Method and device for opening and closing cover of sample container, computer equipment and storage medium

Abstract

The invention discloses a cover opening and closing method and device of a sample container, computer equipment and a storage medium, the method and device are applied to a sample container operating system, the sample container operating system comprises a mechanical arm and a cover opening and closing device, and the cover opening and closing method of the sample container comprises the steps that the mechanical arm is controlled to feed the sample container into a target station of the cover opening and closing device; controlling the cover opening and closing device to perform cover opening operation on the sample container, and separating a cover body of the sample container from a container body of the sample container; the mechanical arm is controlled to execute experiment operation on the container body, and the container body is sent back to the target station after the experiment operation is completed; the cover opening and closing device is controlled to cover the container body, and a sample container after the experiment is obtained; and controlling the mechanical arm to take away the sample container after the experiment. According to the cover opening and closing method for the sample container, the mechanical arm and the cover opening and closing device cooperatively operate, the problems of pollution risks and experimental errors caused by manual operation of the sample container are solved, and efficient and automatic sample container treatment is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation processing, and in particular to a sample container cover opening and closing method and device, computer equipment and a storage medium. BACKGROUND

[0002] The processing of biological materials is quite important for analysis. In order to enable an analyzer to experiment on a biological sample, it is usually necessary to remove the cover of a sample container before sample preparation or analysis; it is also important to re-cover the cover of the sample container for the purpose of delivery to possible downstream processing devices or sample preservation.

[0003] In the prior art, the sample container is manually operated, which has an infection risk and leads to errors in sample analysis. SUMMARY

[0004] The present application aims to overcome the deficiencies of the prior art and provide a sample container cover opening and closing method and device, computer equipment and a storage medium, so as to solve the technical problem of the prior art that relies on manual operation of the sample container, has an infection risk and leads to errors in sample analysis.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions: In a first aspect, the present application provides a sample container cover opening and closing method applied to an electronic device, wherein the electronic device is in communication with a mechanical arm and a cover opening and closing device in a sample container operation system, and the method comprises: controlling the mechanical arm to send a sample container to a target station of the cover opening and closing device; controlling the cover opening and closing device to perform a cover opening operation on the sample container to separate the cover of the sample container from the container body of the sample container; controlling the mechanical arm to perform an experimental operation on the container body and to send the container body back to the target station after the experimental operation is completed; controlling the cover opening and closing device to perform a cover closing operation on the container body to obtain an experimental sample container; controlling the mechanical arm to take away the experimental sample container.

[0006] In a second aspect, the present application provides a sample container operation device applied to an electronic device, wherein the electronic device is in communication with a mechanical arm and a cover opening and closing device in a sample container operation system, and the device comprises: a station selection module configured to control the mechanical arm to send a sample container to a target station of the cover opening and closing device; a cover opening module configured to control the cover opening and closing device to perform a cover opening operation on the sample container to separate the cover of the sample container from the container body of the sample container; An experiment module is configured to control the mechanical arm to perform an experiment operation on the container body and send the container body back to the target station after the experiment operation is completed. A capping module is configured to control the opening and closing device to perform a capping operation on the container body, so as to obtain a sample container after the experiment. A taking module is configured to control the mechanical arm to take away the sample container after the experiment.

[0007] In a third aspect, the present application provides a computer device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the opening and closing method of the sample container according to the first aspect when executing the computer program.

[0008] In a fourth aspect, the present application provides a storage medium, which stores a computer program, and the computer program comprises program instructions executable by a processor to implement the opening and closing method of the sample container according to the first aspect.

[0009] The opening and closing method of the sample container according to the present application solves the pollution risk and experimental error caused by manual operation of the sample container through the cooperative operation of the mechanical arm and the opening and closing device, and realizes efficient and automatic processing of the sample container.

[0010] The above description is only a summary of the technical scheme of the present application, and in order to more clearly understand the technical means of the present application, the content of the specification can be implemented, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 FIG. 4 is a perspective view of the opening and closing device of the embodiment of the present application; Figure 2 FIG. 5 is a front view of the opening and closing device of the embodiment of the present application; Figure 3 FIG. 6 is a side view of the opening and closing device of the embodiment of the present application; Figure 4 FIG. 7 is a schematic view of the connecting structure of the moving plate of the opening and closing device of the embodiment of the present application; Figure 5 FIG. 8 is an internal structure view of the opening and closing device of the embodiment of the present application; Figure 6 FIG. 9 is a flowchart of the opening and closing method of the sample container of the embodiment of the present application; Figure 7 FIG. 10 is a first sub-flowchart of the opening and closing method of the sample container of the embodiment of the present application; Figure 8A second sub-flowchart of the sample container opening and closing cover method of the embodiment of the present application; Figure 9 A third sub-flowchart of the sample container opening and closing cover method of the embodiment of the present application; Figure 10 A fourth sub-flowchart of the sample container opening and closing cover method of the embodiment of the present application; Figure 11 A fifth sub-flowchart of the sample container opening and closing cover method of the embodiment of the present application; Figure 12 A sixth sub-flowchart of the sample container opening and closing cover method of the embodiment of the present application; Figure 13 A schematic diagram of the sample container operation device of the embodiment of the present application; Figure 14 A schematic block diagram of a computer device provided by the embodiment of the present application.

[0012] Explanation of reference signs: 1, rack; 11, positioning seat; 12, buffer seat; 2, actuating mechanism; 21, operation assembly; 211, moving plate; 212, vacuum sub-pipe; 213, suction cup; 22, vertical moving module; 221, moving end; 23, pressure reducing valve; 24, first arrival sensor; 25, second arrival sensor; 26, vacuum generator. DETAILED DESCRIPTION

[0013] In order to make the objects, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application in combination with the drawings and specific embodiments.

[0014] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0015] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "resin", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship described based on the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0016] In addition, the terms "first", "second", etc. are used only to describe various features and do not imply or suggest relative importance or a specific number of the technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0017] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be connected, or detachable, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0018] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include the direct contact of the first and second features, or the contact of the first and second features through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes the first feature directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "below", "below" and "below" the second feature includes the first feature directly below and obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0019] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0020] It should be noted that the opening and closing cover method of the sample container proposed in the present application is applied to electronic equipment, and the electronic equipment communicates with the mechanical arm and the opening and closing cover device of the sample container operating system. The sample container operating system is described below.

[0021] As Figures 1-5As shown, the switch cover device comprises: a rack 1, the rack 1 is provided with at least two positioning seats 11 in the vertical direction; an actuator 2, the operating mechanism comprises an operating assembly 21 movably arranged in the vertical direction, the operating assembly 21 is the same as the setting number of the positioning seat 11, and each positioning seat 11 is correspondingly provided with an operating assembly 21 on the upper side; wherein the positioning seat 11 is used for placing the sample container; the operating assembly 21 is used for moving to approach or away from the positioning seat 11 below, and is used for performing the cover taking or covering action on the sample container of the positioning seat 11 below.

[0022] In some embodiments, the switch cover device is provided with two positioning seats 11 and two operating assemblies 21, and the two positioning seats 11 and the two operating assemblies 21 are alternately arranged in a straight line in the vertical direction. In other embodiments, the switch cover device can also be provided with other numbers of positioning seats 11 and operating assemblies 21.

[0023] It can be understood that, unlike the sample container operating equipment in the prior art, the switch cover device of the present application has a plurality of positioning seats 11 for placing sample containers and operating assemblies 21 for taking covers or covering, so that the switch cover device can simultaneously perform covering and / or cover taking actions on multiple positioning seats 11, breaking through the efficiency bottleneck of traditional single-station, and being able to adapt to the continuous operation cycle of the mechanical arm.

[0024] Specifically, taking the switch cover device provided with two positioning seats 11 and two operating assemblies 21 as an example. The arrangement of the two positioning seats 11 allows the switch cover device to accommodate two sample containers, and the two sample containers can be in different stages or the same stage. For example, the two sample containers placed in the two positioning seats 11 can be in a cover taking waiting state and a cover adding waiting state, so that when the actuator 2 is started, the two operating assemblies 21 approach the corresponding positioning seats 11 below, and the corresponding cover taking operation and cover adding operation can be performed on the two sample containers respectively. For another example, the two sample containers placed in the two positioning seats 11 can be in a cover taking waiting state or a cover adding waiting state, so that when the actuator 2 is started, the two operating assemblies 21 approach the corresponding positioning seats 11 below, and the cover taking operation or the cover adding operation can be performed on the two sample containers. Therefore, this embodiment not only breaks through the efficiency bottleneck of traditional single-station, but also solves the problem that the traditional single-station device cannot handle mixed working states (such as the existence of sample containers to be taken cover and sample containers to be added cover at the same time), resulting in the mechanical arm being forced to wait for a single action to be completed.

[0025] In some embodiments, the execution mechanism 2 further comprises a vertical movement module 22, which comprises a movable end 221 movable in a vertical direction; the movable end 221 is connected to the moving plate 211 of the operation assembly 21, and the moving plate 211 of each operation assembly 21 is at the same distance from the corresponding positioning seat 11 on the lower side thereof. Optionally, the vertical movement module 22 is a lead screw module, and the movable end 221 is a slider configured in the lead screw module. Preferably, the lead screw module is driven by a stepping motor to control the lifting of the slider.

[0026] It should be explained that if each operation assembly 21 is configured with an independent driving device, the cost required is high. Based on this, the embodiment uses one vertical movement module 22 as a driving source, and the movable end 221 is connected to the moving plate 211 of all operation assemblies 21. When the vertical movement module 22 works, all operation assemblies 21 move synchronously in the vertical direction under unified driving, and by accurately controlling the moving distance of the movable end 221, the distance between the moving plate 211 and the positioning seat 11 is ensured to meet the operation requirements, so as to realize the simultaneous cover taking or covering operation on multiple sample containers, and further improve the efficiency and automation degree of sample processing.

[0027] It should be noted that in order to ensure that the moving plate 211 has enough space to complete the cover taking or covering action during lifting or lowering, and to avoid collision with the sample container, the sample container and the operation assembly 21 are protected from being damaged. The lifting height of the moving plate 211 relative to the positioning seat 11 on the lower side thereof should be greater than the sum of the height of the sample container and the height of the cover body. For example, in the embodiment, the height of the sample container is 30 mm, the height of the cover body is 8.7 mm, and the lifting height of the moving plate 211 relative to the positioning seat 11 on the lower side thereof is 60 mm. It can be understood that the lifting height of the moving plate 211 is greater than the sum of the height of the sample container and the height of the cover body, so that the sample container can be completely suspended during the operation process, reducing the contact with the external environment, thereby reducing the possibility of pollution.

[0028] In some embodiments, the moving plate 211 is provided with a vacuum branch pipe 212 and a plurality of suction cups 213, the plurality of suction cups 213 are arranged on the lower side of the moving plate 211 and used for adsorbing or releasing the cover body of the sample container; the execution mechanism 2 further comprises a vacuum generator 26, one end of the vacuum branch pipe 212 is connected to the vacuum generator 26, and the other end of the vacuum branch pipe 212 is communicated with each suction cup 213.

[0029] Optionally, the lower side of each moving plate 211 is provided with four suction cups 213, and a rectangular area is formed between the four suction cups 213. Optionally, each vacuum branch pipe 212 is configured with an electromagnetic valve electrically connected to the switch cover device control system.

[0030] It can be understood that the vacuum generator 26 generates a vacuum, which is transmitted to each suction cup 213 through the vacuum branch pipe 212, and when the suction cup 213 is close to the cover of the sample container, the vacuum makes the suction cup 213 adsorb the cover, so as to realize the cover taking operation; when the cover needs to be added, the suction cup 213 stops supplying vacuum after being close to the sample container and pressing the cover, and the suction cup 213 releases the cover.

[0031] Specifically, when the sample container of any one positioning seat 11 needs to perform the cover taking operation, the vertical movement module 22 drives the moving plate 211 to move downward, so that the moving plate 211 corresponding to the sample container is close to the cover of the sample container until the suction cup 213 on the lower side of the moving plate 211 contacts the cover of the sample container; then, the vacuum generator 26 is started to generate a vacuum and transmit it to the suction cup 213 through the vacuum branch pipe 212, the suction cup 213 adsorbs the cover, and the vertical movement module 22 drives the moving plate 211 to move upward, at this time, the moving plate 211 hovers above the positioning seat 11 by adsorbing the cover through the suction cup 213, and the cover taking operation is completed. When the sample container of any one positioning seat 11 needs to perform the cover adding operation, the moving plate 211 is lowered again, so that the cover carried by the suction cup 213 is aligned with the target container and is pressed down, the vacuum supply is stopped, the suction cup 213 releases the cover, and the cover adding operation is completed.

[0032] In some embodiments, the operation assembly 21 further comprises a vacuum negative pressure switch, which is arranged on the vacuum branch pipe 212 and is used to detect the vacuum degree of the vacuum branch pipe 212 to determine whether the current vacuum degree of the vacuum branch pipe 212 reaches a preset value. The vacuum negative pressure switch detects the vacuum degree of the entire vacuum branch pipe 212 to further analyze the vacuum degree of the suction cup 213 connected to the other end of the vacuum branch pipe 212. Optionally, the switch cover device of the present embodiment further comprises an audible and visual alarm and a control system, and the audible and visual alarm and the vacuum negative pressure switch are electrically connected to the control system. Optionally, the preset value is-50kPa, and if it is less than or equal to-50kPa, it reaches the preset value, and if it is greater than-50kPa, it does not reach the preset value. For example, a vacuum degree of-65kPa reaches the preset value, and a vacuum degree of-45kPa does not reach the preset value.

[0033] It can be understood that when the cover taking or adding operation is performed, it is necessary to ensure that the suction cup 213 can stably adsorb or release the cover. By introducing the vacuum negative pressure switch, the vacuum degree at the suction cup 213 can be monitored in real time, so that the control system can timely understand the state of the vacuum system, thereby making corresponding adjustments or issuing an alarm to ensure the stability and reliability of the entire cover switching process.

[0034] Specifically, the vacuum negative pressure switch detects the vacuum degree of the vacuum branch pipeline 212 every second. If the current vacuum degree is less than the preset value, it is considered that the chuck 213 connected by the vacuum branch pipeline 212 has unstable adsorption, and the audible and light alarm is triggered to alarm, and the vertical moving module 22 drives the moving plate 211 to lift.

[0035] In some embodiments, the execution mechanism 2 further comprises a pressure reducing valve 23 connected to the vacuum generator 26. It can be understood that the pressure reducing valve 23 can provide stable low pressure gas to ensure that the vacuum generator 26 can continuously generate reliable vacuum to ensure that the adsorption and release functions of the chuck 213 work normally.

[0036] In some embodiments, the positioning seat 11 is provided with a first presence sensor 24 for detecting whether there is a sample container on the positioning seat 11. Optionally, the first presence sensor 24 is electrically connected with the control system of the mechanical arm, and the first presence sensor 24 is also electrically connected with the control system of the cover opening and closing device. Optionally, the mechanical arm and the cover opening and closing device share a set of control systems.

[0037] It can be understood that by polling the detection state of the first presence sensor 24 of each positioning seat 11, the idle positioning seat 11 can be quickly screened out, so that the mechanical arm can efficiently move the next group of sample containers to the idle positioning seat 11, reduce the time of the mechanical arm searching for the positioning seat 11, improve the operation efficiency of the whole system, and further ensure that the idle positioning seat 11 can be used in time, avoid resource waste, and improve the overall throughput of the equipment.

[0038] Specifically, the control system periodically polls the first presence sensor 24 of each positioning seat 11 to obtain the detection state of each positioning seat 11; the control system screens out the currently idle positioning seat 11 according to the state information fed back by the first presence sensor 24; the control system transmits the screening result to the control system of the mechanical arm, and the mechanical arm moves to the idle positioning seat 11 according to the scheduling result and places the next group of sample containers on the idle positioning seat 11.

[0039] In some embodiments, the upper side of the positioning seat 11 is provided with a positioning groove for placing the sample container and limiting the movement in the horizontal direction.

[0040] Among them, by setting the positioning groove on the upper side of the positioning seat 11, the sample container can be limited in the horizontal direction, ensuring that the sample container is accurately placed on the positioning seat 11, improving the precision and reliability of the operation. Moreover, the positioning groove can prevent the sample container from moving or shaking in the horizontal direction on the positioning seat 11, ensuring that the sample container remains stable during the cover opening and closing operation, and avoiding operation failure caused by container position deviation.

[0041] In some embodiments, a buffer seat 12 is provided on the top of the rack 1 for placing sample containers.

[0042] It should be explained that during sample container processing, especially when the positioning seat 11 is not idle, a temporary place to place the sample container is needed. The buffer seat 12 in this embodiment provides an additional, flexible placement position for the sample container, which can realize the pre-placement or temporary storage of the sample container. This allows the robotic arm to place the sample container on the buffer seat 12 in advance while performing other tasks, reducing the waiting time of the robotic arm and improving the overall efficiency of the system.

[0043] In some embodiments, the buffer seat 12 is provided with a second positioning sensor 25, which is used to detect whether there is a sample container on the buffer seat 12. Through the monitoring of the second positioning sensor 25, the control system can more accurately grasp the status of the sample container on the buffer seat 12, thereby achieving more efficient task scheduling and process control, and avoiding process interruptions or chaos caused by the failure to detect the container on the buffer seat 12 in a timely manner.

[0044] In some embodiments, two cover switch devices can be stacked, that is, the frame 1 of the first cover switch device is stacked on top of the frame 1 of the second cover switch device. In this case, the second position sensor 25 of the second cover switch device can detect that its buffer seat 12 is occupied.

[0045] In summary, the positioning seat 11 of the cover opening and closing device can be understood as the operating station in the following text, and the buffer seat 12 can be understood as the buffer station in the following text.

[0046] Please see Figure 6 , Figure 6 This is a flowchart of a method for opening and closing the lid of a sample container according to an embodiment of the present invention. The present invention provides a method for opening and closing the lid of a sample container, including steps S100-S500: S100: Control the robotic arm to send the sample container into the target station of the opening and closing device.

[0047] like Figure 7 As shown, Figure 7 This is a first sub-flowchart of the method for opening and closing the lid of a sample container according to an embodiment of the present invention. Step S100 includes S110-S112: S110. Obtain the current status of the operating station in the cover switch device.

[0048] Understandably, knowing whether the current workstation is available allows for the reasonable placement of sample containers, avoiding resource waste and equipment conflicts, and laying the foundation for efficient and orderly task scheduling in the future.

[0049] Specifically, by installing the first-in-place sensor at the operation station, the state of the operation station can be monitored in real time, and information can be fed back to the control system.

[0050] S111, when there is an operation station in an idle state, marking the operation station in the idle state as a target station, and sending a cover removal and movement instruction to the mechanical arm.

[0051] It needs to be explained that after determining that there is an idle operation station, the control system will mark the operation station as a "target station" and instruct the mechanical arm to act, ensuring the coherence and target of task execution, avoiding disordered operation of the mechanical arm, and improving the overall efficiency of the system.

[0052] S112, when the mechanical arm receives the cover removal and movement instruction, controlling the mechanical arm to send the sample container into the target station.

[0053] In this embodiment, the mechanical arm is relied on to accurately send the sample container into the marked target station, which reduces human intervention and reduces the risk of contamination. At the same time, relying on the high-precision movement of the mechanical arm and the path planning of the control system, fast and accurate sample container placement is realized.

[0054] In some embodiments, as Figure 8 shown, Figure 8 is a second sub-flowchart of the sample container cover opening and closing method of the embodiment of the present application, and the step S100 includes S120-S124: S120, obtaining the current state of the operation station in the cover opening and closing device.

[0055] In this embodiment, the first-in-place sensor can be used to monitor the state of the operation station in real time, dynamically understand the idle or occupied state of each operation station, efficiently find an idle station for the sample container, and avoid resource waste and task conflict.

[0056] S121, when there is no operation station in an idle state, obtaining the current state of the buffer station in the cover opening and closing device.

[0057] S122, when the current state of the buffer station is in an idle state, controlling the mechanical arm to send the sample container into the buffer station.

[0058] S123, when there is an operation station in an idle state, marking the operation station in the idle state as a target station, and sending a cover removal and movement instruction to the mechanical arm.

[0059] S124, when the mechanical arm receives the cover taking-in instruction, control the mechanical arm to send the sample container on the buffer station into the target station.

[0060] It can be understood that the embodiment optimizes the processing efficiency of the sample container by dynamically scheduling the operation station and the buffer station. Specifically, the embodiment uses the second sensor to monitor the state of the buffer station in real time. When the operation station is full, if the buffer station is in an idle state, the sample container can be temporarily stored in the buffer station, and the container will be transferred to the idle operation station when there is an idle operation station. This breaks the efficiency bottleneck of the traditional single station, reduces the waiting time of the mechanical arm, and significantly improves the sample processing efficiency.

[0061] For example, in a sample container operation system, there are two operation stations and one buffer station. When both operation stations are occupied, the sample container will be sent to the buffer station for temporary storage. At the same time, the state of the operation station is continuously monitored. As soon as an operation station is idle, the sample container on the buffer station is moved to the idle operation station, and then the cover opening, experiment operation and cover closing processes are performed. The whole process is feedbacked by the first and second position sensors in real time to ensure the accurate scheduling of the mechanical arm, efficient use of the operation station and buffer station, and automatic processing of the sample container.

[0062] S200, control the cover opening and closing device to perform cover opening operation on the sample container to separate the cover of the sample container from the container body of the sample container.

[0063] In some embodiments, as shown in Figure 9 Figure 9 is a third sub-flowchart of the sample container cover opening and closing method of the embodiment of the present application. Step S200 includes S210-S230: S210, when it is detected that the target station has a sample container sent in, mark the current state of the target station as an occupied state, and send a cover taking instruction to the cover opening and closing device; S220, when the cover opening and closing device receives the cover taking instruction, control the actuator of the cover opening and closing device to obtain the cover of the sample container, and separate the cover from the container body of the sample container; S230, send an experiment sampling instruction to the mechanical arm.

[0064] It can be understood that when the sample container is sent into the target station, the target station is changed from the idle state to the occupied state, which can prevent other sample containers from being mistakenly sent to the same operation station, thereby avoiding potential errors. Then, the system sends a cover taking instruction to the cover opening and closing device, and the actuator moves vertically downward to vacuum adsorb the cover of the sample container with the suction cup, and then vertically upward to complete the cover opening operation.​

[0065] In some embodiments, the switch cover device is equipped with a vacuum negative pressure switch to monitor the vacuum level of the suction cup, so as to ensure the reliability of suction cup adsorption and avoid subsequent experimental errors due to adsorption failure.

[0066] In some embodiments, within the sample container operating system, after the robotic arm delivers the sample container to the target station, the first positioning sensor detects the presence of the sample container and sends a signal to the control system. Upon receiving the signal, the control system initiates a brief delay to ensure the sample container is fully and stably positioned. After the delay, the control system reconfirms that the signal from the first positioning sensor is still valid. If confirmed, the target station is marked as "occupied," and the control system then sends a cap removal command to the cap opening / closing device. Upon receiving the cap removal command, the actuator of the cap opening / closing device moves the vertical moving module downwards, precisely aligning the suction cup with the cap of the sample container. When the suction cup approaches the cap, the vacuum generator activates, generating a vacuum that is transmitted to the suction cup via a vacuum distribution pipe, thereby adsorbing the cap. During this process, a vacuum negative pressure switch monitors the vacuum level in the vacuum distribution pipe in real time. If the vacuum level reaches a preset value (e.g., -50 kPa), the adsorption is confirmed to be successful; otherwise, an audible and visual alarm is triggered, and the operation is paused to avoid erroneous operation. After successful adsorption, the vertical moving module moves the moving plate upward, smoothly lifting the cover from the sample container. At the same time, the control system sends an experimental sampling command to the robotic arm, instructing the robotic arm to come and remove the container body for subsequent experimental operations.

[0067] In some embodiments, such as Figure 10 As shown, Figure 10 This is the fourth sub-flowchart of the sample container opening and closing method according to an embodiment of the present invention. Step S200 includes S240-S260: S240. Control the actuator to move vertically downwards and use the suction cup to vacuum-adhere the cover; S250, Control the actuator to move vertically upward so as to lift the cap it has attracted from the container body; S260. Control the actuator to hold the cover and wait until a cover-applying instruction is received.

[0068] Understandably, to ensure the lid is accurately replaced, the actuator employs a vertically ascending and descending motion. When the lid needs to be removed, the actuator moves vertically downwards, allowing the suction cup to precisely contact the lid. Using vacuum adsorption, the lid is then lifted vertically upwards. When replacing the lid, the actuator moves vertically downwards again, accurately aligning the lid with the container body. The suction cup releases the lid, allowing it to be smoothly replaced. This process ensures precise alignment between the lid and the container body through vertical movement, while the combination of vacuum adsorption and release mechanisms ensures stable adsorption and release of the lid.

[0069] S300, control the mechanical arm to perform experimental operation on the container body, and send the container body back to the target station after the experimental operation is completed.

[0070] In some embodiments, as shown in Figure 11 , Figure 11 The fifth sub-flow chart of the sample container opening and closing cover method of the embodiment of the application, step S300 comprises S310-S320: S310, when the mechanical arm receives the experimental sampling instruction, the container body is taken out from the target station to the experimental area to perform experimental operation, and the container body is sent back to the target station after the experimental operation is completed; S320, when it is detected that the target station marked as the occupation state exists the container body sent in, a capping instruction is sent to the opening and closing cover device.

[0071] It can be understood that the mechanical arm accurately grasps the container body on the target station according to the experimental sampling instruction, and then stably sends it back to the original target station after the operation in the experimental area is completed. During the whole process, the first position sensor monitors the position of the container body in the target station in real time, so as to ensure that the action of the mechanical arm is accurate and correct. When the container body returns to the target station, the opening and closing cover device receives the capping instruction, the actuator accurately vertically moves, adsorbs the cover body and accurately aligns the container body, and the capping action is completed.

[0072] S400, control the opening and closing cover device to perform capping operation on the container body, and obtain the sample container after the experiment.

[0073] In some embodiments, as shown in Figure 12 , Figure 12 The sixth sub-flow chart of the sample container opening and closing cover method of the embodiment of the application, step S300 comprises S410-S420: S410, when the opening and closing cover device receives the capping instruction, the actuator is controlled to vertically move downward to return the cover body adsorbed thereby to the container body, and the vacuum adsorption of the suction cup to the cover body is released; S420, a material taking instruction is sent to the mechanical arm.

[0074] When the opening and closing cover device receives the capping instruction, the actuator will vertically move downward to return the cover body to the container body, and the vacuum adsorption is released, and the capping action is completed. Then, the system sends a material taking instruction to the mechanical arm, so that the subsequent process continues.

[0075] In some embodiments, the switch cover device verifies the target station state after receiving the capping instruction. Then, the vertical movement module drives the suction cup device to move vertically and accurately downwards, and the first position sensor feeds back the distance in real time, ensuring that the suction cup is aligned with the container body. Then, the suction cup continues to move until the cover body contacts the container body, the vacuum generator stops working, the adsorption pressure is released, and the suction cup applies a slight downward pressure to the cover body, ensuring that the cover body is smoothly attached. Finally, the mechanical arm is sent a material taking instruction, and the mechanical arm takes out the capped sample container and sends it to the next processing link.

[0076] S500, control the mechanical arm to take away the sample container after the experiment. Specifically, when receiving the material taking instruction, the mechanical arm is controlled to take away the sample container after the experiment.

[0077] As shown in Figure 13 The embodiment of the present application also provides a sample container operation device 600 applied to an electronic device in communication with a mechanical arm of a sample container operation system and a switch cover device, and comprising: A station selection module 610 is configured to control the mechanical arm to send a sample container to a target station of the switch cover device. A cover opening module 620 is configured to control the switch cover device to perform a cover opening operation on the sample container to separate the cover body of the sample container from the container body of the sample container. An experiment module 630 is configured to control the mechanical arm to perform an experiment operation on the container body and send the container body back to the target station after the experiment operation is completed. A capping module 640 is configured to control the switch cover device to perform a capping operation on the container body to obtain a sample container after the experiment. A material taking module 650 is configured to control the mechanical arm to take away the sample container after the experiment.

[0078] It should be noted that the specific implementation process of the above device and each unit can be clearly understood by those skilled in the art, and the corresponding description in the foregoing method embodiments can be referred to. For the convenience and brevity of description, it will not be repeated here.

[0079] The above sample container operation device can be realized in the form of a computer program, which can run on a computer device as shown in Figure 14 .

[0080] Referring to Figure 14 , the computer device 700 includes a processor 702, a memory, and a network interface 705 connected through a system bus 701, wherein the memory can include a non-volatile storage medium 703 and an internal memory 704.

[0081] The non-volatile storage medium 703 can store an operating system 7031 and a computer program 7032. The computer program 7032 includes program instructions that, when executed, cause the processor 702 to perform a sample container opening and closing cover method: controlling the mechanical arm to send a sample container to a target station of the opening and closing cover device; controlling the opening and closing cover device to perform an opening cover operation on the sample container to separate the cover of the sample container from the container body of the sample container; controlling the mechanical arm to perform an experimental operation on the container body and send the container body back to the target station after the experimental operation is completed; controlling the opening and closing cover device to perform a closing cover operation on the container body to obtain an experimental sample container; and controlling the mechanical arm to take away the experimental sample container.

[0082] The processor 702 is configured to provide computing and control capabilities to support the operation of the entire computer device 700.

[0083] The non-volatile storage medium 703 provides an environment for the computer program 7032 to run. When the computer program 7032 is executed by the processor 702, the processor 702 can perform a sample container opening and closing cover method.

[0084] The network interface 705 is configured to perform network communication with other devices. Those skilled in the art can understand that the network interface 705 can be configured to perform network communication with other devices through the network according to the structure shown in the figure, and the specific implementation will not be described herein. Figure 14 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device 700 to which the scheme of the present application is applied. The specific computer device 700 can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0085] The processor 702 is configured to run the computer program 7032 stored in the memory to implement the following steps S100-S500: S100, controlling the mechanical arm to send a sample container to a target station of the opening and closing cover device; S200, controlling the opening and closing cover device to perform an opening cover operation on the sample container to separate the cover of the sample container from the container body of the sample container; S300, controlling the mechanical arm to perform an experimental operation on the container body and sending the container body back to the target station after the experimental operation is completed; S400, controlling the opening and closing cover device to perform a closing cover operation on the container body to obtain an experimental sample container; S500, controlling the mechanical arm to take away the experimental sample container.

[0086] It should be understood that, in the embodiments of the present application, the processor 702 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or can also be any conventional processor.

[0087] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to realize the process steps of the above-mentioned embodiments.

[0088] Therefore, the present application also provides a storage medium. The storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions, and the program instructions can realize the above-mentioned sample container opening and closing method when executed by a processor. The storage medium stores a computer program, and the computer program includes program instructions, and the program instructions can realize the above-mentioned method when executed by a processor. The program instructions include the following steps S100-S500: S100, control the mechanical arm to send a sample container into a target station of the opening and closing device; S200, control the opening and closing device to perform an opening operation on the sample container to separate the cover of the sample container from the container body of the sample container; S300, control the mechanical arm to perform an experimental operation on the container body, and send the container body back to the target station after the experimental operation is completed; S400, control the opening and closing device to perform a capping operation on the container body to obtain a sample container after the experiment; S500, control the mechanical arm to take away the sample container after the experiment.

[0089] The storage medium can be a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various computer readable storage media that can store program codes.

[0090] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in the above description in a general manner. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0091] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of each unit is only a logical functional division, and actual implementation can have another division manner. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0092] The steps in the method embodiments of the present application can be adjusted, combined and deleted in sequence according to actual needs. The units in the device embodiments of the present application can be combined, divided and deleted according to actual needs. In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0093] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a storage medium. Based on such understanding, the technical solutions of the present application essentially or say the parts that make contributions to the prior art, or the whole or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a terminal or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application.

[0094] The above only further illustrates the technical content of the present application by way of examples, so as to make it easier for the reader to understand, but does not represent that the embodiments of the present application are limited to this. Any technical extension or re-creation made according to the present application is protected by the present application. The protection scope of the present application is subject to the claims.

Claims

1. A method for opening and closing a sample container lid, applied to an electronic device, wherein the electronic device communicates with a robotic arm and a lid opening / closing device in the sample container's operating system, characterized in that... include: The robotic arm is controlled to deliver the sample container into the target station of the opening and closing device. The opening and closing device is controlled to perform an opening operation on the sample container, separating the lid of the sample container from the container body; The robotic arm is controlled to perform experimental operations on the container body, and the container body is returned to the target workstation after the experimental operations are completed. The opening and closing device is controlled to perform a capping operation on the container body to obtain the sample container after the experiment; Control the robotic arm to remove the sample container after the experiment.

2. The method for opening and closing the sample container lid according to claim 1, characterized in that, The process of controlling the robotic arm to deliver the sample container to the target station of the opening and closing device includes: Obtain the current status of the operating station in the cover opening and closing device; When there is an idle workstation, mark the idle workstation as the target workstation and send a cap removal and insertion command to the robotic arm. When the robotic arm receives the cap removal and insertion command, it controls the robotic arm to send the sample container into the target workstation.

3. The method for opening and closing the lid of a sample container according to claim 1, characterized in that, The process of controlling the robotic arm to deliver the sample container to the target station of the opening and closing device includes: Obtain the current status of the operating station in the cover opening and closing device; If there is no operating station that is currently idle, then the current status of the buffer station in the cover opening and closing device is obtained. When the current state of the cache station is idle, control the robotic arm to send the sample container into the cache station; When there is an idle workstation, mark the idle workstation as the target workstation and send a cap removal and insertion command to the robotic arm. When the robotic arm receives the cap removal and insertion instruction, it controls the robotic arm to send the sample container on the buffer station to the target station.

4. The method for opening and closing the sample container lid according to claim 1, characterized in that, The method of controlling the opening and closing device to perform an opening operation on the sample container, separating the lid of the sample container from the container body, includes: When a sample container is detected being delivered to the target workstation, the current state of the target workstation is marked as occupied, and a cap removal command is sent to the cap opening and closing device. When the lid opening and closing device receives the lid removal command, it controls the actuator of the lid opening and closing device to obtain the lid of the sample container and separate the lid from the container body of the sample container; Send an experimental sampling command to the robotic arm.

5. The method for opening and closing the sample container lid according to claim 4, characterized in that, The actuator controlling the opening and closing device acquires the lid of the sample container and separates the lid from the container body of the sample container, including: The actuator is controlled to move vertically downwards, and the cover is vacuum-adsorbed using a suction cup. The actuator is controlled to move vertically upwards to lift the cap it is adsorbing from the container body; The actuator is controlled to hold the cover and wait until a cover-applying instruction is received.

6. The method for opening and closing the sample container lid according to claim 5, characterized in that, The process of controlling the robotic arm to perform experimental operations on the container body and returning the container body to the target workstation after the experimental operations are completed includes: When the robotic arm receives the experimental sampling instruction, it takes the container body from the target workstation to the experimental area to perform the experimental operation, and returns the container body to the target workstation after the experimental operation is completed. When the container body is detected to be delivered to the target workstation marked as occupied, a capping command is sent to the capping device.

7. The method for opening and closing the lid of a sample container according to claim 6, characterized in that, The control device for opening and closing the lid performs a lid-closing operation on the container body to obtain the experimental sample container, including: When the lid opening and closing device receives the lid-adding command, it controls the actuator to move vertically downward to reattach the lid it has attracted onto the container body and release the vacuum adsorption of the lid by the suction cup. Send a material picking command to the robotic arm.

8. A sample container operating device, applied to an electronic device, wherein the electronic device communicates with a robotic arm and a lid opening / closing device in the sample container operating system, characterized in that, include: The station selection module is used to control the robotic arm to send the sample container into the target station of the opening and closing device; The lid opening module is used to control the lid opening device to perform a lid opening operation on the sample container, separating the lid of the sample container from the container body of the sample container; The experimental module is used to control the robotic arm to perform experimental operations on the container body, and to return the container body to the target workstation after the experimental operations are completed. A capping module is used to control the capping device to perform a capping operation on the container body to obtain the experimental sample container; The material handling module is used to control the robotic arm to remove the sample container after the experiment.

9. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for opening and closing the lid of the sample container as described in any one of claims 1-7.

10. A storage medium, characterized in that, The storage medium stores a computer program, which includes program instructions that, when executed by a processor, implement the method for opening and closing the sample container as described in any one of claims 1-7.

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