent management, automated storage sampling and bottle cap processing of syringe bottles, which can realize fully automated warehousing intelligent management and bottle cap processing of syringe bottles, thereby solving the above-mentioned technical problems existing in the prior art.

[0008] The purpose of the present application is achieved by the following technical solutions: An automatic storage and sampling and bottle cap processing device for penicillin bottles comprises: A multi-storage tray warehouse, a transfer lifting mechanism, a work station, a four-axis mechanical arm, a bottle cap processing mechanism, an outlet support, and a control system, wherein The multi-storage tray warehouse is connected to the rear end of the transfer lifting mechanism and can store multiple penicillin bottle trays; The work station is arranged at the front end of the transfer lifting mechanism; The transfer lifting mechanism can take out a tray containing a target penicillin bottle from the multi-storage tray warehouse and transfer it to the work station according to the instructions of the control system; The four-axis mechanical arm is arranged above the work station; The outlet support is arranged on the side of the work station; The work station can transport the tray containing the target penicillin bottle to the lower side of the four-axis mechanical arm according to the instructions of the control system; The four-axis mechanical arm can grasp the target penicillin bottle from the tray containing the target penicillin bottle and transport it to the outlet support according to the instructions of the control system for the external mobile operation robot to take it; The bottle cap processing mechanism is arranged in the work station and can perform an uncapping operation on the penicillin bottle placed on the bottle cap processing mechanism by the mobile operation robot; The control system is electrically connected with the multi-storage tray warehouse, the transfer lifting mechanism, the work station, the four-axis mechanical arm, and the bottle cap processing mechanism, respectively, and can control the multi-storage tray warehouse, the transfer lifting mechanism, the work station, the four-axis mechanical arm, and the bottle cap processing mechanism to perform corresponding operations.

[0009] An automatic storage and sampling and bottle cap processing method for penicillin bottles is used for the automatic storage and sampling and bottle cap processing device for penicillin bottles, comprising: Step 1: When the system is initialized, the control system of the automatic storage and sampling and bottle cap processing device for penicillin bottles assigns a unique identification code to each penicillin bottle in the multi-storage tray warehouse of the automatic storage and sampling and bottle cap processing device for penicillin bottles, establishes a penicillin bottle database, establishes a bottle position mapping relationship, generates a bottle position mapping table, and records the corresponding relationship between the physical position and the unique identification code of each penicillin bottle; Step 2: The control system receives and processes the sampling instruction containing the tray information and the bottle position information of the target penicillin bottle, analyzes the operation instruction content, and determines the unique identification code of the target penicillin bottle and the operation type; Step 3: The control system calculates the optimal operation path through a path planning algorithm according to the position information of the target penicillin bottle and generates a device action sequence; Step 4, according to the tray information in the sampling instruction, the transfer lifting mechanism of the control system controls the automatic storage and sampling of the penicillin bottle and the bottle cap processing device to move to the layer where the tray containing the target penicillin bottle is located, and the tray containing the target penicillin bottle is transferred from the multi-storage tray warehouse; Step 5, the transfer lifting mechanism carrying the tray containing the target penicillin bottle is transferred to the working station of the automatic storage and sampling of the penicillin bottle and the bottle cap processing device by the control system; Step 6, the working station is controlled by the control system to transport the tray containing the target penicillin bottle to the four-axis mechanical arm of the automatic storage and sampling of the penicillin bottle and the bottle cap processing device; Step 7, according to the bottle position information in the sampling instruction, the control system controls the four-axis mechanical arm to grab the target penicillin bottle from the tray containing the target penicillin bottle; Step 8, the control system controls the four-axis mechanical arm to transport the grabbed target penicillin bottle to the delivery support of the automatic storage and sampling of the penicillin bottle and the bottle cap processing device, and updates the state information of the penicillin bottle to be delivered; Step 9, the mobile operation robot outside takes the target penicillin bottle from the delivery support and places it on the bottle cap processing mechanism of the automatic storage and sampling of the penicillin bottle and the bottle cap processing device to perform the uncapping operation, and after uncapping, the mobile operation robot takes the target penicillin bottle; Step 10, after the completion of this sampling task, the control system controls each mechanism to perform the reset operation, and the tray is returned to its initial position in the multi-storage tray warehouse, that is, a complete automatic operation is completed.

[0010] Compared with the prior art, the penicillin bottle automatic storage and sampling device and method provided by the application have the following beneficial effects: By setting the transfer lifting mechanism at the rear end of the working station integrated with the four-axis mechanical arm and the bottle cap processing mechanism, and setting the multi-storage tray warehouse at the rear end of the transfer lifting mechanism, the whole process automation of taking out the specified penicillin bottle from the multi-storage tray warehouse and automatically uncapping is realized, and the problem of incoherent work flow caused by the separation of storage and processing functions in the prior art is avoided. The device adopts a vertical multi-layer multi-storage tray warehouse design, which greatly improves the sample storage density per unit floor area compared with the storage mode of planar layout, has compact structure and small floor area, and can realize high-efficiency and high-integration penicillin bottle automatic storage and sampling and bottle cap processing operation; the control system of the application realizes intelligent scheduling, storage optimization and data analysis, etc. Intelligent management not only realizes the automation of physical operation, but also improves the operation efficiency and management level of the whole system. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0012] Figure 1 The overall structure schematic diagram of the automatic warehouse and bottle cap processing device for penicillin bottles provided by the embodiments of the present application.

[0013] Figure 2 The single-layer structure schematic diagram of the multi-storage tray warehouse of the automatic warehouse and bottle cap processing device for penicillin bottles provided by the embodiments of the present application.

[0014] Figure 3 The structure schematic diagram of the transfer lifting mechanism of the automatic warehouse and bottle cap processing device for penicillin bottles provided by the embodiments of the present application.

[0015] Figure 4 The overall structure schematic diagram of the workstation of the automatic warehouse and bottle cap processing device for penicillin bottles provided by the embodiments of the present application.

[0016] Figure 5 The structure schematic diagram of the bottle cap processing mechanism of the automatic warehouse and bottle cap processing device for penicillin bottles provided by the embodiments of the present application.

[0017] Figure 6 The flowchart of the automatic warehouse and bottle cap processing method for penicillin bottles provided by the embodiments of the present application.

[0018] Figure 7 The system block diagram of the automatic warehouse intelligent management operation method for penicillin bottles provided by the embodiments of the present application.

[0019] Figure 1 In the figure, each mark is as follows: 1000-multi-storage tray warehouse; 2000-transfer lifting mechanism; 3000-workstation; 4000-four-axis mechanical arm; 5000-bottle cap processing mechanism; 6000-outbound support; 7000-control system; 8000-human-computer interaction display screen.

[0020] Figure 2 In the figure, each mark is as follows: 1000-multi-storage tray warehouse; 1001-multi-layer storage rack body; 1002-transverse conveying belt; 1003-tray placement position; 1004-guiding slide rail.

[0021] Figure 3 In the figure, each mark is as follows: 2000-transfer lifting mechanism; 2001-lifting platform; 2002-lifting guide rail; 2003-lifting driving motor; 2004-screw transmission device; 2005-transverse conveying belt.

[0022] Figure 4 In FIG. 3, each mark is as follows: 3000 - workstation; 3001 - transfer translation mechanism; 3002 - longitudinal guide rail; 3003 - longitudinal driving device; 3004 - mechanical arm operation area; 4000 - four-axis mechanical arm; 4001 - mechanical arm base; 4002 - first joint; 4003 - second joint; 4004 - third joint; 4005 - end effector; 5000 - bottle cap processing mechanism; 6000 - delivery support; 6001 - support frame; 6002 - vial placement slot; 7000 - control system; 8000 - human-computer interaction display screen.

[0023] Figure 5 In FIG. 5, each mark is as follows: 5000 - bottle cap processing mechanism; 5001 - bottle cap clamping device; 5002 - driving cylinder; 5003 - positioning base; 5004 - bottle cap discarding place; 5005 - translational guide rail; 5006 - clamping lifting guide rail; 5007 - clamping lifting driving device. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the specific contents of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application, which does not constitute a limitation to the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0025] First, the terms possibly used in the present text are explained as follows: The term “and / or” means either of the two or both at the same time, for example, X and / or Y means three cases including “X” or “Y” or “X and Y”.

[0026] The terms “include”, “contain”, “have”, “possess” or other similar semantic descriptions should be interpreted as non-exclusive inclusion. For example, including a technical feature element (such as raw materials, components, ingredients, carriers, dosage forms, materials, sizes, parts, components, mechanisms, devices, steps, processes, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products or articles, etc.) should be interpreted as not only including the explicitly listed technical feature element, but also including other technical feature elements not explicitly listed but known in the art.

[0027] The term "consisting of" denotes excludes any element, ingredient, component, or step not specified in the claim. If the term "consisting of" is used in the context of a process, step or component of a process, then that process, step or component of a process is closed such that no additional process, step or component of a process can be added to it. If the term "consisting of" is used in the context of a product, then that product is closed such that no additional element, ingredient, component or step can be added to it.

[0028] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an overly literal or overly formal sense unless expressly so defined herein.

[0029] When a concentration, temperature, pressure, dimension or other physical or chemical property or characteristic is given as a numerical range, it is to be understood that the numerical range is specifically disclosed as including any and all sub-ranges encompassed therein, as well as the endpoints. For example, a range of "2 to 8" is specifically disclosed as including the ranges of "2 to 7," "2 to 6," "5 to 7," "3 to 4 and 6 to 7," "3 to 5 and 7," "2 and 5 to 7," etc. Unless otherwise stated, the numerical ranges recited in this document are inclusive of the endpoints, and all intervening values substantially.

[0030] The terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like indicate relative positions or orientations based on the orientation or position shown in the drawings, and are used merely for purposes of convenience and brevity to describe and illustrate the application, and do not connote or dictate that a described or illustrated device or element must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application in this respect.

[0031] The following describes the schemes provided by the present application in detail. The contents not described in detail in the embodiments of the present application are the prior art known to the person skilled in the art. If the specific conditions are not indicated in the embodiments of the present application, the conventional conditions or the conditions recommended by the manufacturer are used. If the manufacturers of the reagents or instruments used in the embodiments of the present application are not indicated, they are all conventional products that can be purchased on the market.

[0032] As Figures 1 to 5As shown, the present application provides a kind of automatic storage sampling and bottle cap processing device of penicillin bottle, comprising: Multi-storage tray warehouse 1000, transfer lifting mechanism 2000, workstation 3000, four-axis mechanical arm 4000, bottle cap processing mechanism 5000, delivery support 6000 and control system 7000;Wherein, The multi-storage tray warehouse 1000 is connected to the rear end of the transfer lifting mechanism 2000, and can store a plurality of penicillin bottle trays; The workstation 3000 is arranged at the front end of the transfer lifting mechanism 2000; The transfer lifting mechanism 2000 can take out the tray containing the target penicillin bottle from the multi-storage tray warehouse 1000 and transfer to the workstation 3000 according to the instruction of the control system 7000; The four-axis mechanical arm 4000 is arranged above the workstation 3000; The delivery support 6000 is arranged at the side of the workstation 3000; The workstation 3000 can transport the tray containing the target penicillin bottle to the four-axis mechanical arm 4000 below according to the instruction of the control system 7000; The four-axis mechanical arm 4000 can grasp the target penicillin bottle from the tray containing the target penicillin bottle and transport it to the delivery support 6000 according to the instruction of the control system 7000, for the external mobile operation robot to use; The bottle cap processing mechanism 5000 is arranged in the workstation 3000, and can perform cap opening operation on the penicillin bottle placed on the bottle cap processing mechanism 5000 by the mobile operation robot; The control system 7000 is electrically connected with the multi-storage tray warehouse 1000, the transfer lifting mechanism 2000, the workstation 3000, the four-axis mechanical arm 4000 and the bottle cap processing mechanism 5000 respectively, and can control the multi-storage tray warehouse 1000, the transfer lifting mechanism 2000, the workstation 3000, the four-axis mechanical arm 4000 and the bottle cap processing mechanism 5000 to perform corresponding operation respectively.

[0033] In the above device, the control system is arranged below the workstation, and the transfer lifting mechanism and the multi-storage tray warehouse are arranged in turn behind the workstation, which are connected together to form a compact integrated whole device, not only small in space occupation, but also can ensure the accuracy of operation.

[0034] Preferably, the above device further comprises: man-machine interaction display screen 8000;Wherein, it is arranged at the front end of the workstation 3000, and is in communication connection with the control system 7000, and can carry out man-machine interaction input corresponding control instruction and output corresponding information. By setting the man-machine interaction display screen 8000, the operator or external robot can be directly operated.

[0035] Preferably, in the above device, the transfer lifting mechanism 2000 comprises: a machine body, a lifting platform 2001, a lifting guide rail 2002, a lifting drive motor 2003, a screw transmission device 2004 and a transverse conveying belt 2005; wherein, The lifting platform 2001, the lifting guide rail 2002, the lifting drive motor 2003 and the screw transmission device 2004 are all arranged in the machine body; The lifting guide rail 2002 is in front of the multi-storage tray magazine 1000; The lifting platform 2001 is arranged on the lifting guide rail 2002 and can be lifted along the lifting guide rail 2002; The transverse conveying belt 2005 is arranged on the lifting platform 2001 and can convey the placed tray transversely; The lifting drive motor 2003 is arranged at the top of the lifting guide rail 2002, the power shaft of the lifting drive motor 2003 is connected to one end of the screw transmission device 2004, the other end of the screw transmission device 2004 is connected to the lifting platform 2001, and the lifting platform 2001 can be driven to lift along the lifting guide rail 2002 through the screw transmission device 2004.

[0036] The work station 3000 comprises: a main machine body, a base, a transfer translation mechanism 3001, a longitudinal guide rail 3002, a longitudinal drive device 3003 and a mechanical arm operation area 3004; wherein, The base, the transfer translation mechanism 3001, the longitudinal guide rail 3002, the longitudinal drive device 3003 and the mechanical arm operation area 3004 are all arranged in the main machine body; The longitudinal guide rail 3002 is arranged on the base and in front of the transfer lifting mechanism 2000; The transfer translation mechanism 3001 is arranged on the longitudinal guide rail 3002 and can move longitudinally along the longitudinal guide rail 3002; The longitudinal drive device 3003 is arranged on the side of the longitudinal guide rail 3002 and is connected to the transfer translation mechanism 3001, and can drive the transfer translation mechanism 3001 to move longitudinally along the longitudinal guide rail 3002; The mechanical arm operation area 3004 is arranged within the moving range of the transfer translation mechanism 3001.

[0037] Preferably, in the above device, the four-axis mechanical arm 4000 comprises: a mechanical arm base 4001, a first joint 4002, a second joint 4003, a third joint 4004 and an end effector 4005; wherein, The mechanical arm base 4001 is arranged above the work station 3000; The first joint 4002 is connected to the mechanical arm base 4001; The end of the first joint 4002 is connected to the second joint 4003, the third joint 4004 and the end effector 4005 in turn; The multi-storage tray warehouse 1000 comprises a cabinet, a multi-layer storage rack body 1001, a transverse conveying belt 1002, a tray placement site 1003 and a guide slide rail 1004, wherein The multi-layer storage rack body 1001, the plurality of transverse conveying belts 1002, the plurality of tray placement sites 1003 and the plurality of groups of guide slide rails 1004 are arranged in the cabinet; The multi-layer storage rack body 1001 has a plurality of storage layers, at least one group of transverse conveying belts 1002 is arranged in each storage layer, two tray placement sites 1003 are arranged on each group of transverse conveying belts 1002, each group of transverse conveying belts 1002 can drive the tray on the tray placement site 1003 to move, and a group of guide slide rails 1004 is arranged on each side of each storage layer to limit the sliding of the trays on both sides of the storage layer.

[0038] Preferably, two groups of transverse conveying belts are arranged side by side in one storage layer, and each group of transverse conveying belts is composed of two parallel transverse conveying belts, so that there are four tray placement sites in one storage layer, and four trays can be placed at the same time. The storage capacity of the same layer is effectively improved.

[0039] Preferably, in the above device, the bottle cap processing mechanism 5000 comprises a bottle cap clamping device 5001, a driving cylinder 5002, a positioning base 5003, a bottle cap discarding site 5004, a horizontal guide rail 5005, a clamping lifting guide rail 5006 and a clamping lifting driving device 5007, wherein The positioning base 5003 is arranged in the workstation 3000; The bottle cap clamping device 5001 is arranged above the positioning base 5003, and the lower end of the bottle cap clamping device 5001 has a clamping head for grabbing the bottle cap; The driving cylinder 5002 is connected to the bottle cap clamping device 5001 through a connecting rod, and is used to drive the clamping head at the lower end of the bottle cap clamping device 5001 to clamp or release the bottle cap of the vial; The clamping lifting guide rail 5006 is arranged on one side of the bottle cap clamping device 5001 and the driving cylinder 5002, and the bottle cap clamping device 5001 and the driving cylinder 5002 can move up and down on the clamping lifting guide rail 5006; The clamping lifting driving device 5007 is arranged at the top of the clamping lifting guide rail 5006, and is used to drive the bottle cap clamping device 5001 and the driving cylinder 5002 to move up and down along the clamping lifting guide rail 5006; The translational guide rail 5005 is arranged below the positioning base 5003 and the bottom plate where the bottle cap discarding place 5004 is located, and can drive them to move horizontally as a whole to align with the bottle cap clamping device 5001 respectively; The bottle cap discarding place 5004 is arranged on one side of the positioning base 5003, and is used for receiving the bottle cap discarded after the clamping head of the bottle cap clamping device 5001 is loosened.

[0040] Referring to Figure 7 Preferably, in the above device, the control system 7000 comprises: An intelligent management module and a data management module; wherein, The intelligent management module is electrically connected with the multi-storage tray warehouse 1000, the transfer lifting mechanism 2000, the work station 3000, the four-axis mechanical arm 4000 and the bottle cap processing mechanism 5000 respectively, can realize instruction analysis, path planning, task scheduling and cooperative control, control the multi-storage tray warehouse 1000, the transfer lifting mechanism 2000, the work station 3000, the four-axis mechanical arm 4000 and the bottle cap processing mechanism 5000 to execute corresponding operations respectively, and complete the automatic storage, sampling and bottle cap processing of the penicillin bottle; The data management module is electrically connected with the multi-storage tray warehouse 1000, the transfer lifting mechanism 2000, the work station 3000, the four-axis mechanical arm 4000 and the bottle cap processing mechanism 5000 respectively, is provided with a penicillin bottle database, can realize bottle position mapping, operation log and statistical analysis, record the operations executed by the multi-storage tray warehouse 1000, the transfer lifting mechanism 2000, the work station 3000, the four-axis mechanical arm 4000 and the bottle cap processing mechanism 5000 respectively, and complete the information and state management of the penicillin bottle.

[0041] As Figure 6 and Figure 7 The present application also provides a penicillin bottle automatic storage, sampling and bottle cap processing method, which is used for the penicillin bottle automatic storage, sampling and bottle cap processing device and comprises the following steps: Step 1, when the system is initialized, the control system 7000 of the penicillin bottle automatic storage, sampling and bottle cap processing device allocates a unique identification code to each penicillin bottle in the multi-storage tray warehouse 1000, establishes a penicillin bottle database, establishes a bottle position mapping relationship, generates a bottle position mapping table, and records the corresponding relationship between the physical position and the unique identification code of each penicillin bottle; Step 2, the control system 7000 receives and processes a sampling instruction containing tray information and bottle position information of a target penicillin bottle, analyzes the operation instruction content, determines the unique identification code of the target penicillin bottle and the operation type; Step 3, according to the position information of the target penicillin bottle, the control system 7000 calculates the optimal operation path through the path planning algorithm and generates the device action sequence; Step 4, according to the tray information in the sampling instruction, the control system 7000 controls the transfer lifting mechanism 2000 of the penicillin bottle automatic storage and sampling and cap processing device to move to the layer where the tray containing the target penicillin bottle is located, and transfers the tray containing the target penicillin bottle from the multi-storage tray warehouse 1000; Step 5, the control system 7000 controls the transfer lifting mechanism 2000 to transfer the tray containing the target penicillin bottle to the workstation 3000 of the penicillin bottle automatic storage and sampling and cap processing device; Step 6, the control system 7000 controls the workstation 3000 to transport the tray containing the target penicillin bottle to the four-axis mechanical arm 4000 of the penicillin bottle automatic storage and sampling and cap processing device; Step 7, according to the bottle position information in the sampling instruction, the control system 7000 controls the four-axis mechanical arm 4000 to grab the target penicillin bottle from the tray containing the target penicillin bottle; Step 8, the control system 7000 controls the four-axis mechanical arm 4000 to transport the grabbed target penicillin bottle to the delivery support 6000 of the penicillin bottle automatic storage and sampling and cap processing device, and updates the state information of the penicillin bottle to be delivered; Step 9, the mobile operation robot outside takes away the target penicillin bottle from the delivery support 6000 and places it on the cap processing mechanism 5000 of the penicillin bottle automatic storage and sampling and cap processing device to perform the uncapping operation. After uncapping, the mobile operation robot takes away the target penicillin bottle; Step 10, after completing the sampling task, the control system 7000 controls each mechanism to perform the reset operation, and the tray is sent back to its initial position in the multi-storage tray warehouse 1000, that is, a complete automatic operation is completed.

[0042] Preferably, in step 1 of the above method, the control system 7000 assigns a unique identification code to each penicillin bottle in the multi-storage tray warehouse (1000) and establishes a penicillin bottle database; a bottle position mapping relationship is established, a bottle position mapping table is generated, and the correspondence between the physical position of each penicillin bottle and the unique identification code is recorded, including: Step 11, the data management module of the control system 7000 assigns a unique identification code to each penicillin bottle in the multi-storage tray warehouse 1000, and the unique identification code is encoded in the format of "L{storage layer number}-P{tray number}-R{row number}-C{column number}"; Step 12, the data management module of the control system 7000 establishes a vial database for storing the basic information, location information and state information of the vials; Step 13, the data management module of the control system 7000 configures system parameters, including setting the number of storage layers of the multi-storage tray warehouse 1000 to 5 layers, the number of trays per layer to 4, and the capacity of each tray to 70 vials; Step 14, the data management module of the control system 7000 scans the occupancy of all trays in the multi-storage tray warehouse 1000, generates a vial position mapping table, and establishes a one-to-one correspondence between the physical location and the unique identification code of the vials; Step 15, the control system 7000 initializes the state tracking table, and marks the state of all in-stock vials as in-stock;

[0043] Preferably, in step 2 of the above method, the sampling instruction containing the tray information and vial position information of the target vial is received and processed by the control system 7000 of the vial automated storage and sampling device and cap processing device in the following manner, including: Step 21, the operator issues a sampling instruction containing the tray information and vial position information of the target vial to the intelligent management module of the control system 7000 through the upper computer system, or inputs or selects a sampling instruction containing the tray information and vial position information of the target vial through the human-machine interaction display screen 8000 of the vial automated storage and sampling device and cap processing device, or the intelligent management module of the control system 7000 listens to the TCP / IP communication service port to receive the operation instruction from the upper computer system; Step 22, after receiving the sampling instruction, the intelligent management module of the control system 7000 analyzes and generates an internal execution sequence to prepare to dispatch each execution mechanism; the intelligent management module of the control system 7000 analyzes the format of the received operation instruction, identifies the operation type and instruction parameters, and determines the unique identification code and target location of the target vial according to the instruction parameters;

[0044] Preferably, in step 3 of the above method, the control system 7000 calculates the optimal operation path according to the location information of the target vial, generates a device action sequence through a path planning algorithm, including: Step 31, the intelligent management module of the control system 7000 obtains the storage layer number and tray number of the tray where the target vial is located; Step 32, the intelligent management module of the control system 7000 calculates the movement path of the transfer lifting mechanism 2000, the transfer translation mechanism 3001 of the workstation 3000 and the four-axis mechanical arm 4000; Step 33, the intelligent management module of the control system 7000 optimizes the action sequence according to the movement path of the transfer lifting mechanism 2000, the transfer translation mechanism 3001 of the workstation 3000, and the four-axis robot arm 4000 to minimize the equipment movement time and waiting time;

[0045] Preferably, in step 4 of the above method, the control system 7000 controls the transfer lifting mechanism 2000 to move to the storage layer where the tray containing the target vials is located, and transfers the tray containing the target vials from the multi-storage tray warehouse 1000 in the following manner, including: Step 41: The intelligent management module of the control system 7000 controls the lift drive motor 2003 of the transfer lift mechanism 2000 to operate according to the storage layer number information in the tray information in the sampling instruction, and drives the lift platform 2001 along the lift guide rail 2002 through the screw transmission device 2004 of the transfer lift mechanism 2000 until the upper surface of the lift platform 2001 is flush with the storage layer of the multi-storage tray warehouse 1000 where the tray containing the target vial is located; Step 42: The intelligent management module of the control system 7000 activates the transverse conveyor belt 1002 below the tray placement position 1003 where the tray containing the target vial is located in the multi-storage tray warehouse 1000, moves the tray containing the target vial out of the multi-layer storage rack 1001, and transfers it to the lifting platform 2001.

[0046] Preferably, in step 5 of the above method, the control system 7000 controls the transfer lifting mechanism 2000 to carry the tray containing the target vials to the workstation 3000 in the following manner, including: The intelligent management module of the control system 7000 controls the lifting drive motor 2003 of the transfer and lifting mechanism 2000 to lower the lifting platform 2001 carrying the tray containing the target vials to a height flush with the transfer and translation mechanism 3001 of the workstation 3000. Subsequently, the transverse conveyor belt 2005 on the lifting platform 2001 is controlled to start, transferring the tray to the transfer and translation mechanism 3001.

[0047] Preferably, in step 6 of the above method, the control system 7000 controls the workstation 3000 to transport the tray containing the target vials to the bottom of the four-axis robotic arm 4000 in the following manner, including: The longitudinal driving device 3003 in the workstation 3000 is controlled to start by the intelligent management module of the control system 7000, and the transfer translation mechanism 3001 is driven to move along the longitudinal guide rail 3002 until the tray containing the target penicillin bottle is parked under the mechanical arm operation area 3004 of the four-axis mechanical arm 4000;

[0048] Preferably, in step 7 of the above method, the four-axis mechanical arm 4000 is controlled by the control system 7000 to grasp the target penicillin bottle from the tray containing it, in the following manner: The intelligent management module of the control system 7000 calculates the accurate coordinates of the target penicillin bottle in the coordinate system of the workstation 3000 according to the bottle position information in the sampling instruction, and drives the joints of the four-axis mechanical arm 4000 to move the end effector 4005 to the exact position above the target penicillin bottle, then vertically lower it and operate the end effector 4005 to clamp the bottle body of the target penicillin bottle, completing the grasping of the target penicillin bottle;

[0049] Preferably, in step 8 of the above method, the four-axis mechanical arm 4000 is controlled by the control system 7000 to deliver the grasped target penicillin bottle to the delivery support 6000, in the following manner: Step 81: The intelligent management module of the control system 7000 controls the four-axis mechanical arm 4000 to deliver the grasped target penicillin bottle to above the delivery support 6000, and places it in one of the designated or empty penicillin bottle placement slots 6002, then releases the clamping jaw and retreats; Step 82: The intelligent management module of the control system 7000 monitors the operation process in real time to ensure the accuracy of the action execution; Step 83: After the operation is completed, the intelligent management module of the control system 7000 updates the status information of the penicillin bottle, and updates the status to "delivered";

[0050] Preferably, in step 9 of the above method, the uncapping operation is performed on the cap processing mechanism 5000 in the following manner: Step 91: The target penicillin bottle is delivered and accurately placed on the positioning base 5003 of the cap processing mechanism 5000 by an external mobile operation robot, which can limit the movement of the target penicillin bottle, and the positioning base 5003 is moved by the translation guide rail 5005 to make the target penicillin bottle located directly below the cap clamping device 5001; Step 92, the clamping lifting drive device 5007 of the bottle cap processing mechanism 5000 drives the bottle cap clamping device 5001 and the drive cylinder 5002 to descend to the bottle cap position along the clamping lifting guide rail 5006, and the drive cylinder 5002 drives the clamping head of the bottle cap clamping device 5001 to clamp the bottle cap; then, the clamping lifting drive device 5007 drives the bottle cap clamping device 5001 and the drive cylinder 5002 to ascend along the clamping lifting guide rail 5006 as a whole, so as to separate the bottle cap from the bottle; the positioning base 5003 is driven by the translation guide rail 5005 to move, so that the bottle cap discarding position 5004 is located directly below the bottle cap clamping device 5001, and the bottle cap clamping device 5001 releases the clamping head to discard the bottle cap to the bottle cap discarding position 5004; Step 93, after the uncapping is completed, the moving operation robot takes away the uncapped target vial;

[0051] Preferably, in step 10 of the above method, the reset operation is performed by the control system 7000 in the following manner, including: Step 101, the four-axis mechanical arm 4000 returns to its initial or standby position under the control of the intelligent management module of the control system 7000; Step 102, the intelligent management module of the control system 7000 controls the transfer translation mechanism 3001 to move reversely along the longitudinal guide rail 3002, so as to transfer the tray back to the docking position of the transfer lifting mechanism 2000; Step 103, after the tray is received by the transfer lifting mechanism 2000 through the lateral conveying belt 2005, the lifting drive motor 2003 is started to lift the lifting platform 2001 to the original storage layer of the tray under the control of the intelligent management module of the control system 7000; Step 104, the intelligent management module of the control system 7000 controls the lateral conveying belt 1002 of the corresponding storage layer of the multi-storage-tray warehouse 1000 to start reversely, so as to receive the tray from the lifting platform 2001 and send it into the original tray placing position 1003 in the multi-layer storage rack body 1001, that is, to complete a complete automatic operation cycle.

[0052] Through the above management mode, the storage and use state of the vial can be well managed, so as to ensure the accuracy and processing efficiency.

[0053] Preferably, the above method further includes intelligent scheduling and task optimization management processing, including: The intelligent management module of the control system 7000 establishes a reservation scheduling mechanism, allows multiple users to reserve sampling time in advance, and the system automatically sorts and optimizes batch operation paths; When multiple vials on the same tray need to be taken out, the intelligent management module of the control system 7000 automatically identifies and combines the operations, completing the taking out of multiple vials at once, reducing the number of tray round trips; When there are multiple sampling requests, the intelligent management module of the control system 7000 uses a task decomposition algorithm to execute non-conflicting operation steps in parallel, such as preparing the next tray in advance using the transfer lifting mechanism while the robotic arm is handling the current vial, reducing idle time of the equipment; An emergency operation priority is set, and when an emergency sampling instruction is received, the intelligent management module of the control system 7000 automatically interrupts the current non-emergency task, prioritizes the execution of the emergency task, and automatically resumes the original task after completion.

[0054] Preferably, the above method further comprises an intelligent storage location optimization management method, comprising: Based on historical operation data, the data management module of the control system 7000 uses a machine learning algorithm to predict the usage frequency and time pattern of the vials, automatically adjusts the storage location of frequently used vials to a more easily accessible location, and optimizes overall sampling efficiency; When the vials are returned to the warehouse, the data management module of the control system 7000 detects whether the original location is occupied, if the original location is occupied, the data management module of the control system 7000 searches for the nearest empty space in the same tray, if there is no empty space in the same tray, the data management module of the control system 7000 searches for an empty space in other trays of the same storage layer, after assigning a new location, the data management module of the control system 7000 updates the location information of the vial in the bottle position mapping table, ensuring that the vial can be smoothly returned to the warehouse and maintaining the accuracy of the location information.

[0055] Preferably, the above method further comprises data analysis and decision support processing, comprising: The data management module of the control system 7000 generates detailed operation logs for each operation, records operation timestamps, operation types, vial unique identification codes, source and target location information, operation time consumption and operation results, and stores the log information in the operation log database, ensuring the traceability of the operation process; Based on accumulated operation data, the data management module of the control system 7000 generates multi-dimensional analysis reports, including operation efficiency trends, bottleneck analysis, capacity prediction, occupancy rate and empty space distribution of each tray, average operation time consumption, daily operation frequency, and abnormal handling conditions. The data management module generates inventory statistical reports regularly to analyze the system running state, and the inventory statistical reports include inventory utilization rate, operation efficiency, and abnormal handling rate of key indicators, and upload the statistical results to the upper computer system to provide data support for management decision and system optimization.

[0056] Through the intelligent scheduling management, storage optimization and data analysis functions, the intelligent management of the penicillin bottle storage system is realized, the operation efficiency and management level of the system are significantly improved, and the accuracy and processing efficiency of the penicillin bottle are ensured.

[0057] As can be seen from the above, the device and method of the embodiment of the application have at least the following beneficial effects: (1) High integration and coherent process: By integrating the high-density multi-storage tray warehouse, the transfer lifting mechanism, the transfer translation mechanism in the workstation, the four-axis mechanical arm and the cap processing mechanism, and coordinating and scheduling by the unified control system, the "one-step" full-process automation of automatically retrieving, transferring, grabbing the specified penicillin bottle from the sample library and completing the cap opening is realized, avoiding the problems of incoherent work flow, long transfer time and high cross-contamination risk caused by the separation of storage and processing functions in the prior art.

[0058] (2) High efficiency and precision, and throughput improvement: By adopting the composite transfer mode combining vertical lifting and horizontal translation, the rapid and parallel movement of the tray in the vertical and horizontal directions is realized, and the access efficiency of the present application is higher than that of a single six-axis robot for large-range access operation. Meanwhile, by adopting the four-axis mechanical arm dedicated for planar positioning and vertical lifting, the grabbing and placing tasks of the penicillin bottle can be quickly and accurately completed, and the sample processing throughput is significantly improved, meeting the needs of high-throughput screening and other application scenarios.

[0059] (3) Space saving and cost reduction: By adopting the vertical multi-layer multi-storage tray warehouse design, the sample storage density per unit floor area is greatly improved, making the device structure compact, which is very suitable for modern laboratories where space is valuable. Compared with the general robot system which needs a larger operating radius, the present application has smaller floor area under the premise of realizing the same function, and the cost of the special mechanism is lower than that of the general six-axis robot, effectively reducing the hardware deployment and operation cost, and having good economic benefits and promotion value. In order to more clearly show the technical solutions and technical effects provided by the present application, the penicillin bottle automatic storage and sampling and cap processing device and method provided by the embodiment of the present application are described in detail below with specific embodiments.

[0060] (4) Intelligent management and optimized decision: Through the intelligent management module built in the control system, the intelligent operation is realized. The system integrates intelligent scheduling and task optimization, storage location dynamic optimization, data analysis and decision support and other advanced functions. By batch merging and parallel processing of sampling tasks, automatically adjusting the storage location according to the penicillin bottle usage frequency, and generating multi-dimensional analysis reports through the data management module of the control system, the equipment utilization and overall sampling efficiency are significantly improved, and strong data support is provided for fine management of the laboratory.

[0061] In order to more clearly demonstrate the technical solution and technical effects provided by the present invention, the solution provided by the embodiment of the present invention is described in detail with reference to specific embodiments below.

[0062] Example 1 like Figure 1 As shown, this embodiment provides an automated storage and cap handling device for vials, which can automatically perform storage management and cap handling of vials, including: a multi-storage tray warehouse 1000, a transfer and lifting mechanism 2000, a workstation 3000, a four-axis robotic arm 4000, a cap handling mechanism 5000, a warehouse outbound support 6000, and a control system 7000; wherein, The multi-storage tray warehouse 1000 is located at the rear side of the entire device, and a placement position 1003 for placing trays loaded with vials is provided in the multi-storage tray warehouse 1000; The transfer and lifting mechanism 2000 is provided in front of the multi-storage tray warehouse 1000 and is used to transfer the trays in the vertical direction; The workstation 3000 is located in front of the transport and lifting mechanism 2000 and is the core area for performing sample processing; The four-axis robot arm 4000 is arranged above the workstation 3000, and its operating range covers the workstation 3000; The bottle cap processing mechanism 5000 is arranged in the workstation 3000 and is within the operating range of the four-axis robotic arm 4000; The outbound support 6000 is provided on one side of the workstation 3000; The control system 7000 and the human-computer interaction display screen 8000 are both located in a cabinet below the workstation 3000 and are electrically connected to each actuator; The four-axis robotic arm 4000 can, under the control of the control system 7000, cooperate with the multi-storage tray warehouse 1000, the transfer lifting mechanism 2000, the transfer translation mechanism 3001 in the workstation 3000, the bottle cap processing mechanism 5000 and the outbound bracket 6000 to perform automated warehousing management and bottle cap processing of the syringe bottles according to the operating procedures of taking out the trays from the multi-storage tray warehouse 1000, transferring them to the workstation 3000, grabbing the syringe bottles, processing the bottle caps, and placing them on the outbound bracket 6000.

[0063] The multi-position tray warehouse 1000 is mainly used for storing the trays loaded with the vials in high density, and comprises a multi-layer storage frame 1001, a plurality of horizontal conveying belts 1002, a plurality of tray placing positions 1003 and a plurality of guide rails 1004. The multi-layer storage frame 1001 is of a frame structure, and a plurality of tray placing positions 1003 are separated in the multi-layer storage frame 1001. Preferably, the multi-layer storage frame 1001 is provided with five layers, and each layer is provided with four tray placing positions 1003 for storing the trays. A group of horizontal conveying belts 1002 are arranged at the bottom of each tray placing position 1003, for horizontally moving the trays in and out. The guide rails 1004 are arranged on both sides of the horizontal conveying belts 1002, for guiding and limiting the trays during the conveying process.

[0064] The transfer lifting mechanism 2000 is mainly used for transferring the trays in the vertical direction, so as to dock the multi-position tray warehouse 1000 and the working station 3000 at different levels. The transfer lifting mechanism 2000 comprises a lifting platform 2001, a lifting guide rail 2002, a lifting driving motor 2003 and a screw transmission device 2004. The lifting guide rail 2002 is vertically and fixedly arranged in front of the multi-position tray warehouse 1000, and the lifting platform 2001 is slidably connected to the lifting guide rail 2002 through a sliding block. The lifting driving motor 2003 is arranged at the top of the lifting guide rail 2002, and is connected to the lifting platform 2001 through the screw transmission device 2004, so as to drive the lifting platform 2001 to reciprocate along the lifting guide rail 2002.

[0065] The working station 3000 is an integrated operation platform, which is used for the translation of the trays and the accurate operation of the vials. The working station 3000 comprises a transfer translation mechanism 3001, a longitudinal guide rail 3002, a longitudinal driving device 3003 and a mechanical arm operation area 3004. The longitudinal guide rail 3002 is horizontally arranged on the base of the working station 3000, and the transfer translation mechanism 3001 is arranged on the longitudinal guide rail 3002. The longitudinal driving device 3003 is connected to the transfer translation mechanism 3001, for driving the transfer translation mechanism 3001 to move along the longitudinal guide rail 3002. The mechanical arm operation area 3004 is a predetermined area on the transfer translation mechanism 3001, for parking the trays and receiving the operation of the four-axis mechanical arm 4000.

[0066] The four-axis mechanical arm 4000 is mainly used for performing high-precision tasks such as grabbing, transporting and placing the vials in the workstation 3000. The four-axis mechanical arm 4000 comprises a mechanical arm base 4001, a first joint 4002, a second joint 4003, a third joint 4004 and an end effector 4005. The mechanical arm base 4001 is fixedly installed on a rack above the workstation 3000. The first joint 4002, the second joint 4003 and the third joint 4004 are connected in series, and finally connected to the end effector 4005, which can realize large-range movement of the end effector 4005 in the horizontal plane and lifting in the vertical direction.

[0067] The cap processing mechanism 5000 is mainly used for automatically opening the vials. The cap processing mechanism 5000 comprises a cap clamping device 5001, a driving cylinder 5002, a positioning base 5003, a cap discarding position 5004, a translational guide rail 5005, a clamping lifting guide rail 5006 and a clamping lifting driving device 5007. The positioning base 5003 is arranged in the workstation 3000 and used for stably placing the vial body. The cap clamping device 5001 is arranged above the positioning base 5003 and has a clamping head at the lower end for grabbing the cap. The driving cylinder 5002 is connected to the cap clamping device 5001 through a connecting rod and used for clamping or releasing the cap of the vial by the clamping head at the lower end. The clamping lifting guide rail 5006 is arranged on one side of the cap clamping device 5001 and the driving cylinder 5002, and the cap clamping device 5001 and the driving cylinder 5002 can move up and down on the clamping lifting guide rail 5006. The clamping lifting driving device 5007 is arranged at the top of the clamping lifting guide rail 5006 and can drive the cap clamping device 5001 and the driving cylinder 5002 to move up and down along the clamping lifting guide rail 5006. The translational guide rail 5005 is arranged below the positioning base 5003 and the bottom plate of the cap discarding position 5004, and can drive them to move horizontally to be aligned with the cap clamping device 5001, respectively. The cap discarding position 5004 is arranged on one side of the positioning base 5003 and used for receiving the cap discarded by the cap clamping device 5001 after releasing the clamping head.

[0068] The out-of-warehouse support 6000 is mainly used for providing a temporary storage position for the vials that have been processed. The out-of-warehouse support 6000 comprises a support frame 6001 and a plurality of vial placing grooves 6002. The support frame 6001 is fixed on the side of the workstation 3000 and has a plurality of vial placing grooves 6002 arranged thereon. Preferably, the vial placing grooves 6002 are arranged in a 2x5 matrix.

[0069] The control system 7000 described above is electrically connected with the multi-warehouse tray warehouse 1000, the transfer lifting mechanism 2000, the work station 3000, the four-axis mechanical arm 4000 and the cap processing mechanism 5000 respectively, and can control the multi-warehouse tray warehouse 1000, the transfer lifting mechanism 2000, the work station 3000, the four-axis mechanical arm 4000 and the cap processing mechanism 5000 to perform corresponding operations respectively.

[0070] The control system 7000 described above is electrically connected with the multi-warehouse tray warehouse 1000, the transfer lifting mechanism 2000, the work station 3000, the four-axis mechanical arm 4000 and the cap processing mechanism 5000 respectively, and can control the multi-warehouse tray warehouse 1000, the transfer lifting mechanism 2000, the work station 3000, the four-axis mechanical arm 4000 and the cap processing mechanism 5000 to perform corresponding operations respectively.

[0071] The control system 7000 described above includes an intelligent management module and a data management module, wherein, The intelligent management module is electrically connected with the multi-warehouse tray warehouse 1000, the transfer lifting mechanism 2000, the work station 3000, the four-axis mechanical arm 4000 and the cap processing mechanism 5000 respectively, can realize instruction analysis, path planning, task scheduling and collaborative control, control the multi-warehouse tray warehouse 1000, the transfer lifting mechanism 2000, the work station 3000, the four-axis mechanical arm 4000 and the cap processing mechanism 5000 to perform corresponding operations respectively, and complete the automatic storage, sampling and cap processing of the penicillin bottle. The data management module is electrically connected with the multi-warehouse tray warehouse 1000, the transfer lifting mechanism 2000, the work station 3000, the four-axis mechanical arm 4000 and the cap processing mechanism 5000 respectively, is provided with a penicillin bottle database, can realize bottle position mapping, operation log and statistical analysis, record the operations performed by the multi-warehouse tray warehouse 1000, the transfer lifting mechanism 2000, the work station 3000, the four-axis mechanical arm 4000 and the cap processing mechanism 5000 respectively, and complete the information and state management of the penicillin bottle.

[0072] Further, the device described above further includes a man-machine interactive display screen 8000 arranged at the front end of the work station 3000, the control system 7000 receives the sampling instruction from the man-machine interactive display screen 8000 or the sampling instruction sent from the upper computer system, and accurately controls the collaborative action of the above-mentioned mechanisms, to automatically complete the whole penicillin bottle storage and cap processing process.

[0073] Embodiment 2 As shown in Figure 6 and Figure 7 The embodiment provides a penicillin bottle automatic storage, sampling and cap processing method, which adopts the penicillin bottle automatic storage, sampling and cap processing device of embodiment 1, automatically realizes the intelligent management, storage, sampling and cap processing operation of the penicillin bottle, and includes the following steps: Step 1, when the system is initialized, the data management module of the control system 7000 is initialized, a unique identification code is assigned to each flask in the multi-bin tray warehouse 1000, and a flask database is established; a bottle position mapping relationship is established, a bottle position mapping table is generated, and the correspondence between the physical position of each flask and the unique identification code is recorded.

[0074] The specific operation mode of the above step 1 is as follows: All device components are placed neatly according to the specified initial pose. Set a chemical laboratory to configure the flask automatic storage sampling and cap processing device of the present application, the multi-bin tray warehouse 1000 has 5 layers, each layer has 4 trays, each tray contains 70 flasks, the total capacity of the system is 1400 flasks, and the current storage capacity is 850 flasks. The initialization program is executed by the control system 7000 to assign a unique identification code to the 850 flasks already existing in the multi-bin tray warehouse 1000. For example, the flask located at the 4th row and 6th column of the 3rd tray of the 2nd layer is assigned the identification code "L2-P3-R4-C6". The system establishes a flask database to record the basic information of all flasks. The control system 7000 scans all the trays to generate a bottle position mapping table to record the accurate positions of the 850 flasks. The initialization state tracking table sets the state of all flasks to "in stock". The mapping relationship is stored in the database to support fast query.

[0075] Step 2, the control system 7000 of the flask automatic storage sampling and cap processing device receives and processes the sampling instruction containing the tray information and bottle position information of the target flask, analyzes the operation instruction content, and determines the unique identification code of the target flask and the operation type.

[0076] The specific operation mode of the above step 2 is as follows: The host computer sends the instruction "take,07,25,01,#", which means to take the flask from the 7th tray at the 25th position and place it on the out-of-stock support at the 1st position. The control system 7000 receives the instruction through the TCP / IP communication interface, and the intelligent management module of the control system 7000 analyzes the instruction content to determine that the identification code of the target flask is "L2-P3-R3-C5". The intelligent management module of the control system 7000 analyzes the format of the received operation instruction and identifies the operation type as "sampling" to generate an internal execution sequence.

[0077] Step 3, the intelligent management module of the control system 7000 calculates the optimal operation path according to the position information of the target flask through a path planning algorithm to generate a device action sequence.

[0078] The specific operation mode of the above step 3 is as follows: The control system 7000 calculates the following operation sequence: the transfer lifting mechanism 2000 moves to the second layer, the tray No. 7 is transferred to the lifting platform 2001, the lifting platform 2001 is lowered to the height of the workstation 3000, the tray is transferred to the transfer translation mechanism 3001, and the transfer translation mechanism 3001 moves to the mechanical arm operation area 3004. The control system 7000 optimizes the action sequence to calculate the execution path that minimizes the device movement time and waiting time.

[0079] Step 4: According to the tray information in the sampling instruction, the control system 7000 controls the transfer lifting mechanism 2000 of the penicillin bottle automatic storage sampling and cap processing device to move to the layer where the tray containing the target penicillin bottle is located, and transfers the tray containing the target penicillin bottle out of the multi-storage tray warehouse 1000.

[0080] The specific operation mode of the above step 4 is as follows: The control system 7000 controls the lifting drive motor 2003 of the transfer lifting mechanism 2000 to start, drives the lifting platform 2001 to rise along the lifting guide rail 2002, and stops until its height is aligned with the second layer of the multi-storage tray warehouse 1000. The control system 7000 controls the bottom horizontal conveyor belt 1002 of the multi-storage tray warehouse 1000 to start, moves the tray containing the target penicillin bottle out and places it on the lifting platform 2001.

[0081] Step 5: The control system 7000 controls the transfer lifting mechanism 2000 to transfer the tray containing the target penicillin bottle into the workstation 3000 of the penicillin bottle automatic storage sampling and cap processing device.

[0082] The specific operation mode of the above step 5 is as follows: The control system 7000 controls the lifting platform 2001 to descend until it is flush with the transfer translation mechanism 3001 of the workstation 3000. The control system 7000 controls the horizontal conveyor belt 2005 on the lifting platform 2001 to start and transfer the tray to the transfer translation mechanism 3001.

[0083] Step 6: The control system 7000 controls the workstation 3000 to transport the tray containing the target penicillin bottle to the area below the four-axis mechanical arm 4000 of the penicillin bottle automatic storage sampling and cap processing device.

[0084] The specific operation mode of the above step 6 is as follows: The control system 7000 controls the transfer translation mechanism 3001 to move along the longitudinal guide rail 3002 until the tray is located directly below the mechanical arm operation area 3004 of the four-axis mechanical arm 4000.

[0085] Step 7: The control system 7000 controls the four-axis mechanical arm 4000 to grab the target penicillin bottle from the tray containing the target penicillin bottle according to the bottle position information in the sampling instruction.

[0086] The specific operation mode of the above step 7 is as follows: The control system 7000 calculates the accurate coordinates of the target penicillin bottle in the coordinate system of the workstation 3000 according to the information that the target penicillin bottle is located at the 25th position. The control system 7000 drives the four-axis mechanical arm 4000 to move the end effector 4005 to the target penicillin bottle, and then lower and clamp the penicillin bottle "L2-P3-R3-C5".

[0087] Step 8: The control system 7000 controls the four-axis mechanical arm 4000 to transport the grabbed target penicillin bottle to the delivery support 6000 of the penicillin bottle automated storage, sampling and cap processing device, and updates the state information of the penicillin bottle to "delivered".

[0088] The specific operation mode of the above step 8 is as follows: The four-axis mechanical arm 4000 transports the penicillin bottle to the delivery support 6000 and places it in the 01 penicillin bottle placement slot 6002. After the operation is completed, the control system 7000 updates the state of the penicillin bottle "L2-P3-R3-C5" from "in stock" to "delivered", and records the operation log: operation time 2025-03-15 14:35:26, operation type "delivery", penicillin bottle identification "L2-P3-R3-C5", source position "L2-P3-R3-C5", target position "delivery support 01", operation time 19 seconds, operation result "success".

[0089] Step 9: The external mobile operation robot takes the target penicillin bottle from the delivery support 6000 and places it on the cap processing mechanism 5000 of the penicillin bottle automated storage, sampling and cap processing device to perform the opening operation. After opening, the mobile operation robot takes the target penicillin bottle.

[0090] The specific operation mode of the above step 9 is as follows: The mobile operating robot transports and accurately places the vial on the positioning base 5003 of the cap processing mechanism 5000, the translational guide 5005 moves the positioning base 5003 so that the target vial is located directly below the cap clamping device 5001. The clamping lifting drive device 5007 of the cap processing mechanism 5000 drives the cap clamping device 5001 and the drive cylinder 5002 to descend to the cap position along the clamping lifting guide 5006, and the drive cylinder 5002 drives the clamping head of the cap clamping device 5001 to clamp the cap; then, the clamping lifting drive device 5007 drives the cap clamping device 5001 and the drive cylinder 5002 to ascend as a whole along the clamping lifting guide 5006, so as to separate the cap from the vial; the translational guide 5005 moves the positioning base 5003 so that the cap discarding position 5004 is located directly below the cap clamping device 5001, and the cap clamping device 5001 releases the clamping head to discard the cap to the cap discarding position 5004. After the uncapping is completed, the mobile operating robot takes away the uncapped vial.

[0091] Step 10: After the completion of the sampling task, the control system 7000 controls the mechanisms to perform a reset operation, and the tray is returned to its initial position in the multi-tray storage warehouse 1000, thereby completing a complete automated operation.

[0092] The specific operation mode of step 10 is as follows: The four-axis mechanical arm 4000 returns to the initial position. The transfer translational mechanism 3001 transports the tray back to the docking position of the transfer lifting mechanism 2000. After receiving the tray, the transfer lifting mechanism 2000 lifts the tray to the second layer original position layer, and sends the tray back to the No. 7 tray placement position 1003 through the horizontal conveying belt 1002. The control system 7000 records the completion of the operation.

[0093] The above operation steps are the basic process of a complete automated storage sampling and cap processing operation. If further testing is required, the process can return to step 2 to receive and execute new task instructions.

[0094] Embodiment 3 This embodiment provides an intelligent scheduling and task optimization management method for automatic storage and sampling of vials. The vial automatic storage sampling and cap processing device of embodiment 1 is used to realize intelligent scheduling and optimization management of multiple tasks.

[0095] Suppose there are 12 scheduled sampling operations. After receiving the scheduling information, the control system 7000 automatically analyzes and finds that 4 vials are located in the No. 2 tray on the third layer, and the system automatically combines the sampling operations of the tray.

[0096] The specific operation process is as follows: the control system 7000 optimizes the original 4 times of round-trip operation to 1 batch operation, controls the transfer lifting mechanism 2000 to take out the 3rd layer 2nd tray at one time, and the four-axis mechanical arm 4000 sequentially grabs 4 target penicillin bottles, i.e., L3-P2-R2-C5, L3-P2-R3-C7, L3-P2-R5-C2, L3-P2-R6-C9, and places them at different positions of the delivery support 6000. At the same time, when the four-axis mechanical arm 4000 processes the current tray, the control system 7000 controls the transfer lifting mechanism 2000 to move to the layer where the next target tray is located in advance, and prepares for the next batch operation.

[0097] If an emergency sampling instruction is received, the control system 7000 automatically suspends the currently executed regular task and immediately executes the emergency task. After the completion of the emergency task, the system automatically resumes the original task execution.

[0098] Through intelligent scheduling, the actual time consumption of the original 12 independent operations is reduced after optimization, and the efficiency is improved.

[0099] Embodiment 4 The embodiment provides an intelligent storage position optimization management method for automatic storage of penicillin bottles, and adopts the penicillin bottle automatic storage, sampling and bottle cap processing device in embodiment 1 to realize dynamic optimization of the storage position.

[0100] Suppose that the penicillin bottle automatic storage system has been running for 3 months, the control system 7000 analyzes 2156 operation records accumulated through a machine learning algorithm and obtains that the monthly average taking frequency of the penicillin bottle L5-P3-R7-C6 reaches 28 times, and the penicillin bottle is stored in the 5th layer, which causes longer time consumption for each sampling.

[0101] The system performs a position optimization operation: the control system 7000 automatically adjusts the high-frequency penicillin bottle to the R1-C1 position of the 2nd tray in the 1st layer which is the most easily taken position when the system is idle, updates the bottle position mapping table, and updates the new identification code to "L2-P1-R1-C1". After optimization, the average sampling time of the penicillin bottle is reduced.

[0102] In a delivery operation, the penicillin bottle L4-P2-R3-C8 needs to be delivered, and the control system 7000 detects that the original position has been occupied. The system starts intelligent position allocation: first searches in the same tray and finds that the R3-C9 position is empty, and then places the penicillin bottle in the new position; if there is no empty position in the same tray, the system searches in the other 3 trays in the 4th layer, and preferentially selects a tray with a tray occupancy rate lower than 70%. Finally, the penicillin bottle is allocated to the L4-P3-R2-C5 position, and the system automatically updates the bottle position mapping table and generates a position change record.

[0103] Embodiment 5 The embodiment provides a data analysis and decision support method for automatic storage of penicillin bottles.

[0104] During the operation of the penicillin bottle automatic storage system, the control system 7000 generates a detailed log for each operation. For example, the record of an operation on March 15, 2025: operation timestamp "2025-03-15 14:35:26", operation type "outbound", penicillin bottle unique identification code "L2-P3-R4-C6", source location "L2-P3-R4-C6", target location "outbound support 02", operation time "22 seconds", operation result "success".

[0105] The control system 7000 automatically generates a weekly analysis report every week, for example: this week's operation statistics: the total number of operations is 856, the daily average inbound and outbound is about 122 times, and the overall average operation time is 20.8 seconds. The peak period appears on Tuesday from 14:00 to 16:00, and 165 operations are completed. Inventory and efficiency analysis: the current inventory utilization rate is 60.7% (occupied 850 / total 1400), and the comprehensive utilization rate of the device is 78.5%. The analysis of the occupancy rate of each tray shows that the first layer is 82.3%, the second layer is 78.6%, the third layer is 71.2%, the fourth layer is 65.8%, and the fifth layer is 58.9%. In terms of operation time, the average time for taking and using the tray on the fifth layer is 28.6 seconds, which is 37.5% higher than the overall average. All analysis results are automatically uploaded to the upper computer system, and laboratory managers can view them in real time through the web page.

[0106] As can be seen from the above, the device and method of the embodiment of the application realize the full-process automation and intelligentization of penicillin bottles from storage, transfer, grabbing to uncapping by integrating high-density multi-storage tray warehouse, transfer lifting mechanism, workstations, four-axis mechanical arm and bottle cap processing mechanism, and combining intelligent management and scheduling method, solve the problems of incoherent process, low efficiency and high risk of sample contamination caused by separation of storage and processing in the prior art; by adopting the vertical multi-layer multi-storage tray warehouse combined with lifting and translation transfer mode and the four-axis mechanical arm special for plane operation, the sample storage density and operation efficiency per unit floor area are greatly improved; the intelligent management system further amplifies this efficiency advantage through task optimization and dynamic storage strategy. The device hardware structure and intelligent software work together, the function modules are clear, and through the cooperation of precise control devices, safe, stable and high-throughput automatic penicillin bottle processing can be realized, the dependence on manual operation and human error is reduced, and the device has very good economic benefit and popularization value.

[0107] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by programs instructing relevant hardware, and the programs can be stored in a computer readable storage medium. When the programs are executed, the processes of the above-mentioned embodiments of the methods can be included. The storage medium can be a magnetic disc, an optical disc, a Read-Only Memory (ROM) or a Random Access Memory (RAM) and the like.

[0108] The above description is merely preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims. The information disclosed in the background section of the present application is merely intended to deepen the understanding of the general background of the present application, and should not be regarded as acknowledging or implying in any form that the information constitutes the prior art known by those skilled in the art.

Claims

1. An automated storage and sampling device for vials and a bottle cap processing device, characterized in that: include: A multi-storage tray warehouse (1000), a transfer and lifting mechanism (2000), a workstation (3000), a four-axis robotic arm (4000), a bottle cap processing mechanism (5000), a warehouse outbound support (6000) and a control system (7000); wherein, The multi-storage tray warehouse (1000) is connected to the rear end of the transfer and lifting mechanism (2000) and can store multiple trays of vials; The workstation (3000) is arranged at the front end of the transfer and lifting mechanism (2000); The transfer and lifting mechanism (2000) can take out a tray containing target vials from the multi-storage tray warehouse (1000) and transfer it to the workstation (3000) according to the instructions of the control system (7000); The four-axis robotic arm (4000) is arranged above the workstation (3000); The outbound support (6000) is arranged on the side of the workstation (3000); The workstation (3000) can transport the tray containing the target vials to the bottom of the four-axis robotic arm (4000) according to the instructions of the control system (7000); The four-axis robotic arm (4000) can grab the target vial from the tray containing the target vial according to the instruction of the control system (7000) and transport it to the outbound support (6000) for retrieval by an external mobile operation robot; The bottle cap processing mechanism (5000) is arranged in the workstation (3000) and is capable of performing a capping operation on a vial placed on the bottle cap processing mechanism (5000) by a mobile operating robot; The control system (7000) is electrically connected to the multi-storage tray warehouse (1000), the transfer and lifting mechanism (2000), the workstation (3000), the four-axis robotic arm (4000), and the bottle cap processing mechanism (5000), respectively, and can control the multi-storage tray warehouse (1000), the transfer and lifting mechanism (2000), the workstation (3000), the four-axis robotic arm (4000), and the bottle cap processing mechanism (5000) to perform corresponding operations.

2. The automated storage and sampling device for vials and bottle cap processing according to claim 1, characterized in that: Also includes: Human-computer interaction display screen (8000); wherein, It is arranged at the front end of the workstation (3000) and is in communication connection with the control system (7000), and can perform human-computer interaction to input corresponding control instructions and output corresponding information.

3. The automatic storage sampling and bottle cap processing device for vials according to claim 1 or 2, characterized in that: The transfer and lifting mechanism (2000) comprises: a machine body, a lifting platform (2001), a lifting guide rail (2002), a lifting drive motor (2003), a screw transmission device (2004) and a transverse conveying belt (2005); wherein, The lifting platform (2001), lifting guide rail (2002), lifting drive motor (2003) and screw transmission device (2004) are all arranged in the machine body; The lifting guide rail (2002) is located in front of the multi-storage tray warehouse (1000); The lifting platform (2001) is arranged on the lifting guide rail (2002) and can be lifted and lowered along the lifting guide rail (2002); The lifting platform (2001) is provided with a transverse conveying belt (2005) capable of transversely conveying the placed material trays; The lifting drive motor (2003) is arranged on the top of the lifting guide rail (2002), and the power shaft of the lifting drive motor (2003) is connected to one end of the screw transmission device (2004), and the other end of the screw transmission device (2004) is connected to the lifting platform (2001), and can drive the lifting platform (2001) to move up and down along the lifting guide rail (2002) via the screw transmission device (2004); The workstation (3000) comprises: a main body, a base, a transfer and translation mechanism (3001), a longitudinal guide rail (3002), a longitudinal drive device (3003) and a robotic arm operating area (3004); wherein, The base, the transfer and translation mechanism (3001), the longitudinal guide rail (3002), the longitudinal drive device (3003) and the robot arm operating area (3004) are all arranged in the main body; The longitudinal guide rail (3002) is provided on the base and is located in front of the transfer and lifting mechanism (2000); The transfer translation mechanism (3001) is arranged on the longitudinal guide rail (3002) and can move longitudinally along the longitudinal guide rail (3002); The longitudinal driving device (3003) is arranged on the side of the longitudinal guide rail (3002), connected to the transfer translation mechanism (3001), and can drive the transfer translation mechanism (3001) to move longitudinally along the longitudinal guide rail (3002); The robotic arm operating area (3004) is arranged within the moving range of the transfer translation mechanism (3001).

4. The automated storage and sampling device for vials and bottle cap processing according to claim 1 or 2, characterized in that: The four-axis robotic arm (4000) comprises: a robotic arm base (4001), a first joint (4002), a second joint (4003), a third joint (4004) and an end effector (4005); wherein, The robotic arm base (4001) is arranged above the workstation (3000); The first joint (4002) is connected to the robotic arm base (4001); The end of the first joint (4002) is sequentially connected to the second joint (4003), the third joint (4004) and the end effector (4005); The multi-storage tray warehouse (1000) comprises: a chassis, a multi-layer storage frame (1001), a transverse conveyor belt (1002), a tray placement position (1003) and a guide rail (1004); wherein, The multi-layer storage frame (1001), multiple transverse conveyor belts (1002), multiple tray placement positions (1003) and multiple sets of guide rails (1004) are all arranged in the chassis; The multi-layer storage frame (1001) has multiple storage layers, each storage layer is provided with at least one set of transverse conveyor belts (1002), each set of transverse conveyor belts (1002) is provided with two material tray placement positions (1003), each set of transverse conveyor belts (1002) can drive the material trays on the material tray placement positions (1003) to move, and each storage layer is provided with a set of guide rails (1004) on both sides, which can limit the sliding of the material trays on both sides of the storage layer.

5. The automatic storage sampling and bottle cap processing device for vials according to claim 1 or 2, characterized in that: The bottle cap processing mechanism (5000) comprises: a bottle cap clamping device (5001), a driving cylinder (5002), a positioning base (5003), a bottle cap discarding area (5004), a translation guide rail (5005), a clamping and lifting guide rail (5006) and a clamping and lifting driving device (5007); wherein, The positioning base (5003) is arranged in the workstation (3000); The bottle cap clamping device (5001) is arranged above the positioning base (5003), and has a clamping head at its lower end for grabbing the bottle cap; The driving cylinder (5002) is connected to the bottle cap clamping device (5001) via a connecting rod, and is used to drive the clamping head at the lower end thereof to clamp or loosen the bottle cap of the vial; The clamping and lifting guide rail (5006) is arranged on one side of the bottle cap clamping device (5001) and the driving cylinder (5002), and the bottle cap clamping device (5001) and the driving cylinder (5002) can perform lifting motion on the clamping and lifting guide rail (5006); The clamping and lifting driving device (5007) is arranged on the top of the clamping and lifting guide rail (5006) and is used to drive the bottle cap clamping device (5001) and the driving cylinder (5002) to move up and down along the clamping and lifting guide rail (5006); The translation guide rail (5005) is provided below the bottom plate where the positioning base (5003) and the bottle cap discarding area (5004) are located, and can drive them to move horizontally as a whole so as to align with the bottle cap clamping device (5001) respectively; The bottle cap discarding location (5004) is arranged on one side of the positioning base (5003) and is used to receive the bottle caps discarded after the bottle cap clamping device (5001) releases the clamping head.

6. A method for automated storage sampling of vials and bottle cap processing, characterized in that: The device for automatically storing and sampling vials and processing bottle caps according to any one of claims 1 to 5 comprises: Step 1: When the system is initialized, the control system (7000) of the automatic storage, sampling and cap processing device for vials assigns a unique identification code to each vial in the multi-storage tray warehouse (1000) of the automatic storage, sampling and cap processing device for vials, and establishes a vial database; establishes a vial position mapping relationship, generates a vial position mapping table, and records the correspondence between the physical location of each vial and the unique identification code; Step 2, receiving and processing the sampling instruction containing the tray information and bottle position information of the target vial through the control system (7000), parsing the operation instruction content, and determining the unique identification code and operation type of the target vial; Step 3, the control system (7000) calculates the optimal operation path based on the location information of the target vial through a path planning algorithm and generates a device action sequence; Step 4: The control system (7000) controls the transfer and lifting mechanism (2000) of the automated storage and sampling device for vials and cap processing to move to the layer where the tray containing the target vials is located based on the tray information in the sampling instruction, and transfers the tray containing the target vials from the multi-storage tray warehouse (1000); Step 5, the control system (7000) controls the transfer and lifting mechanism (2000) to carry the tray containing the target vials and transfer it to the workstation (3000) of the vial automated storage, sampling and cap processing device; Step 6, the control system (7000) controls the workstation (3000) to transport the tray containing the target vials to the bottom of the four-axis robotic arm (4000) of the vial automated storage, sampling and cap processing device; Step 7, the control system (7000) controls the four-axis robotic arm (4000) to grab the target vial from the tray containing the target vial according to the vial position information in the sampling instruction; Step 8, the control system (7000) controls the four-axis robotic arm (4000) to transport the grabbed target vial to the outbound support (6000) of the automated vial storage, sampling, and cap processing device, and updates the vial's status information to "outbound." Step 9: An external mobile operating robot takes the target vial from the outbound rack (6000) and places it on the bottle cap processing mechanism (5000) of the automated storage, sampling and bottle cap processing device for performing an opening operation. After opening the cap, the mobile operating robot takes the target vial away. Step 10: After the sampling task is completed, the control system (7000) controls each mechanism to perform a reset operation, returning the tray to its initial position in the multi-storage tray warehouse (1000), thus completing a complete automated operation.

7. The method for automated storage and sampling of vials and processing of bottle caps according to claim 6, characterized in that: In step 1 of the method, the control system (7000) assigns a unique identification code to each vial in the multi-storage tray warehouse (1000) and establishes a vial database; establishes a vial position mapping relationship, generates a vial position mapping table, and records the corresponding relationship between the physical location of each vial and the unique identification code, including: Step 11, the data management module of the control system (7000) assigns a unique identification code to each vial in the multi-storage tray warehouse (1000), wherein the unique identification code is encoded in the format of "L{storage layer number}-P{tray number}-R{row number}-C{column number}"; Step 12, the data management module of the control system (7000) establishes a vial database for storing basic information, location information and status information of the vials; Step 13, configuring system parameters by the data management module of the control system (7000), wherein the system parameters include setting the number of storage layers of the multi-storage tray warehouse (1000) to 5 layers, the number of trays per layer to 4 layers, and the capacity of each tray to 70 vials; Step 14, the data management module of the control system (7000) scans the occupancy status of all trays in the multi-storage tray warehouse (1000), generates a bottle position mapping table, and establishes a one-to-one correspondence between the physical location of the vial and the unique identification code; Step 15, the data management module of the control system (7000) initializes the status tracking table and marks the status of all the in-stock vials as in stock; In step 2 of the method, the sampling instruction including the tray information and bottle position information of the target vial is received and processed by the control system (7000) in the following manner, including: Step 21: The operator sends a sampling instruction containing the material tray information and bottle position information of the target vial to the intelligent management module of the control system (7000) through the host computer system, or inputs or selects the sampling instruction containing the material tray information and bottle position information of the target vial to the intelligent management module of the control system (7000) through the human-computer interaction display screen (8000) of the vial automatic storage sampling and bottle cap processing device; or the intelligent management module of the control system (7000) receives the operation instruction from the host computer system through the TCP / IP communication service monitoring port; Step 22: After the control system (7000) receives the sampling instruction, the intelligent management module of the control system 7000 parses and generates an internal execution sequence to prepare for scheduling each actuator; the intelligent management module of the control system (7000) parses the format of the received operation instruction, identifies the operation type and instruction parameters, and determines the unique identification code and target location of the target vial based on the instruction parameters; In step 3 of the method, the control system (7000) calculates the optimal operation path based on the position information of the target vial using a path planning algorithm to generate a device action sequence in the following manner, including: Step 31, the intelligent management module of the control system (7000) obtains the storage layer number and the tray number of the tray where the target vial is located; Step 32, the intelligent management module of the control system (7000) calculates the movement paths of the transfer lifting mechanism (2000), the transfer translation mechanism (3001) of the workstation (3000), and the four-axis robotic arm (4000); Step 33, the intelligent management module of the control system (7000) optimizes the action sequence according to the movement paths of the transfer lifting mechanism (2000), the transfer translation mechanism (3001) of the workstation (3000) and the four-axis robotic arm (4000), so as to minimize the equipment movement time and waiting time; In step 4 of the method, the control system (7000) controls the transfer and lifting mechanism (2000) to move to the storage layer where the tray containing the target vials is located, and transfers the tray containing the target vials from the multi-storage tray warehouse (1000) in the following manner, including: Step 41, the intelligent management module of the control system (7000) controls the lifting drive motor (2003) of the transfer lifting mechanism (2000) to operate according to the storage layer number information in the tray information in the sampling instruction, and drives the lifting platform (2001) to move along the lifting guide rail (2002) through the screw transmission device (2004) of the transfer lifting mechanism (2000) until the upper surface of the lifting platform (2001) is flush with the storage layer of the multi-storage tray warehouse (1000) where the tray containing the target vial is located; Step 42, the intelligent management module of the control system (7000) activates the transverse conveyor belt (1002) below the tray placement position (1003) where the tray containing the target vial is located in the multi-storage tray warehouse (1000), moves the tray containing the target vial out of the multi-layer storage rack (1001), and transfers it to the lifting platform (2001); In step 5 of the method, the control system (7000) controls the transfer and lifting mechanism (2000) to carry the tray containing the target vial to the workstation (3000) in the following manner, including: The intelligent management module of the control system (7000) controls the lifting drive motor (2003) of the transfer lifting mechanism (2000) to lower the lifting platform (2001) carrying the material tray containing the target vial to a height flush with the transfer translation mechanism (3001) of the workstation (3000); then, the transverse conveyor belt (2005) on the lifting platform (2001) is controlled to start, and the material tray is transferred to the transfer translation mechanism (3001); In step 6 of the method, the control system (7000) controls the workstation (3000) to transport the tray containing the target vial to the bottom of the four-axis robotic arm (4000) in the following manner, including: The intelligent management module of the control system (7000) controls the longitudinal drive device (3003) in the workstation (3000) to start, driving the transfer translation mechanism (3001) to move along the longitudinal guide rail (3002) until the tray containing the target vial is parked in the robotic arm operating area (3004) below the four-axis robotic arm (4000); In step 7 of the method, the control system (7000) controls the four-axis robotic arm (4000) to grab the target vial from the tray containing the target vial in the following manner, including: The intelligent management module of the control system (7000) calculates the precise coordinates of the target vial in the coordinate system of the workstation (3000) based on the vial position information in the sampling instruction, and drives the joints of the four-axis robotic arm (4000) to move so that the end effector (4005) moves to the top of the target vial, then vertically descends and operates the end effector (4005) to clamp the body of the target vial, thereby completing the grasping of the target vial; In step 8 of the method, the control system (7000) controls the four-axis robotic arm (4000) to transport the grabbed target vial to the outbound support (6000) in the following manner, including: Step 81, the intelligent management module of the control system (7000) controls the four-axis robot arm (4000) to transport the grabbed target vial to the top of the outbound rack (6000), and place it in one of the designated or empty vial placement slots (6002), then release the gripper and retract it; Step 82, the intelligent management module of the control system (7000) monitors the operation process in real time to ensure the accuracy of the action execution; Step 83, after the operation is completed, the data management module of the control system (7000) updates the status information of the vial and updates the status to shipped; In step 9 of the method, the opening operation is performed on the bottle cap processing mechanism (5000) in the following manner, including: Step 91: An external mobile operation robot transports the target vial and accurately places it on the positioning base (5003) of the bottle cap handling mechanism (5000). The positioning base (5003) can limit the body of the target vial to prevent it from moving. The translational guide rail (5005) drives the positioning base (5003) to move, so that the target vial is located directly below the bottle cap clamping device (5001). In step 92, the clamping and lifting driving device (5007) of the bottle cap processing mechanism (5000) drives the bottle cap clamping device (5001) and the driving cylinder (5002) to descend to the bottle cap position along the clamping and lifting guide rail (5006), and the driving cylinder (5002) drives the clamping head of the bottle cap clamping device (5001) to clamp the bottle cap; then, the clamping and lifting driving device (5007) drives the bottle cap clamping device (5001) and the driving cylinder (5002) to lift upward along the clamping and lifting guide rail (5006) as a whole, so as to separate the bottle cap from the bottle body; the translation guide rail (5005) drives the positioning base (5003) to move, so that the bottle cap discarding location (5004) is located directly below the bottle cap clamping device (5001), and the bottle cap clamping device (5001) releases the clamping head to discard the bottle cap to the bottle cap discarding location (5004); Step 93: After the opening is completed, the mobile operation robot takes away the opened target vial; In step 10 of the method, the control system (7000) controls each mechanism to perform a reset operation in the following manner, including: Step 101, the intelligent management module of the control system (7000) controls the four-axis robotic arm (4000) to return to its initial or standby position; Step 102, the intelligent management module of the control system (7000) controls the transfer translation mechanism (3001) to move in the opposite direction along the longitudinal guide rail (3002), and transports the material tray back to the docking position with the transfer lifting mechanism (2000); Step 103, the intelligent management module of the control system (7000) controls the transfer lifting mechanism (2000) to receive the material tray through the transverse conveyor belt (2005), and then starts the lifting drive motor (2003) to lift the lifting platform (2001) to the original storage layer of the material tray; In step 104, the intelligent management module of the control system (7000) controls the transverse conveyor belt (1002) of the corresponding storage layer of the multi-storage tray warehouse (1000) to start in reverse, pick up the tray from the lifting platform (2001) and send it to its original tray placement position (1003) in the multi-layer storage rack (1001), thus completing a complete automated operation cycle.

8. The method for automated storage and sampling of vials and cap processing according to claim 7, characterized in that: The method also includes intelligent scheduling and task optimization management processing, including: The intelligent management module of the control system (7000) performs reservation scheduling according to the sampling time reserved in advance by the user, automatically sorts and optimizes the batch operation path; When multiple vials on the same tray need to be taken out, the intelligent management module of the control system (7000) automatically identifies and merges the operations, completing the removal of multiple vials at one time; When there are multiple sampling requests, the intelligent management module of the control system (7000) uses a task decomposition algorithm to execute non-conflicting operation steps in parallel, and controls the transfer and lifting mechanism (2000) to prepare the next material tray in advance while the four-axis robot arm (4000) processes the current vial. The priority of emergency operation is set. When an emergency sampling instruction is received, the intelligent management module of the control system (7000) automatically interrupts the current non-emergency task, executes the emergency task first, and automatically resumes the original task after completion.

9. The method for automated storage and sampling of vials and cap processing according to claim 7 or 8, characterized in that: The method also includes intelligent storage location optimization management processing, including: The data management module of the control system (7000) uses a machine learning algorithm to predict the frequency and time pattern of vial usage based on historical operation data, and automatically adjusts the storage location of frequently used vials to a location that is more easily accessible; When a vial is returned to the warehouse, the data management module of the control system (7000) detects whether the original position is occupied. If the original position is occupied, the data management module of the control system (7000) searches for the nearest empty space in the same material tray. If there is no empty space in the same material tray, the data management module of the control system (7000) searches for an empty space in other material trays in the same storage layer. After allocating a new position, the data management module of the control system (7000) updates the position information of the vial in the bottle position mapping table, ensuring that the vial can be returned to the warehouse smoothly and maintaining the accuracy of the position information.

10. The method for automated storage and sampling of vials and processing of bottle caps according to claim 7 or 8, characterized in that: The method also includes data analysis and decision support processing, including: The data management module of the control system (7000) generates a detailed operation log for each operation, recording the operation timestamp, operation type, unique identification code of the vial, source location and target location information, operation time and operation result, and stores the log information in an operation log database, so that the operation process is traceable; Based on the accumulated operation data, the data management module of the control system (7000) generates a multi-dimensional analysis report, including operation efficiency trends, bottleneck analysis, capacity prediction, occupancy rate and vacancy distribution of each tray, average operation time, average daily operation times and abnormal handling status; The data management module of the control system (7000) regularly generates inventory statistics reports to analyze the system operation status. The inventory statistics reports include key indicators such as inventory utilization rate, operating efficiency, and exception handling rate. The statistical results are uploaded to the host computer system as data support for management decisions and system optimization.

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