Automatic sample processing equipment, method and system

Abstract

The invention provides an automatic sample processing device, method and system. The automatic sample processing equipment comprises a filtering module used for filtering a sample to realize solid-liquid separation of the sample; the centrifugal module is used for carrying out centrifugal operation on a sample container containing a sample and further separating a tiny solid sample which is difficult to filter to obtain a pure liquid sample, so that high-precision solid-liquid separation is realized; the balancing module is used for carrying out balancing operation on the plurality of sample containers; and the transfer module is used for executing transfer operations required by the filtering operation, the centrifugal operation and the balancing operation by replacing different tools so as to assist in completing the filtering operation, the centrifugal operation and the balancing operation. According to the automatic sample treatment equipment, method and system disclosed by the invention, full automation of a series of processes such as filtering, centrifuging, weighing, liquid adding, cleaning and transferring is realized, so that the labor cost is reduced, and the treatment efficiency and accuracy are improved.

Description

Technical Field

[0001] This disclosure relates to the field of automated equipment technology, specifically to the field of pharmaceutical and chemical automated equipment technology, and more specifically to an automated sample processing device, an automated sample processing method, and an automated sample processing system. Background Technology

[0002] The extraction process often involves a series of operations, including filtration, centrifugation, weighing, and liquid addition. Currently, operators manually perform these operations on the corresponding instruments for each step, and then manually transfer the product from one step to the next. This consumes a significant amount of the operator's time and energy, resulting in high labor costs and low efficiency. Furthermore, it is prone to human error, leading to inaccurate results. Summary of the Invention

[0003] This disclosure was made in order to at least partially solve the technical problems existing in the prior art. This disclosure provides an automated sample processing device, method and automated sample processing system that can realize the full automation of a series of operations such as filtration, centrifugation, weighing and liquid addition of samples.

[0004] According to some embodiments of this disclosure, an automated sample processing device is provided, comprising: a filtration module for filtering a sample to achieve preliminary solid-liquid separation; a centrifugation module for centrifuging a sample container containing the sample to achieve further solid-liquid separation; a balancing module for balancing multiple sample containers; and a transfer module for performing transfer operations required for the filtration, centrifugation, and balancing operations by changing different tools, thereby assisting in completing the filtration, centrifugation, and balancing operations.

[0005] In some embodiments, the different tools include tray grippers / sieve grippers, bottle grippers, and pipetting devices, and the different tools are quickly connected to the transfer module via quick-change connectors.

[0006] In some embodiments, the bottle grippers are provided with a contamination-proof design.

[0007] In some embodiments, the automated sample processing equipment further includes a control module that performs control operations on the filtration module, the centrifugation module, the transfer module, and the balancing module; the balancing module includes a weighing device and a pipetting device, the weighing device being used to sequentially weigh multiple sample containers containing the filtered sample to obtain multiple weighing results, and the pipetting device being used to perform a balancing operation to transfer a portion of the filtered sample from a sample container containing more samples to another sample container.

[0008] In some embodiments, the control module determines whether the weight difference between the multiple sample containers exceeds the allowable range based on the multiple weighing results. If the weight difference between the multiple sample containers does not exceed the allowable range, the control module controls the transfer module to transfer the multiple sample containers to the centrifugation module to perform the centrifugation operation. If the weight difference between the multiple sample containers exceeds the allowable range, the control module controls the transfer module to perform a balancing operation on the multiple sample containers using the pipetting device of the balancing module.

[0009] In some embodiments, the control module determines whether the centrifugation operation needs to be performed based on the sample type; if the control module determines that the sample has been pulverized based on the sample type, the centrifugation operation needs to be performed; if the control module determines that the sample has not been pulverized based on the sample type, the centrifugation operation does not need to be performed.

[0010] In some embodiments, the control module uses a visual analysis module to determine whether the centrifugation operation needs to be performed based on whether the sample is clear. If the control module determines that the sample is not clear, the centrifugation operation needs to be performed; if the control module determines that the sample is clear, the centrifugation operation is not performed.

[0011] In some embodiments, the filtration module performs the filtration operation by drawing a vacuum to force the sample through a sieve under negative pressure.

[0012] In some embodiments, the filtration module includes: a vacuum pump for performing a vacuuming operation; a screen for filtering a fluid to be filtered; and a vacuum interface connected to the vacuum pump to perform the filtration operation by filtration of the fluid to be filtered through the screen.

[0013] In some embodiments, the filtration module includes: a support frame; a funnel for carrying a screen; a screen pressing plate for pressing on the screen; and an adapter fixed to the support frame and used to connect the funnel to the vacuum interface and the sample container.

[0014] In some embodiments, the filtration module further includes: a first lifting mechanism, which is mounted to the support frame and used to drive the screen pressure plate to move up and down to control the pressing of the screen; and a second lifting mechanism, which is mounted to the support frame and used to drive the placement cylinder containing the sample container to move up and down, wherein when the second lifting mechanism rises, the sample container contained in the placement cylinder is raised to the liquid receiving position to dock with the adapter, and when the second lifting mechanism falls, the sample container contained in the placement cylinder is removed from the adapter.

[0015] In some embodiments, the filtration module further includes: a vacuum gauge for detecting a vacuum value to help determine whether the filtration operation is complete; and a vacuum breaking valve for breaking the vacuum to prevent the placement cylinder from being drawn into the funnel as it descends.

[0016] In some embodiments, the automated sample processing equipment further includes a storage module for temporarily storing sample containers and sieves required for the centrifugation and filtration operations.

[0017] In some embodiments, the storage module includes: a feeding rack for storing clean screens; and a discharging rack for storing used screens.

[0018] In some embodiments, each of the feeding rack and the unloading rack includes two vertical plates and multiple horizontal plates. The two vertical plates are arranged in a vertical direction, and the multiple horizontal plates are connected to the two opposing vertical plates and arranged sequentially along the height direction of the two vertical plates. The multiple horizontal plates are spaced apart to form multiple layers, and each layer of horizontal plates is provided with multiple placement positions for placing screens.

[0019] In some embodiments, the automated sample processing device further includes a cover switch module for opening or closing the container cover of the sample container.

[0020] In some embodiments, the cover opening / closing module includes: a container seat for accommodating a sample container whose cover is to be opened / closed; a container body clamping end for clamping a container body; a container cover clamping end for clamping a container cover; and a translation mechanism, wherein the container seat is mounted on the translation mechanism to move the container seat along the translation mechanism, and wherein the container cover clamping end is provided with an elastic component that allows the container cover clamping end to swing.

[0021] According to another aspect of this disclosure, an automated sample processing method is provided, comprising the following steps: a filtration step, in which the sample is filtered in a filtration module to achieve preliminary solid-liquid separation of the sample, wherein the filtration step includes a balancing step, in which multiple sample containers are balanced in a balancing module; a judgment step, in which the centrifugation step is performed based on the sample type and / or sample state; a centrifugation step, in which the sample container containing the sample is centrifuged in a centrifugation module to achieve further solid-liquid separation of the sample; and a transfer step, in which the sample is transferred into and out of the filtration module, the balancing module, and the centrifugation module by changing different tools in the transfer module to perform the filtration operation, the balancing operation, and the centrifugation operation.

[0022] In some embodiments, during the balancing step, the weighing device of the balancing module sequentially weighs multiple sample containers containing the filtered sample to obtain multiple weighing results; based on the multiple weighing results, it is determined whether the weight difference between the multiple sample containers exceeds an allowable range; if the weight difference between the multiple sample containers does not exceed the allowable range, the transfer module transfers the multiple sample containers to the centrifugation module to perform the centrifugation operation; if the weight difference between the multiple sample containers exceeds the allowable range, a pipetting device is used to transfer a portion of the filtered sample from a sample container containing more samples to another sample container via the transfer module to perform a balancing operation.

[0023] In some embodiments, the filtration step further includes: a coarse filtration step, in which a coarse screen is installed on the filtration module via the transfer module and the sample is passed through the coarse screen by suction filtration to perform a coarse filtration operation; a balancing step, in which the balancing operation is performed on the plurality of sample containers that have undergone coarse filtration; and a fine filtration step, in which a fine screen is installed on the filtration module via the transfer module and the sample in the plurality of sample containers that have undergone centrifugation is passed through the fine screen by suction filtration to perform a fine filtration operation.

[0024] In some embodiments, during the determination step, it is determined whether the centrifugation operation needs to be performed based on the sample type; if it is determined that the sample has been pulverized based on the sample type, then the centrifugation operation needs to be performed; if it is determined that the sample has not been pulverized based on the sample type, then the centrifugation operation does not need to be performed.

[0025] In some embodiments, in the determination step, it is determined whether the centrifugation operation needs to be performed based on whether the sample is clear; if it is determined that the sample is not clear, the centrifugation operation needs to be performed; if it is determined that the sample is clear, the centrifugation operation is not performed.

[0026] In some embodiments, the filtering module includes a vacuum gauge, which stops the filtering operation when the vacuum value indicated by the vacuum gauge reaches a threshold.

[0027] According to another aspect of this disclosure, an automated sample processing system is provided, including a mobile device and at least one of the aforementioned automated sample processing devices, wherein the mobile device is used to deliver materials to the automated sample processing device and to remove samples processed by the automated sample processing device.

[0028] The sample automated processing equipment, method and system disclosed herein fully automate a series of processes such as filtration, centrifugation, weighing, liquid addition, cleaning and transfer, thereby reducing labor costs and improving processing efficiency and accuracy.

[0029] Other features and advantages of this disclosure will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the disclosure. The objects and other advantages of this disclosure may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0030] The accompanying drawings are provided to further understand the technical solutions of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain the technical solutions of this disclosure and do not constitute a limitation on the technical solutions of this disclosure.

[0031] Figure 1a An external perspective view of an automated sample handling apparatus according to an embodiment of the present disclosure is shown;

[0032] Figure 1b A top view of the internal structure of an automated sample processing apparatus according to an embodiment of the present disclosure is shown;

[0033] Figure 2 An internal structural perspective view of an automated sample processing apparatus according to an embodiment of the present disclosure is shown;

[0034] Figure 3a A side view of a filtering module of an automated sample processing apparatus according to an embodiment of the present disclosure is shown;

[0035] Figure 3b The image shows the filter module of an automated sample handling apparatus according to an embodiment of the present disclosure. Figure 3a A cross-sectional view taken from line AA in the diagram;

[0036] Figure 3c A perspective view of a filtering module of an automated sample processing apparatus according to an embodiment of the present disclosure is shown;

[0037] Figure 4a and Figure 4b A perspective view of the switch cover module of an automated sample handling apparatus according to an embodiment of the present disclosure is shown;

[0038] Figure 5 A flowchart illustrating the operation flow of an automated sample processing method according to embodiments of the present disclosure is shown; and

[0039] Figure 6 A schematic diagram of a robotic arm for an automated sample handling system according to an embodiment of the present disclosure is shown. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the specific implementation methods of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation methods described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0041] For ease of description, the terms indicating direction, such as “front,” “back,” “up,” “down,” “horizontal,” and “vertical,” are used in this specification. These terms are used only to indicate the relative position and / or orientation of the device or component and do not limit the installation or use orientation of the device or component.

[0042] Figure 1a An external perspective view of an automated sample processing apparatus 10 according to an embodiment of the present disclosure is shown; Figure 1b and Figure 2 A top view and a perspective view of the internal structure of an automated sample processing device 10 according to an embodiment of the present disclosure are shown respectively. The automated sample processing device 10 includes: a filtration module 100 for filtering samples to achieve solid-liquid separation and obtain filtered samples; a centrifugation module 200 for centrifuging a sample container 50 containing the filtered samples to separate the supernatant and residue, further separating small solid samples that are difficult to filter to obtain pure liquid samples, achieving high-precision solid-liquid separation; a balancing module 400 for balancing multiple sample containers 500; and a transfer module 300 for performing the transfer operations required for the above-mentioned filtration, centrifugation, and balancing operations by changing different tools to assist in achieving the filtration, centrifugation, and balancing operations.

[0043] This disclosure automates processes such as filtration and centrifugation by employing a transfer module 300, thereby reducing labor costs and improving processing efficiency and accuracy.

[0044] In this disclosure, the samples are biological samples, pharmaceutical samples, or chemical samples. In some embodiments, the samples include various reagents such as pharmaceuticals and chemicals, especially traditional Chinese medicine preparations. When the sample is a pharmaceutical sample, it can be a Western medicine sample, a traditional Chinese medicine sample, or other drug samples with medicinal effects. For example, traditional Chinese medicine samples include raw medicinal materials, prepared slices of traditional Chinese medicine, proprietary Chinese medicines, semi-finished traditional Chinese medicines, and medicinal plants.

[0045] In addition, the sample container 50 mentioned in this disclosure actually includes shake flasks, centrifuge bottles and concentration bottles.

[0046] Additionally, see Figure 1a The automated sample processing equipment 10 includes a housing 10a. The housing 10a includes a base 11 with an interaction point for interacting with external materials or consumables. Optionally, the housing 10a also includes a frame 12 mounted on the base 11. The frame 12 has a receiving space and an interaction window 141 connecting the receiving space and the external space. The housing 10a serves as the overall structural frame. The base 11 supports components such as handling mechanisms, and the frame 12 can be used to install other components, which will not be detailed here. The base 11 and frame 12 can be detachable or integral, without limitation. In some embodiments, only the base 11 may be provided, without the frame 12. The material of the housing 10a can be steel, aluminum alloy, etc., without limitation. The overall shape of the housing 10a can be a cuboid or any other feasible shape, without limitation. The box 10a may include multiple supporting vertical beams, supporting horizontal beams, etc., to form a frame structure.

[0047] The housing 10a can be assembled from multiple subframes, for example, Figure 1a The shown housing 10a includes a base 11 and a frame 12. Of course, the multiple sub-frames of housing 10a may also have other forms, which are not limited. Optionally, each of the multiple sub-frames can be used to install one type of component. For example, the base 11 can be used to install drive components, and the frame 12 can be used to install motion-performing components, etc., which are not limited.

[0048] The accommodating space is defined by the upper surface of the base 11 and the frame structure of the rack 12; that is, the upper surface of the base 11 and the frame of the rack 12 enclose and form the accommodating space. Optionally, the base 11 also has an accommodating space inside. When the housing 10a has multiple sub-racks, each sub-rack can have its own sub-space. Among the multiple sub-spaces, some sub-spaces can be interconnected, while others can be relatively independent and not connected to other sub-spaces; this is not limited.

[0049] The interaction position is used for the interaction of materials or consumables, as well as for the detection of materials or consumables. In embodiments without rack 12, the materials or consumables at the interaction position can interact with other positions in any way. In embodiments with rack 12, the materials or consumables at the interaction position interact with the outside world through the interaction window 141.

[0050] The interaction window 141 is a window on the rack 12 that connects the inside and outside. Through this interaction window 141, materials or consumables within the storage space 13 can be exchanged with the outside, and operations such as material or consumable detection can be performed, all without limitation. The shape of the interaction window 141 can be rectangular, circular, etc., without restriction. Materials or consumables can pass through the interaction window 141 from the storage space to the outside, and materials or consumables from the outside can also be input into the storage space through the interaction window 141. Furthermore, materials or consumables can be moved to the interaction window 141 and detected.

[0051] Optional, please refer to Figure 1a The housing 10a also includes an outer shell 14, which surrounds the frame 12. An interaction window 141 is disposed on the outer shell 14. The outer shell 14 can be a plate-like structure, comprising multiple plates connected to the frame structure of the frame 12 to enclose the frame structure of the frame 12 into a closed structure. Optionally, the outer shell 14 can surround the entire exterior of the frame 12, meaning the edges of the multiple plates of the outer shell 14 are interconnected, and the inner surfaces of the multiple plates are connected and fixed to the frame 12, with the frame 12 not exposed. Optionally, the multiple plates of the outer shell 14 are embedded in the frame structure of the frame 12, with the frame 12 exposed, and the frame 12 and the outer shell 14 together enclose the receiving space 13. The material of the outer shell 14 can be iron, aluminum alloy, plastic, glass, etc., without limitation. By setting the outer shell 14 to surround the frame 12, which acts as a skeleton and provides stable support, the outer shell 14 gives the entire automated sample processing equipment 10 a relatively enclosed overall shape, thus providing protection.

[0052] Optionally, the housing 14 and the frame 12 are an integral structure. For example, the housing 14 is made of a material with higher strength, while the frame 12 is omitted, and the housing 14 provides support.

[0053] The outer shell 14 can also surround the base 11. In other words, the base 11 can also be a frame structure, and multiple plates are connected to the frame structure of the base 11 to enclose the frame structure of the base 11. In this way, the housing 10a can have a relatively enclosed overall shape.

[0054] It is understandable that some of the multiple plates surrounding the frame 12 and the multiple plates surrounding the base 11 may be a single plate, while others may be independent plates. In other words, among the multiple plates of the housing 14, some plates may simultaneously surround both the base 11 and the frame 12, while others may surround only the base 11 or the frame 12.

[0055] Optional, please refer to Figure 1a The outer casing 14 is also provided with an entry door 15, which allows materials or consumables to be placed in batches into the storage space by opening the entry door 15, thereby realizing the storage of materials or consumables. The entry door 15 can be any feasible door that can be opened and closed, such as a single door or a double door. When the entry door 15 is closed, it can form a complete and unified shape with the other parts of the outer casing 14.

[0056] Optional, please refer to Figure 1a At least a portion of the outer casing 14 is made of a transparent material. For example, one or more panels of the outer casing 14 may be partially or entirely made of a transparent material, such as glass or plastic. The operating status of the device within the accommodating space 13 can be observed through the transparent portion, facilitating the monitoring of whether the automated sample processing equipment 10 is operating normally.

[0057] Optional, please refer to Figure 1a The outer casing 14 is provided with a transparent observation window, which can be made of glass, plastic, or other materials and is fixedly installed on the casing. The operating status of the automated sample processing equipment 10 within the containment space can be observed through this transparent observation window, facilitating the monitoring of whether the automated sample processing equipment 10 is operating normally.

[0058] See below. Figures 1a to 4b The document describes in detail the various components of the automated sample processing equipment 10.

[0059] Filtering module

[0060] See details Figures 3a to 3c , Figures 3a to 3c A side view, a front sectional view, and a perspective view of a filter module 100 according to an embodiment of the present disclosure are shown respectively. The filter module 100 includes: a support frame 112, a funnel 114, a screen pressure plate 116, a vacuum interface 118, and an adapter 122.

[0061] Funnel 114 is used to support sieve 130. Sieve clamp 116 is used to press against sieve 130. Vacuum port 118 is used to connect to a vacuum pump for evacuation, performing filtration by evacuating the fluid to be filtered through sieve 130. Adapter 122 is fixed to support frame 112 and used to connect funnel 114 to vacuum port 118 and sample container 50, wherein the sample container 50 connected to adapter 122 is a receiving bottle.

[0062] See Figures 3a to 3c The specific structure of the support frame 112 will be described below. The support frame 112 includes a base plate 1120, a vertical plate 1122, and a pair of opposing support mechanisms 1124. The pair of support mechanisms 1124 are fixed to the vertical plate 1122 and include a pair of L-shaped support plates 1132 and a pair of support blocks 1134. The support plates 1132 are fixed to the vertical plate 1122 and support the support blocks 1134 and the adapter 122. The opposing surfaces of the pair of support blocks 1134 have bevels, thus conforming to the shape of the funnel 114, facilitating the support of the funnel 114 (see...). Figure 3b ).

[0063] In use, the funnel 114 is placed on the support mechanism 1124, the sieve 130 is placed on the funnel 114, and the adapter 122 is installed on the support mechanism 1124 to transfer the funnel 114 and the sample container 50 used as a receiving bottle to the vacuum pump. At this time, the container 50 is held by the bottle gripper of the robotic arm (described in more detail below) and the sample in the container 50 is poured into the sieve 130 while the vacuum pump is started to complete the filtration operation.

[0064] The connections between the sieve 130, funnel 114, adapter 122, and sample container 50 (used as a receiving bottle) are releasable. This arrangement facilitates automated operation, allowing for easy handling and replacement of the sieve 130, funnel 114, and receiving bottle. In this configuration, a first sealing gasket 1142 is provided at the upper edge of the funnel 114, and a second sealing gasket 1144 and a third sealing gasket 1146 are provided at the upper and lower ends of the adapter 122, respectively, thereby sealing against leakage between the sieve 130 and funnel 114, between the funnel 114 and adapter 122, and between the adapter 122 and sample container 50 (used as a receiving bottle).

[0065] Additionally, during the process of the bottle grippers holding the container 50 and pouring the sample from the container 50 onto the screen 130, fluid dripping may occur, contaminating the equipment. Therefore, an anti-contamination design is provided on the bottle grippers to prevent such fluid contamination. In some embodiments, a replaceable adhesive tape is attached to the bottle grippers. This way, when fluid is poured, any fluid remaining at the container opening flows onto the adhesive tape, preventing contamination of other components. The adhesive tape can be replaced manually or automatically after a fluid has been filtered. The adhesive tape can be, for example, Teflon tape or cloth-based tape.

[0066] The filter module 100 also includes a first lifting mechanism 124 and a second lifting mechanism 126. The first lifting mechanism 124 is mounted to the support frame 112 and is used to drive the screen pressure plate 116 to move up and down, thereby controlling the pressing of the screen 112. The second lifting mechanism 126 is mounted to the support frame 112 and is used to drive the placement cylinder 60 for holding the liquid receiving bottle to move up and down. The lifting and lowering of the placement cylinder 60 is used to connect and disconnect the liquid receiving bottle from the adapter 122.

[0067] The filter module 100 also includes a vacuum gauge 128, which is used to detect the vacuum value to help determine whether the filtration operation is complete.

[0068] Screen plate 116 in top view ( Figure 3c The screen 130 is generally C-shaped or arc-shaped, which allows it to press down on the edge of the screen 130. The first lifting mechanism 124 is located on the upper part of the support frame 112 and includes a first lifting shaft 1242 and a first motor 1244. The screen pressing plate 116 is fixed to the end of the first lifting shaft 1242. The first motor 1244 drives the first lifting shaft 1242 to rise and fall, thereby driving the screen pressing plate 116 to rise and fall. Using the screen pressing plate 116 to press down on the screen 130 has the following advantages: it stabilizes the screen 130 and prevents the screen from moving when pouring liquid; the screen pressing plate 116 applies a certain pressing force to the screen 130, so that while the screen 130 and the funnel 114 are pressed against the first sealing gasket 1142, the funnel 114 and the adapter 122 are also pressed against the second sealing gasket 1144, thereby improving the sealing effect.

[0069] The second lifting mechanism 126 is located at the lower part of the support frame 112 and includes a second lifting shaft 1262 and a second motor 1264. The shelf 1302, which supports the placement cylinder 60, is fixed to the end of the second lifting shaft 1262. The second motor 1264 drives the second lifting shaft 1262 to lift and lower, thereby lifting and lowering the placement cylinder 60. The placement cylinder 60 is cylindrical in appearance, and its interior can be designed with a pointed bottom to accommodate the pointed bottom structure of the liquid receiving bottle (see [reference]). Figure 3b (As shown).

[0070] In some embodiments, the support frame 112 is further provided with a first slide rail 1246 located at the upper part and a second slide rail 1266 located at the lower part. The screen plate 116 moves up and down along the first slide rail 1246, and the shelf 1302 moves up and down along the second slide rail 1266. By providing the first slide rail 1246 and the second slide rail 1266, the up and down movement of the screen plate 116 and the shelf 1266 is more stable, and the structural stability is increased.

[0071] During use, the first lifting mechanism 124 raises the screen pressure plate 116, allowing the transfer module 300 to pick up and place the screen 112, thus automatically completing the operations of picking up used screens and placing new screens. Furthermore, after the transfer module 300 places the sample container 50 (serving as a receiving bottle) into the placement cylinder 60, the second lifting mechanism 126 raises the placement cylinder 60, thereby connecting the receiving bottle to the adapter 122. After the filtration operation is completed, the receiving bottle is lowered. This achieves full automation of the entire filtration process.

[0072] The filter module 100 also includes a vacuum breaking valve 132. The vacuum breaking valve 132 is used to break the vacuum to prevent the liquid from being drawn into the funnel 114 when the receiving bottle descends.

[0073] Centrifuge module

[0074] The centrifugation module 200 includes a centrifuge that centrifuges a centrifuge bottle containing solvent, which serves as a sample container 50, to separate the supernatant from the residue.

[0075] Transfer module

[0076] The transfer module 300 includes a movement mechanism with at least one degree of freedom in one direction. Specifically, it can be a multi-degree-of-freedom robotic arm (such as a four-axis robotic arm, a six-axis robotic arm, etc.) or an XYZ three-axis linear movement mechanism. The robotic arm of the transfer module 300, by changing different tools, can transfer trays, sieves, and different types of sample containers 50 within the equipment to assist in completing various operations within the equipment, including filtration and centrifugation, thereby contributing to the automation of the entire process.

[0077] The transfer module 300 also includes a transport gripper, which includes various grippers such as tray / screen grippers and bottle grippers. One end of the robotic arm is connected to the base 11, and the other end is connected to the transport gripper. The robotic arm is used to drive one end of the transport gripper, which is used to hold various consumables such as trays, screens, and bottles.

[0078] During inbound, outbound, and interactive operations, the robotic arm moves the transport grippers to remove objects and move them to the interactive position, or moves the transport grippers at the interactive position to the corresponding temporary storage or transfer position. Other transport operations can also be performed. The transport grippers have a structure capable of holding trays / screens or bottles. By gripping these grippers and then moving them with the robotic arm, the materials or consumables are moved, ensuring stable and reliable operation and preventing them from falling. The specific structure of the transport grippers is not limited. The transport grippers can be accommodated in any feasible location within the storage space, as long as it is convenient for the transport mechanism to connect to them.

[0079] Trim module and control module

[0080] See back Figures 1a to 2 The balancing module 400 of the automated sample processing equipment 10 performs balancing operations on multiple sample containers 50, and the balancing module 400 includes a weighing device 500 and a pipetting device 600. By using the balancing module 400 of this disclosure to weigh the sample containers 50 containing solvent (centrifuge bottles at this time) before centrifugation, the weight difference of multiple sample containers 50 placed in the centrifuge module 200 before centrifugation is ensured to be within the allowable range, thereby ensuring the service life of the centrifuge.

[0081] See Figure 1b The automated sample processing device 10 also includes a control module 900, which controls the filtration module 100, centrifugation module 200, transfer module 300, and balancing module 400. Those skilled in the art will understand that the control module 900 can be integrated into the automated sample processing device 10 or located outside of it; its specific configuration is unrestricted. Furthermore, the control module 900 can be controlled via wired connections or wirelessly via 5G networks, the Internet of Things, or local area networks.

[0082] Weighing device 500 is used to sequentially weigh multiple sample containers 50 containing filtered samples to obtain multiple weighing results. Pipetting device 600 is used to perform a balancing operation, transferring a portion of the filtered sample from one sample container 50 containing more samples to another sample container 50. Control module 900 determines whether the weight difference between the multiple sample containers 50 exceeds the allowable range based on the multiple weighing results; if the weight difference between the multiple sample containers 50 does not exceed the allowable range, control module 900 controls transfer module 300 to transfer the multiple sample containers 50 to centrifugation module 200 for centrifugation; if the weight difference between the multiple sample containers 50 exceeds the allowable range, control module 900 controls transfer module 300 to use pipetting device 600 of balancing module 400 to perform a balancing operation on the multiple sample containers 50.

[0083] By employing the interaction and cooperation of the control module 900 and the balancing module 400 with the transfer module 300 of this disclosure, all possible balancing operations during centrifugation can be completed automatically without human intervention, thereby improving efficiency and reducing the potential harm to personnel caused by harmful costs in the reagents.

[0084] In addition, the control module 900 also performs a judgment on whether to perform a centrifugation operation.

[0085] In some embodiments, the control module 900 determines whether a centrifugation operation needs to be performed based on the sample type; if the control module 900 determines that the sample has been pulverized based on the sample type, then a centrifugation operation needs to be performed; if the control module 900 determines that the sample has not been pulverized based on the sample type, then a centrifugation operation does not need to be performed.

[0086] In some embodiments, the control module 900 determines whether a centrifugation operation needs to be performed based on whether the sample is clear; if the control module 900 determines that the sample is not clear, a centrifugation operation needs to be performed; if the control module 900 determines that the sample is clear, a centrifugation operation is not performed.

[0087] Switch cover module

[0088] See Figures 4a-4b , Figure 4a and 4b A perspective view and a right view of a lid switch module 700 according to an embodiment of the present disclosure are shown respectively. The lid switch module 700 is used to open or close the lid of the sample container 50. The lid switch module 700 automates the opening and closing operation of the container lid.

[0089] In some embodiments, the cover opening / closing module 700 includes a container seat 710 for accommodating a sample container to be opened / closed, a container body clamping end 720 for clamping the container body, and a container cover clamping end 730 for clamping the container cover. The container seat 710 is mounted on a translation mechanism 712 and is therefore movable. The container cover clamping end 730 is provided with an elastic component 732, which allows the container cover clamping end 730 to swing. In a preferred embodiment, the elastic component 732 swings primarily in a horizontal plane (i.e., a surface substantially parallel to the translation mechanism), thus enabling the cover opening / closing module 700 to accommodate size variations of different types of sample containers and to accommodate a certain degree of dimensional tolerance in sample containers of the same type due to manufacturing processes.

[0090] In this disclosure, the sample container 50 is moved horizontally toward and away from the container body clamping end 720 by a translation mechanism 712. See also Figure 4b The translation mechanism 712 includes a track 713, a third motor 714 located below the container seat 710, and a drive shaft 715. The container seat 710 is connected to the end of the drive shaft 715, so that the container seat 710 can move along the track 713 under the drive of the third motor 714.

[0091] The lid opening / closing module 700 also includes a lifting module 734 and a rotating module 736. The lifting module 734 moves the container lid clamping end 730 up and down to approach and move away from the sample container placed on the container base 710 in a vertical direction. The rotating module 736 rotates the container lid clamping end 730 to tighten or loosen the container lid to complete the lid opening / closing operation. Furthermore, those skilled in the art will understand that the lid opening or closing operation includes, but is not limited to, rotation or insertion / removal, wherein the rotation operation can be achieved by the rotating module 736 and the lifting module 734 moving the container lid clamping end 730, and the insertion / removal operation can be achieved by the lifting module 734 moving the container lid clamping end 730.

[0092] In this disclosure, the lid opening / closing module 700 and the container body clamping end 720 are fixedly arranged, the container seat 710 is movable, and the elastic component 732 is disposed on the container lid clamping end 730. Compared with the case where the container seat and bottle body clamping mechanism are integrated together and can be moved together with the elastic component located below the container seat, this arrangement of the present disclosure has the following advantages: Since the elastic component 732 is disposed on the container lid clamping end 730, the motor will not float with the elastic component 732. Especially when handling large containers, if the motor used to drive the opening and closing of the gripper on the container body clamping end 720 is relatively large, this can reduce the space occupied by the structure.

[0093] Storage module

[0094] The storage module of the automated sample processing equipment 10 according to this disclosure includes a loading rack 110 and a unloading rack 120. The loading rack 110 is used to store clean screens 130, and the unloading rack 120 is used to store used screens 130.

[0095] In some embodiments, each of the feeding rack 110 and the unloading rack 120 includes two vertical plates 111 and multiple horizontal plates 113. The vertical plates 111 are arranged generally vertically, and the multiple horizontal plates 113 are connected to the two opposite vertical plates 111 and arranged sequentially along the height direction of the vertical plates 111. The multiple horizontal plates 113 are spaced apart to form multiple layers, and each layer of horizontal plates 113 is provided with multiple first placement positions for placing screens. This arrangement makes the structure of the feeding rack 110 and the unloading rack 120 simple, reliable, and stable. The feeding rack 110 and the unloading rack 120 have multiple first placement positions, which can temporarily store multiple screens, improving efficiency.

[0096] The storage module of the sample automated processing equipment 10 also includes various container temporary storage and transfer devices. These container temporary storage and transfer devices include: an exchange compartment 810 for exchanging shake flasks, centrifuge bottle trays, concentration bottle trays, etc., between the sample automated processing equipment 10 and an external AGV vehicle; a shake flask temporary storage position 820 for temporarily storing shake flasks; a centrifuge bottle / concentrate bottle tray temporary storage position 830 for temporarily storing centrifuge bottle trays and concentration bottle trays; and a centrifuge bottle / concentrate bottle transfer position 840 for transferring centrifuge bottles / concentrate bottles when taking them off or putting them on the trays.

[0097] The exchange compartment 810 is located at the interactive workstation and is used for temporary storage of material pallets or consumables. When the robotic arm moves the material pallet or consumable to the interactive workstation, the moving gripper places the material pallet or consumable on the exchange compartment 810. The exchange compartment 810 can be placed on the housing 10a and can be connected and fixed to the housing 10a. The specific structure of the exchange compartment 810 is not limited, and multiple secondary placement positions can be set on the exchange compartment 810, which can temporarily place multiple material pallets or consumables.

[0098] The automated sample handling apparatus 10 according to this disclosure also includes a tool library 1100 for storing various tools. These tools include tray / sieve grippers, bottle grippers, pipetting devices, etc., and can be quickly connected to the robotic arm of the transfer module 300 via quick-change connectors. The robotic arm can change different tools in the tool library 1100 to perform corresponding operations.

[0099] The sample automated processing equipment 10 according to this disclosure also includes a tip head tray temporary storage position 1200 for storing tip heads.

[0100] This disclosure eliminates the need for manual handling of any items to the next operation's corresponding instrument or temporary storage location by including the storage module and using the transfer module 300 to retrieve and transfer the sieves, various containers, various tools, and tip heads in the storage module. This further reduces the need for manual intervention and achieves a higher level of automation.

[0101] Cleaning module

[0102] The automated sample processing equipment 10 according to this disclosure also includes a cleaning module 1000, used to clean the sample container 50 containing solid sample residue after filtration, discharge the waste liquid into a waste liquid tank, and recover the sample for secondary extraction. The structure of the cleaning module 1000 is similar to that of the filtration module 100, except that the lower outlet of the suction filter adapter of the cleaning module 1000 is directly connected to the waste liquid tank.

[0103] By employing the automated sample processing equipment disclosed herein, full-process automation of all processes, including filtration, centrifugation, cap opening and closing, cleaning, and transfer, can be achieved, reducing labor costs.

[0104] Automated sample processing methods

[0105] According to embodiments of this disclosure, an automated sample processing method is also provided, comprising the following steps: a filtration step, in which the sample is filtered in a filtration module 100 to achieve solid-liquid separation and obtain a filtered sample, wherein the filtration step includes a balancing step, in which multiple sample containers 50 are balanced in a balancing module 400; a centrifugation step, in which the sample container 50 containing the filtered sample is centrifuged in a centrifugation module 200 to separate the supernatant and residue, further separating small solid samples that are difficult to filter, to obtain a pure liquid sample, thereby achieving high-precision solid-liquid separation; a judgment step, in which the centrifugation step is performed based on the sample type and / or sample state; and a transfer step, in which the sample is transferred into and out of the filtration module 100, the balancing module 400, and the centrifugation module 200 by changing different tools to perform the transfer operation.

[0106] The filtration step includes a balancing step, in which multiple sample containers 50 are balanced. In the balancing step, the weighing device 500 is used to weigh the multiple sample containers 50 containing the filtered sample in sequence to obtain multiple weighing results. Based on the multiple weighing results, it is determined whether the weight difference between the multiple sample containers 50 exceeds the allowable range. If the weight difference between the multiple sample containers 50 does not exceed the allowable range, the transfer module 300 transfers the multiple sample containers 50 to the centrifugation module 200 to perform a centrifugation operation. If the weight difference between the multiple sample containers 50 exceeds the allowable range, the pipette 600 is used to transfer a portion of the filtered sample from the sample container containing more sample to another sample container through the transfer module 300, performing a balancing operation.

[0107] The filtration process further includes: a coarse filtration step, in which a coarse sieve is installed on the filtration module 100 via the transfer module 300 and the sample is passed through the coarse sieve by suction filtration for coarse filtration; a balancing step, in which the multiple sample containers 50 that have undergone coarse filtration are balanced; and a fine filtration step, in which a fine sieve is installed on the filtration module 100 via the transfer module 300 and the sample in the multiple sample containers that have undergone centrifugation is passed through the fine sieve by suction filtration for fine filtration. During both coarse and fine filtration operations, the filtration operation stops when the vacuum value indicated by the vacuum gauge 128 reaches a threshold.

[0108] In some embodiments, during the determination step, it is determined whether a centrifugation operation needs to be performed based on the sample type; if it is determined based on the sample type that the sample has been pulverized, then a centrifugation operation needs to be performed; if it is determined based on the sample type that the sample has not been pulverized, then only a filtration operation is performed and no centrifugation operation is performed.

[0109] In other words, in some embodiments of this disclosure, if the sample is a blocky, uncrushed mass, centrifugation is not performed; if the sample is a blocky, crushed powder, centrifugation is performed. In some embodiments, whether centrifugation is required can be determined based on information recorded on the sample label, but other methods known in the art are also feasible. In some embodiments, whether centrifugation is required can be determined by software based on rules.

[0110] In some embodiments, during the determination step, the need for centrifugation is determined based on whether the sample is clear. If the sample is not clear, centrifugation is required; if the sample is clear, centrifugation is not required. That is, in some embodiments of this disclosure, if the sample is clear after the first filtration step, centrifugation is unnecessary. This determination can be based on a visual analysis module, which can employ any suitable camera known in the art. Its specific structure and installation location are not limited, as long as it can determine the clarity of the sample.

[0111] See Figure 5 The flowchart illustrates a specific embodiment of the present disclosure, providing a clearer understanding of the operational flow performed by the automated sample processing device 10. First, the transfer module 300 installs a coarse sieve onto the filtration module 100 and performs a coarse filtration step S110 via vacuum filtration. Then, a weighing step S120 is performed on the sample containers 50 after coarse filtration. After weighing multiple sample containers 50, it is determined whether the weight difference between these multiple sample containers 50 is within the allowable range (step S130). If the weight difference does not exceed the allowable range, the process proceeds to the centrifugation step S140. If the weight difference exceeds the allowable range, a balancing step S150 is performed, where the samples in the multiple sample containers 50 are balanced by pipetting to bring the weight difference within the allowable range, and then the process proceeds to the centrifugation step S140. Finally, a fine filtration step S160 is performed on the centrifuged sample containers 50. Necessary transfer steps are performed by the transfer module 300 before, during, and after each step.

[0112] By adopting the sample automation method disclosed herein, the entire process, including filtration, centrifugation, cap opening and closing, cleaning and transfer, can be fully automated, reducing labor costs.

[0113] This disclosure also provides an automated sample processing system, including a mobile device and at least one of the aforementioned automated sample processing devices 10. The mobile device is used to deliver materials to the automated sample processing device 10 and to remove samples processed by the automated sample processing device 10. The mobile device can be any mobile device in the prior art capable of performing the above functions, such as, but not limited to, a mobile AGV or a mobile robot.

[0114] The automated sample processing system disclosed herein can be used for biological and chemical preparations, and can be applied in industries such as biopharmaceuticals and chemical reagent preparation. By adopting the automated sample processing equipment in the embodiments of this disclosure, the management efficiency of materials and consumables can be improved, realizing the warehousing, warehousing, and transfer of materials, thereby enhancing the level of automation.

[0115] Optionally, the mobile device of the automated sample processing system includes a robotic arm, which is used to pick up and put materials and consumables into the automated sample processing equipment.

[0116] See Figure 6 This diagram illustrates a robotic arm of an automated sample handling system according to an embodiment of the present disclosure. The robotic arm includes a robotic hand 410, a vision component (camera lens) 420, and a gripping device 430. One end of the robotic hand 410 is connected to a base 11, and the other end of the robotic hand 410 is connected to the gripping device 430. The vision component (e.g., a camera lens) 420 is connected to the robotic hand 410 and can be positioned close to the gripping device 430. The robotic arm 400 identifies equipment or locates warehouses using the vision component 420 and grasps corresponding materials or consumables using the gripping device 430. In specific implementations, the robotic arm can be a collaborative robotic arm, and the robotic hand can be a multi-axis robotic hand (e.g., a six-axis robotic hand, a four-axis robotic hand, a three-axis robotic hand, etc.). The multi-axis robotic hand 410 and the vision component 420 can be standard manufactured products. Mobile devices enable the grabbing or placement of materials or consumables, suitable for the transport and grabbing of light-load materials or consumables, and can meet diverse needs such as identification, inspection, and grabbing of specific items. They can reach places that were previously inaccessible, and the work location is no longer limited, thus meeting the production needs of flexible production lines.

[0117] Specific examples

[0118] Below, specific examples of the automated sample processing method performed by the automated sample processing apparatus 10 according to this disclosure will be described.

[0119] In the preparation stage before processing, the shake flask / centrifuge bottle / concentrate bottle trays are transferred to the exchange chamber 810 by manual labor or an external AGV. The robotic arm selects the appropriate handling tool to transfer the shake flasks from the exchange chamber 810 to the shake flask temporary storage position 820, and the centrifuge bottle / concentrate bottle trays to the centrifuge bottle / concentrate bottle tray temporary storage position 830. Clean screens 130 (including fine and coarse screens) are placed on the loading rack 110 by manual labor or an AGV. Tip head trays are placed in the tip head tray temporary storage position 1200 by manual labor or an AGV.

[0120] At the start of the process, the robotic arm uses different tools to move the shaker flask to the cap-opening module 700 for opening. Then, the robotic arm moves the centrifuge flask tray from the centrifuge flask / concentrate flask temporary storage position 830 to the centrifuge flask / concentrate flask transfer position 840, removes the centrifuge flask, and delivers it to the cap-opening module 700 for opening. After opening, the centrifuge flask is placed in the liquid receiving position of the placement cylinder in the filter module 100 (the placement cylinder 60 positions the centrifuge flask in the liquid receiving position that mates with the adapter 122; at this time, the centrifuge flask is a liquid receiving bottle, i.e., located in...). Figures 3a-3c (The location of the receiving bottle is shown in the diagram). The robotic arm then moves the clean coarse screen from the loading rack 110 to the filtration module 110, moves the opened shake flask above the filtration module 110 for tilting, and completes the filtration process by drawing a vacuum from the top. After filtration, the shake flask is placed back into the cap-closing module 700 to close the cap, and then moved to the shake flask storage position 820. Then, the first lifting mechanism 124 raises, and the robotic arm moves the used coarse screen to the unloading rack 120. Finally, the robotic arm moves the centrifuge bottle to the cap-closing module 700 to close the cap.

[0121] Subsequently, the robotic arm moves the centrifuge bottles, after filtration and capping, to the weighing device 500 for weighing. This process is repeated multiple times. After weighing multiple centrifuge bottles, if the weight difference is within acceptable limits, the robotic arm places them into the centrifuge of the centrifugation module 200 for centrifugation. If the weight difference exceeds acceptable limits, the robotic arm moves the centrifuge bottles back to the cap-opening module 700 for cap opening, then to the weighing device 500. The liquid transfer device 600 is used for balancing. During balancing, liquid is transferred from the heavier centrifuge bottle to the lighter one. This process is repeated until balancing is complete. After balancing, the caps are closed again, and the bottles are placed into the centrifuge. After centrifugation, the centrifuge bottles are removed and moved to the cap-opening module 700 for cap opening. The concentration bottle is then moved below the filtration module 100 (the concentration bottle is positioned at the receiving position with the adapter 122 via the placement cylinder 60; at this point, the concentration bottle is a receiving bottle, i.e., located...). Figures 3a-3c(As shown in the diagram, where the receiving bottle is located), place the fine sieve into the filter module 100, and then pour out the centrifuge bottle to complete the filtration process. After filtration, close the cap of the centrifuge bottle and place it back into the centrifuge bottle / concentrator bottle transfer station 840. Place the fine sieve onto the unloading rack 120, and return the concentrate bottle to the centrifuge bottle / concentrator bottle transfer station 840. Then, the AGV vehicle removes the shaker / centrifuge bottle tray / concentrator bottle tray from the equipment through the exchange chamber 810.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. An automated sample processing device, characterized in that, The automated sample processing equipment includes: A filtration module is used to perform a filtration operation on the sample to achieve preliminary solid-liquid separation of the sample; A centrifugation module is used to centrifuge a sample container containing the sample to achieve further solid-liquid separation of the sample. A balancing module, which performs balancing operations on multiple sample containers; and The transfer module, by changing different tools, performs the transfer operations required for the filtration operation, the centrifugation operation, and the balancing operation to assist in completing the filtration operation, the centrifugation operation, and the balancing operation.

2. The automated sample processing equipment according to claim 1, characterized in that, The different tools include tray / sieve grippers, bottle grippers, and pipetting devices, and are connected to the transfer module via quick-change connectors.

3. The automated sample processing equipment according to claim 2, characterized in that, The bottle grippers are equipped with a contamination prevention design.

4. The automated sample processing equipment according to claim 1, characterized in that, The automated sample processing equipment also includes a control module. The control module performs control operations on the filtration module, the centrifugation module, the transfer module, and the balancing module.

5. The automated sample processing equipment according to claim 4, characterized in that, The balancing module includes a weighing device and a pipetting device. The weighing device is used to weigh multiple sample containers containing the filtered sample in sequence to obtain multiple weighing results. The pipetting device is used to perform a balancing operation, transferring a portion of the filtered sample from one sample container containing a larger sample to another sample container.

6. The automated sample processing equipment according to claim 5, characterized in that, The control module determines whether the weight difference between the multiple sample containers exceeds the allowable range based on the multiple weighing results. If the weight difference between the plurality of sample containers does not exceed the allowable range, the control module controls the transfer module to transfer the plurality of sample containers to the centrifugation module to perform the centrifugation operation; If the weight difference between the plurality of sample containers exceeds the allowable range, the control module controls the transfer module to use the pipetting device of the balancing module to perform a balancing operation on the plurality of sample containers.

7. The automated sample processing equipment according to claim 4, characterized in that, The control module determines whether the sample needs to undergo the centrifugation operation.

8. The automated sample processing equipment according to claim 7, characterized in that, The control module determines whether the centrifugation operation needs to be performed based on the sample type. If the control module determines that the sample has been pulverized based on the sample type, then the centrifugation operation needs to be performed; If the control module determines that the sample has not been pulverized based on the sample type, the centrifugation operation will not be performed.

9. The automated sample processing equipment according to claim 7, characterized in that, The control module determines whether the centrifugation operation needs to be performed based on whether the sample is clear. If the control module determines that the sample is not clear, then the centrifugation operation needs to be performed; If the control module determines that the sample has been clarified, the centrifugation operation will not be performed.

10. The automated sample processing equipment according to claim 1, characterized in that, The filtration module performs the filtration operation by drawing a vacuum, causing the sample to pass through a sieve under negative pressure.

11. The automated sample processing equipment according to claim 9, characterized in that, The filtering module includes: A vacuum pump, used for performing a vacuuming operation; A screen, the screen being used to filter the fluid to be filtered; and A vacuum interface is connected to the vacuum pump to perform the filtration operation by vacuuming the fluid to be filtered through the screen.

12. The automated sample processing equipment according to claim 10, characterized in that, The filtering module also includes: Support frame; A funnel, used to hold a screen; Screen pressure plate, the screen pressure plate being used to press against the screen; and An adapter, which is fixed to the support frame and used to connect the funnel to the vacuum interface and the sample container.

13. The automated sample processing equipment according to claim 12, characterized in that, The filtering module also includes: A first lifting mechanism, mounted to the support frame and used to drive the screen pressure plate to move up and down, thereby controlling the pressing of the screen; and The second lifting mechanism is installed on the support frame and is used to drive the placement cylinder containing the sample container to move up and down. When the second lifting mechanism rises, it raises the sample container contained in the placement cylinder to the liquid receiving position to dock with the adapter. When the second lifting mechanism descends, it removes the sample container contained in the placement cylinder from the adapter.

14. The automated sample processing equipment according to claim 13, characterized in that, The filtering module also includes: A vacuum gauge, used to detect vacuum levels to help determine whether the filtration operation is complete; and A vacuum breaking valve is used to break the vacuum and prevent the placement cylinder from being sucked into the funnel as it descends.

15. The automated sample processing equipment according to claim 10, characterized in that, The automated sample processing equipment also includes a storage module, which is used to temporarily store the sample containers and sieves required for the centrifugation and filtration operations.

16. The automated sample processing equipment according to claim 15, characterized in that, The storage module includes: A feeding rack for storing clean screens; and A feeding rack is used to store used screens.

17. The automated sample processing equipment according to claim 16, characterized in that, Each of the feeding rack and the unloading rack includes two vertical plates and multiple horizontal plates. The two vertical plates are arranged in a vertical direction, and the multiple horizontal plates are connected to the two opposite vertical plates and arranged sequentially along the height direction of the two vertical plates. The multiple horizontal plates are spaced apart to form multiple layers, and each layer of horizontal plates is provided with multiple placement positions for placing screens.

18. The automated sample processing equipment according to claim 1, characterized in that, The automated sample processing equipment also includes: A cover switch module, which is used to open or close the lid of the sample container.

19. The automated sample processing equipment according to claim 18, characterized in that, The switch cover module includes: A container holder for holding a sample container whose lid is to be opened and closed; The container body clamping end is used to clamp the container body; Container cap clamping end, the container clamping end being used to clamp the container cap; and A translation mechanism is provided, on which the container seat is mounted, thereby allowing the container seat to move along the translation mechanism. The container cap clamping end is provided with an elastic component, which allows the container cap clamping end to swing.

20. An automated sample processing method, characterized in that, The automated sample processing method includes the following steps: The filtration step involves filtering the sample in a filtration module to achieve preliminary solid-liquid separation. The filtration step includes a balancing step, in which multiple sample containers are balanced in a balancing module. The centrifugation step involves centrifuging the sample container containing the sample in a centrifugation module to achieve further solid-liquid separation of the sample. The determination step involves determining whether the centrifugation step needs to be performed on the sample; and The transfer step involves changing the transfer module with different tools to perform transfer operations to move the sample into and out of the filtration module, the balancing module, and the centrifugation module to perform the filtration operation, the balancing operation, and the centrifugation operation.

21. The automated sample processing method according to claim 20, characterized in that, In the balancing step, the weighing device of the balancing module is used to weigh multiple sample containers containing the filtered sample in sequence to obtain multiple weighing results. Based on the multiple weighing results, determine whether the weight difference between multiple sample containers exceeds the allowable range; If the weight difference between the plurality of sample containers does not exceed the allowable range, the transfer module transfers the plurality of sample containers to the centrifugation module to perform the centrifugation operation; If the weight difference between the multiple sample containers exceeds the allowable range, a balancing operation is performed by using a pipetting device through the transfer module to transfer a portion of the filtered sample from the sample container containing more samples to another sample container.

22. The automated sample processing method according to claim 20, characterized in that, The filtering step further includes: In the coarse filtration step, a coarse screen is installed onto the filtration module via the transfer module, and the sample is passed through the coarse screen by suction filtration to perform coarse filtration. The balancing step involves performing the balancing operation on multiple sample containers that have undergone coarse filtration; and In the fine filtration step, a fine sieve is installed on the filtration module via the transfer module, and the samples in the multiple sample containers that have undergone centrifugation are passed through the fine sieve by suction filtration to perform fine filtration.

23. The automated sample processing method according to claim 20, characterized in that, In the determination step, it is determined whether the centrifugation operation needs to be performed based on the sample type; If the sample is determined to have been pulverized based on the sample type, then the centrifugation operation needs to be performed. If the sample is determined not to have been pulverized based on the sample type, the centrifugation operation will not be performed.

24. The automated sample processing method according to claim 20, characterized in that, In the judgment step, whether the centrifugation operation needs to be performed is determined based on whether the sample is clear; If the sample is determined to be unclear, the centrifugation operation needs to be performed. If the sample is determined to be clear, the centrifugation operation is not performed.

25. The automated sample processing method according to claim 20, characterized in that, The filtering module includes a vacuum gauge, and the filtering operation stops when the vacuum value indicated by the vacuum gauge reaches a threshold.

26. An automated sample processing system, characterized in that, The device includes a mobile device and at least one sample automated processing device according to any one of claims 1 to 19, wherein the mobile device is used to deliver materials to the sample automated processing device and to remove samples processed by the sample automated processing device.

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